SK1 02 Laplace Transform Review

1
Sistem Kontrol I
Kuliah II : Transformasi Laplace
Imron Rosyadi, ST
Email: pak.imron@gmail.com
2
From Lecture #1
3
Control System Design Process
• Diagram on the next page gives a flowchart of the
control system design process
4
Original System
- Plant
- Sensors
- Actuators Key Activities of the
Develop “MAD” Control Engineer:
Performance Measurement
Specifications Modeling - Modeling
- Analysis
Desired Math Model
- Design
Performance of Plant - Implementation
Analysis Simulation
Design
Math Model
of Controller
Implementation
- Physical controller
- Coupling controller
with plant
New System
5
Control System Design Process
• Hidden in this chart are three important elements :
1. Modeling the system (using mathematics)

2. Analysis techniques for describing and
understanding the system’s behavior
3. Design techniques for developing control algorithms
to modify the system’s behavior
• Modeling, analysis, and design = the MAD control

theorist
• A fourth key element is Implementation
6
Modeling is the key!
• The single most important element in a control system

design and development process is the formulation of a
model of the system.
• A framework for describing a system in a precise way

makes it possible to develop rigorous techniques for
analyzing the system and designing controllers for the
system
7
Modeling
• Key Point: most systems of interesting in engineering

can be described (approximately) by
▫ Linear
▫ Ordinary
▫ Constant-coefficient
▫ Differential equations Requires
• Call these LODEs algebra to solve
• Where we are going looks like this:
Physical Laplace
LODE
Reality Transform
Requires
calculus to solve
8
Review of Complex Number

9
Complex Numbers: Notation and Properties (1)
• A complex number:
• The complex plane
Rectangular (Cartesian) coordinates
Polar coordinates
Due to Katie Johnson or Tyrone Vincent or someone

10

• Transformation between coordinates

11

• Euler’s Formula:
e jx  cos(x)  j sin(x)
• Note differentiation property

d jx d d
e  cos( x)  j sin( x)
dx dx dx
  sin( x)  j cos( x)
 j  cos( x)  j sin( x) 
 je jx

12
Exercise
• Show how Euler’s Formula is a parameterization of the

unit circle
e j  cos  j sin 
r  cos   2   sin   2  1
  tan 1  cos
sin 
   tan 1
 tan( )  

13

• Alternate notation for polar coordinates using Euler’s
Formula
Compare to
Note: keep track of degrees and radians!

14
Complex Math – Review

• Complex multiplication and division: the hard way

15

• Complex multiplication and division: the easy way
Given:

16
Exercise
3 2 j
s
1 4 j
3.6  33.7 

4.176.0 

3.6
4.1

  33.7  76.0
 

 0.9  109.7 

• Complex conjugate:
Given: s  a  jb
Define complex conjugate as s  a  jb
• Some key results:

ss  a  b
2 2
( x  s )( x  s )  ( x  a  jb)( x  a  jb)
 x 2  2ax  (a 2  b 2 )
 ( x  a)  b
2 2

• A function of a complex number is also a complex number
Given: G ( s )  Re{G ( s )}  j Im{G ( s )}
• Example 10
G(s) 
s  10
s  5  j4
10 10
G (5  j 4)  
5  j 4  10 15  j 4
 0.6442  0.2606
 0.6224  j 0.1660

• Derivatives of a function of complex numbers, G(s), can be
computed in the usual way
• Poles/Zeros

• Poles/Zeros at infinity

21
Laplace Transform
22
Laplace Transform Motivation

• Differential equations model dynamic systems
 mx  bx  u
• Control system design requires simple methods for
solving these equations!
• Laplace Transforms allow us to

▫ systematically solve linear time invariant (LTI)
differential equations for arbitrary inputs.
▫ easily combine coupled differential equations into
one equation.
▫ use with block diagrams to find representations for
systems that are made up of smaller subsystems.
23
The Laplace Transform Definition
• Laplace Transform exists if integral converges for any

value of s
▫ Region of convergence is not as important for
inverting “one-sided” transforms

24
Laplace Transform Example (1)
• Example:
Notation for “unit step”
• Show that
25
Laplace Transform Example (2)

26
Laplace Transform of a Unit Step
• Find the Laplace Transform for the following function

1 0  t  
u s (t )  
0 otherwise
 
1  st
F ( s )   1e dt 
 st
e
0
s 0
1
  0  1
s
1

s

27
Exercise
• Find the Laplace Transform for the following function
3 0  t  1
f (t )  
0 otherwise
1 1
3  st
F ( s )   3e dt 
 st
e
0
s 0

3 s
s
e 1  
3

 1  es
s


28
The Laplace Transform Definition (Review)

• Recall:
• The easiest way to use the Laplace Transform is by

creating a table of Laplace Transform pairs. We can
use several Laplace Transform properties to build the
table.

