Notes for Signals and Systems

11.5 Introduction to Laplace Transform Analysis of LTI Systems

We consider LTI systems with right-sided input signals in this section, and furthermore
we assume that the system transfer function is a strictly-proper rational function. Thus we
can think of the system as arising from a differential equation description, though that is
not necessary. In any case, we introduce some standard methods based on the transfer
function description of the system.

When we write such a transfer function, or more generally any strictly-proper Laplace
transform,
bn −1s n −1 + " + b1s + b0
H (s) =
s n + an −1s n −1 + " + a0
we will assume that there are no common roots of the numerator and denominator
polynomials. That is, the numerator and denominator polynomials are assumed to be
relatively prime. This assumption is made to avoid equivalent forms of the transfer
function or transform that superficially appear different.

Definition The poles of a rational transfer function (or transform) are the roots of the
denominator polynomial, and the zeros are the roots of the numerator polynomial.

In counting the poles and zeros, we use the standard terminology associated with repeated
roots of a polynomial.

Example The transfer function

5( s + 2) 5( s + 2) 5
H (s) = = =
s3 + 4 s 2 + 5s + 2 ( s + 2)( s + 1) 2 ( s + 1)2
has no zeros and two poles at s = −1 (often stated as a multiplicity 2 pole at s = −1 ) .

There are two important results that can be immediately stated using this definition, and
the proofs are essentially obvious applications of partial fraction expansion and
inspection of the transform table for the types of terms that arise from partial fraction
expansion.

Theorem A right-sided signal x(t ) with strictly-proper rational Laplace transform is

bounded if and only if all poles of the transform have non-positive real parts and those
with zero real parts have multiplicity 1.

Theorem An LTI system with strictly-proper rational transfer function is stable if and
only if all poles of the transfer function have negative real parts.

Example Consider a system with transfer function

 20
H (s) =
s ( s + 2)
and suppose the input signal is a unit-step function,
1
X ( s) =
s
Then
20 10 5 5
Y (s) = = − +
s 2 ( s + 2) s 2 s s + 2
and the output signal is given by
y (t ) = 10 r (t ) − 5 u (t ) + 5 e −2t u (t )
This response is unbounded, because of the ramp component, which is not unexpected
since the system is not stable. Notice, however, that among our typical input signals the
only bounded input signal that produces an unbounded response is a step input.

Example Consider a system with transfer function

s −3
H ( s) =
( s + 1)( s + 2)
and suppose the input signal is described by
1
X ( s) =
s −3
that is, the input is the unbounded signal x(t ) = e3t u (t ) . Then
1 1 1
Y (s) = = −
( s + 1)( s + 2) s + 1 s + 2
and the output is the bounded signal
y (t ) = e−t u (t ) − e−2t u (t )
This example gives an interpretation of the zeros of a transfer function in terms of
growing exponential inputs that are “swallowed” by the system!

Remark It should be clear that the transfer function description of interconnections of

LTI systems is very similar in appearance to the frequency response function description
based on the Fourier transform discussed in Section 10.8. However, the Laplace
transform approach is not beset by the stability limitations that are implicit in applying
the Fourier transform. Consider the feedback system shown below, where H1 ( s ) and
H 2 ( s ) are the subsystem transfer functions.
Straightforward calculations give the unsurprising result that the overall system is
described by the transfer function
H1 ( s )
H (s) =
1 + H1 ( s ) H 2 ( s )
Under reasonable hypotheses we can show that H ( s ) is a strictly-proper rational function
as follows. Suppose that H1 ( s ) is a strictly-proper rational function and H 2 ( s ) is a
proper rational function. Then we can write these transfer functions in terms of their
numerator and denominator polynomials as
n ( s) n ( s)
H1 ( s ) = 1 , H 2 ( s) = 2
d1 ( s ) d2 ( s)
where deg n1 ( s) < deg d1 ( s ) and deg n2 ( s) ≤ deg d 2 ( s ) . Then, in polynomial form,
n1 ( s )d 2 ( s )
H (s) =
d1 ( s )d 2 ( s ) + n1 ( s )n2 ( s )
and it follows that H ( s ) is a strictly-proper rational function. Thus regardless of stability
issues, the response to the overall system to various input signals can be calculated in the
usual way.

Example Repeating the example from Section 10.8, if

3
H1 ( s ) = , H 2 (s) = k
s+2
then
3
H ( s) =
s + 2 + 3k
If the input to the feedback system is a unit step, X ( s ) = 1/ s , then the response is described by
3
Y (s) =
s ( s + 2 + 3k )
If k = −2 / 3 , then Y ( s ) = 3 / s 2 and y (t ) = 3r (t ) . Otherwise an easy partial fraction expansion
calculation gives
y (t ) = 3 u (t ) − 3 e − (2 + 3k )t u (t )
2 + 3k 2 + 3k
Inspection of these responses indicates, and the stability criterion described above
confirms, that the system is stable if and only if 2 + 3k > 0 . However, in any case the
transfer function representation is valid and can be used for response calculations and
other purposes.