CH 08

Chapter 8: System Analysis Using Laplace Transforms
8.1 Find y(t), the inverse Laplace transform of Y(s).
8
a) Y ( s )  Two distinct poles at s = 0, –2, so the partial-fraction expansion is
s ( s  2)
a1 a
Y (s)   2
s s2
8 8
The two residues are a1  sY ( s ) s  0   4 and a2  ( s  2)Y ( s ) s  2  4
2 2
4 4
Therefore Y ( s )   . Using the inverse Laplace transform Table 8-1 we obtain
s s2
y (t )  4  4e2t
s6
b) Y ( s )  Two distinct poles at s = –2, –1 so the partial-fraction expansion is
( s  2)( s  1)
a1 a
Y (s)   2
s  2 s 1
4 5
The two residues are a1  ( s  2)Y ( s ) s  2   4 and a2  ( s  1)Y ( s ) s  1   5
1 1
4 5
s  2 s 1
y(t )  4e2t  5et
10s  4
c) Y ( s )  Two distinct poles at s = 0, –8 so the partial-fraction expansion is
s ( s  8)
a1 a
Y (s)   2
s s 8
4  76
The two residues are a1  sY ( s ) s  0   0.5 and a2  ( s  8)Y ( s ) s  8   9.5
8 8
0 . 5 9 .5
s s 8
y(t )  0.5  9.5e8t
Copyright © 2016 John Wiley & Sons

Chapter 8
2 s  18
d) Y ( s )  The two poles are complex: s  4  j 2 . Complete the square
s  8s  20
2
2s  18 2( s  4) (5)( 2)
Y (s)   
( s  4)  2
2 2
( s  4)  2 ( s  4) 2  22
2 2
Using the inverse Laplace transform Table 8-1 (entries 10 and 11) we obtain
y(t )  2e4t cos 2t  5e4t sin 2t
6s 2  4s  22
e) Y ( s )  The three poles are s = 0, s  1  j 2 . Expand and complete the
s( s 2  2s  5)
square
a1 a ( s  1) a3 (2)
Y ( s)   2 2 
s ( s  1)  2 ( s  1) 2  22
2
22
The first residue is a1  sY ( s ) s  0   4 .4
5
The residues for the complex poles are
6s 2  4s  22
(s  2s  5)Y (s)
2
  a2 (1  j 2  1)  a3 (2)
s  1 j 2 s s  1 j 2
After substituting for s we obtain
6(1  j 4  4)  4  j8  22  j16  32 16
   j  2a3  j 2a2
1  j2 1  j2 5 5
Equating real and imaginary parts we obtain the residues a3 = –16/5 and a2 = 8/5.
Using the inverse Laplace transform Table 8-1 (entries 10 and 11) we obtain
22 8  t 16
y (t )   e cos 2t  e t sin 2t
5 5 5
2
Chapter 8
s  10
f) Y ( s )  The three poles are s = 0, 0, –4. Expand as partial fractions
s ( s  4)
2
a1 a2 a
Y (s)    3
s 2
s s4
The three residues are

s  10 10
a1  s 2Y ( s)    2.5
s 0 s  4 s 0 4
a2 
d 2
ds

s Y ( s)  s 0

d  s  10 

1

s  10
ds  s  4  s  0 s  4 ( s  4) 2

1 10  6
 
4 16 16
 0.375
s 0
s  10 6
a3  ( s  4)Y ( s) s  4  2   0.375
s s  4 16
Therefore, the partial-fraction expansion is
2.5  0.375 0.375

Y (s)   
s2 s s4
The inverse Laplace transform is
y(t )  2.5t  0.375  0.375e4t
3s  12
g) Y ( s )  The three poles are s = 0,  j 2 . Expand as partial fractions
s ( s 2  4)
a1 as a (2)
Y (s)   2 2 2  23 2
s s 2 s 2

12
a1  sY ( s ) s  0  3
4
j 6  12
a2 s  2a3  ( s 2  4)Y ( s)   3  j 6  a2 = –3, a3 = 1.5
s j2 j2
3  3s (1.5)( 2)
Y (s)   2  2
s s 2 2
s  22
y (t )  3  3 cos 2t  1.5 sin 2t
3
Chapter 8
6s  40
h) Y ( s )  The three poles are s = –8,  j 5 . Expand as partial fractions
( s  25)( s  8)
2
a1 as a (5)
Y ( s)   2 2 2  23 2
s 8 s 5 s 5
6s  40 8
a1  ( s  8)Y ( s) s  8    0.0899
s  25 s  8 89
2
j 30  40
a2 s  5a3  ( s 2  25)Y ( s)   5.2809  0.4498 j
s j5 j5  8
 a2 = 0.0899, a3 = 1.0562
 0.0899 0.0899 s (1.0562)(5)

Y (s)   2 
s 8 s  52 s 2  52
y(t )  0.0899e8t  0.0899 cos 5t  1.0562 sin 5t
2s  8
i) Y ( s )  The three poles are s = –1, s = –2, s = –2. Expand as partial
( s  1)( s 2  4 s  4)
fractions
a1 a2 a
Y (s)    3
s  1 ( s  2) 2
s2
2s  8 6
a1  ( s  1)Y ( s) s  1   6
s  4s  4 s  1 1
2
2s  8 4
a2  ( s  2) 2 Y ( s)    4
s  2 s  1 s  2  1
a3 
d
ds

( s  2) 2 Y ( s )  s  2

d  2s  8 
  
2

2s  8
ds  s  1  s  2 s  1 ( s  1) 2

2 4
  6
1 1
s  2
6 4 6
Y (s)   
s  1 ( s  2) 2
s2
y(t )  6et  4te2t  6e2t
4
Chapter 8
2s  8
j) Y ( s )  The two poles are s = 0, s = 0. Expand as partial fractions
2s 2
a1 a2
Y (s)  
s2 s
The two residues are

