Introduction

Lagrange
Formulation

Bondgraph
Methodology
Modeling and Simulation
MEIE5121/MCTE4150
State-Space &
Simulation

System Models
Time Response
: Mechanical
Systems II

Linearization

Laplace
Laplace
Transform and
Transform
Transfer
Transfer
Function
Function &
& Stability
Stability

MCTE4150/MEIE5121 Modeling & Simulation

 Transform to a set
of 1st order
differential
equations
 x  f ( x, u, t )

 y  h ( x, u , t )
Laplace Transform with
x  Ax  Bu zero Initial Conditions

y  Cx  Du

MCTE4150/MEIE5121 Modeling & Simulation

 Method of Solution using Laplace Transform

time domain

linear time
differential domain
equation solution

Laplace transform
inverse Laplace
transform
Laplace algebra Laplace
transformed
solution
equation

MCTE4150/MEIE5121 Modeling & Simulation

 Basic Tool For Continuous Time: Laplace
Transform


L[ f (t )]  F ( s)  0 f (t )e dt  st

Convert time-domain functions and operations into frequency-domain

– f(t)  F(s) (tR, sC)
– Linear differential equations (LDE)  algebraic
expression in Complex plane

MCTE4150/MEIE5121 Modeling & Simulation

 Example 1 : Step
5

f(t)
u (t ) t

  
e 
 st
1
L[u ( t )]   u ( t )e dt   e dt  
 st  st
 
0 0   s 0 s

MCTE4150/MEIE5121 Modeling & Simulation

 Example

F(s) = e-st e-at dt = 1/(s+a)

MCTE4150/MEIE5121 Modeling & Simulation

 Laplace Transforms of Common Functions

Name f(t) F(s)

1 t 0
Impulse f (t )   1
0 t 0
1
Step f (t )  1
s
1
Ramp f (t )  t
s2
1
Exponential f (t )  e at
sa
1
Sine f (t )  sin( t )  2  s2
s
cosine f (t )  cos t s 2  2

MCTE4150/MEIE5121 Modeling & Simulation

Laplace Transforms of Common Functions

MCTE4150/MEIE5121 Modeling & Simulation

 Laplace Transforms of Common Functions
Introduction

Lagrange
Formulation

Bondgraph
Methodology

State-Space &
Simulation

System Models
: Mechanical
Systems II

Linearization

Laplace
Laplace
Transform and
Transform
Transfer
Transfer
Function
Function &
& Stability
Stability

MCTE4150/MEIE5121 Modeling & Simulation

Translation and Derivative Table for Laplace Transforms

First translation and derivative theorems

f (t )  L1 F s ) F s )  L f (t )
at
e f (t ) F (s  a)
n dn
t f (t ) (1) n
n
F ( s)
ds
f ' (t ) sF ( s )  f (0)

f ' ' (t ) s 2 F (s)  sf (0)  f ' (0)

f ' ' ' (t ) s 3 F (s)  s 2 f (0)  sf ' (0)  f ' ' (0)

MCTE4150/MEIE5121 Modeling & Simulation

 Laplace Transform Properties

Addition/Scaling L[af1 (t )  bf 2 (t )]  aF1 ( s )  bF2 ( s )

d 
Differenti ation L  f (t )  sF ( s )  f (0)
 dt 
Integratio n 
L  f (t )dt  
F ( s) 1
s
  f (t )dt
s
 t 0

t
Convolution  f (t  τ)f (τ )dτ  F (s) F (s)
0
1 2 1 2

Initial-value theorem f (0)  lim sF ( s )

s 

Final -value theorem lim f (t )  lim sF ( s )

t  s 0

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation
 Example
mx  F (t )  bx  kx
b x(t)
F(t)
M
k

X ( s) k
 G( s)  2
F ( s) s b sk
m m
MCTE4150/MEIE5121 Modeling & Simulation
 Transform to a set
of 1st order
differential
equations

x  Ax  Bu Laplace Transform with

zero Initial Conditions
y  Cx  Du

MCTE4150/MEIE5121 Modeling & Simulation

 Solution process
Any nonhomogeneous linear differential
equation with constant coefficients
can be solved with the following
procedure, which reduces the solution
to algebra

MCTE4150/MEIE5121 Modeling & Simulation

 Example

MCTE4150/MEIE5121 Modeling & Simulation

 Example

MCTE4150/MEIE5121 Modeling & Simulation

 Example
d3y d2y dy
3
 6 2
 11  6y  4
dt dt dt
y( 0 )= y( 0 )= y( 0 )= 0
Find y(t) for t > 0
Chapter 3

