EE 401 Control Systems Analysis and Design

A Review of The Laplace Transform

Lecture 2 EE 401: Control Systems Analysis and Design Slide 1 of 18

The Laplace Transform

• Question:
 What is the utility of this mathematical tool (the T)?
• Answer:
1. It greatly simplifies the process of solving Linear Time-
Invariant (LTI), homogeneous, Ordinary Differential
Equations (ODEs)

The T converts differential equations into algebraic equations

2. Provides the basis for a “qualitative” evaluation of linear
systems.

Lecture 2 EE 401: Control Systems Analysis and Design Slide 2 of 18

The Laplace Transform
•  Definition:
 The (unilateral)Laplace Transform is defined as
L  f (t )   f (t )e  st dt  F ( s )
(1)
0

 where is the complex frequency variable with units sec–1.

 Assumes that (i.e., causal signal)
• Note:
 Equation (1) is meaningful only if the integral converges, i.e.,

0 be true for only a region of convergence within the

 This may f (t ) e  st dt  

imaginary plane.

Lecture 2 EE 401: Control Systems Analysis and Design Slide 3 of 18

Some LT Examples
•  
Example 1: T of an exponential (a > 0);



L  e at   e at e  st dt
0



 e  ( s  a )t dt
0

1
 e ( s a )t
( s  a ) 0
Region of Convergence

0 iff Re{s}>a 1


1
( s  a )

e ( s  a )t
t 
 e ( s  a )t
t 0

1
 For now we will ignore this Region of
sa Convergence.
Similarly,
1
L  e  at  
sa

Lecture 2 EE 401: Control Systems Analysis and Design Slide 4 of 18

Some LT Examples

•  
Example 2: LT of a constant; .
Often denoted by and referred to as the unit step function or Heaviside
function

L  u (t )  u (t ) e  st dt

0

1
 e  st
s 0

1

s

• Note:
a
L  au (t )  aL  u (t )  
s

Lecture 2 EE 401: Control Systems Analysis and Design Slide 5 of 18

Some LT Examples

•  
Example 3: LT of a sinusoid:

 e jbt  e jbt   st
L  cos(bt )     e dt
0
2 
1  1 
 e  ( s  jb ) t  e ( s  jb )t
2( s  jb) 0 2( s  jb) 0

1 1
  Recall Euler’s Formula
2( s  jb) 2( s  jb)
( s  jb)  ( s  jb) e j  e  j 
 cos( )  
2( s  jb)( s  jb) 2  j
 e  cos( )  j sin( )
2s e j  e  j 
sin( ) 
 2j 
2( s 2  b 2 )
s

• Also, s2  b2
b
L  sin(bt )  
s 2  b2

Lecture 2 EE 401: Control Systems Analysis and Design Slide 6 of 18

Some LT Examples

•Example
  4: LT of a powers of t;



L t n   t n e  st dt
u dv
Integration by Parts
d
0 (uv )  udv  vdu
  dt
 1  e  st d
 t n   e  st 
n 1

 s 
 nt
s
dt   dt  
(uv)  udv  vdu
0 0

n n 1  st
  
udv  uv  vdu

s0 
t e dt

n n 1
 L t n 1   L t n  2  
s s
n!
 n 1
s
1
i.e., L  t  (LT of a unit ramp)
s2

Lecture 2 EE 401: Control Systems Analysis and Design Slide 7 of 18

Some LT Examples
The MATLAB Symbolic Math Toolbox

Using the MATLAB Symbolic Toolbox

Typical Script (*.m file) MATLAB Live Script

Lecture 2 EE 401: Control Systems Analysis and Design Slide 8 of 19

Some LT Examples
The MATLAB Symbolic Math Toolbox

• Using Mathematica

Lecture 2 EE 401: Control Systems Analysis and Design Slide 9 of 18

Some LT Examples

•Example
  5: LT of a unit impulse;

L   (t )    (t )e  st dt
 Note: We need to include t = 0
0 in the integral.
 Sampling property of the

  (t ) e   st
 t 0
dt impulse
0



  (t ) dt
0

1

• Pages 36 – 37 of your EE 401 textbook, or

• Pages 96 – 97 of your Signals and Systems textbook

Lecture 2 EE 401: Control Systems Analysis and Design Slide 10 of 18

Some Properties of the LT

• Linearity:
 
L  a f (t )   a f (t )e dt

 st
L  f (t )  g (t )     f (t )  g (t )  e  st
dt
0 0
  

  
 st
 a f (t )e dt  f (t )e dt  g (t )e  st dt
 st

0 0 0

 a L  f (t )   L  f (t )   L  g (t ) 