2s  8 8
a1  s 2Y ( s)   4
s 0 2 s 0 2
a2 
d 2
ds

s Y (s)  s 0

d  2s  8 
ds  2  s  0
1
4 1
Y ( s)  
s2 s
y (t )  4t  1
5
Chapter 8
8.2 Given Y(s) find the final value y () if it exists.
s4
a) Y ( s )  The three poles are s = 0, –2, and s = –1.
s( s  2)( s  1)
Because two poles lie in the left half of the complex plane (that is, the real parts are negative) and
the third pole is at the origin, the final value exists and we can use the final-value theorem:
s( s  4) 4
y ()  lim sY ( s)  lim  2 Final value of y(t)
s 0 s 0 s( s  2)( s  1) 2
s7
b) Y ( s )  The three poles are s = 0, 2, and s = –3.
s( s  2)( s  3)
Because the pole at s = 2 lies in the right half of the complex plane (that is, the real part is
positive) the final value does not exist.
3s  2
c) Y ( s )  The two poles are s = –3 and s = 5.
( s  3)( s  5)
Because the pole at s = 5 lies in the right half of the complex plane (that is, the real part is
positive) the final value does not exist.
2 s  14
d) Y ( s )  The two poles are  2  j 4 .
s  4 s  20
2
Because the two poles lie in the left half of the complex plane (that is, the real parts are negative)
the final value exists and we can use the final-value theorem:
s (2 s  14) 0
y ()  lim sY ( s )  lim  0 Final value of y(t)
s 0 s 0 s  4 s  20 20
2
2
e) Y ( s )  The three poles are s = 0 and s  1.5  j 4.2131 .
s( s  3s  20)
2
Because two poles lie in the left half of the complex plane (that is, the real parts are negative) and
the third pole is at the origin, the final value exists and we can use the final-value theorem:
s(2) 2
y ()  lim sY ( s)  lim   0.1 Final value of y(t)
s 0 s 0 s( s  3s  20) 20
2
6
Chapter 8
6s 2  4 s
f) Y ( s )  The three poles are s = –6 and s  1.5  j 2.7839 .
( s 2  3s  10)( s  6)
Because all three poles lie in the left half of the complex plane (that is, the real parts are negative)
s (6 s 2  4 s ) 0
y()  lim sY ( s)  lim  0 Final value of y(t)
s 0 s  0 ( s  3s  10)( s  6)
2
60
2s  9
g) Y ( s)  The four poles are s   j1.4142 and s  2  j 3.4641
( s  2)( s 2  4s  16)
2
Because the two imaginary poles at s   j1.4142 lie on the imaginary axis the final value does
not exist.
3s 2  18
h) Y ( s )  The three poles are s = –5 and s  2  j 2.8284 .
( s  5)( s 2  4s  12)
Because all three poles lie in the left half of the complex plane (that is, the real parts are negative)
s(3s 2  18) 0
y()  lim sY ( s)  lim  0 Final value of y(t)
s 0 s  0 ( s  5)( s  4s  12)
2
60
3s
i) Y ( s )  The two poles are s  1  j 4.1231 .
s  2 s  18
2
Because the two poles lie in the left half of the complex plane (that is, the real parts are negative)
s(3s) 0
y ()  lim sY ( s)  lim  0 Final value of y(t)
s 0 s  0 ( s  2 s  18)
2
18
0.5s 2  6
j) Y ( s)  The three poles are s = 0, 0, and s = –8.
s 2 ( s  8)
Because two poles are on the origin the final value does not exist (note that one inverse-Laplace
transform term will be a linear function of time t, which grows to infinity).
7
Chapter 8
8.3 Given the Laplace transforms Y(s) in Problem 8.2 determine y(0+) via the initial-value
theorem (IVT).
s4 s( s  4) s
a) Y ( s )  IVT: y (0)  lim sY ( s )  lim  lim 2  0
s( s  2)( s  1) s  s   s ( s  2)( s  1) s  s
s7 s ( s  7) s
b) Y ( s )  IVT: y (0)  lim sY ( s)  lim  lim 2  0
s( s  2)( s  3) s  s  s( s  2)( s  3) s   s
3s  2 s(3s  2) 3s 2
c) Y ( s )  IVT: y(0)  lim sY ( s)  lim  lim 2  3
( s  3)( s  5) s  s   ( s  3)( s  5) s  s
2 s  14 s(2s  14) 2s 2
d) Y ( s )  IVT: y (0)  lim sY ( s)  lim  lim 2
s  4 s  20
2 s  s   s 2  4 s  20 s  s 2
2 s(2) 2
e) Y ( s )  IVT: y (0)  lim sY ( s)  lim  lim 2  0
s( s  3s  20)
2 s  s   s ( s  3s  20)
2 s  s
6s 2  4 s s (6 s 2  4 s ) 6s 3
f) Y ( s)  IVT: y(0)  lim sY ( s)  lim  lim 6
( s 2  3s  10)( s  6) s  s   ( s 2  3s  10)( s  6) s  s 3
2s  9 s(2s  9) 2s 2
g) Y ( s)  IVT: y(0)  lim sY ( s)  lim  lim 0
( s 2  2)( s 2  4s  16) s s ( s 2  2)( s 2  4s  16) s s 4
3s 2  18 s(3s 2  18) 3s 3
h) Y ( s)  IVT: y(0)  lim sY ( s)  lim  lim 3
( s  5)( s 2  4s  12) s s ( s  5)( s 2  4s  12) s s 3
3s s(3s) 3s 2
i) Y ( s )  IVT: y (0)  lim sY ( s)  lim  lim 3
s  2 s  18
2 s  s   s 2  2 s  18 s  s 2
0.5s 2  6 s(0.5s 2  6) 0.5s3

