ME160P-2

LCCDE – Laplace Method

LAPLACE TRANSFORM
Steps in Solving LCCDE using Laplace
Transform
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain)
2. Solve for Y( s ) (isolate Y( s )).
3. Expand Y( s ) into partial fractions.
4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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LAPLACE TRANSFORM PAIRS

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LAPLACE TRANSFORM PAIRS
(FIRST-SHIFTING THEOREM)

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LAPLACE TRANSFORM PAIRS
(FIRST-SHIFTING THEOREM)

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OTHER LAPLACE TRANSFORM PAIRS

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LAPLACE TRANSFORM PAIRS
(INTEGRAL & DERIVATIVES)

Note: All Initial Conditions are assumed zero.

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COVER-UP METHOD
◦ To find the constants (residues) of the partial fraction expansion of rational functions we can use Residue
Theorem

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COVER-UP METHOD FOR MULTIPLE ROOTS
◦ For multiple roots, Residue Theorem can be expressed in the form

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Example 1:
◦ Find the Total Solution to the Differential Equation (Assume all initial conditions=0)

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Example 1:
Steps in Solving LCCDE using Laplace
Transform
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain) Solution: Converting the DE into Laplace
Transform, we have
2. Solve for Y( s ) (isolate Y( s )).
3. Expand Y( s ) into partial fractions.
4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 1:
Steps in Solving LCCDE using Laplace Solving for Y(s)
Transform
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain)
2. Solve for Y( s ) (isolate Y( s )). simplifying

3. Expand Y( s ) into partial fractions.

4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 1:
Steps in Solving LCCDE using Laplace Taking the Partial Fraction Expansion
Transform
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain) Using cover-up method

2. Solve for Y( s ) (isolate Y( s )).

3. Expand Y( s ) into partial fractions.
4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 1:
Steps in Solving LCCDE using Laplace Taking the Partial Fraction Expansion
Transform
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain) Using cover-up method

2. Solve for Y( s ) (isolate Y( s )).

3. Expand Y( s ) into partial fractions.
4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 1:
Steps in Solving LCCDE using Laplace Taking the Partial Fraction Expansion
Transform
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain) Using cover-up method for multiple
roots
2. Solve for Y( s ) (isolate Y( s )).
3. Expand Y( s ) into partial fractions.
4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 1:
Steps in Solving LCCDE using Laplace Taking the Partial Fraction Expansion
Transform
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain) Using cover-up method for multiple
roots
2. Solve for Y( s ) (isolate Y( s )).
3. Expand Y( s ) into partial fractions.
4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 1:
Steps in Solving LCCDE using Laplace Taking the Partial Fraction Expansion
Transform
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain) Using cover-up method for multiple
roots
2. Solve for Y( s ) (isolate Y( s )).
3. Expand Y( s ) into partial fractions.
4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 1:
Steps in Solving LCCDE using Laplace Substituting
Transform
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain)
2. Solve for Y( s ) (isolate Y( s )). taking the Inverse Laplace Transform

3. Expand Y( s ) into partial fractions.

4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 2:
◦ Find the Total Solution to the Differential Equation (Assume all initial conditions=0)

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Example 2:
Steps in Solving LCCDE using Laplace Solution: Converting the DE into Laplace
Transform Transform, we have
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain)
2. Solve for Y( s ) (isolate Y( s )).
3. Expand Y( s ) into partial fractions.
4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 2:
Steps in Solving LCCDE using Laplace Solving Y(s)
Transform
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain)
2. Solve for Y( s ) (isolate Y( s )). simplifying

3. Expand Y( s ) into partial fractions.

4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 2:
Steps in Solving LCCDE using Laplace Taking the Partial Fraction Expansion, we
Transform have
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain)
2. Solve for Y( s ) (isolate Y( s )).
3. Expand Y( s ) into partial fractions.
4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 2:
Steps in Solving LCCDE using Laplace By taking the Inverse Laplace Transform,
Transform y(t) is of the form
1. Convert the differential equation to
Laplace Transform (time domain Æ s-
domain)
2. Solve for Y( s ) (isolate Y( s )).
3. Expand Y( s ) into partial fractions.
4. Take the Inverse Laplace Transform
of Y( s). ( s-domain Æ time domain).

