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Chapter 3
Chapter 3
Laplace Transforms
1. Standard notation in dynamics and control
(shorthand notation)
2. Converts mathematics to algebraic operations
3. Advantageous for block diagram analysis
Laplace Transform
Chapter 3
Example 1:
a
L(a)= ae dt e st
s
0
-st
L(e )= e e dt e
-bt
-bt -st
-(b+s)t
a
a
0
s
s
1
-e ( b s)t
dt
b+s
df
df -st
L(f ) L e dt
dt
dt
0
Usually define
f(0) = 0
sL(f) f(0)
(e.g., the error)
1
s+b
Other Transforms
Chapter 3
d2 f
df
d
L
= L
where =
2
dt
dt
dt
s(s) - (0)
= s sF(s) - f(0) f (0)
= s2F(s) sf(0) f (0)
etc. for
d nf
dt n
e -jt e jt
L(cos t) = L
2
1
1
1
2 s j s j
1 s j
s j
= 2
2 s 2 s2 2
s
= 2
s 2
e jt - e j t
L(sin t) = L
2j
= 2
s
Note:
Chapter 3
Chapter 3
f(t)
F(s)
Chapter 3
f(t)
F(s)
F(s)
Example 3.1
Chapter 3
(3-26)
(3-34)
5s 2
y t L
s 5s 4
From Table 3.1 (line 11),
y t 0.5 0.5e 0.8t
(3-37)
Example:
d3y
d2y
dy
6 2 11 6 y 4
3
dt
dt
dt
y( 0 )= y ( 0 )= y( 0 )= 0
Chapter 3
Step 1
Rearranging,
Y(s)=
4
( s 3 6s 2 11s 6) s
Chapter 3
4
1 2 3 4
s(s +1 )(s + 2 )(s + 3 ) s s 1 s 2 s 3
Multiply by s, set s = 0
4
1 s 2 3 4
(s +1 )(s + 2 )(s + 3 ) s 0
s 1 s 2 s 3
4
2
1
1 2
3
3
s 0
Chapter 3
(Y(s)=
2
2
2
2/3
)
3s
s 1 s 2
s3
2
2
2e t 2e 2t e 3t
3
3
2
t
y(t)
t 0 y (0) 0. (check original ODE)
3
y(t)=
Chapter 3
Chapter 3
1.
2
3s 2 4 s 1
1
3s 4 s 1 (3s 1)( s 1) 3( s )( s 1)
3
2
2.
2s
s2 s 1
Chapter 3
s 2 s 1 (s
1
3
1
3
1
3
j )( s
j ) (s )2 ( )2
2 2
2 2
2
2
3
3
t , e 0.5t cos
t
2
2
Complex roots = oscillation
0.5t
Transforms to e sin
L1[ 3(
3
2
1 2
3 2
(s ) ( )
2
2
)(
1
s
2
1 2
3 2
(s ) ( )
2
2
3
3
y (t ) e (sin( t ) 3 cos( t ))
2
2
)]
Chapter 3
L() = 1
1 st
1
F ( s) e dt (1 e hs ) Use LHopitals theorem
0 h
hs
(h0)
If h = 1, rectangular pulse input
h
Chapter 3
By Laplace transform
1 e s
F (s)
s s
Chapter 3
1
Y(s)= 2
s 3s 2
the denominator can be factored into (s+2)(s+1).
Using the partial fraction technique
1
2
Y(s)=
s 2 s 1
The step response of the process will have exponential terms
e-2t and e-t, which indicates y(t) approaches zero. However, if
Y(s)=
1
1
s 2 s 2 (s 1 )(s 2 )
Other applications of L( ):
A.
Chapter 3
s 0
offset
Y(s)
lim
s 0
a
a
s 1
y t- =e
-s
Y(s)
Chapter 3
t 0
4 s+2
For Y(s)=
s(s+1 )(s+2 )(s+3 )
y( 0 )=0
1
y()=
3
Chapter 3
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