j) Y ( s)  2 IVT: y(0)  lim sY ( s)  lim  lim 3  0.5
s ( s  8) s  s   s 2 ( s  8) s  s
8
Chapter 8
8.4 Given the I/O equations, obtain the response y(t) using Laplace-transform methods.
a) 0.4 y  y  0 with y(0) = –2
Take the Laplace transform of all terms and incorporate the respective initial conditions
0.4sY (s)  y(0) Y (s)  0 or (0.4s  1)Y ( s )  0.8
Solving for the Laplace transform Y(s) we obtain
 0 .8 2
Y (s)  
0 .4 s  1 s  2 .5
The inverse Laplace transform yields the response: y(t )  2e2.5t
b) 0.4 y  y  2u(t ) with u(t) = 0.7U(t), y(0) = –2
1.4  0.8s  1.4

0.4sY ( s )  y (0)  Y ( s ) 
(2)(0.7)
or (0.4 s  1)Y ( s )  0.8  
s s s
 0.8s  1.4  2 s  3.5

Y ( s)  
s (0.4 s  1) s ( s  2.5)
 2s  3.5 1.4  3.4

Expand using partial fractions: Y ( s )   
s ( s  2.5) s s  2.5
The inverse Laplace transform yields the response: y(t )  1.4  3.4e2.5t
c) 2 y  3 y  u(t ) with u(t) = 4U(t), y(0) = 3
4 6s  4
2sY ( s )  y (0)   3Y ( s ) 
4
or (2 s  3)Y ( s )  6  
s s s
3s  2 1.3333 1.6667
Solving for the Laplace transform Y(s) we obtain Y ( s )   
s ( s  1.5) s s  1 .5
The inverse Laplace transform yields the response: y(t )  1.333  1.6667e1.5t
9
Chapter 8
d) 2 y  3u (t ) with u(t )  4 cos 6t , y(0) = 0
2sY ( s )  y (0)  
(3)( 4) s 12 s
or 2 sY ( s ) 
s 2  36 s  36
2
6
Y (s) 
s  36
2
The inverse Laplace transform yields the response: y (t )  sin 6t
e) y  3 y  2 y  0.5u (t ) with u (t )  0.2U (t ) , y(0) = 0, y (0)  1
s Y (s)  sy (0)  y (0)  3sY (s)  y(0)  2Y (s)  (0.5)(s 0.2)

2
 s  0.1
Or s 2

 3s  2 Y ( s ) 
s
 s  0 .1 0.05  1.1 1.05

Y (s)    
s ( s  1)( s  2) s s 1 s  2
The inverse Laplace transform yields the response: y(t )  0.05  1.1et  1.05e2t
f) y  5 y  6 y  0.5u(t ) with u(t )  6 (t ) , y(0) = 0, y (0)  0
Take the Laplace transform of all terms and incorporate the respective initial conditions (note that
the Laplace transform of the impulse function (t) is unity)
s Y (s)  sy(0)  y (0)  5sY (s)  y(0)  6Y (s)  3

2
3 3 3
or Y (s)   
s  5s  6 s  2 s  3
2
The inverse Laplace transform yields the response: y(t )  3e2t  3e3t
10
Chapter 8
g) y  4 y  20 y  0 with y(0) = 2, y (0)  0.5
Take the Laplace transform of all terms and incorporate the respective initial conditions:
s Y (s)  sy(0)  y (0)  4sY (s)  y(0)  20Y (s)  0

2
2 s  7 .5
or ( s 2  4s  20)Y ( s)  2s  0.5  8 or Y (s) 
s  4 s  20
2
2s  7.5 2( s  2) (0.875)( 4)
Complete the square: Y ( s )   
( s  2)  4
2 2
( s  2)  4 ( s  2) 2  42
2 2
The inverse Laplace transform yields the response: y(t )  2e2t cos 4t  0.875e2t sin 4t
h) 2 y  12 y  68 y  0.5u(t ) with u (t )  4U (t ) , y(0) = 1, y (0)  0
 
2 s 2Y ( s )  sy (0)  y (0)  12sY ( s )  y (0)   68Y ( s ) 
(0.5)( 4)
s
2 s 2  6s  1
or (2 s 2  12 s  68)Y ( s )  2 s  12  or Y ( s) 
s s ( s 2  6s  34)
a1 a ( s  3) a3 (5)
Complete the square: Y ( s )   2 2 2
s ( s  3)  5 ( s  3) 2  52
s 2  6s  1 1
The first residue is a1  sY ( s) s  0  
s  6s  34 s  0 34
2
The residues for the complex poles ( s  3  j 5 ) are
s 2  6s  1
(s 2  6s  34)Y ( s)   a2 (3  j5  3)  a3 (5)
s  3 j 5 s s  3 j 5
(16  j 30)  6(3  5 j )  1  33

  2.9118  j 4.8529  5a3  j 5a2
 3  j5  3  j5
Equating real and imaginary parts we obtain the residues a3 = 0.5824 and a2 = 0.9706.
The inverse Laplace transform is: y(t )  0.02942  0.9706e3t cos 5t  0.5824e3t sin 5t
11
Chapter 8
i) 20 y  80 y  260 y  0.8u (t ) with u (t )  10 (t ) , y (0)  0.2 , y (0)  0.6
 
20 s 2Y (s)  sy (0)  y (0)  80sY ( s)  y(0)  260Y ( s)  (0.8)(10)
0 .2 s  1 .8
or (20s 2  80s  260)Y ( s)  4s  12  16  8 or Y (s) 
s 2  4 s  13
0.2s  1.8 0.2( s  2) (0.4667)(3)

