Chapter 2 – Solutions to worked exercises

1. Find the Laplace transform of each of the following,

a) 𝑓𝑓(𝑡𝑡) = 𝑒𝑒 −5𝑡𝑡
We take Laplace transforms as follows,
∞
𝐿𝐿[𝑒𝑒 −5𝑡𝑡 ] = � 𝑒𝑒 −5𝑡𝑡 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑
0

This can be written,

∞
−5𝑡𝑡 ]
𝐿𝐿[𝑒𝑒 = � 𝑒𝑒 −(𝑠𝑠+5)𝑡𝑡 𝑑𝑑𝑑𝑑
0

Integrating we obtain,
∞
−(𝑠𝑠+5)𝑡𝑡
−1 −(𝑠𝑠+5)𝑡𝑡 ∞ −1 1
� 𝑒𝑒 𝑑𝑑𝑑𝑑 = � 𝑒𝑒 � = 0−� �=
0 𝑠𝑠 + 5 0 𝑠𝑠 + 5 𝑠𝑠 + 5
Therefore,
1
𝐿𝐿[𝑒𝑒 −5𝑡𝑡 ] =
𝑠𝑠 + 5

b) 𝑓𝑓(𝑡𝑡) = cos(0.4𝑡𝑡)
To get the Laplace transform, we must make use of Euler’s identity. This is,

𝑒𝑒 𝑗𝑗𝑗𝑗𝑗𝑗 + 𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗
cos(𝑤𝑤𝑤𝑤) =
2
So we have,

𝑒𝑒 𝑗𝑗𝑗𝑗𝑗𝑗 + 𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗 1 1
𝐿𝐿[cos(𝑤𝑤𝑤𝑤)] = 𝐿𝐿 � � = 𝐿𝐿�𝑒𝑒 𝑗𝑗𝑗𝑗𝑗𝑗 � + 𝐿𝐿�𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗 �
2 2 2
∞
𝐿𝐿�𝑒𝑒 𝑗𝑗𝑗𝑗𝑗𝑗 � = � 𝑒𝑒 𝑗𝑗𝑗𝑗𝑗𝑗 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑
0

This can be written,

∞
𝐿𝐿[𝑒𝑒 −5𝑡𝑡 ] = � 𝑒𝑒 −(𝑠𝑠−𝑗𝑗𝑗𝑗)𝑡𝑡 𝑑𝑑𝑑𝑑
0

Integrating we obtain,
∞
−(𝑠𝑠−𝑗𝑗𝑗𝑗)𝑡𝑡
−1 −(𝑠𝑠−𝑗𝑗𝑗𝑗)𝑡𝑡 ∞ −1 1
� 𝑒𝑒 𝑑𝑑𝑑𝑑 = � 𝑒𝑒 � =0−� �=
0 𝑠𝑠 − 𝑗𝑗𝑗𝑗 0
𝑠𝑠 − 𝑗𝑗𝑗𝑗 𝑠𝑠 − 𝑗𝑗𝑗𝑗
Similarly,
∞
𝐿𝐿�𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗 � = � 𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑
0

This can be written,

∞
𝐿𝐿�𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗 � = � 𝑒𝑒 −(𝑠𝑠+𝑗𝑗𝑗𝑗)𝑡𝑡 𝑑𝑑𝑑𝑑
0

Integrating we obtain,
∞
−1 −(𝑠𝑠+𝑗𝑗𝑗𝑗)𝑡𝑡 ∞ −1 1
� 𝑒𝑒 −(𝑠𝑠+𝑗𝑗𝑗𝑗)𝑡𝑡 𝑑𝑑𝑑𝑑 = � 𝑒𝑒 � =0−� �=
0 𝑠𝑠 + 𝑗𝑗𝑗𝑗 0
𝑠𝑠 + 𝑗𝑗𝑗𝑗 𝑠𝑠 + 𝑗𝑗𝑗𝑗

Combining all terms,

1 1 1 1
𝐿𝐿[cos(𝑤𝑤𝑤𝑤)] = � �+ � �
2 𝑠𝑠 − 𝑗𝑗𝑗𝑗 2 𝑠𝑠 + 𝑗𝑗𝑗𝑗
Cross-multiplying we obtain,
1 𝑠𝑠 + 𝑗𝑗𝑗𝑗 + 𝑠𝑠 − 𝑗𝑗𝑗𝑗 𝑠𝑠
𝐿𝐿[cos(𝑤𝑤𝑤𝑤)] = � �= 2
2 (𝑠𝑠 − 𝑗𝑗𝑗𝑗)(𝑠𝑠 + 𝑗𝑗𝑗𝑗) 𝑠𝑠 + 𝑤𝑤 2
So for this particular problem we have,
𝑠𝑠
𝐿𝐿[cos(0.4𝑡𝑡)] ==
𝑠𝑠 2 + 0.16
c) 𝑓𝑓(𝑡𝑡) = 𝑡𝑡𝑒𝑒 −0.1𝑡𝑡
We take Laplace transforms as follows,
∞ ∞
𝐿𝐿[𝑡𝑡𝑒𝑒 −0.1𝑡𝑡 ] = � 𝑡𝑡𝑒𝑒 −0.1𝑡𝑡 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑 = � 𝑡𝑡𝑒𝑒 −(𝑠𝑠+0.1)𝑡𝑡 𝑑𝑑𝑑𝑑
0 0

