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Laplace Transforms: D S S J
Laplace Transforms: D S S J
Topics:
Laplace transforms
Using tables to do Laplace transforms
Using the s-domain to find outputs
Solving Partial Fractions
Objectives:
To be able to find time responses of linear systems using Laplace transforms.
17.1 INTRODUCTION
Laplace transforms provide a method for representing and analyzing linear systems using algebraic methods. In systems that begin undeflected and at rest the Laplace s
can directly replace the d/dt operator in differential equations. It is a superset of the phasor
representation in that it has both a complex part, for the steady state response, but also a
real part, representing the transient part. As with the other representations the Laplace s is
related to the rate of change in the system.
D = s
s = + j
Figure 17.1
The Laplace s
The basic definition of the Laplace transform is shown in Figure 17.2. The normal
convention is to show the function of time with a lower case letter, while the same function in the s-domain is shown in upper case. Another useful observation is that the transform starts at t=0s. Examples of the application of the transform are shown in Figure 17.3
for a step function and in Figure 17.4 for a first order derivative.
F(s) =
0 f ( t )e
st
dt
where,
f ( t ) = the function in terms of time t
F ( s ) = the function in terms of the Laplace s
Figure 17.2
Figure 17.3
f ( t )e
st
dt =
5e
st
5 st
dt = --- e
s
s0
5 s
5
5e
= --- e
------------ = --s
s
s
d
st
G ( s ) = L [ g ( t ) ] = L ----- f ( t ) = (d/dt)f ( t )e dt
dt
0
we can use integration by parts to go backwards,
b
u dv = uv a v du
b
0 (d/dt)f ( t )e
st
dt
therefore,
st
du = df ( t )
v = e
u = f(t)
dv = se
f ( t ) ( s )e
st
dt = f ( t )e
(d/dt)f ( t )e
st
st
0
dt = [ f ( t )e
st
dt
(d/dt)f ( t )e
st
dt
f ( t )e
0s
] + s f ( t )e
st
dt
d
L ----- f ( t ) = f ( 0 ) + sL [ f ( t ) ]
dt
Figure 17.4
The previous proofs were presented to establish the theoretical basis for this
method, however tables of values will be presented in a later section for the most popular
transforms.
FREQUENCY DOMAIN
TIME DOMAIN
f(t )
f(s )
Kf ( t )
KL [ f ( t ) ]
f1 ( t ) + f2 ( t ) f3 ( t ) +
df ( t )
----------dt
f 1 ( s ) + f 2 ( s ) f 3 ( s ) +
sL [ f ( t ) ] f ( 0 )
d f(t )
-------------2
dt
n
d------------f ( t )n
dt
n1
s L[f(t ) ] s
0 f ( t ) dt
L
[ f ( t ) -]
---------------s
f ( t a )u ( t a ), a > 0
at
f(t)
f ( at ), a > 0
tf ( t )
n
t f(t)
as
L[ f( t )]
f(s a)
1--- --s-
f
a a
-------------df ( s -)
ds
n
n d f(s)
( 1 ) -------------n
ds
f------( t )t
f ( u ) du
s
Figure 17.5
df ( 0 )
s L [ f ( t ) ] sf ( 0 ) -----------------dt
2
f(0 ) s
n 2 df ( 0
n1
d
f(0
------------------) ------------------------n
dt
dt
L [ x + 7x + 8x = 9 ] =
Figure 17.6
where,
x(0) = 1
x(0) = 2
x(0) = 3
The Laplace transform tables shown in Figure 17.7 and Figure 17.8 are normally
used for converting to/from the time/s-domain.
TIME DOMAIN
(t)
unit impulse
step
ramp
FREQUENCY DOMAIN
A
--s
1
---2
s
2
----
s
n!