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Example 2:
solving for the residues using cover-up method

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Example 2:
solving for the residues using cover-up method

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Example 2:
solving for the residues using cover-up method

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Example 2:
solving for the residues using cover-up method

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Example 2:
solving for the residues using cover-up method

Taking the sum and difference of the two expressions will result into

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Example 2:
substituting into the expression shown in SLIDE 23

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Example 2:
(Alternative Solution)
Determination of Residues by Equating Coefficients
• When the denominator contains complex roots, determining the residues is more difficult because we
must evaluate complex expressions.
• We can eliminate the need for complex number operations by equating coefficients of each term in the
numerator and then solving the resulting system of linear equations.

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Example 2:
(Alternative Solution)
Determination of Residues by Equating Coefficients
Expanding each term, and then grouping similar terms we have

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Example 2:
(Alternative Solution)
Determination of Residues by Equating Coefficients
By equating coefficients of similar terms we have the following set of linear equations

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Example 2:
(Alternative Solution)
Determination of Residues by Equating Coefficients
In matrix form

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Example 2:
(Alternative Solution)
Determination of Residues by Equating Coefficients
Using Cramer’s Rule or other methods for system of linear equations

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Example 2:
(Alternative Solution)
Determination of Residues by Equating Coefficients
• Solving a large number simultaneous linear equations is difficult!
• If we already knew A, B, C, D using cover-up method, we only need two of the six equations to solve for E
and F. Using eq.(1) and eq.(2) we have

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Example 3:
◦ Determine the Inverse Laplace Transform of the function

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Example 3:
Solution: By completing the square of the expression we have

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Example 3:
Taking the Partial Fraction Expansion of Y(s), we obtain

Using cover-up method

B=1
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Example 3:
Taking the Partial Fraction Expansion of Y(s), we obtain

Expanding each term of the numerator

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Example 3:
Taking the Partial Fraction Expansion of Y(s), we obtain

and then grouping similar terms we have

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Example 3:
Taking the Partial Fraction Expansion of Y(s), we obtain

equating coefficients of s3 to solve for C

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Example 3:
Taking the Partial Fraction Expansion of Y(s), we obtain

equating coefficients of s2 to solve for C

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Example 3:
By taking the Inverse Laplace Transform of

we have

Substituting the values of A,B,C, and D

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MATLAB IMPLEMENTATION
◦ Partial Fraction Expansion of polynomial given the Coefficients of Numerator num and Denominator den

◦ Where

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MATLAB IMPLEMENTATION
Example 1:
◦ Example 1: Find the partial fraction expansion of

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MATLAB IMPLEMENTATION
Example 1:
◦ Y(s) can be written as

◦ Multiple poles should be written in

increasing order

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MATLAB IMPLEMENTATION
Using MATLAB Symbolic Toolbox we can find the solution to LCCDE by

◦ First creating symbolic variables s and t using the command

◦ Then, converting time functions into Laplace Transform using the command

◦ And finally, taking the Inverse Laplace Transform using the command

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MATLAB IMPLEMENTATION
Example 2:
◦ Find the Total Solution of the Solution
Differential Equation (Assume all initial ◦ First, take the Laplace Transform of
conditions=0)

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MATLAB IMPLEMENTATION
Example 2:
◦ Find the Total Solution of the Then solve for Y( s ) by dividing F ( s )
Differential Equation (Assume all initial with the auxiliary polynomial derived
conditions=0) from the left side of the D.E.

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MATLAB IMPLEMENTATION
Example 2:
◦ Find the Total Solution of the Finally, convert Y( s ) to y ( t )
Differential Equation (Assume all initial
conditions=0)

Note: MATLAB variables are case

sensitive, so y is different from Y

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MATLAB IMPLEMENTATION
(Other useful MATLAB Functions )

◦ Function dsolve computes symbolic solutions to ordinary differential equations.

◦ The equations are specified by symbolic expressions containing the letter D to denote differentiation.
◦ The symbols D2, D3, ... DN, correspond to the second, third, ..., Nth derivative, respectively. Thus, D2y is
the Symbolic Math Toolbox equivalent of

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MATLAB IMPLEMENTATION
Example 3:
◦ Find the Total Solution of the ◦ Solution
Differential Equation (Assume all initial
conditions=0)

◦ Total Solution

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MATLAB IMPLEMENTATION
(Other useful MATLAB Functions )

◦ The pretty function prints symbolic output in a format that resembles typeset mathematics.

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 End of Presentation
Thank you!

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REFERENCES:
◦ Elementary Differential Equations, 7thedition,by Rainville E.D.,and Bedient P.E.
◦ Schaum’s Outline Series “Feedback and Control Systems”, 2nd edition, by DiStefano III, J.J., Stubberud
A.R., and Williams I.J.
◦ Control Systems Engineering, 3rd edition, by Nise N.S.

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