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Mathematical Preliminaries
Complex variable
s j
j 1
Im
Real part
Imaginary part
Re
s-plane
Complex Function
Complex function
G ( s ) G x jG y
Real part
Im
Imaginary part
G G G
2
x
Gy
tan
Gx
1
2
y
G ( s) G e j
Complex conjugate
G (s)
Gy
G
Re
Gx
G(s)-plane
G ( s ) G x jG y
Eulers Theorem
Eulers Theorem
Its complex conjugates
e j cos j sin
(1)
e j cos j sin
(2)
2j
1 j
cos e e j
2
1 j
e e j
sin
(3)
(4)
Laplace Transforms
A mathematical tool that transforms difficult differential equations into simple
algebraic equations where solutions can be easily obtained.
Definition:
f (t ) 0 for t 0
Inverse Transform:
1 c j
st
F
(
s
)
e
ds
2j
Normally Tables of Laplace Transform Pairs are used for taking the
Laplace Transform and the Inverse Transforms.
ME2142 Feedback Control Systems
3t 5 sin( 2t )
So
L t
1
s2
and L sin(2t )
3t 5 sin( 2t )
2
s2 4
3
10
s2 s2 4
7
If
, and L f (t ) F ( s)
then
In addition,
ME2142 Feedback Control Systems
1
If L F ( s ) f (t ) ,
L e
1
as
F ( s ) g(t )
f (t a), t a
g(t )
ta
0,
L 1 F (s a) e at f (t )
If
, then
For example
g1 (t ) (t 2) 3 , G1 ( s ) ?
From Tables:
f (t ) t 3 F ( s )
Since
6
s4
g1 (t ) f (t 2), G1 ( s ) e
2 s
6
s4
Property 2:
For example
Since
g 2 (t ) e 2 t t 3 , G 2 ( s ) ?
6
g 2 (t ) e f (t ), G2 ( s )
( s 2) 4
2t
10
Not so
useful
11
Initial-value theorem:
Not so
useful
f 0 lim f (t ) lim sF ( s )
t 0
Final-value theorem:
Useful
f lim f (t ) lim sF ( s )
t
s0
12
Not
normally
used
1. Using
1
-1
L F ( s)
c j
2j c j
F ( s )e st ds
13
F (s)
1
5
8
s 2 ( s 3) 2 s 2 16
Solution
L-1 12 t
5
1
-1
L (s 3) 2 5L-1 (s 3) 2 5te 3t
L-1 s
8
-1 4 2 sin( 4t )
2
L
2
2
2
16
s 4
Thus
1
1
t n 1 e at
n
( s a) n 1 !
a
sin at
2
2
s a
14
If L
2e 8 s
Find the inverse of F ( s ) 2
s 2s 5
2e 8 s
2
F (s) 2
e 8 s
s 2s 5
( s 1) 2 2 2
F (s) f (t ) , L
as
f (t a), t a
g(t )
ta
0,
F ( s ) g(t )
L 1 F (s a) e at f (t )
(1)
(2)
t
Using property of translation (2), we get L-1 s 1 2 22 e sin(2t )
8 s
e (t 8) sin 2(t 8), t 8
2
L-1 e s 1 2 22
0, t 8
15
F ( s)
N ( s)
D( s )
bm s m bm1 s m1 b1 s b0
Example F ( s )
an s n an1 s n1 a1 s a0
or
K ( s z1 )( s z 2 ) ( s z m )
F (s)
( s p1 )( s p2 ) ( s pn )
with n m
Eqn(1-1)
F ( s)
where
an
N ( s)
a1
a2
D ( s ) s p1 s p2
s pn
Eqn(1-2)
ak are constants.
N ( s ) a1 ( s pk ) a2 ( s pk )
a ( s pk )
a ( s pk )
k
n
D(s)
s p1
s p2
s pk
s pn
N (s)
a k ( s p k )
D( s ) s pk
Eqn(1-3)
17
Solution:
We let
then
F ( s)
F ( s)
s3
( s 1)( s 2)
s3
a
a
1 2
( s 1)( s 2) s 1 s 2
( s 3)
a1 ( s 1)
2
s
s
(
1
)(
s 1
( s 3)
1
a 2 ( s 2)
(
1
)(
2
s
s
s 2
Thus F ( s )
2
1
and
s 1 s 2
f (t ) 2e t e 2t
18
( s pr ) ( s pr ) 2
( s pr ) q
where
which Indicates a
pair of complex
conjugate poles
F (s)
N ( s)
cs d
2
2
( s as b)
s as b
19
s 2 2s 3
Given F ( s )
,
3
( s 1)
find f(t).
Solution:
Let
b3
b1
b2
s 2 2s 3
F (s)
( s 1) ( s 1) 2 ( s 1) 3
( s 1) 3
s 2 2 s 3 b1 ( s 1) 2 b2 ( s 1) b3
Letting s 1 we have
b3 2
1
2
s 1 ( s 1) 3
and
3 b1 b2 b3 giving b2 0
f (t ) e t t 2 e t
20
21
Solution:
Transforming
y 2 y 5 y 3,
y (0) 0,
y (0) 0
or
s 2Y ( s ) 2 sY ( s ) 5Y ( s ) ( s 2 2 s 5)Y ( s )
giving
Y ( s)
a
bs c
3
s ( s 2 2 s 5) s s 2 2 s 5
3
s
22
We have
3
a
bs c
s s 2 2s 5
s ( s 2 2 s 5)
3
5
3 a( s 2 2s 5) (bs 2 cs)
we have
Comparing terms in s,
0 6 / 5 c c 6 / 5
0 3 / 5 b b 3 / 5
Thus
and
Y (s)
3 3 s2
3 3
s 1
3
2
2
5s 5 s 2 s 5 5s 5 ( s 1) 2 2 2 10 ( s 1) 2 2 2
y (t )
3
3 3 t
e cos 2t e t sin 2t
5 5
10
for t 0
23
Laplace Transforms
END
24