Keflaio 8

Metasqhmatism Laplace
Orism tou metasqhmatismo Laplace

8.1
O

metasqhmatism

suneqo qrnou.

Laplace

apotele

genkeush

tou

metasqhmatismo

Laplace
Z
x(t)est dt,
X(s) =

metasqhmatism

tou suneqo smato

Fourier
x(t)

gia

ta

smata

orzetai w

ex

pou

enai

migadik

metablht.

En

tastik xona, lambnoume to metasqhmatism

metablht
gia

gia

ti

opoe to

to snolo twn timn

th

s = i
Fourier

jsoume

gia

dhlad

en

tou smato .

oloklrwma uprqei,

metablht

ti

periorisjome

fan-

To snolo twn timn th

onomzetai perioq

opoe uprqei

sto

sgklish .

Prkeitai

to akloujo oloklrwma

|x(t)|e[s]t dt <

Epomnw
tastik

perioq

xona.

sgklish

sgklish

Gia

enai

smata

olklhro

to

orzetai sto

migadik

na dexi hmieppedo orizmeno ap

Pardeigma 8.1.1.
oloklrwma

se

sto

gia

En

kai

z = es

kklou

lwrde parllhle

apluta

aitiat

smata,

me

kntro

perioq

tte

tte

na enai

to

'Ara

fan-

perioq

sgklish

uprqei
den

enai

et , t

|x(t)| 6

oloklrwma

sto

to

>0

parapnw

uprqei,

afo

Den mpore epomnw na sugklnei

Laplace

pou

oloklhrsima

Ikan sunjkh gi' aut enai

mw

ja mporose na sundeje kai me to metasqhmatism

apeikonzei
thn

arq

monadiao kklo tou epipdou

O

Gia

kai

x(t) = ei0 t u(t)

|x(t)| 6 1, t > 0
i
t
0
[s] > 0
x(t) = e , t
t<0
[s] < 0
t>0
t<0
En

O metasqhmatism
apeiknish

eppedo me

dirkeia

eppedo.

[s] >

ja apaitontan gia th sgklish gia

tautqrona gia

migadik

peperasmnh

eujee

sto

parllhle

eppedo

sto

dio

fantastik

fantastik

antstrofo metasqhmatism

Laplace

x(t) =

1
i2

ddei to arqik sma

+i

59

xona

X(s)est ds,

ap

xona

msw th

to

eppedo

apeikonzetai

pou
sthn

oloklrwsh

gnetai

pnw

se

mia

eujea

parllhlh

sto

fantastik

xona

pou

ankei

perioq sgklish .

metasqhmatism

Laplace

tou

kroustiko

smato

(t)

orzetai

se

lo

to

migadik

eppedo kai enai 1.

Pardeigma 8.1.2.

A jewrsoume to sma

x(t) = et u(t).
O

metasqhmatism

Laplace

ja

enai

X(s) =
me perioq sgklish
tou bhmatiko

[s] >

et est dt =

En jsoume

=0

1
,
s+

lambnoume to metasqhmatism

smato

1
X(s) = , [s] > 0.
s

Pardeigma 8.1.3.

A jewrsoume to sma

x(t) = et u(t).
O

metasqhmatism

Laplace

ja

X(s) =

enai

t st

dt =

me

perioq sgklish

Pardeigma 8.1.3.

[s] <

>

A enai o metasqhmatism

Mporome na analsoume se

ex

1
1

s+ s+

[s] > ,

> [s] > ,

x(t) =

En

Laplace

1
,
(s + )(s + )

klsmata

x(t) =
En

e(+s)t dt =

1
X(s) =

En

X(s) =
me

et et
u(t).

1
(et u(t) + et u(t)).

[s] < ,
x(t) =

et et
u(t).

60

1
,
s+

Laplace

8.2

Idithte tou metasqhmatismo Laplace

A ljoume tra se

1.

tou metasqhmatismo

Laplace.

