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You are on page 1of 6

Each Lab group consists of about 4 students.

By Jan. 12 (Mon):

(Mon): The instructor will decide the

groups, and post tentative groups on Vista.

Lecture 3

By Jan. 13 (Tue): Contact the instructor in case of

Solution to ODEs via Laplace transform inconvenience.

By Jan. 16 (Fri): Lab groups will be finalized and

posted on Vista.

Dr. Ryozo Nagamune Lab groups can be modified during this week.

Department of Mechanical Engineering Please check it regularly.

University of British Columbia Jan. 19 (Mon): Lab starts. See the files

MECH466_LabInfo_0809.pdf

MECH466_LabSchedule_0809.pdf

2008/09 MECH466 : Automatic Control 1 2008/09 MECH466 : Automatic Control 2

Modeling Analysis Design One of most important math tools in the course!

Laplace transform Time response Definition: For a function f(t)

f(t) (f(t

(f(t)=0

)=0 for t<0),

Design specs

• Transient

Transfer function • Steady state

Root locus

Models for systems Frequency response

Frequency domain

• electrical • Bode plot (s: complex variable)

• mechanical

• electromechanical Stability

PID & Lead-

Lead-lag f(t)

f(t)

• Routh-

Routh-Hurwitz

Design examples F(s)

Linearization • Nyquist t F(s)

0

f(t) by F(s).

F(s).

Matlab simulations & laboratories

2008/09 MECH466 : Automatic Control 3 2008/09 MECH466 : Automatic Control 4

1

Laplace transform table (review) Advantages of s-domain (review)

We can transform an ordinary differential

equation into an algebraic equation which is

easy to solve. (This lecture)

Inverse Laplace It is easy to analyze and design interconnected

Transform

(series, feedback etc.) systems. (Throughout the

course)

Frequency domain information of signals can be

dealt with. (Lectures for frequency responses:

after midterm)

(u(t)

u(t) is often omitted.)

We can transform an ordinary differential ODE with initial conditions (ICs)

equation (ODE) into an algebraic equation (AE).

t-domain s-domain

1. Laplace transform

ODE AE

1

2

Partial fraction

Solution to ODE expansion

3 distinct roots

2

Properties of Laplace transform Example 1 (cont’d)

Differentiation (review) unknowns

2. Partial fraction expansion

Similarly,

s-domain

2008/09 MECH466 : Automatic Control 9 2008/09 MECH466 : Automatic Control 10

3. Inverse Laplace transform ODE with initial conditions (ICs)

1. Laplace transform

y(t), apply

Final Value Theorem:

Repeated roots

3

Example 2 (cont’d) Example 2 (cont’d)

unknowns unknowns

2. Partial fraction expansion 2. Partial fraction expansion

To obtain A: To obtain C:

To obtain B:

Take derivative

Let s go to -2.

8. Frequency shift theorem (review)

3. Inverse Laplace transform

t-domain

Proof.

y(t), apply s-domain

Final Value Theorem: Ex.

4

Example 3 (complex roots) Example 3 (cont’d)

unknowns

ODE with zero initial conditions (ICs) 2. Partial fraction expansion

1. Laplace transform

To obtain A, B & C:

Complex roots

3. Inverse Laplace transform

M

x(t). By Laplace transform,

5

Ex: Mechanical accelerometer Ex: Accelerometer (cont’d)

Taken from Dorf & Bishop book We would like to know how y(t) y(t) moves when unit

step f(t)

f(t) is applied with zero ICs.

By Newton’

Newton’s law

Suppose that b/M=3, k/M=2 and Ms=1. Solution procedure to ODEs

Partial fraction expansion 1. Laplace transform

2. Partial fraction expansion

3. Inverse Laplace transform

0

Next, modeling of physical systems using

-0.1 Laplace transform

Exercises

Amplitude

-0.2

Read Sections 2-

2-2 up to page 42.

-0.3

Solve Problems 3 & 4 in page 94 (or page 28).

-0.4

-0.5

0 2 4 6 8 10

Time [sec]

2008/09 MECH466 : Automatic Control 23 2008/09 MECH466 : Automatic Control 24

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