FCS Lecture Notes - TIPQC - 02 - Review of Laplace Transform

Feedback Control System s 6/30/2021
Fernando Victor V. de Vera, ECE, M.Tech

fvictor.devera@gmail.com
fvictordevera@yahoo.com
University of the East – Manila
College of Engineering
Electronics Engineering Department
Part 2 >>Feedback Control Systems

REVIEW OF LAPLACE TRANSFORM
Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech
72
Pierre-Simon, marquis de Laplace

23 March 1749 – 5 March 1827
• A French mathematician and
astronomer whose work was
pivotal to the development
of mathematical astronomy
and statistics.
• He summarized and
extended the work of his
predecessors in his five-
volume Mécanique Céleste
(Celestial Mechanics) (1799–
1825).
• This work translated the
geometric study of classical
mechanics to one based on
calculus, opening up a
broader range of problems.

+fvictordevera 1
73
Laplace Transform
• Used to solve linear, constant-coefficient, integro-
differential equations.
• Relates time function to frequency-dependent function of a
complex variable.
• In TIME-DOMAIN ANALYSIS, we break input x(t) into
impulsive component, and sum the system response to all
these components.
• In FREQUENCY-DOMAIN ANALYSIS, we break the input x(t)
into exponentials components of the form est
 where s is the complex frequency: 𝑠 = 𝛼 + 𝑗𝜔
74
Laplace Transform
• Laplace transform is the tool to map signals and system
behavior from the time-domain into the frequency
domain.

+fvictordevera 2
75
Definition
• For a TWO-SIDED (bilateral) Laplace Transform:
• Let f(t) = real function
ℒ𝑓 𝑡 =𝐹 𝑠 = 𝑓 𝑡 𝑒 𝑑𝑡
 Where:
o 𝑡 = time variable
o 𝑠 = 𝛼 + 𝑗𝜔 = complex variable
76
Definition
• For a ONE-SIDED (unilateral) Laplace Transform:
• Let f(t) = real function at t>=0
ℒ𝑓 𝑡 =𝐹 𝑠 = 𝑓 𝑡 𝑒 𝑑𝑡
 Where:
o 𝑡 = time variable
o 𝑠 = 𝛼 + 𝑗𝜔 = complex variable

+fvictordevera 3
77
Example No. ___

• Use the definition of the Laplace Transform to find F(s)
of the following:
A. f(t) = 1
B. f(t) = e±at (where a is a constant)
C. f(t) = tn
D. f(t) = sin(at)
78
Practice Exercise No.__

Derive the Laplace transform of the ff:
A. 𝑓 𝑡 =𝑡
B. 𝑓 𝑡 = 𝑡𝑒 ±
C. 𝑓 𝑡 = cos 𝑎𝑡
D. 𝑓 𝑡 = 𝑡 sin 𝑎𝑡

+fvictordevera 4
79
Laplace Transform Table

𝒇(𝒕) 𝑭(𝒔)
𝛿 𝑡 1
1
1
𝑠
𝑛!
𝑡
𝑠
1
𝑒±
𝑠∓𝑎
𝑎
sin(𝑎𝑡)
𝑠 +𝑎
𝑠
cos(𝑎𝑡)
𝑠 +𝑎
80
Example No. ___

• Determine the Laplace Transform of the following:
A. f(t) = 2/5t
B. f(t) = 3e^(-4t)
C. f(t) = 5t^5
D. f(t) = -7 sin(4t)
E. f(t) = 2 cos(πt/2)

+fvictordevera 5
81

Find F(s) using the Laplace transform Table:
A. 𝑓 𝑡 = 5 sin 2𝑡
B. 𝑓 𝑡 = 2𝑡
C. 𝑓 𝑡 = 10𝑒
D. 𝑓 𝑡 = 6 sin 9𝑡
E. 𝑓 𝑡 = 8 cos 7𝑡
82
Properties of Laplace Transform

1. Linearity and Superposition
2. Translation in Frequency Domain
3. Translation in Time Domain
4. Initial and Final Value Theorem
5. Laplace Transform of Derivative
6. Laplace Transform of Integral
7. Scaling
8. Power
9. Laplace of Product of Two Functions (Convolution)
10.Inverse Laplace of Product of Two Functions

