Chapter 2

Review of Laplace Transforms

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ME2142 Feedback Control Systems

C2.1

Mathematical preliminaries
Im

Complex Variable.
Consists of a real part and an
imaginary part

This complex quantity has a

mangnitude , at an angle w.r.t. to
the real axis. We have

s
cos
sin

Re

Complex Conjugate
Given a complex quantity
Its complex conjugate is

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ME2142 Feedback Control Systems

C2.2

Complex Function
Im

G(s) plane

G(s)

Gy
|G(s)|

tan

Re

Therefore
Gx

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ME2142 Feedback Control Systems

C2.3

Example of Complex Function

s-plane
2

Example:

1.5
1

For

Imaginary axis

0.5
0
-0.5
-1

-1.5
-2
-2

-1.5

-1

-0.5

2
2

cos 2

2cos

0
0.5
Real axis

1.5

2.5

G(s)-plane

sin 2

2sin

1.5
1

Imaginary axis

where

0.5
0
-0.5
-1
-1.5
-2
-1

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ME2142 Feedback Control Systems

-0.5

0.5

1
1.5
Real axis

C2.4

Laplace Transforms
A mathematical tool that transforms difficult differential
equations into simple algebraic equations where
solutions can be easily obtained.
Definition:

0 for

Inverse Transform:

1
2

Normally Tables of Laplace Transform pairs are used for taking the
Laplace Transfrom and the Inverse Transforms
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ME2142 Feedback Control Systems

C2.5

Laplace Transform Example 1

Unit Step function
1 ,
0
0
0
Laplace transforms of unit step function

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ME2142 Feedback Control Systems

C2.6

Sample of Laplace Transform Pairs

1

Unitimpulse

Unitstep

1,2,3,

sin

cos

sin

cos

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ME2142 Feedback Control Systems

C2.7

Properties of Laplace Transforms

Linearity:

Example:

Given that

and
sin

So,
3

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5 sin 2
5 sin 2

=3
=3

ME2142 Feedback Control Systems

C2.8

Properties of Laplace Transforms

Time Delay:

Multiply by

Notation:

Example:
e

Example:

Given that

,
0

Then,
2
=e

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=e

ME2142 Feedback Control Systems

C2.9

Properties of Laplace Transforms

Variable transform:

Approach 1:

Given that

Example:
Find

for

therefore,
8
= 8

Approach 2:
8

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1
2

6
/2
48

C2.10

Properties of Laplace Transforms

Multiply by t:

Example:
Given that

therefore,

Find

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for

ME2142 Feedback Control Systems

C2.11

Properties of Laplace Transforms

Derivatives:
"

0
0

0
0

Example:
Given

with initial condition

2.

Then
3
0

3
1
3
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3
2
2

ME2142 Feedback Control Systems

C2.12

Properties of Laplace Transforms

Final value Theorem:
lim

Initial value Theorem:

0

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lim

lim

ME2142 Feedback Control Systems

C2.13

Finding the Inverse

1. By definition

1
2

2. Using the Table of Transform Pairs

3. Using Laplace Transform properties
4. Using Partial Fraction Expansion
(We do not normally use Approach 1. We use a combination of 2 to 4.)

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ME2142 Feedback Control Systems

C2.14

Finding Inverse Using Transform Pairs

Example:
Find the inverse of
Solution:
From Lookup Table

From Table:
5
8

3
16

5
2

3
4

Using property:

2 sin 4

From Lookup Table:

sin

Hence
5

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2 sin 4

ME2142 Feedback Control Systems

C2.15

Finding Inverse Using Transform Pairs

Example:
Find the inverse of
Solution:
2
2

2
2

5
2
1

Noting that:
2
1
Hence

Aug-15

From Lookup Table:

sin 2

sin 2

sin 2
0
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Note:

sin

Using property:

,
,

8
8

ME2142 Feedback Control Systems

Using property:

C2.16

Partial Fraction Expansion

Given a rational function

for
where all and are either
real or in complex conjugate
pair and
are distinct.
Then
can be expanded
into the form of

Example:
Given

6
1

Then

lim

6
1

Therefore

ME2142 Feedback Control Systems

6
6

3
3

Aug-15

We have

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can be expanded into

where

6
1

3
2

C2.17

PFE Involves Multiple Poles

Consider the following
(1) F(s):
The partial-fraction expansion of
this
involves three terms.
(2)

To determine , we multiply both

side by
1 and yields
1

(3)
For

, we let
1

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1.
1
2 1

For , we differentiate (3) w.r.t. s,

yields.
2
2 2
1
(4)
Letting
1 yields
2 1
2 0

For , we differentiate (4) w.r.t. s,

yields.
2 2

1
Thus,
1
2
1
1

ME2142 Feedback Control Systems

C2.18

Solving differential equations

1. Take the Laplace transform of the differential equation
to convert it into an algebraic equation. The Laplace
transform of the dependent variable is then obtained
using simple Algebra.
2. The time function of the dependent variable is then
obtained by taking the inverse of the Laplace
transform.

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ME2142 Feedback Control Systems

C2.19

Solving differential equations

Example:
Solve for y(t) given

y 2 y 5 y 3,

y (0) 0,

y (0) 0

Solution:
Transforming

s Y (s) sy(0) y (0) 2sY (s) y(0) 5Y (s) 3s

2

or

s 2Y ( s ) 2 sY ( s ) 5Y ( s ) ( s 2 2 s 5)Y ( s )

3
s

giving
Y ( s)

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3
s ( s 2 2 s 5)

a
bs c
2
s s 2s 5

ME2142 Feedback Control Systems

C2.20

The End

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ME2142 Feedback Control Systems

C2.21