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Files 2-Chapters CHAPTER II LAPLACE TRANSFORM SOLVED PROBLEMS IVP PDF
Files 2-Chapters CHAPTER II LAPLACE TRANSFORM SOLVED PROBLEMS IVP PDF
Solved Problems
Chapter 2: Laplace Transform
(IVP)
Dr. A. Aziz. Bazoune
Problem #1
Solve the following Initial Value Problem (IVP)
Solution
L ⎡⎣ y& (t ) ⎤⎦ = sY ( s ) − y ( 0 )
L ⎡⎣ y&& (t ) ⎤⎦ = s 2Y ( s ) − s y ( 0 ) − y& ( 0 )
Step 1: Take Laplace Transform (LT) of both sides of the above equation:
2
s 2 Y (s ) − sy (0) − y& (0) + Y{ (s ) = 2
1444 424444 3 + (3 )
2
s 2
L ⎡⎢ y&&⎤⎥ L ⎡⎢⎣ y ⎤⎥⎦ 1424
⎣ ⎦ ⎡ ⎤
L ⎢⎢sin⎛⎜ 2t ⎞⎟⎥⎥
⎣ ⎝ ⎠⎦
(s 2
+ 1) Y (s ) =
2
s +4
2
+ 2s + 1
Step 2: Solving for Y (s ) gives
2 2s + 1
Y (s ) = +
(s 2
+ 4 )( s 2 + 1) ( s 2 + 1)
or
1/6
ME 413 Systems Dynamics & Control Solved Problems <Chapter 2: Laplace transform>
2 + ( 2s + 1) ( s 2 + 4 ) 2s 3 + s 2 + 8s + 6
Y (s ) = = 2
(s 2
+ 4 )( s 2 + 1) ( s + 4 )( )
s 2
+ 1
which can be written in the form
as +b cs +d
Y (s ) = +
( s 2 + 1) ( s 2 + 4 )
where
( as + b ) ( s 2 + 4 ) + (cs + d ) ( s 2 + 1) = 2s 3 + s 2 + 8s + 6
or
( a + c ) s 3 + (b + d ) s 2 + ( 4a + c ) s + ( 4b + d ) = 2s 3 + s 2 + 8s + 6
Therefore, comparing coefficients of like powers of s gives
( a + c ) = 2, (b + d ) = 1
( 4a + c ) = 8, ( 4b + d ) = 6
5 2
Consequently, a = 2, c = 0, b = and d =− , from which it follows that
3 3
Y (s ) =
2s
+
53
−
( 2 3)
( s 2 + 1) ( s 2 + 1) ( s 2 + 4 )
Step 3: Solving
⎡ 2s 53 ( 2 3) ⎤⎥ = 2cos(t ) + 5 sin(t ) − ⎛ 1 ⎞ sin 2t
⎜ ⎟ ( )
−1
y (t ) = L ⎢ 2 + 2 − 2
⎢⎣ ( s + 1) ( s + 1) ( s + 4 ) ⎥⎦ 3 ⎝3⎠
Problem #2
Solve the following Initial Value Problem (IVP) f (t)
y&& + y = f (t ) , y (π 4 ) = π 2, y& (π 4 ) = 2 − 2
2
where f (t ) is given by the graph depicted in Fig.2
Solution t
1
Figure 2.
2/6
ME 413 Systems Dynamics & Control Solved Problems <Chapter 2: Laplace transform>
⎡ ⎤ 2
The expression of f (t ) is given by f (t ) = 2t and F ( s )=L ⎢
⎢ f ⎛⎜t ⎞⎟⎥⎥ = L ⎡⎢⎣2t ⎤⎥⎦ = . Notice that in this
⎢⎣ ⎝ ⎠ ⎥⎦ s2
problem the Initial Conditions (I. C’s) are not expressed at time t = 0 . The only way that we can take
Laplace transform of the derivatives is to have the I. C’s at t = 0 . This means that we will need to
formulate the IVP in such a way that the I. C’s are defined at t = 0 . Therefore, let us assume
that y (0) = a and y& ( 0 ) = b and solve the IVP. From the obtained solution, substitute
⎛π ⎞ π ⎛π ⎞
y ⎜ ⎟= , y& ⎜ ⎟ = 2 − 2 and find a and b .