Example:
L 3 (t )  2e  t   3L   (t )   2L e  t 

 1 
 3  2 
 s 1
3s  5

s 1

Lecture 2 EE 401: Control Systems Analysis and Design Slide 11 of 18

Some Properties of the LT

• Differentiation:
 du v
d 
L   f (t )     f ' (t )e  st dt F(s)
 dt  0

 st  Y ( s )  sF ( s )  f (0)
 f (t )e
0 
 s f (t )e  st dt
0
 sF ( s )  f (0)

f (0)
Input Output Input Output
-
  𝑑
𝑑𝑡
df (t )
 
𝑠 +

Y ( s)  sF ( s )  f (0)
f (t ) y (t )  F ( s)
dt

Lecture 2 EE 401: Control Systems Analysis and Design Slide 12 of 18

Some Properties of the LT

• Integration:
u dv
t   t   st

 0

L  f ( )d    f ( )d  e dt

 0  0



1    st
t 
1
s  0
  f ( )d  e



s0 
f (t )e  st dt
0
1
 F (s)
s
Input Output Input Output
   1
∫ (.) 𝑠
1
f (t ) y (t )   f ( ) d  F (s) Y ( s)  F ( s)
s

Lecture 2 EE 401: Control Systems Analysis and Design Slide 13 of 18

Some Properties of the LT

• Convolution:
t 

L  f ( ) g (t   )d   F ( s )G ( s )
 0 

L  f (t) * g (t )   F ( s)G ( s)

Input Output Input Output

 
𝑔∗ 𝐺(𝑠)
 

f (t ) y (t )  f (t )  g (t ) F (s) Y ( s)  F ( s)G ( s )

Lecture 2 EE 401: Control Systems Analysis and Design Slide 14 of 18

Inverting the Laplace Transform

• Inverting the Laplace Transform:

  j
1
f (t )  L 1  F ( s )    F ( s )e st ds
2πj   j

DO NOT USE THIS FORMULA

• Use the tables instead!!

Lecture 2 EE 401: Control Systems Analysis and Design Slide 15 of 18

Inverting the Laplace Transform
Example #1:

Solve the first order ODE (ordinary differential equation)

5 y (t )  10 y (t )  3u (t ), with y (0)  1

Take the LT of =the 1

equation.
3
5  sY ( s )  y (0)   10Y ( s ) 
s
3
5( s  2)Y ( s )  5 
s
1 0.6 a
Y (s)  
s  2 s ( s  2) s(s  a)
1
sa  1   2 
Y (s)     0.3  
 s2  s ( s  2) 
y (t )  e 2t  0.3(1  e 2t ), t0

Zero Input Response Zero State Response

(due to initial conditions) (due to input 3u(t))

Lecture 2 EE 401: Control Systems Analysis and Design Slide 16 of 18

Inverting the Laplace Transform
Example #2:

Solve the second order ODE (ordinary differential equation)

y (t )  3 y (t )  2 y (t )  5u (t ), with y (0)  1, y (0)  2

Take the LT of the equation.

5
s 2Y ( s )  sy (0)  y (0)  3  sY ( s )  y (0)   2Y ( s) 
s
5
( s 2  3s  2)Y ( s )   sy (0)  y (0)  3 y (0)
s
s ( s  1)( s  2)Y ( s )  5  s 2  2s  3s
s2  s  5 A B C
Y (s)    
s( s  1)( s  2) s s 1 s  2
5 / 2 5 3 / 2
  
s s 1 s  2
5 3
y (t )   5e  t  e 2t , t0
2 2

Lecture 2 EE 401: Control Systems Analysis and Design Slide 17 of 18

Inverting the Laplace Transform
Example #3:
Partial fraction expansion for the case of complex roots
3 6
3 A Bs  C  s
Y (s)    2 3/5 5 5

s s 2  2s  5  s s  2s  5 
s

( s  1)  22
2

k e  t  cos(2t   )  k

3 33 6
  (s 1)s s21 kk ((s(ss1)cos
1)cos
a )cos 2sin2sin  
b sin 3
 a 1kand
cosb and
3
2   2k sin 
5 55 5  k
s21)1)
( s (s(1) 2 2222222 ((ss(s1)1)2a2)2222 2b 2 5 5
2 2
 3  3
     k cos  and     k 2 sin 2 
2 2

 5  10 
9 9 45
 k2   k  0.6708
25 100 10
 3   3  1
 tan            153.4
 10 k   5k  2

y (t )  0.6  0.6708 e  t  cos(2t  26.6))

 153.4

Lecture 2 EE 401: Control Systems Analysis and Design Slide 18 of 18