1

MEC 410 CONTROL SYSTEMS

Course Name: Control Systems
Course Number:

MEC 410

Instructor: Dr. Khaled Al-Aribe

Part 2
Laplace Transformation

Laplace Transformations
2

Laplace transform is used to convert the

differential equations to algebraic, so that the

equations can be simplified using the algebraic
operations up to getting the point of solution, then
returned back to the time domain using inverse
Laplace transformation

Laplace Transform
3

Definition

L( f ( t ) )

f ( t) e

s t

= F(s)

dt

Here the complex frequency is

j w

The Laplace Transform exists when

f ( t) e

s t

dt

this means that the integral converge

Laplace Transform (Contd)

4

Determine the Lap lace transform for the functions

a)

f1( t) 1

F1( s )

s t

dt

b)

F2( s )

f2( t)

t0

for

1 ( s t )
e
s

1
s

( a t )

( a t ) ( s t )

dt

1
s1

[ ( s a) t ]

F2( s )

1
sa

Laplace Transform (Contd)

5

Evaluate the laplace transform of the derivative of a function

d f ( t)

dt

( s t )
d
f ( t) e
dt
dt

by the use of
where

u dv

( s t )

=
dv

u v v du

df ( t)

and, from which

s e

du

( s t )

dt

and

f ( t)

we obtain

u dv

f ( t) e

( s t )

f ( t) s e

( s t )

dt

= -f(0+) +

f ( t) e

( s t )

dt

d f ( t)

d t = sF(s) - f(0+) note that the initial condition is included in the transformation

Step and pule functions

7

Sin and Cos are simplified using

Eulers equation
9

Functions (Contd)
10

11

12

Laplace Transform: The Partial-Fraction

Expansion
13

The Partial-Fraction Expansion (or Heaviside expansion theorem)

Suppose that
F( s)

s z1

The partial fraction expansion indicates that F(s) consists of

( s p1 ) ( s p2 )

a sum of terms, each of which is a factor of the denominator.

The values of K1 and K2 are determined by combining the
individual fractions by means of the lowest common
denominator and comparing the resultant numerator

or

coefficients with those of the coefficients of the numerator

F( s)

K1
s p1

K2

before separation in different terms.

s p2

Evaluation of Ki in the manner just described requires the simultaneous solution of n equations.

An alternative method is to multiply both sides of the equation by (s + pi) then setting s= - pi, the
right-hand side is zero except for Ki so that

Ki

( s pi ) ( s z1)
( s p1 ) ( s p2 )

s = - pi

Inverse Laplace Transforms

14

When the differential equation is solved using the Laplace

transforms, the solution is a function of the variable s. The
inverse transform can be used to return the relation to the

time domain.

Example: determine the inverse

transform of the function below.
15

5 12
8
F ( s) 2
s s
s3

Example: determine the inverse

transform of the function below.
16

5 12
8
F ( s) 2
s s
s3

f (t ) 5 12t 8e

3t

Example: determine the inverse

transform of the function below
17

8( s 3)
4 24
V ( s)

2
2
( s 3) (2) ( s 3) 2 (2) 2
8( s 3)
10(2)

2
2
( s 3) (2) ( s 3) 2 (2) 2

Example: determine the inverse

transform of the function below
18

8( s 3)
4 24
V ( s)

2
2
( s 3) (2) ( s 3) 2 (2) 2
8( s 3)
10(2)

2
2
( s 3) (2) ( s 3) 2 (2) 2

v(t ) 8e

3t

cos 2t 10e

3t

sin 2t

Partial Fraction Analysis

19

Example: determine inverse transform

of function below.
20

s6
s6
F ( s) 2

s 3s 2 ( s 1)( s 2)

A1
A2
s6
F (s)