Grammikthta

X1 (s)
X2 (s)

En
kai

2.

merik idithte

enai o metasqhmatism

enai o

metasqhmatism

tte

metasqhmatism

enai

a1 X1 (s) + a2 X2 (s)

Laplace
me

Laplace
Laplace

tou smato
tou

smato

en grammiko

perioq sgklish

x1 (t)
x2 (t)

sunduasmo

R1
R2
a1T
x1 (t) + a2 x2 (t)
R1 R2

me perioq sgklish
me

perioq

twn

sgklish

do

pou egkleei thn tom

Qronik metatpish

x(t t0 )est dt = est0 X(s),

me

3.

thn dia perioq sgklish .

Antistrof qrnou

X(s)

An

tte

enai

metasqhmatism

metasqhmatism

Laplace

Laplace

tou

tou

smato

thn antjeth th arqik , pou sumbolzoume

X(s) = X(s)

tte
Kai

4.

sti

perioq sgklish

x(t)
X(s)
me

perioq

enai

me

sgklish

perioq

x(t) = x(t)
T
R+ R

, tte

ja

enai

R+

sgklish

x(t) = x(t)
X(s) = X(s)

En na sma enai rtio,

En na sma enai peritt,

do periptsei

,
.

Allag klmaka qrnou

X(s)
Laplace
An

enai

perioq sgklish

Metatpish

sto

Laplace

metasqhmatism

tou smato

5.

smato

x(t)

1
s
|a| X( a ),

x(at)
X(s)

enai

tou

tou

x(t)

smato

tte

metasqhmatism

me perioq sgklish ste to

s
a

na ankei sthn

migadik eppedo

es0 t x(t)est dt = X(s s0 ),

me

6.

perioq sgklish

ste

to

s s0

na ankei sthn

perioq sgklish

tou

X(s)

Sunlixh
O metasqhmatism
w

Laplace

y(t)

th

, pou prokptei w sunlixh th

h(t)

x(t)

me th

qei

ex

Y (s) = H(s)X(s)
pou

H(s)

en

sustmato ,

rioq

sgklish

sgklish

7.

enai o metasqhmatism

H(s)

onomzetai

metasqhmatismo

twn do meln th

Paraggish
Isqei

tou

sto

Laplace

th

h(t)

sunrthsh

Y (s)

En

h(t)

metafor

egkleei

thn

sunlixh .

qrno

ti

dx(t) st
e dt = sX(s).
dt

61

enai h kroustik apkrish

tou

tom,

sustmato .

R1

R2

twn

pe-

perioqn

8.

Paraggish
Isqei

sto

migadik eppedo

ti

tx(t)est dt =

9.

Oloklrwsh sto
Isqei

dX(s)
.
ds

qrno

ti

Pardeigma 8.2.1.

Z

x( )d

A jewrsoume to sma

est dt =

(Sqma

X(s)
.
s

4.2)

x(t) = e|t| = et u(t) + et u(t).

O

metasqhmatism

Laplace

ja

enai

X(s) =
me

perioq sgklish

Pardeigma 8.2.2.

> [s] >

1
1
2
+
= 2
,
s + s +
s2
.

'Ara ja

prpei

metasqhmatism

Laplace

me

1 i0 t
e
+ ei0 t u(t).
2

perioq sgklish

Laplace

Pardeigma 8.2.4.

enai

1 i0 t
e
ei0 t u(t).
2i

[s] > 0


1
0
1
1
X(s) =
.
= 2

2i s i0 s + i0
s + 02
me

perioq sgklish

A jewrsoume to sma

x(t) = et cos(0 t)u(t) =

O

ja

A jewrsoume to sma

x(t) = sin(0 t)u(t) =

metasqhmatism

[s] > 0


1
s
1
1
X(s) =
.
= 2
+
2 s i0 s + i0
s + 02

Pardeigma 8.2.3.
O

>0

A jewrsoume to sma

x(t) = cos(0 t)u(t) =

O

na enai

Sqma

ja

enai

2.6(a))

1 +i0 t
e
+ ei0 t u(t).
2

Laplace
[s] >


1
1
1
s+
X(s) =
+
=
.
2 s + i0 s + + i0
(s + )2 + 02

metasqhmatism

me

perioq sgklish

62

ja

enai

Pardeigma 8.2.5.

