2° = — Repeated Poles The m" term becomes dd = age Et PFCs] rt sap where m = 1, 2,..., 7-1. One can expect the differentiation to be difficult to handle as m increases. Once we obtain the values of kj, kz, ... , k, by partial fraction expansion, we apply the inverse transform to each term on the right-hand side of original equation 12/30/2021= Engineering Mathematics a a ele) Gn 2 F(s)< 10s°+4 ; 5(5 + 1)(s + 2) Solution: While the previous example is on simple roots, this example is on repeated roots. Let vy =e 4 _ ~ 2 s(s + 1)(s + 2) (15.10) ~Se 8 go eg OE s ostl (5+2P s+2 12/30/2020 217 =e” sin dt, we get +b F(t) =e" sing 12/30/2020 22MOR b) Find the inverse Laplace transform of the following function: ett) Fle s?-2s-8 b (3 marks) Solution errnes (s + 2) + B(s — 4)| (s—4)(s+2) When s = 4, GA=6, so A = 1, when s=-2, -6B = 6, so B = -1 Soe s?-2s-8 (s-4) 82 cats cpt} caf t sett ett s?—2s+ 12/30/2020 247 Engineering Mathematics pees “leat ea 2 F(s)= qa 55 + 1)(s + 2) Solution: While the previous example is on simple roots, this example is on repeated roots. Let i 10s? + 4 ©) = e+ Do + 2° (15.10.1) AB c_, dD a74 + —_ Ss stl (s+2? st+2 4213012020 23ME i METHOD 1 Residue method: 10s? + 4 4 A= MO |mo CNG + leo MO | Mea at a CaF CoM ea a oe ea on p= gies 2%ven), = aCe Ls (s* + 5)(20s) — (10s? + 4)(2s + 1) 2 a ma (9? + syMETHOD 2 Algebraic method: Multiplying Eq. (15.10.1) by s(s + Is + 2)?, we obtain IE 10s* + 4 = Ate + 1)(s + 2)? + Bs(s + 27 D 2 u + Cs(s + 1) + Ds(s + Is + 2) 10s? + 4 = A(s? + 5s? + 85 + 4) + Bis? + 45° + 45) J! + C(s? + 8) + Dis? + 3s? + 28) gs EquatingGoeficients, } te Constam: 4=4h > A=1 me ——uh) o-? (s+ay a O=8A+4B+C+2D => 4B8+C+2D=-8 nee 10=5A+4B+C+3D = 48+C+3D=5 w: O=A+B+D => B+D=-1 Solving these simultaneous equations gives A= 1,B = —14,C = 22, BD = 13, so that I 14 13 22 W=--—_ + = std std w+ De Taking the inverse transform of each term, we get v(t) = (1 — 1de! + 13e°7 + 22te ue) 25——= Engineering Mathematics s+3 (8) a go A, A; As x2) (=) FG) =" + 342" (ray ses s+3 3 = “@s+2y7 Y (s+), 20 20 A, =sF(s)| “4 = st3 a-6+2) FL, gas, _ n st3 ot TD as A, =(s+5) FO)| 2 aD a "T5945 12/30/2020 2612/30/2020 aEngineering Mathematics Complex Poles A pair of complex poles is simple if it is not repeated; it is a double or multiple pole if repeated. Simple complex poles may be handled the same way as simple real poles. An easier approach is a method known as completing the square. The idea is to express each complex pole pair (or quadratic term) in D(s) as a complete square such as (s + a)? + 6? and then use table to find the inverse of the term. Since M(s) and D(s) always have real coefficients and we know that the complex roots of polynomials with real coefficients must occur in conjugate pairs, F(s) may have the general form F(sy=AS* A £45) S+as+b where F,(s) is the remaining part of F(s) that does not have this pair of complex poles. 12/30/2020 2812/30/2020 29Complex Poles If we complete the square by letting S+astb=5'+2as+c°+ pf =(s+ay +p and we also let AS+A, =A(S+a) +88 then the first equation . B Ro, ae) = (staP+p? (sta) +p From transformation table, the inverse transform is F(t) = (Ae cos pt + Be“ sin pt*)u(t) + f(t) 1210/2020Engineering Mathematics Complex Poles The sine and cosine terms can be combined using following equality . Acoswt + Bsinwt = C cos(wt - 6) whel C=VA'+B’ , = tan! 12/30'2020 auBack; There are three cases to consider in doing the partial fraction expansion of F(s). Case 1: F(s) has all non repeated simple roots. Bi gt ue Na F(s)=—! 