-----------
t ,n>0
s
e
at
exponential decay
sin ( t )
cos ( t )
n+1
1---------s+a
----------------2
2
s +
s
----------------2
s +
at
1
------------------2
(s + a)
2 at
2! -----------------3
(s + a)
te
t e
Figure 17.7
TIME DOMAIN
e
e
at
sin ( t )
at
cos ( t )
at
FREQUENCY DOMAIN
------------------------------2
2
(s + a) +
s+a ------------------------------2
(s + a) +
------------------------------2
2
(s + a) +
sin ( t )
at
2Ae
C aB
B cos t + ----------------- sin t
t
2t A e
complex conjugate
complex conjugate
A
A
------------------------------ + ------------------------------------2
2
( s + j )
( s + + j )
cos ( t + )
at
bt
( c a )e ( c b )e
--------------------------------------------------------ba
at
bt
e e
-----------------------ba
Figure 17.8
Bs + C
-------------------------------2
2
(s + a) +
A
A
----------------------+ -------------------------------------s + j
s + + j
cos ( t + )
s+c
-------------------------------( s + a)(s + b)
1
-------------------------------( s + a)(s + b)
f ( t ) = 5 sin ( 5t + 8 )
f(s ) = L[ f( t) ] =
Figure 17.9
5
6
f ( s ) = --- + ----------s s+7
1
f(t ) = L [ f(s )] =
Figure 17.10 Drill Problem: Converting from the s-domain to time domain
shown in the mass-spring-damper example in Figure 17.11. In this case we assume the
system starts undeflected and at rest, so the D operator may be directly replaced with the
Laplace s. If the system did not start at rest and undeflected, the D operator would be
replaced with a more complex expression that includes the initial conditions.
F = MD x + K d Dx + K s x
Ks
Kd
F
( t )2
--------= MD + K d D + K s
x( t)
F(t)
F( s)
2
L ---------- = ----------- = Ms + K d s + K s
x( t)
x(s )
d f ( t -)
d f ( 0 )n
n1
n 2 df ( 0 )
------------------ ------------------L ------------= s L[f(t )] s
f(0 ) s
n
n
dt
dt
dt
Device
Time domain
Resistor
V ( t ) = RI ( t )
V ( s ) = RI ( s )
Z = R
1
V ( t ) = ---- I ( t ) dt
C
d
V ( t ) = L ----- I ( t )
dt
1 I(s)
V ( s ) = ---- -------- C s
1
Z = -----sC
Z = Ls
Capacitor
Inductor
s-domain
V ( s ) = LsI ( s )
Impedance
Figure 17.13 shows an example of circuit analysis using Laplace transforms. The
circuit is analyzed as a voltage divider, using the impedances of the devices. The switch
that closes at t=0s ensures that the circuit starts at rest. The calculation result is a transfer
function.
L
t=0sec
Vi
+
-
+
Vo
-
1
Vi ------------------
R
1
V i ----------------------
DC + ---
1
+
DCR
R
R
R
D R LC + DLR + R
----------------------
DLR
+
1
1 + DCR
DL + ------------------
1
DC + ---
R
Vo
R
------ = -------------------------------------------- 2 2
Vi
s R LC + sLR + R
= 0 for t < 0
= A for t >= 0
A
F ( s ) = L [ F ( t ) ] = --s
Figure 17.14 An input function
In the previous section we converted differential equations, for systems, to transfer
functions in the s-domain. These transfer functions are a ratio of output divided by input.
If the transfer function is multiplied by the input function, both in the s-domain, the result
is the system output in the s-domain.
Given,
x ( s )1
---------= ------------------------------------2
F( s)
Ms + K d s + K s
A
F ( s ) = --s
Therefore,
x( s)
1
- A
--x ( s ) = ----------- F ( s ) = ------------------------------------2
F ( s )
Ms + K d s + Ks s
Assume,
Ns
K d = 3000 -----m
N
K s = 2000 ---m
M = 1000kg
A = 1000N
1
x ( s ) = --------------------------------2
( s + 3s + 2 )s
smaller, simpler components. The previous example in Figure 17.15 is continued in Figure
17.16 using a partial fraction expansion. In this example the roots of the third order
denominator polynomial, are calculated. These provide three partial fraction terms. The
residues (numerators) of the partial fraction terms must still be calculated. The example
shows a method for finding resides by multiplying the output function by a root term, and
then finding the limit as s approaches the root.
1
A
B
C
1
= ------------------------------------ = --- + ----------- + ----------x ( s ) = --------------------------------2
( s + 1 ) ( s + 2 )s
s s+1 s+2
( s + 3s + 2 )s
1
A = lim s ------------------------------------
( s + 1 ) ( s + 2 )s
s0
1
= --2
1
B = lim ( s + 1 ) ------------------------------------
( s + 1 ) ( s + 2 )s
s 1
= 1
1
C = lim ( s + 2 ) ------------------------------------
( s + 1 ) ( s + 2 )s
s 2
1
= --2
Aside: the short cut above can reduce time for simple partial fraction
expansions. A simple proof for finding B above is given in this box.
