Automatic Control

3. Basics of Mathematical tools [1]

김승균 (Seungkeun Kim)
Office: 3-226, skim78@cnu.ac.kr
 Where are we?
Contents
❖ [Ch1] 1. Intro: what is control? & what is feedback?
❖ [Ch2] 2. Mathematical modeling of physical systems
❖ [Ch3] 3. Basics of mathematical tools: ODE, Laplace transform, etc
❖ [Ch3] 4. Transfer function & Block diagram
❖ [Ch3] 5. Effects of Pole locations & Time-domain specifications
❖ [Ch3] 6. Effects of zeros, additional poles, & Stability
❖ 7. Mid-exam

❖ [Ch4] 8. System type

❖ [Ch4] 9. Basic classical control: PID (1) – Definition & PID elements
❖ [Ch4] 10. Basic classical control: PID (2) – Example & Z-N tuning
❖ [Ch5] 11. Root-locus design (1): Intro & how to draw RL
❖ [Ch5] 12. Root-locus design (2): Find a gain from RL & examples
❖ [Ch6] 13. Frequency-response design (1): Intro
❖ [Ch6] 14. Frequency-response design (2): Bode plot
❖ [Ch6] 15. Frequency-response design (3): GM/PM & Final-exam

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 3. Basics of mathematical tools
ODE & Laplace Transform
❖ ODE vs. PDE
◼ IVP (Initial Value Problem)

❖ Laplace transform
◼ A math technique extensively used in control system design & analysis
◼ A very powerful mathematical tool for solving ODEs.
◼ Transforms an ODE to an algebraic eq.

◼ L: Laplace operator
◼ s: Laplace variable

❖ Inverse Laplace Transform

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 3. Basics of mathematical tools
Laplace Transform
❖ The Laplace transform method is a powerful method
◼ for solving linear ODEs and corresponding IVP (initial value problems)

❖ Advantage of the Laplace transform

◼ Problems are solved more directly,
◼ IVPs without first determining a general solution
◼ nonhomogeneous ODEs without first solving the homogeneous ODE.

❖ The use of the unit step function and Dirac’s delta

◼ make the method particularly powerful for problems with inputs that have
◼ Discontinuities

◼ Short impulses

◼ Complicated periodic functions

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 3. Basics of mathematical tools
Laplace Transform

S-domain analysis
(algebraic equation)

Laplace Inverse
Transform Transform

Problem Time domain analysis Answer

(differential equation)

< Relation of Time domain and s-Domain >

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 3. Basics of mathematical tools
Laplace Transform
❖ Ex. L[f(t)]
◼ f(t) = e-at

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 3. Basics of mathematical tools
Laplace Transform
❖ Ex 3.6 LT of step and ramp functions
◼ Step input
𝑎, 𝑖𝑓 𝑡 ≥ 𝑡0
◼ 𝑢 𝑡 − 𝑡0 = {
0 𝑖𝑓 𝑡 < 𝑡0

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http://en.wikibooks.org/wiki/Control_Systems/System_Metrics
 3. Basics of mathematical tools
Laplace Transform
❖ Ex 3.6 LT of step and ramp functions (ctnd)
◼ Ramp input
𝑏𝑡, 𝑖𝑓 𝑡 ≥ 𝑡0
◼ 𝑟 𝑡 − 𝑡0 = {
0, 𝑖𝑓 𝑡 < 𝑡0

◼ cf) Parabolic input

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◼ 𝑝 𝑡 − 𝑡0 = 2 𝑡 2 𝑢(𝑡 − 𝑡0 )

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http://en.wikibooks.org/wiki/Control_Systems/System_Metrics
 3. Basics of mathematical tools
Laplace Transform
❖ Ex 3.7 LT of impulse function (Dirac delta function)
0, 𝑖𝑓 𝑡 ≠ 𝑡0
◼ 𝛿 𝑡 − 𝑡0 ={ ∞
‫׬‬−∞ 𝛿(𝑡 − 𝑡0 ) = 1

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 3. Basics of mathematical tools
Laplace Transform
❖ Ex 3.8 LT of sinusoidal function
◼ 𝑓 𝑡 = 𝑠𝑖𝑛𝜔𝑡

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 3. Basics of mathematical tools
Laplace Transform
❖ Properties of Laplace Transform
◼ Superposition
◼ 𝐿 𝑎𝑓1 𝑡 + 𝑏𝑓2 𝑡 = 𝑎𝐿 𝑓1 𝑡 + 𝑏𝐿{𝑓2 (𝑡)}

◼ Time shifting (same sign)

◼ 𝐿 𝑓 𝑡 −𝝉 𝑢 𝑡 −𝝉 = 𝑒 −𝑠𝝉 𝐹(𝑠)

◼ Freq. shifting (opposite sign)

−𝒂𝑡 𝑓 𝑡
◼ 𝐿 𝑒 = 𝐹(𝑠 + 𝒂)

◼ Time scaling
1 𝑠
◼ 𝐿 𝑓 𝑎𝑡 = 𝐹(𝑎)
𝑎

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 3. Basics of mathematical tools
Laplace Transform
❖ TABLE A.2

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 3. Basics of mathematical tools
Laplace Transform
❖ TABLE A.2 (continued)

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