Pengendalian Proses

Pertemuan 5 – Pengendalian Proses

Tranformasi Laplace/ Laplace transform

 Laplace Transforms (LT)

1. Standard notation in dynamics and control

2. Converts ordinary differential equation to algebraic
operations
3. Laplace transforms play a key role in important
process control concepts and techniques.
▪ Examples:
• Transfer functions
• Frequency response
• Control system design
• Stability analysis
Definition

The Laplace transform of a function, f(t), is defined as


F ( s ) = L  f (t )  =  f ( t ) e − st dt (3-1)
0

where F(s) is the symbol for the Laplace transform, L is

the Laplace transform operator, and f(t) is some
function of time, t.
Definitions and Properties of LT

◆ Laplace Transform

F(s) = L(f (t))= f (t)e-st dt
0
◆ Inverse Laplace Transform

f ( t ) = L−1  F ( s )

◆ Both L and L-1 are linear operators. Thus,

L  ax ( t ) + by ( t )  = aL  x ( t )  + bL  y ( t )
= aX ( s ) + bY ( s ) (3-3)
Similarly,

L−1  aX ( s ) + bY ( s ) = ax ( t ) + b y ( t )
 LT of Common Functions


a − st   a a
Constant
Function L(a)=  ae dt = − e  = 0 −  −  =
-st 3.4

0
s 0
 s s
 
1  1
Exponential
Function
L(e )=  e e dt =  e
-bt -bt -st -(b+s)t
dt = 
 -e − ( b + s)t

 = 3.16

0 0
b+s 0 s+b

 df  df -st
L(f ) = L   =  e dt = sL(f) − f(0) = sF(s) - f(0)
Derivative 3.9
Function
 dt  0 dt
Usually define f(0) = 0 (e.g., the error)

Higher order  dnf  n

Derivative Function L n  = s F(s) − s n −1f(0) − s n − 2 f (1) (0) − 
 dt 
− sf (n − 2) (0) − f (n −1) (0)
Step Function
0 for t  0
S (t ) = 
1 for t  0
1
L  S ( t )  = (3-6)
s

Rectangular Pulse
Function
0 for t  0

f ( t ) = h for 0  t  tw (3-20) h
0 for t  t
 w f (t )

h
s
(
F ( s ) = 1 − e −t w s ) (3-22)
tw
Time, t
Table 3.1 Laplace Transforms for Various Time-Domain Functionsa
 Example 3.1

Solve the ODE,

dy
5 + 4y = 2 y (0) = 1 (3-26)
dt
First, take L of both sides of (3-26),
5 ( sY ( s ) − 1) + 4Y ( s ) =
2
s
5s + 2
Rearrange,Y ( s ) = (3-34)
s ( 5s + 4 )
−1 5s + 2 
Take L-1,y ( t ) = L  
 s ( 5s + 4 ) 
From Table 3.1,
y ( t ) = 0.5 + 0.5e −0.8t (3-37)
Example 3.2

Solve the ordinary differential equation

With initial condition y(0)=y’(0)=y”(0)=0

Solution

Take LTs, term by term, using Table 3.1

Rearranging and factoring out Y(s) ,we obtain

 Partial Fraction Expansion (PFE)

◆ Basic idea: Expand a complex expression for Y(s)

into simpler terms, each of which appears in the
Laplace Transform table. Then you can take the L-1 of
both sides of the equation to obtain y(t).
◆ Consider a general PFE (purposely for no complex
and repeated factors appear)

N (s) N (s)
Y (s) = = (3-46a)
D(s) n
 ( s + bi )
i =1
Here D(s) is an n-th order polynomial with the roots
all being real numbers which are distinct so there are
no repeated roots.
N (s) n
i
The PFE is: Y ( s ) = = (3-46b)
n s + bi
 ( s + bi ) i =1
i =1
Three methods to solve PFE

Calculate the value of for the below equation

Method 1 : by multiply both side by

Method 2 : Because the above eq must be valid for all value if s,

we canspecify two values of s and solve for the two constant

Method 3 : The fastest and most popular method is call HEAVISIDE EXPANSION.
In this method multiply both side of the equation by one of the
denominator term (s+bi) and then set s=-bi, which causes all terms
except one to be multiplied by zero.
Method 1 : by multiply both side by
Method 2 : Because the above eq must be valid for all
value if s,we can specify two values of s
and solve for the two constant
Method 3 : The fastest and most popular method is call HEAVISIDE EXPANSION.
In this method multiply both side of the equation by one of the denominator
term (s+bi) and then set s=-bi, which causes all terms except one to be
Multiplied by zero.
Example 3.3

d3y d2y dy
3
+ 6 2
+ 11 + 6y = 4
dt dt dt
y( 0 )= y( 0 )= y( 0 )= 0

Step 1 Take L.T. (note zero initial conditions)

4
s 3Y(s)+ 6s 2Y(s)+11sY(s) + 6Y ( s ) =
s
Rearranging
4
Y(s)=
( s 3 + 6s 2 + 11s + 6) s

Step 2a. Factor denominator of Y(s)

s(s 3+6s 2+11s+6 )=s(s+1 )(s+ 2 )(s+3 )
Step 2b. Use partial fraction decomposition
4 α1 α2 α3 α4
= + + +
s(s +1 )(s + 2 )(s + 3 ) s s + 1 s + 2 s + 3

Multiply by s, set s = 0
4  α2 α3 α4 
= α1 + s  + + 
(s +1 )(s + 2 )(s + 3 ) s =0  s + 1 s + 2 s + 3  s =0
4 2
= α1 =
1 2  3 3
For 2, multiply by (s+1), set s=-1 (same procedure for 3, 4)

2
α2 = −2, α3 = 2, α4 = −
3
Step 3. Take inverse of L.T.

2 2 2 2/3
(Y(s)= − + − )
3s s +1 s + 2 s+3
2 −t −2 t 2 −3t
y(t)= − 2e + 2e − e
3 3
2
t → y(t) → t = 0 y (0) = 0.
3
Exercise

Using partial fraction expansion where required, find x(t) for

Solutions
Repeated Factor

If a term s+b occurs r times in the denominators terms must be included

in the expansion that incorporate the s+b factor

Example for repeated factor problem

Eq A
To find value of ,multiplying eq A by and letting s=-2 yields

To find value of ,multiplying eq A by s and letting s=0 yields

To find value of ,substituting the values=-1 in eq A yields

Exercise: Using partial fraction expansion where required,find x(t)
for Eq 1

Solution
 Important Properties of LT

A. Final value theorem

y()= lim sY(s)
s →0

Example:
5s + 2
Y (s) = (3-34)
s ( 5s + 4 )
 5s + 2 
y (  ) = lim y ( t ) = lim   = 0.5
t → s →0  5s + 4 

B. Time-shift theorem
y (t − θ ) θ = time delay
L  y ( t − θ ) = e−θsY ( s )
C. Initial value theorem
lim y(t)= lim sY(s)
t →0 s →

Example:
4s+2
For Y(s)=
s(s+1 )(s+2 )(s+3 )
y( 0 )= 0 by initial value theorem
1
y()= by final value theorem
3
Thank You