+fvictordevera 6
83
Linearity and Superposition
ℒ 𝑎𝑓 𝑡 ± 𝑏𝑓 𝑡 = 𝑎𝐹 𝑠 ± 𝑏𝐹 𝑠
Example No. ___

• Determine F(s) if f(t)=2t^4 + 3e^(-2t)
84
Translation in Frequency Domain
ℒ 𝑒± 𝑓 𝑡 =𝐹 𝑠∓𝑎
Example No. ___

Find Y(s)
A. y(t) = 2 e^(4t) t^3
B. y(t) = 5 e^(-2t) cos(6t)

+fvictordevera 7
85

Evaluate the Laplace Transform of the following:
Express your answers in a single fraction.

A. 𝑓 𝑡 = 3𝑒 1 − 3𝑡 + 2𝑡
B. 𝑓 𝑡 =
C. 𝑓 𝑡 = 𝑒 1 + sin 4𝑡 − cos 4𝑡
86
Translation in Time Domain
ℒ 𝑓 𝑡±𝑎 = 𝑒± 𝐹 𝑠
Example No. ___

Find Y(s) Find Y(s)
a) y(t) = (t+2)^2 d) y(t) = 2(t-3) cos(t-3)
b) y(t) = (3t-4)^300 e) y(t) = (t+1) sin(t+2)
c) y(t) = 2t sin(t+3) f) y(t) = 2(t+3) e^-(t+5)
+fvictordevera 8
87

Evaluate the Laplace Transform of the following:
Express your answers in a single fraction.

A. 𝑓 𝑡 = 2 𝑡 − 3 show two different
methods.
B. 𝑓 𝑡 = 𝑒 3𝑡 + 5
C. 𝑓 𝑡 = 𝑡 + 2 sin 𝑡 − 4
D. 𝑓 𝑡 = 𝑒 3𝑡 − 4 cos 5𝑡 + 6
88
Initial and Final Value Theorem

• INITIAL Value, f(0)
𝑓 0 = lim 𝑓(𝑡) = lim 𝑠 𝐹(𝑠)

→ →
• FINAL Value, f(∞)
𝑓 ∞ = lim 𝑓(𝑡) = lim 𝑠 𝐹(𝑠)

→ →

+fvictordevera 9
89
Example No. ___

Find the initial and final values of the following functions:
A. x(t) = 2 – 3e^(-0.5t)
B. y(t) = 4 e^(-2t) cos(10t)
90

Find the initial and final values of the ff:
A. Use 2 methods: 𝑓 𝑡 = 4𝑒 cos 3𝑡
B. Use 2 methods: 𝑓 𝑡 = 𝑒 3𝑡 − 4 cos 5𝑡 + 6

+fvictordevera 10
91

Find the initial and final values of the ff:
A. 𝐹 𝑠 =
B. 𝐹 𝑠 =
92
Laplace Transform of Derivative

𝑑
ℒ 𝑓 𝑡
𝑑𝑡
=𝑠 𝐹 𝑠 −𝑠 𝑓 0 −𝑠 𝑓 (0) − 𝑠 𝑓 (0) − ⋯
−𝑠 𝑓 0
Example No. ___

Find Y(s)
A. 3dy/dt – 2d2y/dt2 = 1; y(0)=1; y’(0)=-2
B. 2d3x/dt3 = y(t)+t+2; x(t)=2e^(-t)

+fvictordevera 11
93
Laplace Transform of Integral

• ℒ ∫ 𝑓 𝑡 𝑑𝑡 = 𝐹 𝑠
Example No. ___

Example: Evaluate Y(s)
A. y(t) = ∫xdt; x=2sin(3t)
94

Evaluate Y(s):
A. Assume zero initial values: 5 = 2𝑦 𝑡 + 0.5 + 4 ∫ 𝑦 𝑑𝑡
B. Assume zero initial values: 10 sin 120𝑡 = 50 𝑦 𝑡 +
×
∫ 𝑦 𝑑𝑡 + 5 × 10
C. 0 = 3 −2 +4 − 5 + 6 ∫ 𝑦𝑑𝑡 with 𝑦 0 = −3,
𝑦′ 0 = 2, 𝑦′′ 0 = 1