1. Take Laplace Transform (L.T.)

2. Factor, use partial fraction decomposition
3. Take inverse L.T.

Step 1 Take L.T. (note zero initial conditions)

4
s Y(s)+ 6s Y(s)+11sY(s)  6Y ( s ) =
3 2

MCTE4150/MEIE5121 Modeling & Simulation

 4
Rearranging, Y(s)= 3
( s  6s 2  11s  6) s
Step 2a. Factor denominator of Y(s)

s(s 3+6s 2+11s+6 )=s(s+1 )(s+2 )(s+3 )

Step 2b. Use partial fraction decomposition

Chapter 3

4 α1 α2 α3 α4
   
s(s +1 )(s + 2 )(s + 3 ) s s  1 s  2 s  3

Multiply by s, set s = 0
4  α α α 
 α1  s  2  3  4 
(s +1 )(s + 2 )(s + 3 ) s 0  s  1 s  2 s  3  s 0
4 2
 α1 
1 2  3 3

MCTE4150/MEIE5121 Modeling & Simulation

 For a2, multiply by (s+1), set s=-1 (same procedure
for a3, a4)
2
α2  2, α3  2, α4  
3
2 2 2 2/3
Step 3. Take inverse of L.T. (Y(s)=  +  )
3s s 1 s2 s3
Chapter 3

2 2
y(t)=  2e  t  2e 2t  e 3t
3 3
2 (check original ODE)
t  y(t)  t  0 y (0)  0.
3
You can use this method on any order of ODE,
limited only by factoring of denominator polynomial
(characteristic equation)
Must use modified procedure for repeated roots,
imaginary roots

MCTE4150/MEIE5121 Modeling & Simulation

 Solution process in case of repeated roots
Example
B( s) b b2 b3
s 2  2s  3 Y ( s)   1  
A( s ) s  1 s  1) s  1)
2 3
Y(s)=
( s  1)3

Now
 3 B( s) 
b3  s  1) 
 A( s )  s  1

d  3 B( s) 
b2    )
ds  A( s )  s  1
s 1

d2  3 B( s) 
b1  2 s  1)
ds  A( s )  s  1

MCTE4150/MEIE5121 Modeling & Simulation

 Example

MCTE4150/MEIE5121 Modeling & Simulation

 Example

MCTE4150/MEIE5121 Modeling & Simulation

 Example

MCTE4150/MEIE5121 Modeling & Simulation

 One other useful feature of the Laplace transform
is that one can analyze the denominator of the transform
to determine its dynamic behavior. For example, if
1
Y(s)= 2
s  3s  2
the denominator can be factored into (s+2)(s+1). α1 α2
Chapter 3

Using the partial fraction technique we call -2 and - Y(s)= 

s  2 s 1
1 the roots of the denominator the poles of Y(s)
The step response of the process will have exponential terms
e-2t and e-t, which indicates y(t) approaches zero. However, if
1 1
Y(s)= 2 
s  s  2 (s  1 )(s  2 )
We know that the system is unstable and has a transient
response involving e2t and e-t. e2t is unbounded for
large time. We shall use this concept later in the analysis
of feedback system stability.

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation
 Example

MCTE4150/MEIE5121 Modeling & Simulation

 Relation Between State Space and Transfer
Function

sX (s )  AX (s )  BU (s )  sI  A ) X (s )  BU (s )
Y (s )  CX (s )  DU (s ) 
Y (s )  CX (s )  DU (s )

X (s )   sI  A )1 BU (s )

 Y (s )  CX (s )  DU (s )

MCTE4150/MEIE5121 Modeling & Simulation

 Relation Between State Space and Transfer
Function

X (s )   sI  A )1 BU (s )

 Y (s )  CX (s )  DU (s )

Y (s )  C  sI  A ) BU (s )  DU (s )
1

 )
 C  sI  A ) B  D U (s )
1

MCTE4150/MEIE5121 Modeling & Simulation

 Relation Between State Space and Transfer
Function
Y (s )  C  sI  A ) BU (s )  DU (s )
1


 C  sI  A ) B  D U (s )
1
)
Now,
Y (s )
 C  sI  A ) B  D
1
G (s ) 
U (s )
Recall,
1
 sI  A ) adj  sI  A )
1

sI  A

MCTE4150/MEIE5121 Modeling & Simulation

 Relation Between State Space and Transfer Function

1
 sI  A ) adj  sI  A )
1

sI  A

Y (s ) C adj  sI - A ) B  sI  A D
G (s )  
Hence, U (s ) sI  A
N (s )

sI  A

Is known as the characteristic

sI  A  0 equation, the solution of this
equations are the poles of the
Transfer function

MCTE4150/MEIE5121 Modeling & Simulation