Chapter Objective: - Understand Laplace Transform - Use Laplace Transform To Solve ODE

Chapter 2
Review of Laplace Transforms
Chapter Objective:
• Understand Laplace Transform
• Use Laplace Transform to solve ODE
Aug-18 C2.1
ME2142 Feedback Control Systems
© Copyright ME, NUS. All Rights Reserved.
Mathematical preliminaries
Im
• Complex Variable.
– A complex variable
consists of a real part ( ) and an imaginary 

part ( )
r
– It has a mangnitude , at an angle w.r.t.
to the real axis. 
Re
– We have 
s cos sin
∠
• Complex Conjugate  ̅
– Given a complex quantity ,

– Its complex conjugate is
– ̅ or ∠
Aug-18
ME2142 Feedback Control Systems C2.2
Arithmetic operation of complex number
Given and , we have
• Equality of complex number
⇔ and
• Addition and subtraction
• Multiplication
• Division
Aug-18
Complex Function
• Im G(s) – plane
•
G(s)
Gy
• tan
|G(s)|
• Therefore (s)
Re
•
Gx
Aug-18
Example of Complex Function
s-plane
2
• Example: 1.5
– 0.5
Imaginary axis
0
– For ,
-0.5
-1
-1.5
– -2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Real axis
G(s)-plane
2 2
1.5
2 cos 2 2cos sin 2 2sin
1
0.5
Imaginary axis
– where 0
– -0.5
-1
– -1.5
-2
-1 -0.5 0 0.5 1 1.5 2 2.5 3
Real axis
Aug-18 ME2142 Feedback Control Systems C2.5

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

• Inverse Transform:
1
≡
2
– Normally Tables of Laplace Transform pairs are used for taking the
Laplace Transform and the Inverse Transforms
Aug-18
Laplace Transform Example 1
• Unit Step function
1.0
1 , 0
–
0 0
– Laplace transforms of unit step function
0
Aug-18
• Unit Ramp function
1.0
, 0
–
0 0
– Its Laplace transform will be
0 1.0
1
0
1
Aug-18
• Exponential function
– 1.0
– We have
Aug-18
• Sinusoidal functions
– sin , 0
1.0
– Since, sin
1 0
sin -1.0
2
1 1 1
2
1
2
– Similarly,
cos
Aug-18
Sample of Laplace Transform Pairs
1 Unit impulse 1
1
2 Unit step

!
3 , 1,2,3, …
 For n=1
1
4

5 !
6 sin

cos
7

8 sin
9 cos
Aug-18
Properties of Laplace Transforms
• Linearity: • Example:
– Given that
• and
• sin
– So,
3 5 sin 2
=3 5 sin 2
=3 5

• Time Delay: • Multiply by :
– Notation: –
– • Example:
• Example: e e
– Given that =
!
•
• ,
0
– Then,
2
=e =e

• Variable transform: • Approach 1:
1 – Given that
!
•
• Example:
– therefore,
– Find for 8 8
= 8 =
• Approach 2:
8 2
1 6
2 /2
48

• Multiply by t: • Example:
– Given that
•
– therefore,
⋮
1
= = 2 =
– Find for 8

• Derivatives:
0 0
"
0 0 0 0
⋮
0 0 ⋯ 0
• Example:
Given 3 with initial condition 0 2.
Then
3
1
0 3
1
3 2
1 2
3 3
Aug-18
• Final value Theorem:
lim lim
→ →
• Initial value Theorem:

0 lim
→
Aug-18
Properties of Laplace Transform
1 Linearity
2a Time Delay
2b Multiply by
3 1 Time‐factor
4 Multiply by t
1
5 0 0 ⋯ 0 Derivatives
6 lim lim Final value
→ →
Theorem
7 0 lim Initial value
→
Theorem
Aug-18
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.)
Aug-18
Finding Inverse Using Transform Pairs
• Example:
Find the inverse of