Complete the square: Y ( s )   
( s  2)  3
2 2
( s  2)  3 ( s  2) 2  32
2 2
The inverse Laplace transform is: y(t )  0.2e2t cos 3t  0.4667e2t sin 3t
12
Chapter 8
8.5 Derive the transfer function G ( s )  Y ( s ) / U ( s ) for each of the following I/O equations.
In all cases we take the Laplace transform of both sides of the I/O equation with zero initial
conditions and determine the transfer function by forming the ratio of the Laplace transform of
the output Y(s) over the Laplace transform of the input U(s).
a) 0.4 y  y  u (t ) After taking the Laplace transform: 0.4 sY ( s )  Y ( s )  U ( s )
Y ( s) 1 2.5
The transfer function is G ( s)   
U ( s) 0.4s  1 s  2.5
b) 2 y  3u (t ) After taking the Laplace transform: 2 sY ( s )  3U ( s )
Y ( s) 3 1.5
The transfer function is G ( s)   
U ( s) 2s s
c) y  3 y  2 y  4u (t ) Take the Laplace transform: s 2Y ( s)  3sY ( s)  2Y ( s)  4U ( s)
Y ( s) 4
The transfer function is G ( s )   2
U ( s) s  3s  2
d) 20 y  80 y  260 y  0.8u (t )  3u (t )
After taking the Laplace transform: 20s 2Y ( s)  80sY ( s)  260Y ( s)  0.8sU ( s)  3U ( s)
Y ( s) 0.8s  3
The transfer function is G ( s)  
U ( s) 20s  80s  260
2
e) 0.1y  2 y  18 y  7u (t )
After taking the Laplace transform: 0.1s 3Y ( s)  2s 2Y ( s)  18Y ( s)  7U ( s)
Y (s) 7
The transfer function is G ( s )  
U ( s ) 0.1s  2s 2  18
3
f) y  2 y  4u (t ) After taking the Laplace transform: s 2Y ( s)  2Y ( s)  4sU ( s)
Y ( s) 4s
The transfer function is G ( s)   2
U ( s) s  2
13
Chapter 8
8.6 The mathematical model of the RC circuit is RC eC  eC  ein (t ) , where ein(t) = 2U(t) V.
Take the Laplace transform of both sides of the I/O equation (include initial conditions)
RC sEC ( s )  eC (0)   EC ( s ) 
2
s
where the initial capacitor voltage is eC(0) = q(0)/C = 0.015 C/0.02 F = 0.75 V. Substitute eC(0)
and RC = 0.05 s into the Laplace-transformed equation:
2 0.0375s  2
0.05sEC ( s )  0.75  EC ( s) 
2
or (0.05s  1) EC ( s )  0.0375  
s s s
0.0375s  2 0.75s  40 2  1.25

or EC ( s )    
s (0.05s  1) s ( s  20) s s  20
The inverse Laplace transform yields the voltage response: eC (t )  2  1.25e 20t V
14
Chapter 8
0.15s  0.4
8.7 The given Laplace of the angular velocity is ( s ) 
s(0.01s  0.002)
which accounts for initial angular velocity and the input torque.
a) The initial angular velocity (0) can be computed from the initial value theorem (IVT):
s(0.15s  0.4) 0.15s

 (0)  lim s( s)  lim  lim  15 rad/s
s  s  s(0.01s  0.002) s   0.01s
Hence the initial kinetic energy is J02 / 2 = 1.125 J
b) The steady-state angular velocity can be computed from the final value theorem (FVT):
s(0.15s  0.4) 0.4

 ()  lim s( s)  lim  = 200 rad/s
s 0 s  0 s (0.01s  0.002) 0.002
Hence the steady-state kinetic energy is Jss2 / 2 = 200 J
c) Using partial fractions, the Laplace transform is
0.15s  0.4 15s  40 200  185

( s )    
s(0.01s  0.002) s( s  0.2) s s  0.2
Hence the inverse Laplace transform yields the speed response:  (t )  200  185e0.2t rad/s
We see that the initial and final angular velocities are (0) = 15 rad/s and  ( ) = 200 rad/s as
computed by the IVT and FVT.
15
Chapter 8
8.8 The model of the RLC circuit is Lq  Rq  q / C  ein (t ) , where ein(t) = 1.5U(t) V.
a) Take the Laplace transform of both sides of the I/O equation (initial conditions are zero)
1.5
Ls 2Q( s )  RsQ ( s )  Q( s ) / C 
s
Substitute the numerical values for L, R, and C into the Laplace-transformed equation:
1 .5 750
(0.002 s 2  0.4 s  100)Q( s )  or Q( s) 
s s ( s  200 s  50,000)
2
Expand in partial fractions where the complex poles are s  100  j 200
750 a a2 ( s  100) a3 (200)

Q( s)   1 
s ( s  200s  50,000) s ( s  100)  200 ( s  100) 2  2002
2 2 2
750
The first residue is a1  sQ ( s ) s  0   0.015
50,000
750
( s 2  200s  50,000)Q( s)   a2 (100  j 200  100)  a3 (200)
s  100 j 200 s s  100 j 200
750
 1.5  j 3  200a3  j 200a2
 100  j 200
Equating real and imaginary parts we obtain the residues a3 = –1.5/200 and a2 = –3/200.
Using the inverse Laplace transform we obtain the solution for charge q(t)
q(t )  0.015  0.015e100t cos 200t  0.0075e100t sin 200t C
b) Current is the time derivative of charge: I (t )  q (t ) ; take the time derivative of part (a):
q (t )  1.5e100t cos 200t  0.015(200)e100t sin 200t  0.75e100t sin 200t  0.0075(200)e100t cos 200t
Simplifying we get I (t )  3.75e100t sin 200t A (Note I(0) = 0 as required)
16
Chapter 8
8.9 Rework parts of Problem 8.1 using MATLAB’s residue command for partial fractions.
8
a) Y ( s )  The MATLAB commands are
s ( s  2)
>> numY = [-8]; % Y(s) numerator coefficients in descending powers of s

