CHAPTER 2

MODELING IN
FREQUENCY DOMAIN (Part 1)
BEEE2364
CONTROL PRINCIPLES

HAFEZ JTKEK FTKEE

 Learning Outcome
After completing Chapter 2 (Part 1), the student will be able to:

• find the Laplace transform of time functions and the

inverse Laplace transform,
• find the transfer function from a differential equation and
solve the differential equation using the transfer function

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 Introduction

System:
• contain a mathematical function.
• represented by a differential equation thus difficult to
model as a block diagram.

Differential equation:
• generally involve derivatives and integrals of the dependent
variables with respect to the independent variable.

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 Time vs Frequency
Domain

𝑟(𝑡) 𝑅(𝑠)

𝑐(𝑡) 𝐶(𝑠)

R(s) C(s)

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 Laplace Transform
Laplace transform (LT) definition:

where F(s) is called the Laplace transform of f(t).

Example 2.1 Find the Laplace transform of unit step function 𝑢𝑠 𝑡 .
LT

Example 2.2 Find the Laplace transform of the following function.

LT

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 Laplace Transform (Cont.)
Laplace transform table.

𝑛!
𝑠 𝑛+1

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 Laplace Transform (Cont.)
Laplace transform theorems.

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 Laplace Transform (Cont.)
Example 2.3
By using Laplace transform table and theorems, find the Laplace
transform of the following expression

𝑦 𝑡 = 2 − 3𝑒 −5𝑡 + sin 4𝑡 𝑢(𝑡).

Solution:
𝑦 𝑡 = 2𝑢(𝑡) − 3𝑒 −5𝑡 𝑢(𝑡) + sin 4𝑡𝑢(𝑡)

2 3 4
𝑌(𝑠) = − + .
𝑠 𝑠+5 𝑠 2 +16

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 Inverse Laplace Transform
Inverse Laplace transform definition:

Example 2.4
1
Find the inverse Laplace transform of 𝐹1 𝑠 = .
𝑠+3 2

Solution:

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 Partial-fraction Expansion
• For an inverse Laplace transform of a complicated function,
convert the function to a sum of simpler terms.
• The result is called a partial-fraction expansion.
• Consider the rational function

• The partial-fraction expansion can be made only if the order of

N(s) is greater than or equal to the order of D(s).
• Three cases of partial-fraction expansion:
1. Roots of D(s) are real and distinct.
2. Roots of D(s) are real and repeated.
3. Roots of D(s) are complex and imaginary.

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 Partial-fraction Expansion
(Cont.)
1. Roots of D(s) are real and distinct.

where 𝐾𝑖 – coefficient and 𝑝𝑖 – pole for 𝑖 = 1, . . , 𝑛.

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 Partial-fraction Expansion
(Cont.)
Example 2.5
2
Find inverse Laplace transform of 𝐹 𝑠 = .
(𝑠+1)(𝑠+2)
Solution:
2 𝐾1 𝐾2
𝐹 𝑠 = = +
(𝑠+1)(𝑠+2) 𝑠+1 𝑠+2
2
𝐾1 = |𝑠=−1 = 2
𝑠+2
2
𝐾2 = | = −2
𝑠+1 𝑠=−2
2 2
𝐹 𝑠 = −
𝑠+1 𝑠+2
From Laplace transform table,

𝑓 𝑡 = 2𝑒 −𝑡 − 2𝑒 −2𝑡 𝑢(𝑡).
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 Partial-fraction Expansion
(Cont.)
2. Roots of D(s) are real and repeated.

repeated
roots

where 𝐾𝑖 – residue and 𝑝𝑖 – pole for 𝑖 = 1, . . , 𝑛.

𝑟 – number of repeated root.