+fvictordevera 12
95
Scaling
• ℒ 𝑓 = 𝑎𝐹 𝑎𝑠 ; ℒ 𝑓 𝑏𝑡 = 𝐹
Example No. ___

Example: Evaluate the Laplace Transform:
A. x(t) = 2 sin(3t)
B. y(t) = 3 (t/4) e^(-t/5)
96

Apply scaling to find F(s):
A. 𝑓 𝑡 = 𝑒 cos
B. 𝑓 𝑡 = 2t + sin 6𝑡 − 2 cos 8𝑡
C. 𝑓 𝑡 = 2𝑒 1 − 3𝑡

+fvictordevera 13
97
Power
𝑑
ℒ𝑡 𝑓 𝑡 = −1 𝐹 𝑠
𝑑𝑠
Example No. ___

Evaluate the Laplace Transform:
A. x(t) = 4 t^3 e^(-t/2)
B. y(t) = 2(t-3) cos(t-3)
98

Use the property for power:
A. 𝑓 𝑡 = 𝑡𝑒 cos 3𝑡
B. 𝑓 𝑡 = 𝑡 sin(𝑡 + 1)
C. 𝑓 𝑡 = 𝑡 − 2 sin 3𝑡

+fvictordevera 14
99
Laplace of Product of Two

Functions (Convolution)
1
ℒ𝑓 𝑡 𝑓 𝑡 = 𝐹 𝑤 𝐹 𝑠 − 𝑤 𝑑𝑤
2𝜋𝑗
Inverse Laplace of Product of

Two Functions
ℒ 𝐹 𝑠 𝐹 𝑠 = 𝑓 𝑇 𝑓 𝑡 − 𝑇 𝑑𝑇
100

Find the Laplace Transform of the ff:
A. 𝑥 𝑡 = 2𝑒 cos(2𝑡 − 3)
B. 𝑥(𝑡) = 3𝑡𝑒 sin(4𝑡)
C. 𝑦(𝑡) = sin 2𝑡 cos 3𝑡

+fvictordevera 15
101
Inverse Laplace Transform

ℒ 𝐹 𝑠 =𝑓 𝑡
1
𝑓 𝑡 = 𝐹 𝑠 𝑒 𝑑𝑠
2𝜋𝑗
Where:
c = a constant chosen to ensure the convergence of
the integral
102
Inverse Laplace Transform Table

𝑭 𝒔 𝒇 𝒕
1 𝑡
𝑠 𝑚−1 !
1
𝑒∓
𝑠±𝑎
1 1
𝑠𝑖𝑛 𝑎𝑡
𝑠 +𝑎 𝑎
𝑠
cos(𝑎𝑡)
𝑠 +𝑎

+fvictordevera 16
103
Example No. ___

Evaluate the inverse Laplace Transform using the
transform pairs:
A. 𝐹 𝑠 =
B. 𝐹(𝑠) =
C. 𝐹(𝑠) =
( )
D. 𝐹(𝑠) =
E. 𝐹(𝑠) =
104

Find the time functions by evaluating the inverse
Laplace transform:
a) 𝑌 𝑠 = d) 𝑇 𝑠 =
. . .
b) X 𝑠 = e) W 𝑠 =
c) F 𝑠 =

+fvictordevera 17
105
Using Partial Fraction

Expansion
Let:
𝑃 𝑠
𝐹 𝑠 =
𝑄 𝑠
• CASE 1 Roots of Q(s) are real and distinct

• CASE 2 Roots of Q(s) are real and repeated
• CASE 3 Q(s) in the form (s2+a2)
• CASE 4 Q(s) is in the form (s2+as+b)
106
CASE 1
Roots of Q(s) are real and
distinct
𝑃 𝑠 𝐴 𝐵 𝐶
= + +
𝑠−𝑎 𝑠−𝑏 𝑠−𝑐 𝑠−𝑎 𝑠−𝑏 𝑠−𝑐
Example No. ___

Find the inverse Laplace transform:
A. 𝐹(𝑠) =
B. 𝐹(𝑠) =
( )( )