Using integration by parts,

∞ ∞
� 𝑢𝑢𝑣𝑣 ′ 𝑑𝑑𝑑𝑑 = [𝑢𝑢𝑢𝑢]∞
0 − � 𝑢𝑢′𝑣𝑣𝑣𝑣𝑣𝑣
0 0

We let,
𝑑𝑑𝑑𝑑
𝑢𝑢 = 𝑡𝑡 ⟹ 𝑢𝑢′ = =1
𝑑𝑑𝑑𝑑
1
𝑣𝑣 ′ = 𝑒𝑒 −(𝑠𝑠+0.1)𝑡𝑡 ⟹ 𝑣𝑣 = − 𝑒𝑒 −(𝑠𝑠+0.1)𝑡𝑡
𝑠𝑠 + 0.1
Therefore,
 ∞ ∞ ∞
𝑡𝑡 1
� 𝑡𝑡𝑒𝑒 −(𝑠𝑠+0.1)𝑡𝑡 𝑑𝑑𝑑𝑑 = �− 𝑒𝑒 −(𝑠𝑠+0.1)𝑡𝑡 � − � − 𝑒𝑒 −(𝑠𝑠+0.1)𝑡𝑡 𝑑𝑑𝑑𝑑
0 𝑠𝑠 + 0.1 0 0 𝑠𝑠 + 0.1
∞ ∞
1 −(𝑠𝑠+0.1)𝑡𝑡
1 −(𝑠𝑠+0.1)𝑡𝑡
=0+� 𝑒𝑒 𝑑𝑑𝑑𝑑 = �− 𝑒𝑒 �
0 𝑠𝑠 + 0.1 (𝑠𝑠 + 0.1)2 0

Therefore,
1
𝐿𝐿[𝑡𝑡𝑒𝑒 −0.1𝑡𝑡 ] =
(𝑠𝑠 + 0.1)2
2. Assuming zero initial conditions, determine the transfer function models for the processes
represented by the following ordinary differential equations,
a)
𝑑𝑑𝑑𝑑(𝑡𝑡)
15 + 𝑦𝑦(𝑡𝑡) = −2𝑢𝑢(𝑡𝑡)
𝑑𝑑𝑑𝑑
If we take Laplace transforms of the left and right hand side of this ODE then we have,
15𝑠𝑠𝑠𝑠(𝑠𝑠) + 𝑌𝑌(𝑠𝑠) = −2𝑈𝑈(𝑠𝑠)
Rearranging gives the transfer function,
𝑌𝑌(𝑠𝑠) −2
=
𝑈𝑈(𝑠𝑠) 15𝑠𝑠 + 1
b)
𝑑𝑑 2 𝑦𝑦(𝑡𝑡) 𝑑𝑑𝑑𝑑(𝑡𝑡)
10 2
+6 + 𝑦𝑦(𝑡𝑡) = 3𝑢𝑢(𝑡𝑡)
𝑑𝑑𝑡𝑡 𝑑𝑑𝑑𝑑
If we take Laplace transforms of the left and right hand side of this ODE then we have,
10𝑠𝑠 2 𝑌𝑌(𝑠𝑠) + 6𝑠𝑠𝑠𝑠(𝑠𝑠) + 𝑌𝑌(𝑠𝑠) = 3𝑈𝑈(𝑠𝑠)
Rearranging gives the transfer function,
𝑌𝑌(𝑠𝑠) 3
=
𝑈𝑈(𝑠𝑠) 10𝑠𝑠 2 + 6𝑠𝑠 + 1
c)
𝑑𝑑𝑑𝑑(𝑡𝑡)
10 = 3𝑢𝑢(𝑡𝑡)
𝑑𝑑𝑑𝑑
If we take Laplace transforms of the left and right hand side of this ODE then we have,
10𝑠𝑠𝑠𝑠(𝑠𝑠) = 3𝑈𝑈(𝑠𝑠)
Rearranging gives the transfer function,
𝑌𝑌(𝑠𝑠) 3
=
𝑈𝑈(𝑠𝑠) 10𝑠𝑠
3. If a unit step change is applied to the process input, through calculation of the inverse
Laplace transform find and plot the time domain response of the following transfer
functions,

