UNIVERSIDAD TECNOLÓGICA EL RETOÑO “UTR”

BIS-UNIVERSITIES

ENGINEERING IN MECHATRONICS

MATHEMATICS FOR ENGINEERING II

INVESTIGATION PARTIAL 2

TEACHER: CRISTIAN ALEXIS CALVILLO ARELLANO

TEAM MEMBERS:

GABRIELA ALEJANDRA VALADEZ LÓPEZ - 3784

JIMENA GARCIA MACIAS - 3573

PAOLA SARAÍ LUEVANO GOMEZ - 3425

MARYA ANDREA MARTÍNEZ CARREÓN - 3533

ANGEL GABRIEL SERRANO VILLALPANDO - 3510

GROUP: IMT8A

EL RETOÑO AGS., JULY 8th, 2024

INDEX
I. INTRODUCTION...................................................................................................... 1
II. CONCEPTUAL FRAMEWORK...............................................................................1
1.1. Laplace transforms..........................................................................................1
1.2. Linearity...........................................................................................................1
1.3. Convolution..................................................................................................... 2
1.4. Control systems...............................................................................................2
1.5. Inverse transform............................................................................................ 2
III. PRACTICAL APPLICATION.................................................................................. 2
2.1. Dynamic Systems............................................................................................2
2.1. Circuit Theory.................................................................................................. 3
2.3. Signal Analysis................................................................................................ 3
IV. REAL EXAMPLE....................................................................................................4
3.1. Laplace Transform applied to the design of Dynamic Control Systems.......... 4
V. PERSONAL CONCLUSIONS..............................................................................................5

VI. REFERENCES.......................................................................................................7
FIGURE INDEX
Figure 1. Representation on dynamic systems........................................................................ 4
Figure 2. Electric circuit............................................................................................................ 5
Figure 3. Example of a signal calculation.................................................................................5
Figure 4. Electric circuit 2.........................................................................................................6
Figure 5. Block diagram with the initial conditions................................................................... 6
Figure 6. Case study................................................................................................................ 7
 1

I. INTRODUCTION

Laplace transforms are a fundamental mathematical tool that are widely used in various branches of
engineering due to their ability to simplify the analysis and solution of dynamic systems. These
transforms allow converting differential equations, which are usually complicated to solve in the time
domain, into more manageable algebraic equations in the frequency domain. This simplification
capability is especially valuable in fields such as electrical engineering, mechanical engineering,
control engineering and, in particular, mechatronics.
Mechatronics, a discipline that integrates mechanics, electronics, computer science and control,
benefits greatly from the use of Laplace transforms. In mechatronics, systems are often complex and
multivariable, involving both mechanical and electronic components that must interact in a precise
and coordinated manner. The ability to model and analyze these systems efficiently is crucial for the
design and control of mechatronic devices such as robots, automation systems and intelligent
equipment.
In addition, Laplace transforms facilitate the interpretation and solution of electrical and electronic
circuits, which are essential components in mechatronic systems. Converting the differential equations
describing these circuits in the time domain to algebraic equations in the frequency domain simplifies
the analysis of steady-state and transient response. This is crucial to ensure that the circuits operate
optimally and integrate properly with the mechanical and control components.

II. CONCEPTUAL FRAMEWORK

1.1. Laplace transforms

Laplace Transform. It is a powerful mathematical tool formulated to solve a wide variety of

initial-value problems. The strategy is to transform difficult differential equations into simple algebra
problems where solutions can be easily obtained.

1.2. Linearity

This property can be easily extended to more than two functions as shown from the above proof. With
the linearity property, Laplace transform can also be called the linear operator. If a and b are
constants while 𝑓(𝑡) and 𝑔(𝑡) are functions of t whose Laplace transform exists, then
ℒ{𝑎𝑓(𝑡) + 𝑏𝑔(𝑡)} = 𝑎ℒ{𝑓(𝑡) + 𝑏ℒ{𝑔(𝑡)}
 2

1.3. Convolution

In mathematics, the convolution theorem states that, under certain circumstances, the Fourier
transform of a convolution is the dot-to-dot product (or Hadamard product) of the transforms. In other
words, the convolution in one domain (i.e. time domain) is equivalent to the dot-to-dot product in the
other domain (i.e. spectral domain).
𝑡
−1
ℒ = {𝐹(𝑠)𝐺(𝑠)} = (𝑓 ∗ 𝑔)(𝑡) = ∫ 𝑓(𝑡 − 𝑣 )𝑔(𝑣 )𝑑𝑣
0

1.4. Control systems

The Laplace transform is a transformation of integrals that allows us to pass a system from the time
domain to the domain of the complex variable "𝑠", in order to solve our problem through algebraic
equations, and then return to the time domain with the inverse Laplace transform.