1
B - ---------C----------------------------------- = A
--- + ---------+
( s + 1 ) ( s + 2 )s
s s+1 s+2
C
1
A
B
( s + 1 ) ------------------------------------ = ( s + 1 ) --- + ( s + 1 ) ----------- + ( s + 1 ) ----------( s + 1 ) ( s + 2 )s
s
s+1
s+2
1 A
C
-----------------= ( s + 1 ) --- + B + ( s + 1 ) ----------( s + 2 )s
s
s+2
A
1
lim ------------------- = lim ( s + 1 ) --s
(
s
+
2
)s
s 1
s 1
C
+ lim B + lim ( s + 1 ) ----------s
+2
s 1
s 1
1
lim ------------------- = lim B = B
s 1 ( s + 2 )s
s 1
1
0.5
1
0.5
= ------- + ----------- + ----------x ( s ) = --------------------------------2
s
s
+
1
s
+2
( s + 3s + 2 )s
x(t) = L [ x( s)] = L
x(t) = L
0.5
1 - ---------0.5------- + ---------+
s
s+1 s+2
0.5
1 1 0.5
------- + L 1 ---------+ L ----------s
s+1
s+2
t
x ( t ) = [ 0.5 ] + [ ( 1 )e ] + [ ( 0.5 )e
t
x ( t ) = 0.5 e + 0.5e
2t
2t
yes
is the
function in
the transform
tables?
no
can the
function be
simplified?
simplify the
function
yes
no
Use partial fractions to
break the function into
smaller parts
Figure 17.18 The methodology for doing an inverse transform of an output function
Figure 17.19 shows the basic procedure for partial fraction expansion. In cases
where the numerator is greater than the denominator, the overall order of the expression
can be reduced by long division. After this the denominator can be reduced from a polynomial to multiplied roots. Calculators or computers are normally used when the order of the
polynomial is greater than second order. This results in a number of terms with unknown
resides that can be found using a limit or algebra based technique.
is the
order of the
numerator >=
denominator?
yes
no
Find roots of the denominator
and break the equation into
partial fraction form with
unknown values
OR
use limits technique.
If there are higher order
roots (repeated terms)
then derivatives will be
required to find solutions
Done
5s + 3s + 8s + 6x ( s ) = ------------------------------------------2
s +4
This cannot be solved using partial fractions because the numerator is 3rd order
and the denominator is only 2nd order. Therefore long division can be used to
reduce the order of the equation.
5s + 3
2
s +4
5s + 3s + 8s + 6
3
5s + 20s
2
3s 12s + 6
2
3s + 12
12s 6
This can now be used to write a new function that has a reduced portion that can be
solved with partial fractions.
12s 6x ( s ) = 5s + 3 + --------------------2
s +4
solve
--------------------12s 6A
B
= ------------- + ------------2
s + 2j s 2j
s +4
Figure 17.20 Partial fractions when the numerator is larger than the denominator
Partial fraction expansion of a third order polynomial is shown in Figure 17.21.
The s-squared term requires special treatment. Here it produces partial two partial fraction
terms divided by s and s-squared. This pattern is used whenever there is a root to an exponent.
