Exercise 1 and 2

HELP AND REVISION

Revise exercise 1 from first lecture on Laplace transforms

• Issues related to the first exercise:

• Higher order model (compared to the example)
• Nominator is non-zero (two zeros)
• Imaginary poles which can result in imaginary terms in the solutions (if not converted to real terms)
Revise exercise 1 from first lecture on Laplace transforms

• Last part of Exercise 1 will be shown in these • Three approaches for doing the partial
slides. At this point Y(s) is isolated as: fraction decomposition:
1
𝑠
+3𝑠+5 3𝑠 2 +5𝑠+1 - Variable substitution method
• 𝑌 𝑠 = 𝑠 3 +𝑠 2 +𝑠+1
= 𝑠(𝑠3 +𝑠2+𝑠+1)
- Matrix row operations
• Next steps - ”Cover-up” method
1. Find the characteristic equation
𝑠(𝑠 3 + 𝑠 2 + 𝑠 + 1) = 0 = 𝑠(𝑠 + 1)(𝑠 + 𝑖)(𝑠 − 𝑖)
• You can validate in MATLAB:
1. Partial fraction decomposition
3𝑠 2 + 5𝑠 + 1 𝐴 𝐵 𝐶 𝐷 - Or in MATLAB: use solve(eq,var) ☺
= + + + Code:
𝑠(𝑠 3 + 𝑠 2 + 𝑠 + 1) 𝑠 𝑠+1 𝑠+𝑖 𝑠−𝑖
syms A B C D;
3. Inverse Laplace transform, to find the
[As,Bs,Cs,Ds]=solve(A-1==0, A+B-i*C+i*D==5, A+(-
solution to the differential equation i+1)*C+(i+1)*D==3, A+B+C+D==0)
Y(t)=𝐴 + 𝐵𝑒 −𝑡 + 𝐶𝑒 −𝑖𝑡 +𝐷𝑒 𝑖𝑡
4. Use Euler's identity for cosine and sine to get rid
of the imaginary part of the solution
𝑒 𝑖𝑡 = cos 𝑡 + 𝑖𝑠𝑖𝑛(𝑡), and use
𝒆𝒋𝒕 − 𝒆−𝒋𝒕 𝒆𝒋𝒕 + 𝒆−𝒋𝒕
𝐬𝐢𝐧 𝒕 = , 𝐜𝐨𝐬 𝒕 =
𝟐𝒋 𝟐
Revise exercise 1 - Partial fraction decomposition –
Variable subtitutions and matrix operations

3𝑠 2 + 5𝑠 + 1 𝐴 𝐵 𝐶 𝐷 • Three approaches for doing the partial

=
+ + +
𝑠(𝑠 + 1)(𝑠 + 𝑖)(𝑠 − 𝑖) 𝑠 𝑠 + 1 𝑠 + 𝑖 𝑠 − 𝑖 fraction decomposition:
• For the ”variable subtitution” and ”matrix - Variable substitution method
operation” methods:
3𝑠 2 + 5𝑠 + 1 - Matrix row operations
= 𝐴 𝑠 + 1 𝑠 + 𝑖 𝑠 − 𝑖 + 𝐵𝑠 𝑠 + 𝑖 𝑠 − 𝑖 + 𝐶𝑠 𝑠 + 1 𝑠 − 𝑖 - ”Cover-up” method
+ 𝐷𝑠 𝑠 + 1 𝑠 + 𝑖 ֞
3𝑠 2 + 5𝑠 + 1
= 𝐴 + 𝐵 + 𝐶 + 𝐷 𝑠3 + 𝐴 + 1 − 𝑖 𝐶 + 1 + 𝑖 𝐷 𝑠2 • Or in MATLAB:
+ 𝐴 + 𝐵 − 𝑖𝐶 + 𝑖𝐷 𝑠 + 𝐴
- Four equations with four unknowns - In MATLAB: use solve(eq,var) ☺
Equations 1: A=1 Code:
Equations 2: A+B-iC+iD=5 syms A B C D;
Equations 3: A+(1-i)C+(1+i)D=3 [As,Bs,Cs,Ds]=solve(A-1==0, A+B-i*C+i*D==5, A+(-
Equations 4: A+B+C+D=0 i+1)*C+(i+1)*D==3, A+B+C+D==0)
- Either use ”variable subtitution” as shown in MM1
Exercise 1 or do Matrix row operations (see below):