1.5. Inverse transform

The inverse Laplace transform is a mathematical process that allows us to recover an original function
in the time domain 𝑓(𝑡) from its representation in the frequency domain 𝐹(𝑠). That is, if we know the
Laplace transform 𝐹(𝑠) of a function 𝑓(𝑡), the inverse Laplace transform allows us to find 𝑓(𝑡).
Formally, the inverse Laplace transform is denoted as

σ+𝑗𝑇
−1 𝑠𝑡
𝑓(𝑡) = ℒ {𝐹(𝑠)} = 1/2π𝑗 ​𝑙𝑖𝑚 𝑇→∞ ∫ ​𝐹(𝑠)𝑒 𝑑𝑠
σ−𝑗𝑇

III. PRACTICAL APPLICATION

2.1. Dynamic Systems

The Laplace transform in dynamic systems allows for identifying key characteristics of these models.
Among these processes, its application stands out in signal analysis, solving differential equations,
analyzing electrical models, calculating transfer functions, representing block diagrams, and
calculating steady-state error. The Laplace transform enables the determination of other characteristic
parameters, such as the transfer function, block diagrams, state representation, frequency analysis, and
how these elements interact with each other. Figure 1 shows a diagram explaining the application of
the transforms in dynamic systems.
 3

Figure 1. Representation on dynamic systems

2.1. Circuit Theory

The Laplace transform provides a very efficient method for solving equations and systems of ordinary
differential equations with constant coefficients. Such equations appear very frequently in Circuit
Theory and, in general, in Systems Theory. An RLC circuit is shown in figure 2 below.

Figure 2. Electric circuit

Starting from Kirchhoff's laws, we obtain the mathematical model for this circuit, which is given by
the ordinary differential equation.
2
𝑑𝑞 𝑑𝑞 1
𝐿 2 +𝑅 𝑑𝑡
+ 𝐶
𝑞 = 𝑒(𝑡)
𝑑𝑡

2.3. Signal Analysis

An example of signal calculation is shown in figure 3 below.

 4

Figure 3. Example of a signal calculation

The function described by Figure 3 is given by:

𝑓(𝑡) = [𝜇(𝑡) + 1. 5 𝑟(𝑡 − 1) − 𝜇(𝑡 − 3) − 3. 5 𝑟(𝑡 − 3) + 2 𝑟(𝑡 − 5) ]

By applying the properties of linearity and time shifting, the transform of the signal is:
−𝑠 −3𝑠 −3𝑠 −5𝑠
1 𝑒 𝑒 𝑒 𝑒
𝑠
+ 1. 5 2 − 𝑠
− 3. 5 2 +2 2
𝑠 𝑠 𝑠

IV. REAL EXAMPLE

3.1. Laplace Transform applied to the design of Dynamic Control Systems

In this project, mathematical resources are detailed and then used to solve dynamic control systems
given the special case of a tank with water inside and the changes in the height of the water with
respect to the amount of liquid that is entering. Considering the differential equations that arise from
the physical laws that govern the system, and their resolution through the Laplace Transform, an
equation is obtained that relates the resulting height with the filling flow.
The case study is to find the water level when the tank achieves equilibrium between the filling flow
Qi and the outflow Qo, in a system as shown in Figure 6.

Figure 6. Case study

The transfer function will allow relating the outflow to the inflow, which is defined as the quotient
between the Laplace transform of the outflow function (water height h), and the transform of the
inflow function (Qi), under the assumption that both initial conditions are 0.
𝐿(ℎ(𝑡))
𝐺(𝑠) = 𝐿(𝑄𝑖(𝑡))

From this concept, it is possible to represent the dynamics of the system by means of algebraic
equations in the variable s. Knowing the laws governing the system, we have the following
relationship:
 5

𝑑ℎ
𝑞𝑖(𝑡) − 𝑞𝑜(𝑡) = 𝐴 𝑑𝑡

The valve resistance is defined as follows:

ℎ(𝑡)
𝑅= 𝑞𝑜(𝑡)

This definition allows to express a very simple linear differential equation:

1 𝑑ℎ
𝑞𝑖(𝑡) − 𝑅
ℎ(𝑡) = 𝐴 𝑑𝑡

Applying Laplace transform to both sides:

1
𝑄𝑖(𝑠) − 𝑅
𝐻(𝑠) = 𝐴𝑠𝐻(𝑠)

By ordering:
1
𝑄𝑖(𝑠) = 𝐻(𝑠)(𝐴𝑠 + 𝑅
)
𝐻(𝑠) 𝑅
𝑄𝑖(𝑠)
= 𝐴𝑅𝑠+1

This last result gives our transfer function. Now, knowing the input variables with their real values,
that is, values or functions that will be presented with the problem, or in any case, that we can
measure, we will be able to obtain with simple calculations the h-value at the equilibrium of the
system.