A B
1 C
= ---2- + --- + ----------x ( s ) = -------------------2
s s+1
s
s (s + 1)
1 -
C = lim ( s + 1 ) -------------------2
s 1
s (s + 1)
1 -
2
A = lim s -------------------2
s0
s (s + 1)
= 1
1
= lim ----------- = 1
s
+
1
s0
d 2
1 -
B = lim ----- s -------------------2
ds
s0
s (s + 1)
d
1
= lim ----- -----------
ds
s
+
1
s0
= lim [ ( s + 1 ) ] = 1
s0
5
F ( s ) = -----------------------32
s (s + 1)
5 A B
C
D
E
----------------------= ----2 + --- + ------------------3- + ------------------2- + ---------------3
2
s (s + 1)
(s + 1)
s
(s + 1)
s (s + 1)
A B
C
D
E
5 ----------------------= ----2 + --- + ------------------3- + ------------------2- + ---------------3
2
s
(
s
+
1)
s
(s + 1)
(s + 1)
s (s + 1)
3
A ( s + 1 ) + Bs ( s + 1 ) + Cs + Ds ( s + 1 ) + Es ( s + 1 ) = ----------------------------------------------------------------------------------------------------------------------------------------3
2
s (s + 1)
4
s ( B + E ) + s ( A + 3B + D + 2E ) + s ( 3A + 3B + C + D + E ) + s ( 3A + B ) + ( A )= -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------3
2
s (s + 1)
0
1
3
3
1
1
3
3
1
0
0
0
1
0
0
0
1
1
0
0
1
2
1
0
0
A
0
B
0
=
C
0
D
0
E
5
A
0 1 0
B
1 3 0
=
C
3 3 1
D
3 1 0
E
1 0 0
0
1
1
0
0
1
2
1
0
0
0
5
0
15
=
0
5
0
10
5
15
5 5 15
5
10
15
----------------------= ---2- + --------- + ------------------3- + ------------------2- + ---------------3
2
s
(
s
+ 1)
s
(s + 1)
(s + 1)
s (s + 1)
A B
C
D
E
5 ----------------------= ---2- + --- + ------------------3- + ------------------2- + ---------------3
2
s
(
s
+
1)
s
(s + 1)
(s + 1)
s (s + 1)
5
5
2
A = lim -----------------------3- s = lim ------------------3- = 5
2
s0
s 0 (s + 1)
s (s + 1)
d
5
d
5
2
B = lim ----- -----------------------3- s = lim ----- ------------------3-
2
ds
ds
s0
s0
(s + 1)
s (s + 1)
5( 3 )
= lim ------------------4- = 15
s 0 (s + 1)
5
5
3
C = lim -----------------------3- ( s + 1 ) = lim ----2 = 5
2
s 1
s 1 s
s (s + 1)
5
1 d
1 d 5
1 2 ( 5 -)
3
D = lim ----- ----- -----------------------3- ( s + 1 ) = lim ----- ----- ---2- = lim ----- ------------= 10
s 1 1! ds 2
s 1 1! ds s
s 1 1! s 3
s (s + 1)
1 d2
5
1 d25
1 30
3
E = lim ----- ----- -----------------------3- ( s + 1 ) = lim ----- ----- ----2 = lim ----- -----4- = 15
2
2!
ds
2!
ds
2!
s 1
s 1
s 1
s
s
s (s + 1)
5 5 15
5
10
15
----------------------= ---2- + --------- + ------------------3- + ------------------2- + ---------------3
2
s
(s + 1)
s
(s + 1)
(s + 1)
s (s + 1)
5 A B
C
D
E
----------------------= ---2- + --- + ------------------3- + ------------------2- + ---------------3
2
s (s + 1)
(s + 1)
s
(s + 1)
s (s + 1)
5
A B
C
D
E
lim -----------------------3- = ---2- + --- + ------------------3- + ------------------2- + ---------------s (s + 1)
(s + 1)
s 1 2
s
(s + 1)
s (s + 1)
5
A B
C
D
E
3
lim ( s + 1 ) -----------------------3- = ---2- + --- + ------------------3- + ------------------2- + ----------------
2
s (s + 1)
( s + 1 )
s 1
s
(s + 1)
s (s + 1)
3
5 A(s + 1)
(s + 1)2
-+B
---------------------lim ---2- = ---------------------+ C + D(s + 1) + E(s + 1)
2
s
s 1 s
s
5
A ( 1 + 1 ) - --------------------------B( 1 + 1 ) 2
------------- = --------------------------+
+
+
+
C
D
(
1
+
1
)
E
(
1
+
1
)
2
2
1
( 1 )
( 1 )
3
5
A ( 0 ) - ------------B( 0) 2
------------- = ------------+
+ C + D(0) + E(0)
2
2
1
( 1 )
( 1 )
C = 5
2
s
s 1 dt s
2 ( s + 1 ) 3 3 ( s + 1 ) 2
( s + 1 ) 3 3 ( s + 1 ) 2
------------2 ( 5 )----------------------------------------- + ---------------------- + D + 2E ( s + 1 )
+
lim
= A
+ B -----------------3
3
2
2
s
s 1
s
s
s
s
------------2 ( 5 )= D = 10
3
( 1 )
For E, differentiate twice, then evaluate (the terms for A and B will be ignored to save
space, but these will drop out anyway).
