Laplace Transform

Lecture 2
 Recap of lecture 1
 Control system
 Types
 Open loop system
 Closed loop system
 Examples

2 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Control system types

Open loop system is also known as non feedback system

Closed-Loop Control Systems utilizes feedback to compare the actual output to the
3 desired output response 21 August 2020
 Open-loop control system?
People in the room

Desired Actual
temp Temp Air temp
On-Off Room
Setting conditioned
switch
knob

Closed-loop control system?

People in the room

Desired Actual
temp Temp On Air temp
Setting Off Room
conditioned
knob switch

4 21 August 2020
 Speed control of car
 Objective: To keep moving at
constant speed
 Activities in controlling car
 Reading speedometer
 Deciding to increase or decrease
speed
 Acting on the gas pedal

Closed loop system: Example

5 21 August 2020
 Closed loop system: Example

(a) Automobile steering

control system.
(b) The driver uses the
difference between the
actual and the desired
direction of travel to generate
a controlled adjustment of
the steering wheel.
(c) Typical direction-of-travel
response.

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Closed loop system: Example

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 Example
 Open-loop Drying System

Feed forward Control The objective of feed forward control, also

known as predictive control, is to measure or predict any potential open-loop
disturbances and compensate for them manually before the controlled variable
deviates too far from the original set point.

8 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Example
Closed-loop Drying System

Closed-loop Systems use feedback where a portion

of the output signal is fed back to the input to reduce
errors and improve stability
9 Lecture 2 Control Systems , Dr. Alivelu Parimi
 Why Control?
 Modern society have sophisticated control systems which are
crucial to their successful operation.
 Reasons to build control systems:
 Power amplification
 Remote control
 Convenience of input form
 Compensation for disturbance

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 Feedback
 Feedback is a key tool that can be used to modify the
behavior of a system.
 This behavior altering effect of feedback is a key mechanism
that control engineers exploit deliberately to achieve the
objective of acting on a system to ensure that the desired
performance specifications are achieved.

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 What is the Control System Engineer trying
to achieve?

 First, understand the broader picture of the

application to best apply a suitable control system.
 A good control system is a system that will
 generate a response quickly and without oscillation (good
transient response),
 have low error once settled (good steady-state response),
 and will not oscillate wildly or damage that system (stability).

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 Control System Design Cycle

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Lesson Objectives 01

 Linear Time invariant system

Control systems Introduction Dr. Alivelu M Parimi

Linear Time invariant system
 Linearity:
 The definitive test for a linear system is that if
input x1(t) produces output y1(t) and x2(t) produces y2(t), then
the input ax1(t)+bx2(t) must produce the output ay1(t)+by2(t).
This is superposition and is a property of linear systems.
 Time invariance
 This means that the system coefficients do not change for the
period of our investigation.

Control systems Introduction Dr. Alivelu M Parimi

Superpositions The input f(t) (the square wave is decomposed
into the sum of a lot of harmonics on the left
using the Fourier Transformation to find their
amplitudes. Each is passed through
G(jω)G(jkω0) has a gain and a phase shift

The resulting sinusoids G(jkω0)sin(kω0t) can

then all be added up as on the right to produce
the final desired output shown at lower right.

Control systems Introduction Dr. Alivelu M Parimi

 Objective: Lecture 2
 Review Laplace transform
 Determine the mathematical model, or transfer
function, for linear, time-invariant electrical,
mechanical and electromechanical system,
chemical system.

17 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Laplace Transform Review
Transform

L [ f (t )]  F (s)   f (t )est dt
0

Inverse

1   j

1
L [ F ( s)]  f (t )  F ( s ) e st
ds
2j   j

18 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Example
Find the Laplace transform for f(t) =Ae-atu(t)

F (s)  L [ f (t )]   f (t )est dt
0

 
  Ae e dt  A e( s  a )t dt
 at  st
0 0

A ( s  a ) t  A
 e t 0 
sa sa

19 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Laplace Transform Table
 (t ) t n e  atu (t ) n!
1
( s  a ) n 1
u (t ) 1
sin(t )u (t ) 
s
1 s2   2
tu (t )
s
s2 cos(t )u (t )
n! s2   2
t nu (t ) 
s n 1
e  at sin(t )u (t ) ( s  a) 2   2
1
e  atu (t ) sa sa
1 e  at cos(t )u (t ) ( s  a) 2   2
te  atu (t ) ( s  a) 2

20 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Laplace Transform Properties

f (t ) F ( s)
f1 (t )  f 2 (t ) F1 ( s )  F2 ( s )
kf (t ) kF ( s )
f (t  T ) e  sT F ( s )
e  at f (t ) F ( s  a)
f (at) 1 s
F 
df a a
dt sF ( s )  f (0  )

21 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Laplace Transform Properties