29
The function with the simplest Laplace Transform

(1)
• A special input (class) has a very simple Laplace

Transform
• The impulse function:
▫ Has unit “energy”
▫ Is zero except at t=0
Think of pulse in the limit

30
The function with the simplest Laplace Transform

(2)
f t F  s
 t 1

31
LT Properties: Scaling and Linearity
• Proof: Both properties inherited from linearity of

integration and the Laplace Transform definition
f t F  s
af  t  aF  s 
f1  t   f 2  t  F1  s   F2  s 
32
Example 1
• Find the following Laplace Transforms
▫ Hint: Use Euler’s Formula

33
Example 1 (2)
sin t  
1 jt
e  e  jt  
1 jt
cost  e  e  jt
2

2j
1  1 1  1 1 1 
L sin t      L cos t     
2 j  s  j s  j  2  s  j s  j 
 s
 2  2
s 2 s 2
f t F  s

sin  t 
s2   2
s
cos t 
s2   2
34
LT Properties: Time and Frequency Shift
• Proof of frequency shift: Combine exponentials
f t F  s
f  t   u t    e  s F  s 
e t f  t  Fs  

35
Example 2
• Find the following Laplace Transforms

36
Example 2 (2)

Le  at

cos t  2
s 
Le  at

sin t  2

s   2 ssa
s 2 ssa
sa 
 
( s  a) 2   2 ( s  a) 2   2
f t F  s

e  at sin  t 
 s  a 2   2
sa
e  at cos t 
 s  a   2
2

37
LT Properties: Integration & Differentiation
• Proof of Differentiation Theorem: Integration by parts
 udv  uv   vdu

38
LT Properties: Integration & Differentiation

(2)
f t F  s
d
dt
f t  
sF  s   f 0 
F  s 1 0
f   d   f    d
t
 s s 
39
Example 3
• Find Laplace Transform for
• What is the Laplace Transform of

▫ Derivative of a step?
▫ Derivative of sine?

40
Example 3 (2)

L t   L  u (t )dt 11 1
 2
ss s
 
L te  at 
1

1
s2  s  a 2
f t F  s
ssa
1
 du (t )  1  t
L   s  u ( 0 ) 1 Impulse! s2
 dt  s 1
te  at
 s  a 2
 d sin(t )  1 s d
L  s 2 0  2 Cosine! u t  1
 dt  s 1 s 1 dt
d s
sin  t 
dt s2 1
41
Exercise
• What is the Laplace Transform of
d
cos t 
dt
 d cos(t )  s s2 s2 1 1
L  s 2 1  2  2  2 -Sine!
 dt  s 1 s 1 s 1 s 1
f t F  s
d 1
cos t   2
dt s 1
42
Initial Value Theorem

43
Final Value Theorem

44
Inverse Laplace and LODE

solution
45
Inverse Laplace Transform

46
Partial Fraction Idea -1

47

48

49
Recall: Laplace differentiation theorem (1)

• The differentiation theorem
• Higher order derivatives

50
Differentiation Theorem (revisited)

n 1
dn
dt n
f  t   s n
F  s   s  
n 1
f 0 
 s n 2 d
 
dt
f 0 
  
d
dt n 1
f 
0 
• Differentiation Theorem when initial conditions are zero

51
Solving differential equations: a simple example

(1)
• Consider
dx
 1, t  0
dt

52
Solving differential equations: a simple example

(2)
 
x t   t  x 0  , t  0
• Solution Summary
▫ Use differentiation theorem to take Laplace
Transform of differential equation
▫ Solve for the unknown Laplace Transform
Function
▫ Find the inverse Laplace Transform
53
Example 1
• Find the Laplace Transform for the solution to
x  3x  2 x  1, t  0 x 0  1, x  0   3
 dn  n
L  n f  t    s F  s   s n 1 f  0  ...  sf  n  2   0  f  n 1  0
 dt 
 s 2 X  s   sx 0  x  0  3 sX  s   x 0   2 X  s   1
Notation:

