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INPUT OUTPUT
CONTROLLER PLANT / PROCESS
ER
ELEMEN
PENGUKUR
TRANSFORMASI LAPLACE
f(t).e
st
α[f(t)] F(s) .dt
0
A. Fungsi Step
F(t) = 0 untuk t < 0
= A untuk t > 0
0 t
A
F(s) A.e st .dt e st |
s 0
0
A
= (0 1)
s
A
=
s
B. Fungsi Pulse
F(t) = 0 untuk t < 0 & t >T
= A untuk 0 t T
A
0 T t
F(s) f(t).e st .dt
0
T
st .dt
A.e
0
A st T
.e |
s 0
A st
(e 1)
s
A
(1 e st )
s
Fungsi Unit Step : f(t) = 1 (t) F(s) = 1/s
C. Fungsi Impulse
A
f(t) lim untuk 0 < t < to
to 0 to
=0 untuk t < 0 & to < t
A st
F(s) lim (1 e o)
t 0 t s
0
d
[A(1 e sto )]
lim dto
to 0 d
(tos)
dto
A
s
s
=A
Fungsi Unit-Impulse : f(t) = (t)
F(s) = 1
D. Fungsi Ramp
F(t) = 0 untuk t < 0
= At untuk t 0
A
0 1 t
F(s) A.t.e st .dt
0
A t.e - st .dt
0
e st A.e st
A.t. | dt
s 0 0 s
A st
e .dt
s 0
A
s2
E. Fungsi Eksponensiil
F(t) = o untuk t < 0
= A e αt untuk t 0
αt .e st .dt
F(s) A.e
0
(α s)t
Ae .dt
0
A (s α)t
e |
sα 0
A
(0 1)
sα
A
sα
F. Fungsi Sinus
f(t) = A sin t
F(s) A.sinω.si st .dt
0
e j t e j t
A. .e st dt
0 2j
A jt st jt st
(e .e e .e )dt
2j 0
G. Fungsi Cosinus
f(t) = A cos t
s
F(s) = A.
s ω2
2
st .dt
L [ f ( t - ) ] f(t α)e
0
s(t α)
f(t α)e αs .e
0
f(τ(τ sτ dτ
α
e αs f(τ(τ) sτ dτ
α
e αs st dt
f(t).e
0
e αs .F(s)
(s α)t
f(t).e .dt
0
F(s α)
3. Teorema Diferensiasi
Bila F(s) = L [ f(t) ],
df(t)
Maka : L [ ] = sF(s) – f(0)
dt
Dimana f(0) adalah harga f(t) untuk t=0
d 2f(t)
L[ ] = s2F(s) - sf(0) – fI(0)
dt 2
d 3f(t)
L[ ] = s3F(s) – s2f(0) – sfI(0) – fii(0)
dt 3
Bukti :
df(t) df(t)
L[ ]= ( )e st .dt
dt 0 dt
e st df(t)
0
e st .f(t) | f(t)de st
0
0
0 f(0) s f(t).e st dt
0
f(0) sF(s)
4. Teorema Integrasi
Bila F(s) = L [ f(t) ],
1(0)
Maka : L [ f(t)dt ] = F(s) f
s s
1 st
[ f(t)dt]de
s 0
1
[e st f(t)dt | e st f(t)dt]
s 0
0
1
[0 f 1(0) F(s)]
s
F(s) f 1(0)
s s
df(t)
[ ]dt f(t) |
dt 0
0
f() f(0)
lim sF(s) - f(0)
s0
f( ) lim f(t) lim sF(s)
t s0
Contoh :
s3
1. F(s) =
(s 1)(s 2)
s3 a1 a
F(s) = = 2
(s 1)(s 2) s 1 s 2
s3
[ (s 1)] 2
(s 1)(s 2) s 1
a1 =
s3
a2 = [ (s 2)] 1
(s 1(s 2) s 2
s 3 5s 2 9s 7
2. G(s) =
(s 1)(s 2)
s3
G(s) = s + 2 +
(s 1)(s 2)
d
G(t) = δ(t) 2 (t) 2e t e 2t
dt
s 1
3. F(s) =
s(s s 1)
2
s 1 α sα
F(s) = = 1 2 a
s(s s 1)
2
2
s s 1 s
Untuk mendapatkan 1 dan 2 :
s 1 α sα
= 1 2 a
s(s s 1)
2
2
s s 1 s
s 1 α sα
= 1 2
s(s s 1)
2
2
s s 1
s 1
. s2 + s + 1 = α1s α 2 |s 0,5 j0,866
s(s s 1)
2
0,5 j0,866
α (0,5 j0,866) α
0,5 j0,866 1 2
s 2 2s 3
4. F(s) =
(s 1)3
b3 b2 b1
F(s) =
(s 1)3 (s 1) 2 (s 1)
s 2 2s 3
b3 = [ .(s 1)3 ]s= -1
(s 1)3
= (s2 + 2s + 3)s= -1
=2
1 d s 2 2s 3
b2 = { [ .(s 1)3 ]}
1! ds (s 1)3 s 1
= (2s +2)s= -1
=0
1 d 2 s 2 2s 3
b1 = { [ .(s 1)3 ]}
2! ds 2 (s 1)3 s 1
= ½ . (2)
=1
f(t) = L-1 [ F(s) ]
2 1
= L-1 [ ] + L-1 [ ]
(s 1)3 s 1
= t2 . e-t + e-t
SOAL LATIHAN
s 1
1. F(s) = 2 f(t) = … ?
s 5s 6
5(s 2)
2. F(s) = f(t) = … ?
(s 1) (s 3)(s2 s 5)
3
T 2T t
PENYELESAIAN PERSAMAAN DIFFERENSIAL
Contoh :
1. Selesaikan persamaan differensial berikut :
.. . .
x 3 x 6x 0, x(0) 0, x (0) 3