MESB323

MODELLING AND CONTROL

OF DYNAMIC SYSTEMS

CHAPTER 2

Laplace Transform
Objectives
To derive some of the basic functions Laplace
transform
To solve DE using Laplace transform
Laplace transform
• Function = to solve linear, time invariant differential equations.
∞ ∞
• Transform ℒ 𝑓(𝑡) = F s = ‫׬‬0 ℯ −𝑠𝑡 𝑑𝑡 𝑓 𝑡 = ‫׬‬0 [𝑓 𝑡 ]ℯ −𝑠𝑡 𝑑𝑡
Laplace transform
• Function = to solve linear, time invariant differential equations.
∞ ∞
• Transform ℒ 𝑓(𝑡) = F s = ‫׬‬0 ℯ −𝑠𝑡 𝑑𝑡 𝑓 𝑡 = ‫׬‬0 [𝑓 𝑡 ]ℯ −𝑠𝑡 𝑑𝑡
Laplace transform

Table 2.1: Laplace transform table

Laplace transform

Table 2.2: Laplace transform theorem

Laplace transform

• Steps to solve;
1. Identify time function differential equations.
2. Refer Laplace transform table.
3. Solve the answers.
Laplace transform
Example 2.1

What is the Laplace transform of the following function?

f(t) = 0 t0
= sin (ωt + ) t0

where  is a constant ?

Solution:
sin 𝜔𝑡 + 𝜃 = sin 𝜔𝑡 cos 𝜃 + cos 𝜔𝑡 sin 𝜃

Refer Laplace transform table no 10 and 11

Laplace transform
Example 2.1

Solution:

sin 𝜔𝑡 + 𝜃 = sin 𝜔𝑡 cos 𝜃 + cos 𝜔𝑡 sin 𝜃

Refer Laplace transform table no 10 and 11

L [f (t)] = F (s) = cos 𝜃 . L [ sin ωt] + sin 𝜃 . L [ cos ωt]

Answer;
𝜔 𝑠
L [f (t)] = F (s) = cos 𝜃 . + sin 𝜃 .
𝜔2 +𝑠 2 𝜔2 +𝑠 2
Laplace transform
Example 2.2

Find the Laplace transform of

f(t) = 0 t0
= t e- 5 t t0

Solution:

Refer Laplace transform table no 7

Laplace transform
• Function = to solve linear, time invariant differential equations.
∞ ∞
• Transform ℒ 𝑓(𝑡) = F s = ‫׬‬0 ℯ −𝑠𝑡 𝑑𝑡 𝑓 𝑡 = ‫׬‬0 [𝑓 𝑡 ]ℯ −𝑠𝑡 𝑑𝑡
Inverse Laplace Transform
• Transform from F(s) to f(t).
• Two methods;
1. Tables of Laplace transforms
2. Use partial-fraction expansion method
𝐵(𝑠)
𝐹 𝑠 =
𝐴(𝑠)

* Degree of B(s) < Degree of A(s)

Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace transforms
Example 2.3

Obtain the inverse Laplace transforms of

𝑠+5
𝐹 𝑠 =
𝑠 2 +4𝑠+3
Answer:

𝒇 𝒕 = 𝟐𝒆−𝒕 − 𝒆−𝟑𝒕 𝐟𝐨𝐫 𝐭 ≥ 𝟎

Inverse Laplace transforms
Inverse Laplace transforms
Inverse Laplace transforms
Inverse Laplace transforms
Inverse Laplace transforms
Example 2.4

Obtain the inverse Laplace transforms of

𝑠 2 +2𝑠+3
𝐹 𝑠 =
(𝑠+1)3
Solution:

𝒇 𝒕 = (𝒕𝟐 +𝟏)𝒆−𝒕 𝐟𝐨𝐫 𝐭 ≥ 𝟎

Inverse Laplace transforms
Inverse Laplace transforms
Inverse Laplace transforms
Inverse Laplace transforms

Euler’s
theorem
Inverse Laplace transforms
Inverse Laplace transforms
Example 2.5 (CASE 3)

Obtain the inverse Laplace transforms of

2𝑠+12
𝐹 𝑠 =
𝑠 2 +2𝑠+5
Solution:

𝒇 𝒕 = 𝟓𝒆−𝒕 𝒔𝒊𝒏𝟐𝒕 + 𝟐𝒆−𝒕 𝒄𝒐𝒔𝟐𝒕 𝐟𝐨𝐫 𝐭 ≥ 𝟎

Inverse Laplace transforms
Example 2.6

Obtain the solution x(t) of this differential equation

𝑥ሷ + 2𝑥ሶ + 5𝑥 = 3

Where, 𝑥 0 = 0, 𝑥ሶ 0 = 0

Solution:

𝟑 𝟑 −𝒕 𝟑
𝒙 𝒕 = − 𝒆 𝒔𝒊𝒏 𝟐𝒕 − 𝒆−𝒕 𝒄𝒐𝒔 𝟐𝒕 𝐟𝐨𝐫 𝐭 ≥ 𝟎
𝟓 𝟏𝟎 𝟓
Transfer function

The transfer function of linear system is the ratio of the Laplace transform
of the output to the Laplace transform of the input variable, provided that
all initial conditions are zero.
𝑂𝑢𝑡𝑝𝑢𝑡 (𝑠) 𝑌(𝑠)
𝐺 𝑠 = =
𝐼𝑛𝑝𝑢𝑡 (𝑠) 𝑋(𝑠)

In general, a physical system that can be represented by a linear, time-

invariant differential equation can be modelled as a transfer function. We
will learn how to represent electrical networks, mechanical system
(translational and rotational), fluid and thermal systems.
Transfer function
Example 2.7:
Find the transfer function represented by;
Transfer function
Example 2.8:
Find the transfer function represented by;

𝑑𝑐(𝑡)
+ 2𝑐 𝑡 = 𝑟(𝑡)
𝑑𝑡
Solution;
𝑠𝐶 𝑠 + 2𝐶 𝑠 = 𝑅(𝑠)

The transfer function G(s) is

𝐶(𝑠) 1
𝐺 𝑠 = =
𝑅(𝑠) 𝑠 + 2