⎝4⎠ 2 ⎝4⎠
Step 1: Take Laplace Transform (LT) of both sides of the above equation:
{1444
s Y (s ) − sy (0) − y& (0)} + {Y (s )} =
2
424444 3 123
2
s2
{
L ⎢⎡ y&&⎥⎤ L ⎣⎢⎡ y ⎦⎥⎤ ⎡ ⎤
⎣ ⎦ L ⎢⎢⎛⎜ 2t ⎞⎟⎥⎥
⎣⎝ ⎠⎦
14243 1 424 3
X (s ) Z (s )
where
2 α β γ
X (s ) = = + 2+ 2
s ( s + 1) s s
2 2
( s + 1)
2s2
β= =2
s 2 ( s 2 + 1)
s =0
d ⎡ 2s2 ⎤ −2 ( 2s )
α= ⎢ 2 2 ⎥ = =0
ds ⎢ s ( s + 1) ⎥ ( s 2
+ 1)
2
⎣ ⎦ s =0 s =0
Therefore
3/6
ME 413 Systems Dynamics & Control Solved Problems <Chapter 2: Laplace transform>
X (s ) = 2 2
2 2
= 2+ 2
γ ( γ + 2) s 2 + 2
= 2 2
s ( s + 1) s ( )
s + 1 s ( )
s + 1
Equating between the coefficients of the same power of the numerator of the left hand side and the right
hand side of the above equation gives
(γ + 2) = 0 ⇒ γ = − 2
and
2 2 2
X (s ) = = −
s 2 ( s 2 + 1) s 2 ( s 2 + 1)
as +b s 1
Z (s ) = 2 =a 2 +b 2
( s + 1) ( s + 1) ( s + 1)
Therefore
2 2 s 1
Y (s ) = − + a + b
s 2 ( s 2 + 1) ( s 2 + 1) ( s 2 + 1)
Step 3: Solving
⎡2 2 s 1 ⎤
y (t ) = L −1
[Y (s ) ] = L −1
⎢ 2− 2 +a +b ⎥
⎢⎣ s ( s + 1) ( s 2 + 1) ( s 2 + 1) ⎥⎦
y (t ) = 2t − 2sin (t ) + a cos (t ) + b sin (t )
Differentiating the above expression with respect to time gives
y& (t ) = 2 − 2cos (t ) − a sin (t ) + b cos (t )
⎛π ⎞ π ⎛π ⎞
To find a and b one needs to substitute the given values y ⎜ ⎟= , y& ⎜ ⎟ = 2 − 2 in the
⎝4⎠ 2 ⎝4⎠
solution expression to get
π π ⎛π ⎞ ⎛π ⎞ ⎛π ⎞ π
y ( ) = 2( ) − 2sin ⎜ ⎟ + a cos ⎜ ⎟ + b sin ⎜ ⎟ =
4 4 ⎝4⎠ ⎝4⎠ ⎝4⎠ 2
After simplification, the above expression gives
a +b = 2 (1)
Similarly
π ⎛π ⎞ ⎛π ⎞ ⎛π ⎞
y& ( ) = 2 − 2cos ⎜ ⎟ − a sin ⎜ ⎟ + b cos ⎜ ⎟ = 2 − 2
4 ⎝4⎠ ⎝4⎠ ⎝4⎠
4/6
ME 413 Systems Dynamics & Control Solved Problems <Chapter 2: Laplace transform>
−a + b = 0 (2)
Solving Equation s (1) and (2) simultaneously, gives a = 1 and b = 1 . Substituting these values into the
solution equation gives
y (t ) = 2t − sin (t ) + cos (t )
CHECK:
π π ⎛π ⎞ ⎛π ⎞ π
y ( ) = 2 − sin ⎜ ⎟ + cos ⎜ ⎟ =
4 4 ⎝4⎠ ⎝4⎠ 2
π ⎛π ⎞ ⎛π ⎞
y& ( ) = 2 − cos ⎜ ⎟ − sin ⎜ ⎟ = 2 − 2
4 ⎝4⎠ ⎝4⎠
Problem #3
Solve the following Initial Value Problem (IVP)
f (t)
y&& + b y = f (t ) , y ( 0 ) = 1, y& ( 0 ) = 0
Solution t
The expression of the right hand side of the IVP can be given
a
by: Figure 3
⎧0, t <a
f (t ) = u (t − a ) or f (t ) = ⎨
⎩1, t ≥a
Step 1: Take Laplace Transform (LT) of both sides of the above IVP:
e −a s
{1444
s Y (s ) − sy (0) − y& (0)} + b {Y (s )} =
2
424444 3 123 s
{
L ⎡⎢ y&&⎤⎥ L ⎡⎣⎢ y ⎤⎦⎥ ⎡ ⎤
⎣ ⎦ L ⎢⎢u ⎜⎛t −a ⎟⎞⎥⎥
⎣ ⎝ ⎠⎦
5/6
ME 413 Systems Dynamics & Control Solved Problems <Chapter 2: Laplace transform>
24 3 14243
2
F1(s ) F2 (s )
where
s
F1 ( s ) =
(s + b )
2
1 1 ⎛1⎞ s ⎛ 1 ⎞⎛ 1 s ⎞
F2 ( s ) = = −⎜ ⎟ 2 = ⎜ ⎟⎜ − 2 ⎟
s ( s + b ) bs ⎝ b ⎠ ( s + b )
2
⎝ b ⎠ ⎜⎝ s ( s + b ) ⎟
⎠
Therefore
⎡ s ⎤
f 1 (t ) = L ⎡⎣ F1 ( s ) ⎤⎦ = L ⎢ 2
−1 −1
⎥ = cos
⎢⎣ ( s + b ) ⎥⎦
( bt )
⎡1 ⎤ ⎛1⎞
⎛1⎞
f 2 (t ) = L −1⎡⎣ F2 ( s ) ⎤⎦ = ⎜ ⎟ L −1⎢ − 2
⎝b ⎠
s
⎢⎣ s ( s + b )
(
⎥ = ⎜ ⎟ 1 − cos
⎥⎦ ⎝ b ⎠
( bt ))
Remember
L ⎡⎣f (t − α )u (t − α ) ⎤⎦ = e −α s F ( s ) ⇔ L −1
⎡⎣ F ( s )e − α s ⎤⎦ = f (t − α )u (t − α )
Hence
L −1 1
(
⎡⎣ F2 ( s )e − α s ⎤⎦ = f 2 (t − α )u (t − α ) = 1 − cos b (t − α ) u (t − α )
b
)
Finally,
y (t ) = f 1 (t ) + f 2 (t − α )u (t − α )
y (t ) = cos ( bt + ) b1 (1 − cos )
b (t − α ) u (t − α )
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