Problem 5 : (a) Obtain the transfer function Y(s)/R(s).

(b) Obtain the state space equations.

 Laplace Transformation and Theorems


F(s)  L [f ( t )]   f ( t ) e s t dt
0
t
F ( s)
L [c1 f1 (t ) c2 f 2 (t )]  c1F1 ( s ) c2 F2 ( s ) L [  f ( ) d ] 
0
s

L [f ( t  a ) u 1 ( t  a )]  e  a s F(s)
L [ f (t )]  sF ( s )  f (0) , where
L [ f (t )]  s 2 F ( s )  sf (0)  f (0) 1, t  a
u 1 ( t  a )  
0, t  a
Thus, f(t-a) is equal to f(t) shifted by a.

lim f ( t )  lim s F(s) lim f ( t )  lim s F(s)

t  s 0 t 0 s 

L [e  a t f ( t )]  F(s  a ) L [f ( t / a ) ]  a F(a s) , a>0

d 
L [ t f ( t )]   f (t)
ds
F(s) L[
t
]   F(s) ds
s

Table of Laplace Transform Pairs

f(t)  F(s) f(t)  F(s)

C = const. C t e a t 1
s (s  a ) 2
( t ) 1 sin t 
s 2  2
u 1 ( t ) 1 cost s
s s 2  2
t 1 e a t sin t 
s 2
(s  a ) 2   2
1 1 e  a t cos t sa
t n 1
(n  1)! sn (s  a ) 2   2
e a t 1
sa
 Unit step response


  

ystep (t )  c(t )  1  e  n t  sin d t  cos d t 
 1 
 
2


1
ystep (t )  c(t )  1  e  n t cos(d t   )
1  2

Transient Response Specifications


Peak time t P  ;
n 1   2

Overshoot M P  e V , where V 
1 2

4
Settling time t s 
 n

 
Rise time tr 
n 1   2