+fvictordevera 18
107
CASE 2
Roots of Q(s) are Real and
Repeated
𝑃 𝑠 𝐴 𝐵 𝐶 𝐷
= + + + ⋯+
𝑠−𝑎 (𝑠 − 𝑎) 𝑠−𝑎 𝑠−𝑎 𝑠−𝑎
Example No. ___

A. 𝐹 𝑠 = ( )
B. 𝐹(𝑠) = ( )( )
108
CASE 3
Q(s) in the form 2 2
• Complex Roots
𝑃 𝑠 𝐴𝑠 𝐵
= +
(𝑠 + 𝑎 ) (𝑠 + 𝑎 ) (𝑠 + 𝑎 )
Example No. ___

3𝑠 − 1 𝑠 − 2𝑠 + 7
𝑎) 𝐹(𝑠) = 𝑏) 𝐹(𝑠) =
𝑠(𝑠 + 4) 𝑠(𝑠 + 16)
+fvictordevera 19
109
CASE 4
Q(s) is in the form 2
• Complex Roots (Use Completing the

Square)
• Recall:
𝑎
ℒ 𝑒 ± sin(𝑎𝑡) =
𝑠∓𝑏 +𝑎
𝑠∓𝑏
ℒ 𝑒 ± cos(𝑎𝑡) =
𝑠∓𝑏 +𝑎
110
Example No. ___

a) 𝐹 𝑠 =
b) 𝐹(𝑠) = ( )

+fvictordevera 20
111

A. 𝑋 𝑠 =
B. 𝑋(𝑠) =
C. 𝑋(𝑠) =
D. 𝑋(𝑠) =
( )( )
112

Expand into partial fractions:
A. 𝑅 𝑠 =
B. 𝑊 𝑠 =
C. 𝑋 𝑠 =
D. 𝑌 𝑠 =
E. 𝑍 𝑠 =

+fvictordevera 21
113

Find the inverse transform:
A. 𝑅 𝑠 =
B. 𝑊 𝑠 =
C. 𝑋 𝑠 =
D. 𝑌 𝑠 =
E. 𝑍 𝑠 =
114
Additional Transform Pairs

𝑭 𝒔 𝒇 𝒕
1 1
𝑠𝑖𝑛 𝑎𝑡 − 𝑎𝑡 𝑐𝑜𝑠 𝑎𝑡
𝑠 +𝑎 2𝑎
𝑠 1
𝑠 +𝑎 𝑡 𝑠𝑖𝑛 𝑎𝑡
2𝑎
𝑠 1
𝑠𝑖𝑛 𝑎𝑡 + 𝑎𝑡 𝑐𝑜𝑠 𝑎𝑡
𝑠 +𝑎 2𝑎
𝑠 1
𝑐𝑜𝑠 𝑎𝑡 − 𝑎𝑡 𝑠𝑖𝑛 𝑎𝑡
𝑠 +𝑎 2
𝑠 −𝑎
𝑡 𝑐𝑜𝑠 𝑎𝑡
𝑠 +𝑎

+fvictordevera 22
115

Find f(t)
A. 𝐹 𝑠 =
B. 𝐹 𝑠 =
C. 𝐹 𝑠 =
D. 𝐹 𝑠 =
116
End of Part 2
Review of Laplace Transform

15 Examples
15 Practice Exercises

+fvictordevera 23
117

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Feedback Control System s 6/30/2021

Fernando Victor V. de Vera, ECE, M.Tech

Part 2 >>Feedback Control Systems

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Pierre-Simon, marquis de Laplace

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Laplace Transform Table

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Properties of Laplace Transform

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Linearity and Superposition

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Translation in Frequency Domain

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Express your answers in a single fraction.

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Translation in Time Domain

Example No. ___

Practice Exercise No.__

Express your answers in a single fraction.

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Initial and Final Value Theorem

𝑓 0 = lim 𝑓(𝑡) = lim 𝑠 𝐹(𝑠)

• FINAL Value, f(∞)

𝑓 ∞ = lim 𝑓(𝑡) = lim 𝑠 𝐹(𝑠)

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

B. Use 2 methods: 𝑓 𝑡 = 𝑒 3𝑡 − 4 cos 5𝑡 + 6

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Laplace Transform of Derivative

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Laplace Transform of Integral

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Laplace of Product of Two