Linear Control Systems

Laplace Transforms & System Modeling

The Laplace Transform

• Given a function f (t ) defined for values of the variable t > 0 then the Laplace
transform of f (t ), denoted by:

L f (t )
• is defined to be:


L  f (t )   f (t )dt
e  st

t 0

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Standard Test Signals

• Step Function

• Ramp Function

• Parabolic Function

• Impulse Function

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Step Function

r(t) = 0 for t < 0

r(t) = A for t ≥ 0
If A = 1, then:
r(t) = u(t) = 1
(Unit Step Function)
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Ramp Function

r(t) = 0 for t < 0

r(t) = At for t ≥ 0

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 Parabolic Function

r(t) = 0 for t < 0

r(t) = for t ≥ 0

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Impulse Functions


LT[r(t)]    (t )e dt
 st
0

LT[(t)]  1

δ(t) = 1, for t = 0
δ(t) = 0, for t ≠ 0

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System Dynamics

Control engineers works from Laplace transformed

mathematical description of the system

Analysis methods:
• Electrical

* Mesh analysis, Node Analysis

• Mechanical Translational

* Free body Diagrams

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Electrical Components

• Electrical Networks are governed by two Kirchhoff Laws

(Voltage, Current)

- Algebraic sum of all voltages in a closed loop is zero

- Algebraic sum of all currents into a node is zero

• Network element models include resistors, capacitors, inductors,

voltage sources, and current sources

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Modeling Electric Circuits

• Using KVL:

• Convert using Laplace transforms:

• Rearrange:

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Mesh Analysis:

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• Applying Laplace transforms on equations 1 & 2:

• Can be written in standard form:

Z11(s) I1(s) + Z12(s)I2(s) = E1(s)
Z21(s)I1(s) + Z22(s)I2(s) = E2(s)
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Cramer Rule

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Node Analysis

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• Can be written in standard form:
Y11(s) V1(s) + Y12(s)V2(s) = I1(s)
Y21(s)V1(s) + Y22(s)V2(s) = I2(s)

• Using Cramer Rule:

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Example

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 Translational Mechanical Components:
Free Body Diagram:
• Relation between force and position for mass, spring and damper
elements.
• Free body diagram shows all forces acting upon an element

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1. Define positions with directional sense for each mass in the
system

2. Draw free-body diagrams for each of the masses, expressing

the forces on them in the terms of mass position and velocity

3. Write an equation for each mass, equating the algebraic sum

of forces acting in the same direction to

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Example:

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• Equating forces:

• Rearrange:

• Laplace Transform:

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Example

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