3
3
2 5
d
A
(
s
+
1
)
B
(
s
+
1
)
- + ----------------------- + C + D ( s + 1 ) + E ( s + 1 )2
lim ----- ----2 = ---------------------2
s
s 1 dt s
s
d 2 ( 5 -)
= A ( ) + B ( ) + D + 2E ( s + 1 )
lim ----- ------------
s 1 dt s 3
3 ( 2 ( 5 ) )
lim ------------------------= A ( ) + B ( ) + 2E
4
s 1
s
------------------------3 ( 2 ( 5 ) )
= A ( 0 ) + B ( 0 ) + 2E
4
( 1 )
E = 15
Figure 17.25 A proof of the need for differentiation for repeated roots
17.6 EXAMPLES
Given,
1---x(s)
M
----------- = --------------------------------F( s)
K
2 K
s + -----d- s + -----s
M
M
Component values are,
M = 1kg
N
K s = 2 ---m
Ns
K d = 0.5 -----m
x(s)
5s - ----------------------------1
-
x ( s ) = F ( s ) ----------- = --------------2 2
F ( s )
2
s + 6 s + 0.5s + 2
5s
x ( s ) = --------------------------------------------------------2
2
( s + 36 ) ( s + 0.5s + 2 )
A
B
C
D
x ( s ) = ------------- + ------------- + ------------------------------------- + ------------------------------------s + 6j s 6j s 0.25 + 1.39j s 0.25 1.39j
A =
30j
( s + 6j ) ( 5s )
------------------------------------------------------------------------ = ---------------------------------------------2
( 12j ) ( 36 3j + 2 )
( s 6j ) ( s + 6j ) ( s + 0.5s + 2 )
lim
s 6j
A = 73.2 10 3.05
*
B = A = 73.2 10 3.05
Continue on to find C, D same way
3
x ( t ) = 2 ( 73.2 10 )e
0t
cos ( 6t 3.05 ) +
17.6.2 Circuits
It is not necessary to develop a transfer functions for a system. The equation for the
voltage divider is shown in Figure 17.28. Impedance values and the input voltage are converted to the s-domain and written in the equation. The resulting output function is manipulated into partial fraction form and the residues calculated. An inverse Laplace transform
is used to convert the equation into a function of time using the tables.
R = 10
t=0
V s = 3 cos t
+
-
+
Vo
-
C = 10 F
As normal, relate the source voltage to the output voltage using component values in
the s-domain.
ZC
V o = Vs -------------------
ZR + ZC
1
3s
Z C = -----ZR = R
V s ( s ) = ------------sC
2
s +1
Next, equations are combined. The numerator of resulting output function must be
reduced by long division.
1-
---- sC
3s
3s
3s
- ---------------- = ------------------------------------------- = ------------------------------------------------------V o = ------------2
2
2
3 3
1-
s + 1 R + ----( s + 1 ) ( 1 + sRC )
( s + 1 ) ( s10 10 + 1 )
sC
The output function can be converted to a partial fraction form and the residues calculated.
2
2
3s
As + B- ---------CAs
+ As + Bs + B + Cs + C----------------------------------------------------------------------------------=
+
=
V o = ----------------------------------2
2
2
(s + 1 )(s + 1)
s +1 s+1
(s + 1)( s + 1)
2
3s
s ( A + C ) + s ( A + B ) + ( B + C )V o = ----------------------------------= ---------------------------------------------------------------------------2
2
(s + 1)(s + 1)
(s + 1)(s + 1)
B+C = 0
A+C = 0
A+B = 3
B = C
A = C
C C = 3
C = 1.5
A = 1.5
B = 1.5
The output function can be converted to a function of time using the transform tables,
as shown below.
1
1.5s
+ 1.5- --------- 1.5 1 1.5s + 1.5
1.5----------------------- + L 1 ---------+
= L ----------------------2
2
s
+1
s
+
1
s +1
s +1
s 1 1
t
------------+ 1.5L ------------ 1.5e
2
2
s +1
s +1
Vo ( t ) = L [ V o ( s ) ] = L
V o ( t ) = 1.5L
1.5
2
2
t
1.5 + 1.5 sin t + atan ------- 1.5e
1.5
t
V o ( t ) = 2.121 sin t + --- 1.5e
4
f(t)
5
t
seconds
0
f ( t ) = 5tu ( t ) 5 ( t 1 )u ( t 1 ) 5 ( t 3 )u ( t 3 ) + 5 ( t 4 )u ( t 4 )
s
3s
4s
5 5e - 5e
5e
-----------+ -----------f ( s ) = ---2- --------2
2
2
s
s
s
s
Figure 17.30 Switching on and off function parts
x ( t ) = lim [ sx ( s ) ]
s0
1s
1
1
- = ------------------------------------- = 1--x ( t ) = lim --------------------------------= lim ------------------------2
2
2
2
s 0 ( s + 3s + 2 )s
s 0 s + 3s + 2
(0 ) + 3(0) + 2
x ( t 0 ) = lim [ sx ( s ) ]
1(s)
1
1- = --x ( t 0 ) = lim --------------------------------= ------------------------------------------= 0
2
2
s ( s + 3s + 2 )s
( ( ) + 3( ) + 2 )
Figure 17.31 Final and initial values theorems
System Model
(differential equations)
Some input
disturbance in
terms of time
Laplace Transform
Transfer
Function
We can figure
out from plots
Experiments
Root-Locus
for stability
Substitute
Output Function
(Laplace form)
Bode and Phase Plots
- Straight line
- Exact plot
Phasor Transform
Output Function
(Laplace terms)
Partial Fraction
Inverse Laplace
Time based
response
equation
17.9 SUMMARY
Transfer and input functions can be converted to the s-domain
Output functions can be calculated using input and transfer functions
Output functions can be converted back to the time domain using partial fractions.