>> denY = [1 2 0]; % Y(s) denominator coefficients; descending powers of s
>> [a,p,k] = residue(numY,denY)
Result: a = [4 -4] (residues), p = [-2 0] (poles), and k = []. Hence the partial-
fraction expansion is
4 4
Y (s)   . The inverse Laplace transform is y (t )  4(e2t  1)
s2 s
s6
b) Y ( s )  The MATLAB commands are
( s  2)( s  1)
>> numY = [1 6]; % Y(s) numerator coefficients in descending powers of s

Result: a = [-4 5] (residues), p = [-2 -1] (poles), and k = []. Hence the partial-
4 5
Y (s)   . The inverse Laplace transform is y(t )  4e2t  5et
s  2 s 1
10s  4
c) Y ( s )  The MATLAB commands are
s ( s  8)

Result: a = [9.5 0.5] (residues), p = [-8 0] (poles), and k = []. Hence the partial-
9 .5 0 .5
Y (s)   . The inverse Laplace transform is y(t )  9.5e8t  0.5
s 8 s
17
Chapter 8
s  10
f) Y ( s )  The MATLAB commands are
s ( s  4)
2

>> denY = [1 4 0 0]; % Y(s) denominator coefficients; descending powers of s
Result: a = [0.375 -0.375 2.5] (residues), p = [-4 0 0] (poles), and k = [].

Hence the partial-fraction expansion is
0.375  0.375 2.5 4t

Y (s)    2 . The inverse Laplace transform is y (t )  0.375(e  1)  2.5t
s4 s s
2s  8
i) Y ( s )  The MATLAB commands are
( s  1)( s 2  4 s  4)

>> denY = [1 5 8 4]; % Y(s) denominator coefficients; descending powers of s
Result: a = [-6 -4 6] (residues), p = [-2 -2 -1] (poles), and k = []. Hence the
partial-fraction expansion is
6 4 6 2t t
Y ( s)    . The inverse Laplace transform is y (t )  e (6  4t )  6e
s  2 ( s  2) 2
s 1
2s  8
j) Y ( s )  The MATLAB commands are
2s 2

Result: a = [1 4] (residues), p = [0 0] (poles), and k = []. Hence the partial-fraction

expansion is
1 4
Y (s)   . The inverse Laplace transform is y (t )  1  4t
s s2
18
Chapter 8
8.10 Rework parts of Problem 8.1 using MATLAB’s ilaplace command:
8
a) Y ( s )  The MATLAB commands are
s ( s  2)
>> syms s % defines Laplace variable s
>> Y = -8/(s^2 + 2*s) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset
Result: -8 exp(-t) sinh(t)
et  e  t et  e  t
By definition sinh t 
2
, so  8e  t sinh t  8e  t
2

 4 1  e 2t 
which matches the solution in Problem 8.1a.
s6
b) Y ( s )  The MATLAB commands are
( s  2)( s  1)
>> Y = (s+6)/((s+2)*(s+1)) % defines Laplace transform Y(s)
Result: 5 exp(-t) - 4 exp(-2 t) which matches the solution in Problem 8.1b.
10s  4
c) Y ( s )  The MATLAB commands are
s ( s  8)
>> Y = (10*s+4)/(s*(s+8)) % defines Laplace transform Y(s)
Result: exp(-4 t) (10 cosh(4 t) - 9 sinh(4 t))
e4t  e4t e4t  e4t

Substituting sinh 4t  and cosh 4t  we get the solution in Problem 8.1c.
2 2
2 s  18
d) Y ( s )  The MATLAB commands are
s  8s  20
2

>> Y = (2*s + 18)/(s^2 + 8*s + 20) % defines Laplace transform Y(s)
Result: 2 exp(-4 t) cos(2 t) + 5 exp(-4 t) sin(2 t)
19
Chapter 8
which matches the solution in Problem 8.1d.
6s 2  4s  22
e) Y ( s )  The MATLAB commands are
s( s 2  2s  5)

>> Y = (6*s^2+4*s+22)/(s*(s^2+2*s+5)) % defines Laplace transform Y(s)
Result: 8/5 exp(-t) cos(2 t) - 16/5 exp(-t) sin(2 t) + 22/5
which matches the solution in Problem 8.1e
s  10
f) Y ( s )  The MATLAB commands are
s ( s  4)
2

>> Y = (s + 10)/(s^2*(s + 4)) % defines Laplace transform Y(s)
Result: 5/2 t - 3/4 exp(-2 t) sinh(2 t)
e2t  e2t
Substituting sinh 2t  we get the solution in Problem 8.1c.
2
3s  12
g) Y ( s )  The MATLAB commands are
s ( s 2  4)
>> Y = (3*s + 12)/(s*(s^2 + 4)) % defines Laplace transform Y(s)
Result: -3 cos(2 t) + 3/2 sin(2 t) + 3 which matches the solution in Problem 8.1g.
6s  40
h) Y ( s )  The MATLAB commands are
( s  25)( s  8)
2

>> Y = (6*s + 40)/((s^2+25)*(s + 8)) % defines Laplace transform Y(s)
Result: 94
- 8/89 exp(-8 t) + 8/89 cos(5 t) + -- sin(5 t)
89
which matches the solution for Problem 8.1h.
20
Chapter 8
2s  8
i) Y ( s )  The MATLAB commands are
( s  1)( s 2  4 s  4)

>> Y = (2*s+8)/((s+1)*(s^2+4*s+4)) % defines Laplace transform Y(s)
Result: 2 (-2 t - 3) exp(-2 t) + 6 exp(-t)
which matches the solution for Problem 8.1i.
2s  8
j) Y ( s )  The MATLAB commands are
2s 2