1 0 0 0 |1
1 1 −𝑖 𝑖 |5
1 0 1−𝑖 1+𝑖 |3
1 1 1 1 |0
Revise exercise 1 - Partial fraction decomposition - Cover-up method

3𝑠 2 + 5𝑠 + 1 𝐴 𝐵 𝐶 𝐷 • Three approaches for doing the partial

= + + +
𝑠(𝑠 + 1)(𝑠 + 𝑖)(𝑠 − 𝑖) 𝑠 𝑠+1 𝑠+𝑖 𝑠−𝑖 fraction decomposition:
- Variable substitution method
• For the ”cover-up” method: - Matrix row operations
- ”Cover-up” method
𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = (𝑡𝑓 ∙ 𝑓𝑟𝑎𝑐𝑡𝑖𝑜𝑛 𝑑𝑒𝑛𝑜𝑚)|𝑠=𝑓𝑟𝑎𝑐𝑡𝑖𝑜𝑛 𝑝𝑜𝑙𝑒
3𝑠 2 + 5𝑠 + 1 3∙0+5∙0+1
𝐴= ∙ 𝑠อ = • Or in MATLAB:
𝑠(𝑠 + 1)(𝑠 + 𝑖)(𝑠 − 𝑖) (0 + 1)(0 + 𝑖)(0 − 𝑖)
𝑠=0
1 - In MATLAB: use solve(eq,var) ☺
= =1 Code:
1
• Repeat procedure for B, C and D syms A B C D;
[As,Bs,Cs,Ds]=solve(A-1==0, A+B-i*C+i*D==5, A+(-
i+1)*C+(i+1)*D==3, A+B+C+D==0)
Revise exercise 1
Alternatively for the avoiding the complex solution

If A, B, C and D are identified using partial

fraction decomposition like on the previous
slides:
• Instead of using Euler identity conversion, it
is often easier to convert the two imaginary
𝐶 𝐷
(first order) terms 𝑠+𝑖 𝑎𝑛𝑑 𝑠−𝑖 into one
(second order) term with common
denominatior: 𝑠 + 𝑖 𝑠 − 𝑖 = 𝑠 2 + 1.

