o Electrical and Computer Engineering —ELEC 301 thedonan P51 Review of the s-Domain Why do we work in the s-domain? The principal reason that we are interested in working in the s-domain is that in it the output from a network is given as the product of the network's transfer function and the driving function. For the network shown in figure 1a the output VAs) is given by V(s) = H(s) V(s) whereas, in the time-domain, the output of a network is obtained from the convolution (denoted by the * operator) of the driving function with Electrical and Computer Engineering —ELEC 301 thes-bomain—P52 the network's impulse response. For the network shown in figure 1b the output v,(t) is given by v(t) = A(t) v(t) = f b(t) vi(t- 1) dt Eq.2 where the functions V,(s), H(s), and V(s) in equation 1 are the Laplace transforms of the functions y.(#), A(f), and v,(t) of equation 2, respectively. Also, it is relatively easy for us to obtain the transfer function of an electrical network whereas, typically, calculating the impulse response of the same network is not so straight forward.a Electrical and Computer Engineering —ELEC 301 Tre «Doman —P5> —p V,(s) > v(t) Figure 1. Input to and Output from a Linear System in (a) the s-Domain and (b) the Time-Domain. o Electrical and Computer Engineering — ELEC 301 thes-boman—Ps-4 The Laplace transform of a function f{?) is given as F(s) = £ [f(t] = if "de which, for many of the functions that are encountered in the analysis of electrical networks, is easily calculated. For example, £ (Kf (t)] = K £[f(t)] £ [fi(t) + f,(0)] = Fils) + F,(s) kK (s- a) 2[ae wi) = sF(s)~ f(0-) £ [Ke] = dtElectrical and Computer Engineering — ELEC 301 “The s-Domain P55 Pf # ral = #F(s)- g(0-)- Loo-) ij roa = Fs) Ss LF (t) f,(t)] = Fy(s) F,(s) £ le" f(t)] = F(s- a) lf [ 2[Aoe K (n- yr} (s- a)" Figure 2 illustrates the use (application) of the Laplace transform to reduce the complexity of the mathematics needed to analyze electrical networks, @ Electrical and Computer Engineering —ELEC 301 thes-Domain— 56 — Integrodifferential Laplace [. Transform - — Plus Equation Transform Intial Conitions tL | | Standard Algebraic Solution Methods Manipulations v , aaene Solution \q—/nverse Laplace | Revised ' Tranform Transform i‘ Figure 2. The Use of the Laplace Transform.‘The sPomain 301 Electrical and Computer Engineering — ELEC 30 F is. sis the Now let us briefly remind ourselves what the variable s i: . / is the neper complex frequency and is given by s = 6 + jw where o is the nep - wee le: frequency (measured in nepers per unit time - see for examp! http://en.wikipedia.org/wiki/Neper ) and @ is the radian frequency (measured in radians per unit time - see for example: hutp://en.wikipedia.org/wiki/Radian ). The usefulness of the s-domain should not surprise us when we consider that functions having the form S(t) = Kye + Kye" +..4+ K,e™ are solutions of the nth order differential equations encountered in & Electrical and Computer Engineering —ELEC 301 the s-domain— P58 electrical networks. For example, let V.(s) = H(s)Vi(s), and assume that its roots are simple, then V,(s) can be expressed in the form (similar solutions are obtained if some of V.(s)’s roots are complex or have multiplicities > 1) Vi) = OS = 5 nl s- 5S, where P(s) and Q(s) are polynomials in s. Clearly, from the Laplace transform pairs given above, equation 5 has a solution of the form given in equation 4.o Electrical and Computer Engineering — ELEC 301 thes-bemain What are the characteristics of functions such as Ke"? First of all K,e"' = K,e% e!*! which tells us that it has an exponentially growing or decaying component as well as a sinusoidal component. Figures 3a and b illustrate the real parts of the functions e!°°*/?"" and e 7?" as exponentially growing and decaying sinusoids. pas Electrical and Computer Engineering —ELEC 301 thesbomain 5 0 20 Re 10 -10 +20 Figure 3a. Exponentially Growing Sinusoid_» [ els + seni]he + Domain — 8 Electrical and Computer Engineering — ELEC 301m