>> Y = (2*s + 8)/(2*s^2) % defines Laplace transform Y(s)
Result: 1 + 4 t which matches the solution for Problem 8.1j.
21
Chapter 8
8.11 The Laplace transform of the capacitor voltage (after applying the input and initial
conditions – see Problem 8.6) is
0.0375s  2
EC ( s ) 
s (0.05s  1)
The following MATLAB commands (using ilaplace) yields the solution eC(t)

>> Ec = (0.0375*s + 2)/(s*(0.05*s + 1)) % defines Laplace transform EC(s)
>> e_C = ilaplace(Ec) % find inverse Laplace transform
>> pretty(e_C) % displays e_C in math typeset
The solution is - 5/4 exp(-20 t) + 2 which matches the solution in Problem 8.6.
22
Chapter 8
8.12 The Laplace transform of the disk angular velocity (after applying the input and initial
conditions – see Problem 8.7) is
0.15s  0.4
( s ) 
s(0.01s  0.002)
The following MATLAB commands (using ilaplace) yields the solution (t)

>> Om = (0.15*s+0.4)/(s*(0.01*s+0.002)) % defines Laplace transform (s)
>> w = ilaplace(Om) % find inverse Laplace transform
>> pretty(w) % displays w in math typeset
The solution is 200 - 185 exp(- 1/5 t) which matches the solution in Problem 8.7.
23
Chapter 8
8.13 The Laplace transform of the capacitor charge q (after applying the input – see Problem
8.8) is
750
Q( s) 
s ( s  200 s  50,000)
2
The following MATLAB commands (using ilaplace) yields the solution q(t)

>> Q = 750/(s*(s^2+200*s+50e3)) % defines Laplace transform Q(s)
>> q = ilaplace(Q) % find inverse Laplace transform
>> pretty(q) % displays q in math typeset
The solution is
-3/200 exp(-100 t) cos(200 t) - 3/400 exp(-100 t) sin(200 t) + 3/200
which matches the solution in Problem 8.8.
24
Chapter 8
8.14 The given transfer function is
Y ( s) 0.25
G( s)   2
U ( s ) s  2 s  10
a) The Laplace transform of the output is Y ( s )  G ( s )U ( s ) . The input is a step function,

u (t )  4U (t ) , and hence U ( s )  4 / s . Therefore the Laplace transform of the output is
(0.25)( 4)
Y ( s)   the three poles are s = 0 and s  1  j 3
s( s 2  2s  10)
Expand and complete the square
a1 a ( s  1) a3 (3)
Y ( s)   2 2 2
s ( s  1)  3 ( s  1) 2  32
1
The first residue is a1  sY ( s ) s  0   0.1
10
(0.25)( 4)
( s 2  2s  10)Y ( s)   a2 (1  j3  1)  a3 (3)
s  1 j 3 s s  1 j 3
 0.1  j 0.3  3a3  j3a2
Equating real and imaginary parts we obtain the residues a3 = –0.0333 and a2 = –0.1.
Using the inverse Laplace transform Table 8-1 we obtain
y(t )  0.1  0.1et cos 3t  0.0333et sin 3t
b) The MATLAB commands using lsim (below) will numerically determine the response:
>> sysG = tf(0.25,[1 2 10]); % Define system sysG

>> t = 0:0.001:5; % Define time vector
>> ya = 0.1*(1-exp(-t).*cos(3*t))-0.0333*exp(-t).*sin(3*t); % Analytical response
>> u = 4*ones(size(t)); % Define input step
>> [y,t] = lsim(sysG,u,t); % Numerical response
>> plot(t,ya,t,y) % Plot both responses
25
Chapter 8
The plot below shows both the analytical and numerical responses (they are the same)
0.14
0.12
0.1
Output, y
0.08
0.06
0.04
0.02
0
0 1 2 3 4 5
Time, s
Prob. 8.14: Output vs. time
26
Chapter 8
8.15 Because the system has initial conditions we cannot use the transfer function. Therefore,
we must derive the I/O equation from the transfer function given in Problem 8.14:
Y ( s) 0.25
G( s)   2  I/O equation is y  2 y  10 y  0.25u (t )
U ( s ) s  2 s  10
a) Take the Laplace transform of the I/O equation and apply the initial conditions and input:
s Y (s)  sy (0)  y (0)  2sY (s)  y(0)  10Y (s)  (0.25s )(4)
2
1  0.04s 2  0.07 s  1
or ( s  2 s  10)Y ( s )  0.04 s  0.01  0.08 
2
or Y (s) 
s s( s 2  2s  10)
a1 a ( s  1) a3 (3)
Complete the square: Y ( s )   2 2 2
s ( s  1)  3 ( s  1) 2  32
1 1
The first residue is a1  sY ( s) s  0    0.1
s  2s  10 s  0 10
2
The residues for the complex poles ( s  1  j 3 ) are
 0.04s 2  0.07s  1
(s 2  2s  10)Y (s)   a2 (1  j3  1)  a3 (3)
s  1 j 3 s s  1 j 3
 0.13  j 0.42  3a3  j3a2
Equating real and imaginary parts we obtain the residues a3 = –0.0433 and a2 = –0.14.
The inverse Laplace transform is: y(t )  0.1  0.14et cos 3t  0.0433et sin 3t
27
Chapter 8
b) The Simulink model will numerically determine the response (the integrators have the
appropriate initial conditions)
The plot below shows both the analytical and numerical responses (they are the same). Note that
the output y(t) starts at y(0) = –0.04 with a positive slope.
0.16
0.14
0.12
0.1
0.08
Output, y
0.06
0.04
0.02
0
-0.02
-0.04
-0.06
0 1 2 3 4 5
Time, s
Prob. 8.15: Output vs. time
28
Chapter 8
8.16 The mathematical model of the simple mechanical system is mx  bx  f a (t )
Substituting the parameters m and b and impulsive input the I/O equation becomes
0.5x  3x  0.1 (t )
a) Taking the Laplace transform (initial conditions are zero) yields
0.1 0.2
(0.5s 2  3s) X ( s)  0.1 or X (s)  
0.5s  3s s ( s  6)
2
Expanding in partial fractions:
0 .2 0.0333  0.0333
X (s)   
s ( s  6) s s6
The inverse Laplace transform yields the response: x(t )  0.0333(1  e6t ) m
b) Because the system has zero initial conditions we can use transfer functions for the numerical
solution. The MATLAB commands determine the impulse response.
>> sysG = tf(1,[0.5 3 0]); % Define system sysG