L[5]
b)
L[ e
c)
L [ 5e
d)
L [ 5te
e)
L [ 5t ]
f)
g)
3t
3t
3t
o)
L [ x + 5x + 3x ], x ( 0 ) = 8, x ( 0 ) = 7
p)
d
L ----- sin ( 6t )
dt
d 32
L ----- t
dt
q)
]
0 y dt
r)
s)
L [ 3t ( t 1 ) + e
L [ 4t ]
t)
L [ cos ( 5t ) ]
u)
L[e
2t
v)
L[e
( t 3 )
cos ( 5t ) ]
w)
L [ 5e
cos ( 5t + 1 ) ]
x)
L [ cos ( 7t + 2 ) + e
( t + 1)
L[ 3( t 1 ) + e
i)
L [ 5e
3t
j)
L [ 5e
3t
k)
L [ sin ( 5t ) ]
y)
L [ cos ( 5t + 1 ) ]
l)
L [ sinh ( 3t ) ]
z)
L [ 6e
m)
L [ t sin ( 2t ) ]
n)
d 2 3t
L ----- t e
dt
aa)
u( t 2) ]
h)
5t
3t
u( t 1) ]
2.7t
t3
cos ( 9.2t + 3 ) ]
2. Convert the following functions below from the laplace to time domains using the tables.
a)
b)
c)
d)
1---------s+1
g)
5---------s+1
h)
6--2
s
6---
i)
j)
s
e)
f)
L
L
k)
5-- 4.5s
(1 e
)
s
4 + 3j - ---------------------4 3j --------------------+
s + 1 2j s + 1 + 2j
6- ------------6
--+ 2 4
s
s +9
6
-------------------------
s + 5s + 6
6
---------------------------------2
4s + 20s + 24
s +6
3. Convert the following functions below from the laplace to time domains using partial fractions
and the tables.
1
a)
b)
L [ ]
c)
L [ ]
d)
L [ ]
e)
f)
L
L
6
---------------2
s + 5s
2
9s + 6s + 3
---------------------------------------3
s + 5s + 4s + 6
g)
h)
i)
j)
k)
l)
L
L
s---------------------------------------+ 9s + 6s + 3
3
2
s + 5s + 4s + 6
9s + 4-----------------3
(s + 3)
9s + 4 ----------------------3
s (s + 3)
2
s------------------------+ 2s + 12
s + 3s + 2
2
s------------------------+ 3s + 52
6s + 6
2
s------------------------+ 2s + 32
s + 2s + 1
4. Convert the output function below Y(s) to the time domain Y(t) using the tables.
5
12 - --------------------3 - ---------------------3 Y ( s ) = --- + ------------+
+
s s 2 + 4 s + 2 3j s + 2 + 3j
5x + 6x + 2x = 5F
a)
y + 8y = 3x
b)
y y + 5x = 0
c)
6. Given the transfer function, G(s), determine the time response output Y(t) to a step input X(t).
4
Y( s)
G ( s ) = ----------- = ----------X ( t ) = 20 When t >= 0
s+2
X(s)