Demonstration on the black board

Revise exercise 1 - Partial fraction decomposition - Alternative

Alternatively (for avoiding the imaginary solution conversion), C and D can directly be described:
3𝑠 2 + 5𝑠 + 1 𝐴 𝐵 𝐶𝑠 + 𝐷
= + +
𝑠(𝑠 + 1)(𝑠 2 + 1) 𝑠 𝑠 + 1 𝑠 2 + 1
We know that: A=1 and B=0.5
• Only last term is considered by substituting A and B:
2
𝑠(𝑠 + 1)(𝑠 2 + 1) 0.5𝑠(𝑠 + 1)(𝑠 2 + 1) (𝐶𝑠 + 𝐷)𝑠(𝑠 + 1)(𝑠 2 + 1)
3𝑠 + 𝟓𝑠 + 1 = + +
𝑠 𝑠+1 𝑠2 + 1
= (𝑠 3 +𝑠 + 𝑠 2 + 1) + 0.5𝑠 3 + 0.5𝑠 + 𝐶𝑠 3 + 𝐶𝑠 2 + 𝐷𝑠 2 + 𝐷𝑠 = 𝟏. 𝟓 + 𝑪 𝑠 3 + 1 + 𝐶 + 𝐷 𝑠 2 + 𝟏. 𝟓 + 𝑫 𝑠 + 1
𝟏. 𝟓 + 𝑫 = 𝟓 ↔ 𝑫 = 𝟑. 𝟓 𝟏. 𝟓 + 𝑪 = 𝟎 ↔ 𝑪 = −𝟏. 𝟓
𝐷 3.5
Cs + D s+ s− s 1
ℒ −1 2 = 𝐶 ∙ ℒ −1 2 𝐶 ⇒ −1.5ℒ −1 2 1.5 = −1.5ℒ −1 2 + 3.5ℒ −1 2
s +1 s +1 s +1 s +1 s +1
= −𝟏. 𝟓𝐜𝐨𝐬 𝒕 + 𝟑. 𝟓𝒔𝒊𝒏 𝒕
• The inverse Laplace transform table states that:
𝜔 𝑠+𝑏
ℒ −1 (𝑠+𝑏)2 +𝜔2
= 𝑒 −𝑏𝑡 sin 𝜔𝑡 , ℒ −1
(𝑠+𝑏)2 +𝜔2
= 𝑒 −𝑏𝑡 cos 𝜔𝑡 , If b and 𝝎 are real numbers.
Revise exercise 1 - Laplace transform – Look-up table

• When the partial fraction decomposition is carried out, the inverse Laplace transform can be carried out
• A general look-up table for easier application
Revise exercise 1 - The final solution

1 1 s 1
ℒ −1 𝑌(𝑠) = ℒ −1 + 0.5ℒ −1 −1.5ℒ −1 + 3.5ℒ −1 =
𝑠 𝑠+1 s2 + 1 s2 + 1

𝒚 𝒕 = 𝟏 + 0.5𝒆−𝒕 − 𝟏. 𝟓𝐜𝐨𝐬 𝐭 + 𝟑. 𝟓𝐬𝐢𝐧 𝐭

• Bonus question: Notice the cos(t) and sin(t). What type of stability is this?
Revise exercise 1 - The final solution

1 1 s 1
ℒ −1 𝑌(𝑠) = ℒ −1 + 0.5ℒ −1 −1.5ℒ −1 + 3.5ℒ −1 =
𝑠 𝑠+1 s2 + 1 s2 + 1

𝒚 𝒕 = 𝟏 + 0.5𝒆−𝒕 − 𝟏. 𝟓𝐜𝐨𝐬 𝐭 + 𝟑. 𝟓𝐬𝐢𝐧 𝐭

• Bonus question: Notice the cos(t) and sin(t). What type of stability is this?

Marginal stability
Revise exercise 1 - The final solution – Validating using MATLAB

1. Define symbolics (variables): syms y(t)

2. Define derivatives: Dy = diff(y,t); … etc.
3. Define differential equation: eqn = … == constant
4. Define initial conditions: cond = [Dy(0)==…,…]
5. Use: dsolve(eqn,solve) for solving the differential equation

This MATLAB script is put on Moodle called: “Exercise 1 (dsolve) - For verification of the solution”
Revise exercise 2 from first lecture on Laplace transforms

• Related to exercise 1, but now also considering inputs

• If this exercise has not yet been solved, this can be done in this lecture’s assignment period

• Page 106 in the textbook (example 3.6 and 3.7): For further understanding of the Laplace
transforms of Impulse, step and ramp inputs; Impulse: 1, Step: 1/s, Ramp: 1/s^2
Useful literature for solving different equations with the Laplace transform

Partial fraction decomposition

• Lecture from Stansted: https://web.stanford.edu/~boyd/ee102/rational.pdf
• Book: Erwin Kreyszig – Advanced Engineering Mathematics, 9th edition

Cover-up method and inverse Laplace transform of real and complex poles
http://lpsa.swarthmore.edu/LaplaceXform/InvLaplace/InvLaplaceXformPFE.html