2
 df ( 0 )
d f s F ( s)  sf (0 ) 
2

dt 2 dt
n
dn f s F ( s)   s n  k f k 1 (0  )
n

k 1
dt n
t F (s)
0
f ( ) d
s
f ( ) lim sF ( s)
s 0
f (0  ) lim sF ( s)
s 

22 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Find the Laplace transform for the following DE and
initial conditions.
d2y dy dy 
 9  2 y  6e  4t 
y (0 )  2 (0 )  4
dt 2 dt dt
Laplace

 2

s Y (s)  2s  4  9sY (s)  2  2Y (s) 
6
s4

6 2s  14
Y ( s)   2
( s  4)( s  9s  2) s  9s  2
2

23 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Inverse Laplace Transform
Transform

L [ f (t )]  F (s)   f (t )est dt
0

Inverse

1   j

1
L [ F ( s)]  f (t )  F ( s ) e st
ds
2j   j

24 Lecture 2 Control Systems , Dr. Alivelu Parimi

 s +3
Y ( s) =
( s + 1)( s + 2)
Inverse Laplace
 (t ) 1
Problem u (t ) 1
s3 K K s
Y ( s)   1  2
( s  1)( s  2) s  1 s  2 tu (t ) 1
s2
s3
K1  ( s  1) s  1 2 n!
(s  1)( s  2) t nu (t )
s3 s n 1
K 2  ( s  2) s  2  1 1
( s  1)( s  2)
e  atu (t ) sa
y (t )  2e t  e 2t 1
te  atu (t ) ( s  a) 2

25 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Partial Fraction Expansion
N ( s) bm s m  bm 1s m 1    b1s  b0
G (s)   n
D( s ) s  an 1s n 1  an 1s n 1    a0 s  a0
N ( s) N ( s)
G( s)  
D( s) ( s  p1 )( s  p2 )  ( s  pn )

K1 K2 Kn
G( s)   
( s  p1 ) ( s  p2 ) ( s  pn )

Simple Roots
N ( s) N ( pi )
K i  ( s  pi ) s   pi 
D( s ) ( p1  pi )( p2  pi )  ( pn  pi )

26 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Partial Fractions
Multiple Roots
N ( s) N ( s)
G( s)  
D( s) ( s  p1 )( s  p2 )  ( s  pn  r )( s  pi ) r
K1 K2 K nr
G( s)   
( s  p1 ) ( s  p1 ) ( s  pn  r )
A1 A2 Ar
    
( s  pi ) ( s  pi ) 2 ( s  pi ) r
N ( s)
Ar  ( s  pi ) r
s   pi
D( s ) 1 d r i r N ( s)
Ai  ( s  p ) s   pi
d r N ( s) (r  i)! dsr i
i
Ar 1  ( s  pi ) s   pi
D( s )
ds D( s )

27 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Multiple roots 2 K1 K2 K3
Y ( s)    
( s  1)( s  2) 2
s  1 s  2 s  2
2

Inverse Laplace
2 K1 K2 K3
Y ( s)    
( s  1)( s  2) 2
s  1 s  2 s  2
2

2
K1  ( s  1) 2 s  1
2
( s  1)( s  2)
2 2
K 2  ( s  2) 2
2 s  2
 s  2  2
( s  1)( s  2) ( s  1)
d 2 2
K3  s  2  2 s  2
 2
ds ( s  1) ( s  1)
t 2 t 2t
y(t )  2e  2te  2e
1 d r i r N ( s)
28 Lecture 2 Control Systems , Dr. Alivelu Parimi
Ai  r i
( s  pi ) s   pi
(r  i)! ds D( s )
 Complex Roots
s    j and s    j
N ( s)
K   j  ( s    j ) s    j
D( s )
N ( s)
K   j  ( s    j ) s    j
D( s )
 n2 K   j K   j
G(s)  2  
s  2n   n s    j s    j
2

Completing Square
 2   n
G( s)  n
(s   )   2 2
  n 1   2
29 Lecture 2 Control Systems , Dr. Alivelu Parimi
 Inverse Laplace
complex roots
3 3
Y ( s)  
s ( s  2s  5) s ( s  1  j 2)( s  1  j 2)
2

K1 K2 K3
  
s ( s  1  j 2) ( s  1  j 2)

30 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Inverse Laplace
complex roots
3 3
 (2  j )  (2  j )
3/5 20 20
  
s ( s  1  j 2) ( s  1  j 2)
3 3
y (t )  
5 20
( 2  j )e 
 (1 j 2 )t
 ( 2  j )e  (1 j 2 )t

3 3 t  1 
y (t )   e cos 2t  sin 2t 
5 5  2 
31 Lecture 2 Control Systems , Dr. Alivelu Parimi
 Exercise: Laplace transform

32 Lecture 2 Control Systems , Dr. Alivelu Parimi

 Exercise: Inverse Laplace transform

33 Lecture 2 Control Systems , Dr. Alivelu Parimi

 End
 Laplace transform
 Next class
 Transfer function

34 Lecture 2 Control Systems , Dr. Alivelu Parimi