0.2
a) 𝐺𝐺𝑝𝑝 (𝑠𝑠) = 𝑠𝑠

As this is a transfer function, we have,

𝑌𝑌(𝑠𝑠) 0.2
=
𝑈𝑈(𝑠𝑠) 𝑠𝑠
If a unit step change is made to the input, then in the Laplace domain this is,
1
𝑈𝑈(𝑠𝑠) =
𝑠𝑠
This gives the process output,
0.2
𝑌𝑌(𝑠𝑠) =
𝑠𝑠 2
We can take inverse Laplace transforms directly to obtain the time domain solution (you
could also do this in MATLAB),
𝑦𝑦(𝑡𝑡) = 0.2𝑡𝑡
Plotting this in MATLAB will give a ramp function.
5𝑒𝑒 −3𝑠𝑠
b) 𝐺𝐺𝑝𝑝 (𝑠𝑠) = 5𝑠𝑠+1

To obtain the inverse Laplace transform of a transfer function that contains a time delay
term, we adopt the following procedure,

1. Partition the transfer function as, 𝑌𝑌(𝑠𝑠) = 𝑒𝑒 −𝜃𝜃𝜃𝜃 𝐹𝐹(𝑠𝑠)

2. Get the inverse Laplace transform of 𝐹𝐹(𝑠𝑠) following usual procedures (tables, partial
fraction to split into known components, MATLAB etc.)
3. Given the time domain solution, replace the time, 𝑡𝑡, argument by 𝑡𝑡 − 𝜃𝜃, which
defines the solution, 𝑦𝑦(𝑡𝑡), for 𝑡𝑡 > 𝜃𝜃.
Therefore, given the transfer function and the fact that a unit step change is being made in
the input (ignoring the time delay term for now) we have,
1 5
𝑌𝑌(𝑠𝑠) =
𝑠𝑠 5𝑠𝑠 + 1
We can use partial fraction expansion to split this equation up into components that we
know and recognise. Therefore, we have,
1 5 𝐴𝐴 𝐵𝐵
= +
𝑠𝑠 5𝑠𝑠 + 1 𝑠𝑠 5𝑠𝑠 + 1
In the above equation, 𝐴𝐴 and 𝐵𝐵 are two unknown constants that we wish to determine. We
can re-write this equation as,
1 5 𝐴𝐴(5𝑠𝑠 + 1) + 𝐵𝐵𝐵𝐵
=
𝑠𝑠 5𝑠𝑠 + 1 𝑠𝑠(5𝑠𝑠 + 1)
By comparing terms in the numerator, on the right hand side and left hand side of this
equation, we can solve for the two unknown constants. These are,
𝐴𝐴 = 5 and 𝐵𝐵 = −25
The output response is therefore,
5 25
𝑌𝑌(𝑠𝑠) = −
𝑠𝑠 5𝑠𝑠 + 1
We can take inverse Laplace transforms of each of these terms. Thus,
5 1
𝐿𝐿−1 � � = 5𝐿𝐿−1 � � = 5
𝑠𝑠 𝑠𝑠
25 5 1
𝐿𝐿−1 � � = 𝐿𝐿−1 � � = 5𝐿𝐿−1 � � = 5𝑒𝑒 −0.2𝑡𝑡
5𝑠𝑠 + 1 𝑠𝑠 + 0.2 𝑠𝑠 + 0.2
The solution (without considering the time delay) is therefore,
𝑦𝑦(𝑡𝑡) = 5(1 − 𝑒𝑒 −0.2𝑡𝑡 )
Replacing the time, 𝑡𝑡, argument by 𝑡𝑡 − 3, gives,

𝑦𝑦(𝑡𝑡) = 5�1 − 𝑒𝑒 −0.2(𝑡𝑡−3) �, 𝑡𝑡 ≥ 3

and hence,
𝑦𝑦(𝑡𝑡) = 0, 𝑡𝑡 < 3
4. If a unit step change is applied to the process input, apply the final value theorem to
calculate the final value of the process output, given the following process transfer
function,
2
𝐺𝐺𝑝𝑝 (𝑠𝑠) =
12𝑠𝑠 + 3
The final value theorem states that,
lim 𝑓𝑓(𝑡𝑡) = lim 𝑠𝑠𝑠𝑠(𝑠𝑠)
𝑡𝑡→∞ 𝑠𝑠→0

If a unit step change is applied to the input, then the output response is described by the
expression,
1 2
𝑌𝑌(𝑠𝑠) =
𝑠𝑠 12𝑠𝑠 + 3
Applying the final value theorem gives,
 2
lim 𝑓𝑓(𝑡𝑡) = lim 𝑠𝑠𝑠𝑠(𝑠𝑠) =
𝑡𝑡→∞ 𝑠𝑠→0 3