54
- Partial Fraction Expansions

• In general, LODEs can be transformed into a function that is
expressed as a ratio of polynomials
• In a partial fraction expansion we try to break it into its parts, so
we can use a table to go back to the time domain:
• Three ways of finding coefficients

▫ Put partial fraction expansion over common denominator
and equate coefficients of s (Example 1)
▫ Residue formula
▫ Equate both sides for several values of s (not covered)
- Partial Fraction Expansions
• Have to consider that in general we can encounter:
▫ Real, distinct roots

▫ Real repeated roots
▫ Complex conjugate pair roots (2nd order terms)
▫ Repeated complex conjugate roots
N (s) A B Cs  D Es 2  Fs  G
X ( s)  K   
D( s) s  p1 ( s  p1 ) ( s  a)  b (( s  a ) 2  b 2 ) 2
2 2 2
56
Example 1, Part 2
• Given X(s), find x(t).
• This Laplace Transform function is not immediately

familiar, but it is made up of parts that are.
• Factor denominator, then use partial fraction
expansion:

57
Finding A, B, and C
• To solve, re-combine RHS and equate numerator
coefficients (“Equate coefficients” method)

58
Final Step
• Example 1 completed:
• Since
t K
Ke ,t 0
s 
• By inspection,
1 5  2t
x t    2e  e , t  0
t
2 2

59
Residue Formula (1)

• The residue formula allows us to find one coefficient at a
time by multiplying both sides of the equation by the
appropriate factor.
• Returning to Example 1:

60
Residue Formula (2)

• For Laplace Transform with non-repeating roots,
• The general residue formula is:

61
Example 2
• Find the solution to the following differential equation:

62
Example 2 (2)
s 2 X ( s)  sx 0  x  0   3 sX ( s )  x 0   2 X ( s )  0
s 2 X ( s)  s  3 sX ( s)  1  2 X ( s )  0
( s 2  3s  2) X ( s)  s  3
s3 A B
X ( s)   
( s  1)(s  2) ( s  1) ( s  2)
1  3 23
A   s  1 X  s  s  1   2 B   s  2 X  s  s  2   1
1  2  2 1
2 1
X ( s)  
( s  1) ( s  2)
x(t )  2e t  e 2t , t  0
63
Inverse Laplace Transform with Repeated Roots

• We have discussed taking the inverse Laplace transform
of functions with non-repeated, real roots using partial
fraction expansion.
• Now we will consider partial fraction expansion rules for

functions with repeated (real) roots:
▫ # of constants = order of repeated roots
• Example:
( s  1) 4 A B C D E
     2
( s  3) s
3 2
s  3 ( s  3) ( s  3)
2 3
s s

64
Repeated real roots in Laplace transform table

• The easiest way to take an inverse Laplace transform is
to use a table of Laplace transform pairs.

f (t ) F (s)
1
te  at
(s  a) 2
t n e  at 1
Repeated Real Roots
n! ( s  a ) n 1
2s
t sin(t ) Repeated Imaginary Roots
s  
2 2 2
(also use cosine term)
2 ( s  a )
te  at sin(t ) Repeated Complex Roots
 ( s  a) 2
 
2 2
(also use cosine term)

65
Example with repeated roots

• Example: find x(t) 
f e2t
x 1
x  2 x  x  e 2t
x 0   0, x  0   1 1 2
• Take Laplace Transform of both sides:

66
Example with repeated roots (2)
• Terms with repeated roots:

67
Example with repeated

B =roots
2 C (3)
=1

68
Exercise 1
• Find the solution to the following differential equation
x  4 x  4 x  0 x(0)  1 x (0)  0
s 2 X  s   sx 0   x  0   4 sX  s   x 0    4 X  s   0
s 2 X  s   s  0  4 sX  s   4  4 X  s   0
 
X  s  s 2  4s  4  s  4
s4 A B
X  s   
 s  2 2 s  2  s  2 2
B   s  2 X  s    s  4  s  2  2
2
s  2
s4 A s  2  2
  s :1  A
 s  2 2
 s  2 2
x t   e  2t  2te  2t