>> xa = 0.0333*(1-exp(-6*t)); % Analytical response: part a
>> u = zeros(size(t)); % Define input (null)
>> u(1) = 100; % Define impulse input: 100*0.001 = 0.1 N-s
>> [x,t] = lsim(sysG,u,t); % Numerical response x(t)
>> plot(t,xa,t,x) % Plot both responses
The plot below shows both the analytical and numerical responses (they are the same).
0.035
0.03
0.025
Position, x, m
0.02
0.015
0.01
0.005
0
0 0.2 0.4 0.6 0.8 1
Time, s
29
Chapter 8
8.17 The mathematical model of the mechanical system is J  k  Ta (t )
Substituting the parameters J and k and sinusoidal input Ta(t) the I/O equation becomes
0.2  100  0.5 sin 3t
a) Taking the Laplace transform (initial conditions are zero) yields
(0.5)(3) 1 .5
(0.2 s 2  100)( s )  or ( s ) 
s 2  32 (0.2 s  100)( s 2  9)
2
Expanding in partial fractions:
7.5 a1s a 500 as a (3)

( s)    2  2 3 2  24 2
( s  500)( s  9) s 2  500
2 2 2
s 2  500
2
s 3 s 3
The residues for the first imaginary poles ( s   j 500 ) are
7.5
( s 2  500)Y ( s)   0.01527  a1 j 500  a2 500
s   j 500 s  9 s j
2
500
Equating real and imaginary parts we obtain the residues a1 = 0 and a2 = –6.8312(10-4)
The residues for the second imaginary poles ( s   j 3 ) are
7.5
( s 2  9)Y ( s)   0.01527  a3 j3  a4 (3)
s j3 s  500 s   j 3
2
Equating real and imaginary parts we obtain the residues a3 = 0 and a4 = 0.0050916.
 6.8312(104 ) 500 (0.0050916)(3)

( s)  
s 2  500
2
s 2  32
The inverse Laplace transform is:  (t )  6.8312(104 ) sin 500t  0.0050916 sin 3t rad
30
Chapter 8
b) Because the system has zero initial conditions we can use a transfer function for the
numerical solution. The MATLAB commands determine the response to a sinusoidal input.
>> sysG = tf(1,[0.2 0 100]); % Define system sysG

>> a1 = -6.8312e-4; % Analytic coefficient
>> a2 = 0.0050916; % Analytic coefficient
>> th = a1*sin(sqrt(500)*t) + a2*sin(3*t); % Analytical response: part a
>> u = 0.5*sin(3*t); % Define input Ta = 0.5sin3t
>> [y,t] = lsim(sysG,u,t); % Numerical response x(t)
>> plot(t,th,t,y) % Plot both responses
The plot (below) shows both the analytical and numerical responses (they are the same).
-3
x 10
8
4
Angular position,, rad
-2
-4
-6
-8
0 2 4 6 8 10
Time, s
Prob. 8.17: angular position vs. time
31
Chapter 8
8.18 a) The transfer function relating the input voltage ein(t) to the spool-valve position z is
Z ( s) E ( s) F ( s) Z ( s)  25  1.6  1 
 0    
Ein ( s) Ein ( s) E0 ( s) F ( s)  0.003s  1  0.002s  1  0.035s  7 s  1800 
2
Z (s) 40
Or, 
Ein ( s ) (0.003s  1)(0.002 s  1)(0.035s 2  7 s  1800)
If ein(t) = 0.2U(t) V (step input), then Ein(s) = 0.2/s and the Laplace transform of the position is
(40)(0.2)
Z (s) 
s (0.003s  1)(0.002 s  1)(0.035s 2  7 s  1800)
The final value theorem yields
s(40)(0.2) 8
z ()  lim sZ ( s)  lim  = 0.00444 m
s 0 s  0 s (0.003s  1)( 0.002 s  1)( 0.035s  7 s  1800)
2
1800
b) The Laplace transform of the amplifier output is the product of the power amplifier transfer
function and the Laplace transform of the step input, Ein(s) = 0.2/s
(25)(0.2)
E0 ( s )  poles are s = 0 and s = –333.333
s (0.003s  1)
Partial-fraction expansion yields
1666.667 5 5
E0 ( s )   
s ( s  333.333) s s  333.333
The inverse Laplace transform yields the amp response: e0 (t )  5(1  e 333.33t ) V
32
Chapter 8
c) The Laplace transform of the solenoid output is the product of the power amplifier and
solenoid transfer functions and the Laplace transform of the step input, Ein(s) = 0.2/s
(25)(1.6)(0.2)
F (s)  poles are s = 0 , –333.333, and –500
s (0.003s  1)(0.002s  1)
1.3333(106 ) 8  24 16
F ( s)    
s( s  333.333)( s  500) s s  333.333 s  500
The inverse Laplace transform yields the solenoid response:
f (t )  8  24e333.33t  16e500t N
d) The Laplace transform of the valve output is the product of the power amp, solenoid, and
valve transfer functions and the Laplace transform of the step input, Ein(s) = 0.2/s
(25)(1.6)(0.2)
Z ( s) 
s (0.003s  1)(0.002s  1)(0.035s 2  7 s  1800)
poles are s = 0 , –333.333, –500, and s  100  j 203.54
1.3333(106 )
Z ( s) 
s( s  333.333)( s  500)(0.035s 2  7 s  1800)
0.00444  0.00715 0.00227 4.384(104 )( s  100)  4.157(104 )( 203.54)

    
s s  333.333 s  500 ( s  100)2  203.542 ( s  100) 2  203.542
The inverse Laplace transform yields the spool-valve response (in m):
z (t )  0.00444  0.00715e333.33t  0.00227e500t  4.384(104 )e100t cos 203.54t