• Solution:
From Table: From Lookup Table

5 1
5 5 Using property:
3 3
8 4
2 2 sin 4
16 4 From Lookup Table: sin
Hence
5 2 sin 4
Linearity property
Aug-18
Finding Inverse Using Transform Pairs
• Example:
Find the inverse of
• Solution:
2 2
2 5 2 5
2
Note: 1 2 1
1 2
Noting that: sin 2 From Lookup Table: sin
2
sin 2 Using property:
1 2
Hence
sin 2 8 , 8
Using property:
0 , 8
Aug-18
Partial Fraction Expansion
• Given a rational function • Multiply both sides by
yields
⋯
,
⋯
for
• Taking the limit of → , LHS
• where all are either real or in
becomes
complex conjugate pair and ′ are lim
→
distinct.
• For the RHS, we have
• We try to express in the form of
lim
∑ (*) →
lim • Therefore, for (*)

→ lim
→

PFE Example 1
• Example:
Given
Then can be expanded into
We have
1
3
Therefore
3 6 3
Aug-18
PFE Involves Repeated Poles
• Consider the following F(s): For , we differentiate (3) w.r.t. s,
2 3 yields.
(1)
1 2 2 2 1 (4)
The partial-fraction expansion of Letting 1 yields
this involves three terms. 2 1 2 0
(2) 1 1 1
To determine , we multiply both For , we differentiate (4) w.r.t. s,
side by 1 and yields yields.
(3) 1 1 1 2 2
For , we let 1. ⇒ 1
1 Thus,
1 2 1 3 2 1 2
1 1

PFE Involves Repeated Poles …
• From previous example, we can summarize the repeated poles as
follows:
• Given
⋯
• where
|
Aug-18
Inverse Laplace Transform – Example 1
• Given
• Solution:
– Expand in partial fraction form will yields
1 2 3
where
5 3
lim 1 1
→ 2 3
5 3
lim 2 7
→ 1 3
5 3
lim 3 6
→ 1 2
i.e.
– Taking inverse Laplace transform from the table will yields
7 6
Aug-18
Complex poles
• Given – Alternatively, we re-arrange as
• Solution: (2 Approaches)
– Method 1: – Noting that,
– sin , cos
and the property,
– where
1 2 |
– We have,
cos 2 , and
1 2 |
sin 2
– Taking inverse Laplace transform
– Hence,
2 cos 2 5 sin 2
4 10 4 10
4 10
8 cos 2 20 sin 2
2 cos 2 5 sin 2

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.
Aug-18
Solving differential equations
• Example:
Solve the ODE. given below
2 5 3, 0 0, 0 0
Solution:
Taking Laplace Transform on the above ODE. yields
3
0 0 2 0 5
with the initial conditions, we have

3
2 5
giving

Taking inverse of Y(s)
.
1 cos 2 0.5 sin 2
Aug-18
Complex poles
• Given
• Solution:
– where
2 | 1
1 | 2
1 |
– Therefore,
– Taking inverse Laplace transform

1 2t
Aug-18
The End


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Chapter 2

Review of Laplace Transforms

consists of a real part ( ) and an imaginary 

– Given a complex quantity ,

Aug-18 ME2142 Feedback Control Systems C2.5

Aug-18 ME2142 Feedback Control Systems C2.12

Aug-18 ME2142 Feedback Control Systems C2.13

Aug-18 ME2142 Feedback Control Systems C2.14

Aug-18 ME2142 Feedback Control Systems C2.15

• Initial value Theorem:

(We do not normally use Approach 1. We use a combination of 2 to 4.)

Find the inverse of

From Table: From Lookup Table

lim • Therefore, for (*)

Aug-18 ME2142 Feedback Control Systems C2.22

Then can be expanded into

Aug-18 ME2142 Feedback Control Systems C2.24

Aug-18 ME2142 Feedback Control Systems C2.27

with the initial conditions, we have

1 cos 2 0.5 sin 2

– Taking inverse Laplace transform

Aug-18 ME2142 Feedback Control Systems C2.31

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