( s 1)( s 2) s 1 s 2
s 6
1 6
A1 ( s 1) F ( s)s 1

5
s 2 s 1 1 2

Example: determine inverse transform

of function below (Contd)
21

A2 ( s 2) F ( s)s 2

s 6
2 6

4
s 1 s 2 2 1

5
4
F ( s)

s 1 s 2
t

f (t ) 5e 4e

2t

Example: determine exponential portion of inverse

transform of function below the inverse transform
of function below
22

50( s 3)
F ( s)
2
( s 1)( s 2)( s 2s 5)

Example: (Contd)
23

50( s 3)
F ( s)
2
( s 1)( s 2)( s 2s 5)

A1
A2
F1 ( s)

s 1 s 2

50( s 3)
(50)(2)
A1

25

2
( s 2)( s 2s 5) s 1 (1)(4)

Example: (Contd)
24

50( s 3)
(50)(1)
A2

10

2
( s 1)( s 2s 5) s 2 (1)(5)
t

f1 (t ) 25e 10e

2t

Complete the inverse transform of the previous

Example
25

50( s 3)
25
10
As B

2
2
( s 1)( s 2)( s 2s 5) s 1 s 2 s 2s 5

50(3)
25 10 B

(1)(2)(5) 1 2 5

B 25

50(4)
25 10 A B

(2)(3)(8) 2 3
8

A 15

25
10
15s 25
F ( s)

2
s 1 s 2 s 2s 5

Example (Contd)
26

15s 25
F2 ( s) 2
s 2s 5
s 2s 5 s 2s 1 5 1 (s 1) (2)
2

15s 25
15( s 1)
5(2)
F2 ( s)

2
2
2
2
2
2
( s 1) (2)
( s 1) (2) ( s 1) (2)

f (t ) f1 (t ) f 2 (t )
t

25e 10e

2t

15e cos 2t 5e sin 2t

Linear differential operators with

constant coefficients
27

The ODE can be written as

y(n) + a1y(n1) + . . . + any = q(x) ;
using the differentiation operator D, we can write
the differntial equation in the following form
(Dn + a1Dn1 + . . . + an) y = q(x)

Example
28

Find the operator form of the following equation:

y + 4y + 4y = e2t
Solution
(D2 + 4D + 4) y = e2t

Procedure for solving differential equations

using Laplace transform
29

d y
dy
b2 2 b1 b0 y f (t )
dt
dt
d2y

dy
L b2 2 b1 b0 y L f (t )
dt
dt

b2 s Y ( s ) sy (0) y '(0)
2

b1 sY ( s) y (0) b0Y ( s) F ( s)

sb2 y(0) b2 y '(0) b1 y(0)

F ( s)
Y ( s)

2
2
b2 s b1s b0
b2 s b1s b0

Example: solve the following differential

equation using Laplace transform
30

dy
2 y 12 y(0) 10
dt
dy
L 2 L y L 12
dt
12
sY ( s) 10 2Y ( s)
s
12
s 2 Y (s) 10
s
10
12
Y ( s)

s 2 s( s 2)

Example: (Contd)
31

A1
A2
12

s( s 2) s s 2
12
12
A1 s

s( s 2) s 0 s 2 s 0
12
12
A2 ( s 2)

6

s( s 2) s 2 s s 2

10 6
6
6
4
Y ( s)


s2 s s2 s s2

y(t ) 6 4e

2t

Example: solve the following differential

equation using Laplace transform
32

dy
2 y 12sin 4t
dt

y(0) 10

12(4)
sY ( s) 10 2Y ( s) 2
s 16
10
48
Y ( s)

2
s 2 ( s 2)( s 16)

B1s B2
48
A

2
2
( s 2)( s 16) s 2 s 16

Example: (Contd)
33

48
48
A 2

2.4

s 16 s 2 20

48
2.4 B1s B2

2
2
( s 2)( s 16) s 2 s 16
48
2.4 B2

(2)(16)
2 16
48
2.4 B1 B2

(1)(17)
1
17

B2 4.8
B1 2.4

Example: (Contd)
34

10
2.4
2.4s
4.8
Y ( s)

2
2
s 2 s 2 s 16 s 16
y(t ) 12.4e

2t

2.4cos 4t 1.2sin 4t