 4.157(10 4 )e100t sin 203.54t
Note that at steady-state all exponential terms go to zero which leaves z ()  0.00444 m
33
Chapter 8
8.19 The mathematical model of the LC tuner circuit (see Problems 3.25 or 7.27) is
LCeC  eC  0
Or, using L = 3(10-3) H and C = 20(10-6) F we get eC  1.6667(107 )eC  0
Taking the Laplace transform, with initial conditions eC(0) = 2.5 V and eC (0)  0 , yields
s E
2
C 
( s )  seC (0)  eC (0)  1.6667(107 ) EC ( s )  0
2 .5 s 2 .5 s
Or, EC ( s )   2
s  1.6667(10 ) s  4082.52
2 7
Hence the inverse Laplace transform is the cosine function and the capacitor voltage is
eC (t )  2.5 cos 4082.5t V
This solution matches the answer in Problem 7.27.
34

CH 08

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Chapter 8: System Analysis Using Laplace Transforms

8.1 Find y(t), the inverse Laplace transform of Y(s).

y(t )  4e2t  5et

y(t )  0.5  9.5e8t

Copyright © 2016 John Wiley & Sons

y(t )  2e4t cos 2t  5e4t sin 2t

The residues for the complex poles are

After substituting for s we obtain

The three residues are

Therefore, the partial-fraction expansion is

2.5  0.375 0.375

The inverse Laplace transform is

y(t )  2.5t  0.375  0.375e4t

The three residues are

Therefore, the partial-fraction expansion is

The inverse Laplace transform is

y (t )  3  3 cos 2t  1.5 sin 2t

Therefore, the partial-fraction expansion is

 0.0899 0.0899 s (1.0562)(5)

The inverse Laplace transform is

y(t )  0.0899e8t  0.0899 cos 5t  1.0562 sin 5t

Therefore, the partial-fraction expansion is

y(t )  6et  4te2t  6e2t

The two residues are

Therefore, the partial-fraction expansion is

The inverse Laplace transform is

8.2 Given Y(s) find the final value y () if it exists.

0.5s 2  6 s(0.5s 2  6) 0.5s3

a) 0.4 y  y  0 with y(0) = –2

0.4sY (s)  y(0) Y (s)  0 or (0.4s  1)Y ( s )  0.8

Solving for the Laplace transform Y(s) we obtain

The inverse Laplace transform yields the response: y(t )  2e2.5t

b) 0.4 y  y  2u(t ) with u(t) = 0.7U(t), y(0) = –2

1.4  0.8s  1.4

Solving for the Laplace transform Y(s) we obtain

 0.8s  1.4  2 s  3.5

 2s  3.5 1.4  3.4

c) 2 y  3 y  u(t ) with u(t) = 4U(t), y(0) = 3

d) 2 y  3u (t ) with u(t )  4 cos 6t , y(0) = 0

Solving for the Laplace transform Y(s) we obtain

The inverse Laplace transform yields the response: y (t )  sin 6t

e) y  3 y  2 y  0.5u (t ) with u (t )  0.2U (t ) , y(0) = 0, y (0)  1

s Y (s)  sy (0)  y (0)  3sY (s)  y(0)  2Y (s)  (0.5)(s 0.2)

Solving for the Laplace transform Y(s) we obtain

 s  0 .1 0.05  1.1 1.05

f) y  5 y  6 y  0.5u(t ) with u(t )  6 (t ) , y(0) = 0, y (0)  0

s Y (s)  sy(0)  y (0)  5sY (s)  y(0)  6Y (s)  3

g) y  4 y  20 y  0 with y(0) = 2, y (0)  0.5

s Y (s)  sy(0)  y (0)  4sY (s)  y(0)  20Y (s)  0

h) 2 y  12 y  68 y  0.5u(t ) with u (t )  4U (t ) , y(0) = 1, y (0)  0

The residues for the complex poles ( s  3  j 5 ) are

After substituting for s we obtain

(16  j 30)  6(3  5 j )  1  33

i) 20 y  80 y  260 y  0.8u (t ) with u (t )  10 (t ) , y (0)  0.2 , y (0)  0.6

0.2s  1.8 0.2( s  2) (0.4667)(3)

a) 0.4 y  y  u (t ) After taking the Laplace transform: 0.4 sY ( s )  Y ( s )  U ( s )

b) 2 y  3u (t ) After taking the Laplace transform: 2 sY ( s )  3U ( s )

c) y  3 y  2 y  4u (t ) Take the Laplace transform: s 2Y ( s)  3sY ( s)  2Y ( s)  4U ( s)

d) 20 y  80 y  260 y  0.8u (t )  3u (t )

After taking the Laplace transform: 20s 2Y ( s)  80sY ( s)  260Y ( s)  0.8sU ( s)  3U ( s)

After taking the Laplace transform: 0.1s 3Y ( s)  2s 2Y ( s)  18Y ( s)  7U ( s)

f) y  2 y  4u (t ) After taking the Laplace transform: s 2Y ( s)  2Y ( s)  4sU ( s)

0.0375s  2 0.75s  40 2  1.25