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 Partial-fraction Expansion
(Cont.)
Example 2.6
2
Find inverse Laplace transform of 𝐹 𝑠 = .
(𝑠+1)(𝑠+2)2
Solution:
2 𝐾1 𝐾2 𝐾3
𝐹 𝑠 = = + +
(𝑠+1)(𝑠+2)2 𝑠+1 (𝑠+2)2 𝑠+2
2
𝐾1 = 2 |𝑠=−1 = 2
(𝑠+2)
2
𝐾2 = | = −2
𝑠+1 𝑠=−2
𝑑 2 2
𝐾3 = [ ]|𝑠=−2 = [− ]| = −2
𝑑𝑠 𝑠+1 𝑠+1 2 𝑠=−2
2 2 2
𝐹 𝑠 = − −
𝑠+1 𝑠+2 2 𝑠+2
From Laplace transform table,
𝑓 𝑡 = 2𝑒 −𝑡 − 2𝑡𝑒 −2𝑡 − 2𝑒 −2𝑡 𝑢(𝑡).
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 Partial-fraction Expansion
(Cont.)
3. Roots of D(s) are complex and imaginary.

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 Partial-fraction Expansion
(Cont.)
Example 2.7
3
Find inverse Laplace transform of 𝐹 𝑠 = .
𝑠(𝑠 2 +2𝑠+5)
Solution:
3 3 𝐾1 𝐾2 𝐾3
𝐹 𝑠 = = = + +
𝑠(𝑠 2 +2𝑠+5) 𝑠(𝑠+1+𝑗2)(𝑠+1−𝑗2) 𝑠 𝑠+1+𝑗2 𝑠+1−𝑗2
3 3
𝐾1 = 2 |𝑠=0 =
𝑠 +2𝑠+5 5
3 3
𝐾2 = | = − (2 + 𝑗)
𝑠(𝑠+1−𝑗2) 𝑠=−1−𝑗2 20
3 3
𝐾3 = | = − (2 − 𝑗)
𝑠(𝑠+1+𝑗2) 𝑠=−1+𝑗2 20
3 1 3 2+𝑗 2−𝑗
𝐹 𝑠 = − +
5 𝑠 20 𝑠+(1+𝑗2) 𝑠+(1−𝑗2)
From Laplace transform table,
3 3
𝑓 𝑡 = − 2 + 𝑗 𝑒 (−1−𝑗2)𝑡 + (2 − 𝑗)𝑒 (−1+𝑗2)𝑡 𝑢(𝑡)
5 20
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 Partial-fraction Expansion
(Cont.)
Example 2.7 (Cont.)
𝑓 𝑡 can be rewritten as
3 3
𝑓 𝑡 = − 2 + 𝑗 𝑒 −𝑡 𝑒 −𝑗2𝑡 + (2 − 𝑗)𝑒 −𝑡 𝑒 𝑗2𝑡 𝑢(𝑡)
5 20
3 3
𝑓 𝑡 = − 𝑒 −𝑡 2 + 𝑗 𝑒 −𝑗2𝑡 + (2 − 𝑗) 𝑒 𝑗2𝑡 𝑢(𝑡)
5 20
3 3
𝑓 𝑡 = − 𝑒 −𝑡 2 𝑒 −𝑗2𝑡 + 𝑒 𝑗2𝑡 − 𝑗 𝑒 𝑗2𝑡 − 𝑒 −𝑗2𝑡 𝑢(𝑡)
5 20

3 3 −𝑡 𝑒 𝑗2𝑡 + 𝑒 −𝑗2𝑡 𝑒 𝑗2𝑡 − 𝑒 −𝑗2𝑡

𝑓 𝑡 = − 𝑒 4 +2 𝑢(𝑡)
5 20 2 𝑗2

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 Partial-fraction Expansion
(Cont.)
Example 2.7 (Cont.)
From the Euler formula

3 3 −𝑡
𝑓 𝑡 = − 𝑒 4cos2𝑡 + 2sin2𝑡 𝑢(𝑡).
5 20

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 Summary
Application of Laplace transform to the solution of linear ordinary
differential equations:

1. Transform the differential equation (t domain) into the s-domain

by Laplace transform using the Laplace transform table.
2. Manipulate the transformed algebraic equation and obtain an
expression for the output variable.
3. Perform partial-fraction expansion (PFE) to the transformed
algebraic equation.
4. Obtain the inverse Laplace transform from the Laplace
transform table.

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