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EEE/ECE/INSTR F242
Tutorial 1
Dr. Alivelu M Parimi
Laplace transforms
Information
• Course handout will be discussed in the first class.
• Notices in CMS will be put in the common section
“Course name ECE/EEE/INSTR F242 CONTROL
SYSTEMS FIRST SEMESTER 2020-21 L”
• Today’s tutorial:
• Tutorial 1
• Introduction of Laplace transform
• Application of Laplace transform
25-Jan-22 2
Control System: Analysis
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Control System: modeling
• The first step in the control design process is to develop
appropriate mathematical models of the system to be
controlled.
• These models may be derived either from physical laws
or experimental data.
• Using the Laplace transform, it is possible to convert a
system's time-domain representation into a frequency-
domain input/output representation, known as
the transfer function.
• In so doing, it also transforms the governing differential
equation into an algebraic equation which is often
easier to analyze.
25-Jan-22 5
Laplace transform: Introduction
• The Laplace transform is a particularly elegant way to solve
linear differential equations with constant coefficients.
• The Laplace transform describes signals and systems not as
functions of time, but as functions of a complex variable s.
• When transformed into the Laplace domain, differential
equations become polynomials of ’s’.
• Solving a differential equation in the time domain becomes
a simple polynomial multiplication and division in the
Laplace domain.
• However, the input and output signals are also in the
Laplace domain, and any system response must undergo
an inverse Laplace transform to become a meaningful time-
dependent signal.
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Why use Laplace Transforms?
• Find solution to differential equation using algebra
• Relationship to Fourier Transform allows easy way
to characterize systems
• No need for convolution of input and differential
equation solution
• Useful with multiple processes in system
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How to use Laplace
• Find differential equations that describe system
• Obtain Laplace transform
• Perform algebra to solve for output or variable of
interest
• Apply inverse transform to find solution
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What are Laplace transforms?
F(s) L{f ( t )} f ( t )e st dt
0
j
1
1
f ( t ) L {F(s)} F (s ) e st
ds
2j j
• t is real, s is complex!
• Inverse requires complex analysis to solve
• Note “transform”: f(t) F(s), where t is integrated and s is
variable
• Conversely F(s) f(t), t is variable and s is integrated
• Assumes f(t) = 0 for all t < 0
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Evaluating F(s) = L{f(t)}
F ( s ) L{ f (t )} f (t )e st dt
• Hard Way – do the t) 1
f (integral 0
f (t ) 1
let f (t ) = 1 1
F ( s ) e dt (0 1)
st 1
01
s1 s
F ( s ) e dt at (0 1)
st
0 - atf (t ) e
let s s
f (t ) = eat
f (t ) e F ( s ) e e dt e
at st ( s a ) t
dt
1
0 0
sa
1
F ( s ) e e dt e
at st ( s a ) t
dt
0 0
sa
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Table of selected Laplace
Transforms
1
f ( t ) u ( t ) F(s)
s
at 1
f ( t ) e u ( t ) F(s)
sa
s
f ( t ) cos( t )u ( t ) F(s) 2
s 1
1
f ( t ) sin( t )u ( t ) F(s) 2
s 1
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More transforms
n!
f ( t ) t u ( t ) F(s) n 1
n
s
0! 1
n 0, f ( t ) u ( t ) F(s) 1
s s
1!
n 1, f ( t ) tu ( t ) F(s) 2
s N=2?
5! 120
n 5, f ( t ) t 5 u ( t ) F(s) 6 6
s s
f ( t ) ( t ) F(s) 1
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Note on step functions in Laplace
• Unit step function definition:
u ( t ) 1, t 0
u ( t ) 0, t 0
• Used in conjunction with f(t) f(t)u(t) because of
Laplace integral limits:
L{f ( t )} f ( t )e dt st
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Laplace Transforms
•Some Laplace Transforms
•Wide variety of function can be transformed
•Inverse Transform
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Laplace Transforms
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Laplace Transform for ODEs
•Equation with initial conditions
•Rearrange
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