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Laplace Transform
Laplace Transform
1 (t) s cos wt
s w2
2
e Ts (t-T)
sz z 2 w2
1 e at
s w2
2 sin( wt ) tan 1 ( w / z )
w2
sa sin( wt )
s sin w cos
1 1
t n 1 e at s 2 w2
( s a) n (n 1) 1 1 at
1 1 e sin wt
(e at e bt ) ( s a ) 2 w2 w
(s a)( s b) ba
1 1 wn t
s 1 e sin wd t wd wn 1 2
s 2 wn s wn
2
( ae at be bt )
2
wd
( s a)( s b) ab
sa e at cos wt
sz 1 ( s a ) 2 w2
[( z a )e at ( z b)e bt ]
( s a)( s b) ba
sz ( z a) 2 w2 at w
1 e at ebt ect ( s a ) 2 w2 e sin( wt ) tan 1
w2 z a
( s a)( s b)( s c) (b a)(c a) (c b)( a b) (a c)(b c)
1 u (t ) or 1
s
sz ( z a)e at ( z b)ebt ( z c)e ct u (t T )
1 Ts
( s a)( s b)( s c) (b a)(c a) (c b)( a b) (a c)(b c) e
s
w sin wt 1 u (t ) u (t T )
(1 e Ts )
s w2
2
s
F(s) f(t) t > 0
1 1
(1 e at )
s(s a) a
1 1 be at a( z b)ebt
1
s ( s a )( s b) ab b a b a
sz 1 b( z a)e at a( z b)ebt
z
s ( s a )( s b) ab ba b a
1 1
(1 cos wt )
s ( s w2 )
2
w2
sz z z 2 w2
s ( s 2 w2 ) 2
4
cos( wt ) tan 1 ( w / z )
w w
1 1 1 wn t
e sin( wd t )
s(s 2 wn s wn )
2 2 2
wn wn wd
wd wn 1 2 cos 1
1 1
(1 e at ate at )
s(s a)2 a 2
sz
s(s a)2
1
a 2
z ze at a(a z )te at
1 t
s2
1 1
(at 1 e at )
s (s a)
2
a 2
Page 1.1
Response of an underdamped second order system 1. Fractional overshoot
y wn
2
wn
2
2 FO exp
x s 2 wn s wn 2
( s p1 )( s p2 ) 1 2
2. Phase Shift
damping factor
2 wwn wn natural frequency
arctan 2 2
wn w
poles s wn 2 1
3. Resonant Frequency
1
wr wn 1 2 2 ,
2
4. Resonant Peak
1
Mr
2 1 2