0. Figure 5b shows a linear plot of |7(s)| vs jw, Figure 5¢ shows |7(s)| vs logiow, and figure 5d shows 20logio|7(s)| vs Figure 5d illustrates the value of using Bode plots for logioa. representing the amplitude response of a linear system.8 Electrical and Computer Engineering — ELEC 301 tyes bomsn~°523 Figure 5a. Electrical and Computer Engineering — ELEC 301 1000 800 600 IT(s)| 400 200: 2000 4000 6000 8000 10000 omega Figure 5b. The s Domain — P5.24eo Electrical and Computer Engineering —ELEC 301 thes-boman PS* 1000 800 | ines 400 200 1 -le2 -le3 -le4 les log[10Jomega Figure 5c. = Electrical and Computer Engineering — ELEC 301 the s-bomain ~P526 60 55 20log[10]|T(s)| 50 45 40 1. .le2 .1e3) .1e4 eS log[10]omega Figure 5d.8 Electrical and Computer Engineering — ELEC 301 te sen Bode Plots Continued Let us assume that we have a transfer function 7(s) and that we evaluate it along the positive jo-axis, i.e., that we evaluate for s = 01J® for positive @. Then we can write T(jw) = M(w)e/*®) where M(«) is the magnitude of the transfer function and (@) is the phase of the transfer function. o Electrical and Computer Engineering —ELEC 301 thes-bemain-—P528 The exponential term suggests that we can take the logarithm of T(ja). If we take the natural logarithm of T(jo) we get In(7(jo)) = In(M(o)) + 79(o) While it is common to express the phase response in radians, it is not common to express the magnitude response in nepers. Instead we use 20log (log — logic) of the magnitude response while keeping the phase in radians, i.e., 2logiT (jw) = 20log[ M(w)|o Electrical and Computer Engineering — ELEC 301 thes-Domain ee Let us look at an example. Say we have an amplifier with the following transfer function, in which all of the poles and zeros are located on the negative o-axis, T(s)=K (s+ w,,) (s + w,,) ... (5 + Ww, (8 + w,)) (5 + Wyy) «(8 +O, and where N > n, and evaluate it for positive «, then TUiw)=K (jw + w,) (jot W,») ... (FW + W.,) (FW + Wy) (J W + Wp2) (J O + Wy) & Electrical and Computer Engineering — ELEC 301 the s-Domain—P5.30 which can be written as Jan T(jw)=K M,,(w)e - M,,(w)e Stan"! jtan'— M,(w)e °* M,p(w)e or orLEC 301 the s-Domain ~ Ps.31 oS Electrical and Computer Engineering M,,(w) M.(w)...M.4(w) An : M pl) M paleo). M yy (eo) M.,=\w + w,, M,={w0 + and Papas (Pree = + wo My) = 0 + wr), May = 10 + 2), es May Me z @ Electrical and Computer Engineering —ELEC 301 thes-domain 532 ~ If we take 20log|7(ja)] we get 20logi T( jw)! = 20logi Ki + 20 log (w? + w?, + 20log w + O27, +... + logy w? + ow, = 20log| w? + w, = 20log) w? + Wap ee 20log\ w? + Pa and for the phase we get O(@) = tan"! + tan”! o + tan ge EO tan tan - tan Oy On7 ~ tan Opn to which we must add 0 if K is positive and x (£180) if K is negative,o Electrical and Computer Engineering —ELEC 301 tes-Domain —P533 In figures 6a and 6b we plot 20log(’+1)” and -20log(w"+1)", i.e.. where the zero or the pole is assumed to be located at -1 on the o-axis. 3 Electrical and Computer Engineering —ELEC 301 thes-Domain — P534 ° ° g t 2 . 7 {rm ren om mst tm tm logo Function = 2010g,,V a" +1 At tn To Approcnation Figure 6a.in P35 o Electrical and Computer Engineering — ELEC 301 thes-Dorat . " am am ot log. Function = -2010g, Va? +1 hat tn on Figure 6b. oO Electrical and Computer Engineering — ELEC 301 thes-Domain — P5.36 Let us look at the function tan'x. If x = 0 we get tan'0 = 0, and if X = 0, we get tan''co = 2/2. For values of x between 0 and «, we have the following and for negative x we have tan"'(-x) = -tan'x. Figure 7 is a plot of tan™x. Typically we are interested in plotting tan"w/a, or -tan’'w/a,, where @p is the location of either a zero or a pole, on a logarithmic scale. Here we will plot them against logw/w,.. More specifically, we will plot tan'w/o,, figure 8a, or -tan'w/w,,figure 8b, for w, and w, located on the negative o-axis.oy Electrical and Computer Engineering — ELEC 301 Thes-Donain ~P337 8 & Phase (degrees) 8 —n2 100) 80 60 00) 0) 20 40 co am) 100) Function = tan"'x Figure 7. Electrical and Computer Engineering — ELEC 301 tThes.Domain — 538 Tom —r tm 111m] 8 TM 0.001 0.01 O1 1 10 100 1000 log,,(a/o,) Function = tan'(@/,) ‘Actual Function = === = Approximation Figure 8a.: 1 Te s-Domain & Electrical and Computer Engineering — BLEC 301 1 9 T— TT rr rt 0.001 001 on 1 10 100 ad log, (a/o,) Function = -tan(/o,) Actual Function Figure 8b. o Electrical and Computer Engineering —ELEC 301 the s-bomain 5.40 Let's do an exam Let's say that we have the following transfer function . aa [rGr100 Lao 10° (s +1) (s +1000) (s+ 10°) (s + 10°) which has a mid band gain of 20log|K] dB. A we will see, we can write T(s) = T(s) = K F,(jo) Fy(jo) hi pass Tow Baas where F,(j@) is the “low frequency response” and Fi(jo) is the “high- frequency response” of the transfer function, Tespectively. Figures 9q and 9b show Fi(ja) and F(jo) for K = 1.