69
Above …
Inverse Laplace and LODE solutions
- Partial fraction expansions

- LODE solution examples
* Real roots
* Real, repeated roots
Next:
* Complex roots
NOTE:
A complex conjugate pair is actually two distinct,

simple first order poles, so can find residues and
combine in the usual way:
71
72
Inverse Laplace Transform with Complex Roots
• To simplify your algebra, don’t use first-order denominators such as
• Instead, rename variables

B  K1  K 2 C    1  j  K1   1  j  K 2 
• So that

73
Laplace Transform Pairs for Complex Roots
• More Laplace transform pairs (complex roots):
f (t ) F (s)
s 
e t cos(t )
(s   ) 2   2

e t sin(t )
(s   ) 2   2
• Also, see the table in your textbook and most other

control systems textbooks.

74
Return to example from above:
75
76
Example with complex roots

• Example: find x(t)
• Laplace Transform

77
Example with complex roots (2)

78

79

80
Exercise 2
• Find solution to the following differential equation
x  4 x  8 x  0 x(0)  1 x (0)  0

s 2 X  s   sx 0  x  0   4 sX  s   x 0    8 X  s   0
s 2 X  s   s  4 sX  s   4  8 X  s   0
s4
X  s 
s 2  4s  8
s4

 s  2 2  4
s2 2
 
 s  2 2  2 2  s  2 2  2 2
x t   e  2t cos 2t   e  2t sin 2t 

81
Resume Lecture #2
82
• Review of Complex Number

• Laplace Transform
• Inverse Laplace Transform
• Solving LODE

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1

Control System Design Process

• Hidden in this chart are three important elements :

1. Modeling the system (using mathematics)

• Modeling, analysis, and design = the MAD control

Modeling is the key!

• The single most important element in a control system

• A framework for describing a system in a precise way

• Key Point: most systems of interesting in engineering

Review of Complex Number

Complex Numbers: Notation and Properties (1)

• The complex plane

Rectangular (Cartesian) coordinates

Due to Katie Johnson or Tyrone Vincent or someone

Complex Numbers: Notation and Properties (2)

Due to Katie Johnson or Tyrone Vincent or someone

Complex Numbers: Notation and Properties (3)

• Note differentiation property

Due to Katie Johnson or Tyrone Vincent or someone

• Show how Euler’s Formula is a parameterization of the

Due to Katie Johnson or Tyrone Vincent or someone

Complex Numbers: Notation and Properties (4)

Note: keep track of degrees and radians!

Due to Katie Johnson or Tyrone Vincent or someone

Complex Math – Review

Due to Katie Johnson or Tyrone Vincent or someone

Complex Math – Review

Due to Katie Johnson or Tyrone Vincent or someone

Due to Katie Johnson or Tyrone Vincent or someone

• Some key results:

Due to Katie Johnson or Tyrone Vincent or someone

Given: G ( s )  Re{G ( s )}  j Im{G ( s )}

Due to Katie Johnson or Tyrone Vincent or someone

Due to Katie Johnson or Tyrone Vincent or someone

Due to Katie Johnson or Tyrone Vincent or someone

Laplace Transform Motivation

• Laplace Transforms allow us to

The Laplace Transform Definition

• Laplace Transform exists if integral converges for any

Due to Katie Johnson or Tyrone Vincent or someone

Laplace Transform Example (1)

Notation for “unit step”

Laplace Transform Example (2)

Due to Katie Johnson or Tyrone Vincent or someone

Laplace Transform of a Unit Step

• Find the Laplace Transform for the following function

Due to Katie Johnson or Tyrone Vincent or someone

Due to Katie Johnson or Tyrone Vincent or someone

The Laplace Transform Definition (Review)

• The easiest way to use the Laplace Transform is by

Due to Katie Johnson or Tyrone Vincent or someone

The function with the simplest Laplace Transform

• A special input (class) has a very simple Laplace

▫ Is zero except at t=0

Think of pulse in the limit

The function with the simplest Laplace Transform

Due to Katie Johnson or Tyrone Vincent or someone

LT Properties: Scaling and Linearity

• Proof: Both properties inherited from linearity of

▫ Hint: Use Euler’s Formula

Due to Katie Johnson or Tyrone Vincent or someone

LT Properties: Time and Frequency Shift

• Proof of frequency shift: Combine exponentials