V. PERSONAL CONCLUSIONS

Angel Gabriel Serrano Villalpando: In mechatronics, using Laplace transforms allows engineers
to convert complex differential equations into simpler algebraic forms in the frequency domain,
facilitating easier analysis. The inverse Laplace transform is essential for bringing these solutions
back into the time domain for practical implementation. Linearity and the principle of superposition
enable the breakdown of complex system behaviors into simpler components, making the overall
analysis more manageable. Convolution helps predict a system's output based on its impulse response,
crucial for control system design. Together, these tools enhance the precision and reliability of
mechatronic systems, leading to advancements in robotics and automation.

Gabriela Alejandra Valadez López: Employing Laplace transforms in mechatronics simplifies

the resolution of differential equations by shifting them to the frequency domain. The inverse Laplace
transform then converts these solutions back to the time domain, making them applicable to
real-world scenarios. The linearity property and superposition principle allow for an easier analysis of
system responses by decomposing them into simpler parts. Convolution is key in determining how a
system responds to various inputs using its impulse response. These mathematical tools are vital for
 6

designing and controlling mechatronic systems, ensuring they perform efficiently and reliably in
applications like intelligent automation.

Marya Andrea Martínez Carreón: Laplace transforms are crucial in transforming time-domain
differential equations into algebraic equations in the frequency domain, simplifying their analysis.
Inverse Laplace transforms are used to revert these solutions back to the time domain. The principles
of linearity and superposition allow for the combination of individual responses to analyze complex
system behaviors. Convolution helps calculate system outputs based on their impulse responses. This
integrated approach is essential for the precise modeling, control, and optimization of mechatronic
systems, enhancing their functionality in fields such as robotics and automated systems.

Paola Sarai Luévano Gómez: By converting differential equations into the frequency domain,
Laplace transforms make it easier to analyze mechatronic systems. The inverse Laplace transform
brings these solutions back to the time domain for practical use. Linearity and superposition principles
simplify the analysis of complex systems by allowing the combination of simpler responses.
Convolution aids in predicting system outputs from impulse responses. These mathematical tools
collectively enable mechatronic engineers to design and control systems more effectively, ensuring
high performance and reliability in advanced technological applications.

Jimena García Macías: In conclusion, the use of Laplace transforms in mechatronics converts
complex time-domain differential equations into simpler algebraic forms in the frequency domain.
The inverse Laplace transform then translates these solutions back to the time domain, making them
applicable to real-world systems. Linearity and superposition help in analyzing system responses by
breaking them down into simpler components. Convolution is essential for determining system
outputs based on impulse responses. These tools are crucial for accurate system modeling, control,
and optimization, leading to the development of efficient and reliable mechatronic systems in
applications like robotics and automation.
 7

VI. REFERENCES

Anonymous. (n.d.). Laplace Transform. ECURED. Retrieved from

https://www.ecured.cu/Transformada_de_Laplace

Anonymous. (2024, June 16). Convolution Theorem. In Wikipedia, the free encyclopedia. Retrieved
from https://es.wikipedia.org/wiki/Teorema_de_convoluci%C3%B3n

Castaño Giraldo, S. A. (n.d.). Laplace Transform in System Analysis. Control Automático Educación.
Retrieved from
https://controlautomaticoeducacion.com/analisis-de-sistemas/6-transformada-de-laplace-en-analisis-d
e-sistemas/#google_vignette

Anonymous. (n.d.). Linearity Property | LaPlace Transform. MATHalino. Retrieved from

https://mathalino.com/reviewer/advance-engineering-mathematics/linearity-property-laplace-transfor
m

Lorenzo, R. (2019). Analysis of an Electrical Network in the Complex Frequency Domain using the
Laplace Transform: Simulation and Analysis. Steemit. Retrieved from
https://steemit.com/stem-espanol/@lorenzor/analisis-de-una-red-electrica-en-el-dominio-de-la-frecuen
cia-compleja-a-partir-de-la-transformada-de-laplace-simulacion-y

Menchi, L. I. (June 2015). Laplace Transform applied to the design of dynamic control systems.
Universidad Nacional del Sur. Retrieved from http://lcr.uns.edu.ar/fvc/transformada_de_laplace.htm