2 ” Fy=- +7, + +P, tate +P, aa & wh Case 2: F(s) has complex poles: For Ae) Bg A $y ig gd __ O Mss ta- {Bs +a+jB) sta- jp s+a+ip f | ‘ | Case 3: F(s) has repeated Pis) k k k, Pisy , ig) ge Bg gp Bagg ae Ys Oss +ay s+P, (+p)? tpF "ta emranedd 2bata 7 2a Engineering Mathematics Example & crane oF ind the inverse transform of the frequency-domain function 5 20 H(s) ” (543)(s +85 +25) Solution: In this example, H(s) has a pair of complex poles at + 8s+25=0 ors = —4 + 3. We let 20 A Bst+C HO Cag tate) +3 @ testa CMD ‘We now determine the expansion coefficients in two ways. 42/30/2020a A= (8 + HG) lea" 395495 |--s” 10 Although B and C can be obtained using the method of residue, we will not do so, to avoid complex algebra. Rather, we can substitute two . _cpecific values of s [say s = 0, 1, which are not poles of Fi{s)] into 20 (15.1.1). This will give us two simultaneous equations from which ae ee +8525) find B and C-If we let s = 0 in Eq. (15.11.1), we obtain yr Hi METHOD 1 Combination of methods: We can obtain A using c the method of residue, : 20 = Pe 2 _A,€ 1 3, 3 2 or 20 = 25A + 3C (15.1.2) Since A = 2, Eq. (15.11.2) gives C = —10. Substituting s = | into Eq. (15.11.1) gives 2 A, BHC G4) 4° 34 12/30/2020 20 = 344 + 4B +40 (15.113) But A = 2,C = —10, so that Eq. (15.11.3) gives B = -2.Taking the ame each term, we obtain C (Ke 2 BSD Sy h(t) = (26 — 2e~* cos 3¢ — 3° sin 31) ut (15.11.5) It is alright to leave the result this way. However, we can combine the cosine and sine terms as A(t) = (2e™ — Re“ cos(3t — 6)) u(t) (15.11.6) To obtain Eq. (15.11.6) from Eq. (15.11.5), we apply Eq. (9.11). Next, we determine the coefficient R and the phase angle 6: = 18.43° eo R= V2+@?=2.108, = tan™ Thus, A) = (2e-™ — 2.108 cos(3r — 18.43% a CaVA' +8. O= tan’ Acosut + Bsinwt = C costwt - 6) 12/30/2020 35: Frnineerina Math ae lH METHOD 2 Algebraic method: Multiplying both sides of Eg. (15.11.1) by (s + 3)(s? + 8s + 25) yields 20 = A(s? + 8s + 25) + (Bs + C)(s +3) (15.114) = A(s? + Bs + 25) + B(s? + 3s) + Cls + 3) Equating coefficients gives #: O=A+B => A=-B s O0=8A+3B+C=5A+C => C=-5A Constant; 20=25A+3C=25A-15A = A=2 That is, B = —2,C = —10. Thus, 2 2s+10 _ 2 2s +4) +2 s+3. (%+85+25) st3 (+4 +9 _ 2 Ast 2 3 “st3 (tap to 36+4P 49 i H(s) =-—_________ Engineering Mathematics Application to Integrodifferential Equations The Laplace transform is useful in solving linear integrodifferential equations. Using the differentiation and integration properties of Laplace transforms, each term in the integrodifferential equation is transformed Initial conditions are automatically taken into account. We solve the fesulting algebraic equation in the s-domain. We then convert the solution back to the time domain by using the inverse transform. 42/30/2020 38Engineering Mathematics Example Use the Laplace transform to solve the differential equation d’v(t) hat) a +6 a + 8v(t) = 2u(t) subject to v(0) = 1, v'(0) =-2. Solution: We take the Laplace transform of each term in the given differential equation and obtain [s?V(s) — sv(0) — v'(0)] + 6[sV(s) — v(0)] + 8V(s) = 2 Substituting (0) = 1,v/(0) = —2, 2 12/30/2020 SVs) — 5 + 2 + 65V(s) — 6 + 8U(s) = : 9