7. Given the following input functions and transfer functions, find the response in time.
Transfer Function
Input
a)
x ( s )s+2
m
---------= --------------------------------- ----
F(s)
( s + 3 ) ( s + 4 ) N
F ( t ) = 5N
b)
x ( s )s+2
m
---------= --------------------------------- ----
F(s)
(s + 3)(s + 4) N
x ( t ) = 5m
b)
L[ e
c)
d 3
d
L ----- y + 2 ----- y + y =
dt
dt
d)
e)
+ 5t ( u ( t 2 ) u ( t ) ) ] =
1 + j - --------------------1j ---------------------+
=
s + 3 + 4j s + 3 4j
1
3
- =
s + ----------- + ---------------------------2
s + 2 s + 4s + 40
where at t=0
y0 = 1
y 0' = 2
y 0'' = 3
y 0''' = 4
+ 40 + 20 + 2 = 4
5--s
l)
0.5- ---------0.5---------
s3 s+3
b)
1---------s+3
m)
4
16s 12s 16
--------------------- + -------------------= ----------------------32
3
2
2
2
(s + 4)
(s + 4)
(s + 4)
c)
5---------s+3
5 ------------------
n)
2s -----------------3
(s + 3)
o)
( s x 7s 8 ) + 5 ( sx 7 ) + 3x
p)
6s
----------------2
s + 36
q)
r)
y-s
72
1 ------ 18
------ + ---------5
4
s+5
s
s
d)
e)
f)
g)
h)
i)
j)
k)
(s + 3)
5
---2
s
8
---3
s
s
----------------2
s + 25
3
e ---- 3--- + ---------2 s
s+1
s
5(s + 3)
-----------------------------2
2
(s + 3) + 5
2.5 1 - ---------------------2.5 1 --------------------+
s + 3 5j s + 3 + 5j
s( ) +
= ---------------------------2
s + 6s + 34
5 ---------------2
s)
y)
z)
2s
t)
e------- e--------
s
s
u)
e
------------s+2
v)
e ---------s+1
w)
5 - e------- e-----------------+
s
s
s+3
4 2s
2s
s + 25
x)
2s
0.416s 6.37 e
cos ( 2 ) s sin ( 2 ) 7 e
-------------------------------------------- + ----------- = ------------------------------------- + ----------2
2
s1
s1
s + 49
s + 49
s---------------------------------cos 1 5 sin 1
2
s + 25
3 3 - ------------------------------3 3 s( ) +
-----------------------------+
= ---------------------------------------2
s + 2.7 9.2j s + 2.7 + 9.2j
s + 5.4s + 91.93
2.
a) e
b) 5e
g)
5 5u ( t 4.5 )
h)
2 ( 5 )e
i)
t + 2 sin ( 3t )
j)
6e
k)
1.5e
c) 6t
d) 3t
e) e
f)
3t
+ 2e
( 1 )t
3
cos 2t + atan ---
4
4t
2t
6e
2t
3t
1.5e
3t
6 sin ( 6t )
3.
a)
3t
+ 2e
4t
g)
b)
h)
c)
i)
d)
j)
e)
1.2 1.2e
f)
8.34e
4.4t
0.3t
l)
( t ) + 2te
4.
y ( t ) = 5 + 6 sin ( 2t ) + 2 ( 3 )e
2t
5.
a)
b)
c)
2t
( t)
k) --------- + 0.834 cos ( t + 0.927 )
6
5t
+ 2 ( 0.99 )e
(t) e
5
--x- = ---------------------------2
F
5s + 6s + 2
y-3
= ----------x
s+8
y-5
= ----------x
s1
cos ( 3t 0 )
6.
y ( t ) = 40 40e
2t
7.
a)
b)
( 5 ( t ) + 30 5e
2t
)N
8.