A jewrsoume to sma

1 +i0 t
e
ei0 t u(t).
2i

x(t) = et sin(0 t)u(t) =

O

metasqhmatism

Laplace

X(s) =

Pardeigma 8.2.6.

1
2i

[s] >

0
1
1
=

.
s + i0 s + + i0
(s + )2 + 02

me

perioq sgklish

ja

enai

A jewrsoume to sma

x(t) = et u(t).
O

metasqhmatism

Laplace

tou

y(t) = tx(t)

ja

Y (s) =
O

metasqhmatism

Laplace

tou

tn x(t)

ja

enai

1
.
(s + )2

enai

n!
.
(s + )n+1

8.3

Metasqhmatism Laplace kai grammik qronik ametblhta

sustmata

A jewrsoume tra ta aitiat sustmata me peirh kroustik apkrish, pou ddontai ap ma
diaforik exswsh

N
X

a(k)

k=0

dk y(t) X
dk x(t)
b(k)
=
.
dt
dt
k=0

Efarmzonta thn idithta th paraggish sto qrno gia to metasqhmatism

ti

sunrthsh

migadik

Oi

rze

metafor

metablht

tou

paranomast

B(s)

auto

tou

sustmato

enai

sh

me

to

prokptei

do

poluwnmwn

th

rze

tou

poluwnmou

tou

PM
k
Y (s)
B(s)
k=0 b(k)s
H(s) =
=
= PN
k
X(s)
A(s)
k=0 a(k)s
onomzontai

onomzontai ploi

Pardeigma 8.3.1.

mhdenik

tou

sustmato ,

en

oi

tou sustmato .

A jewrsoume th

diaforik exswsh

dy(t)
= y(t) + u(t), t > 0, y(0) = 0, > 0.
dt
Qrhsimopointa

Laplace

lgo

to metasqhmatism

Laplace

brskoume

1
sY (s) = Y (s) + ,
s
63

(1exp(t)) Heaviside(t)

0.8

0.6

0.4

0.2

Sqma

8.1:

H bhmatik

2
t

apkrish tou sustmato

1
1
=
Y (s) =
s(s + )

'Ara h

apkrish ja

prth

txh

1
1

s s+

tou Paradegmato 8.3.1.

enai

1
(1 et )u(t).

y(t) =

Pardeigma 8.3.2.

To ssthma

H(s) =
qei

me

sunrthsh

metafor

0
0
=
,
2
2
(s + + i0 )(s + i0 )
(s + ) + 0

: + i0 , i0 .

do plou

PoleZero Map
3

Imaginary Axis

3
1

Sqma

8.2:

Oi

0.8

0.6

0.4

0.2

ploi tou sustmato

0
Real Axis

0.2

0.4

0.6

0.8

deterh txh

tou Paradegmato 8.3.2.

Ikan kai anagkaa sunjkh gia thn eustjeia en sustmato enai h parxh tou metasqhmatismo

Laplace

pnw

sto

fantastik xona,

|h(t)|dt < .

'Ara
tou

ja

prpei

sustmato

perioq
na

sgklish

perilambnei

to

tou

metasqhmatismo

fantastik

64

xona.

Laplace
Enai

th

kroustik

faner

ap

ton

apkrish

orism

th

eustjeia ,
gia
na

ta

ti

la

sustmata

ekfrasje

me

metafor pw

ta

pou
bsh

sustmata

me

orzontai msw
th

jsh

twn

peperasmnh
mia

tou

Gia

na

sunjkh th

gia

prth

txh

A(s)

sunjkh
'Ena

eustaj.

eustjeia

fltro

me

Opte,
mpore

sunrthsh

[s] > 0,

ploi qoun arnhtik pragmatik

ssthma

Gia na ssthma

poluwnmou

enai

en, kai mno en,

A(s) 6= 0
dhlad en loi oi

apkrish

diaforik exswsh ,

rizn

parapnw enai eustaj ,

kroustik

(Pardeigma

mro .

8.3.1)

sunjkh

th

eustjeia

enai

<0

deterh txh me do migadik rze , pw aut tou Paradegmato 8.3.2, h

eustjeia

enai epsh

<0

65