a)
L [ 5e
4 t
cos ( 3t + 2 ) ] = L [ 2 A e
cos ( t + ) ]
= 4
A = 2.5
= 3
= 2
A
A
1.040 + 2.273j 1.040 2.273j
----------------------+ -------------------------------------- = --------------------------------------- + --------------------------------------s + j
s + + j
s + 4 3j
s + 4 + 3j
b)
L[e
2t
+ 5t ( u ( t 2 ) u ( t ) ) ] = L [ e
2t
] + L [ 5tu ( t 2 ) ] L [ 5tu ( t ) ]
1
5
1
5
= ----------- + 5L [ tu ( t 2 ) ] ----2 = ----------- + 5L [ ( t 2 )u ( t 2 ) + 2u ( t 2 ) ] ----2
s+2
s+2
s
s
5
1
= ----------- + 5L [ ( t 2 )u ( t 2 ) ] + 10L [ u ( t 2 ) ] ---2s+2
s
2s
2s
5
1
= ----------- + 5e L [ t ] + 10e L [ 1 ] ----2
s+2
s
2s
2s
5
1
5e
10e
= ----------- + -----------+ --------------- ----2
2
s
s+2
s
s
c)
d
3
2
1
0
---- y = s y + 1s + 2s + 3s
dt
d-
1
0
---= s y+s 1
dt y
d 3
d
3
2
L ----- y + 2 ----- y + y = ( s y + 1s + 2s + 3 ) + ( sy + 1 ) + ( y )
dt
dt
3
= y ( s + s + 1 ) + ( s + 2s + 4 )
d)
L
complex conjugate
1 + j - --------------------1j A
A
1
---------------------+
= L ----------------------- + -------------------------------------s + 3 + 4j s + 3 4j
s + j
s + + j
2
A =
= 2Ae
e)
1 + 1 = 1.141
t
cos ( t + ) = 2.282e
3t
= 3
= 4
cos 4t ---
4
13
1
3
- = L [ s ] + L ---------+ L ---------------------------s + ----------- + ---------------------------2
2
s + 2 s + 4s + 40
s+2
s + 4s + 40
d
2t
3
d 2t
6
- = ---= ----- ( t ) + e + L ----------------------------- ( t ) + e + 0.5L -----------------------------2
2
dt
dt
( s + 2 ) + 36
( s + 2 ) + 36
d
2t
2t
= ----- ( t ) + e + 0.5e sin ( 6t )
dt
9.
a)
s + 4s + 4s + 4
---------------------------------------3
s + 4s
1
3
2
s + 4s + 4s + 4
3
( s + 4s )
s + 4s
4s + 4
2
4s + 4A Bs + Cs ( A + B ) + s ( C ) + ( 4A )
= 1 + ---------------= 1 + --- + --------------= 1 + ----------------------------------------------------------3
2
3
s s +4
s + 4s
s + 4s
1
3s = 1 + --- + ------------s s2 + 4
= ( t ) + 1 + 3 cos ( 2t )
A = 1
C = 0
B = 3
b)
s +4
5
A = lim -------------------------------------------------- = --6
s 1 ( s + 2 ) ( s + 3 ) ( s + 4 )
2
s +4
8
B = lim -------------------------------------------------- = -----2
s 2 ( s + 1 ) ( s + 3 ) ( s + 4 )
2
s +4
13
C = lim -------------------------------------------------- = -----2
s 3 ( s + 1 ) ( s + 2 ) ( s + 4 )
2
s +4
20
D = lim -------------------------------------------------- = -----6
s 4 ( s + 1 ) ( s + 2 ) ( s + 3 )
5--- t
2t 13 3t 10 4t
e 4e + ------ e ------ e
3
6
2
10.
6 39.50t
( t ) = 66 10 e
3.216e
0.1383t
+ 1.216e
0.3368t
+ 2.00
t
L f ---
a
= aF ( as )
d)
b)
1 s
L [ f ( at ) ] = --- F ---
a a
e)
c)
L[ e
at
f(t )] = F(s + a)
f)
lim f ( t ) = lim sF ( s )
s0
lim f ( t ) = lim sF ( s )
s0
d
L [ tf ( t ) ] = ----- F ( s )
dt
2. The applied force F is the input to the system, and the output is the displacement x.
a) find the transfer function.
K1 = 500 N/m
K2 = 1000 N/m
M = 10kg
F
b) What is the steady state response for an applied force F(t) = 10cos(t + 1) N ?
c) Give the transfer function if x is the input.
d) Find x(t), given F(t) = 10N for t >= 0 seconds using Laplace methods.
3. The following differential equation is supplied, with initial conditions.
y + y + 7y = F
y( 0) = 1
y(0) = 0
F ( t ) = 10
t>0
D
--x- = ----------------------------2
F
( D + 200 )
F = 5 sin ( 62.82t )
D ( D + 2 )--x- = ----------------------------2
F
( D + 200 )
F = 5 sin ( 62.82t )
D ( D + 2 )--x- = ----------------------------2
F
( D + 200 )
F = 5 sin ( 62.82t )
17.13 REFERENCES
Irwin, J.D., and Graf, E.R., Industrial Noise and Vibration Control, Prentice Hall Publishers,
1979.
Close, C.M. and Frederick, D.K., Modeling and Analysis of Dynamic Systems, second edition,
John Wiley and Sons, Inc., 1995.