ME2142

Feedback Control Systems

Review of Laplace Transforms

ME2142 Feedback Control Systems

Mathematical Preliminaries
Complex variable

s j

j 1
Im

Real part

Imaginary part

Re

s-plane

ME2142 Feedback Control Systems

Complex Function
Complex function
G ( s ) G x jG y
Real part

Im

Imaginary part

G G G
2
x

Gy
tan
Gx
1

2
y

G ( s) G e j
Complex conjugate

G (s)

Gy
G

Re

Gx

G(s)-plane

G ( s ) G x jG y

ME2142 Feedback Control Systems

Eulers Theorem

Eulers Theorem
Its complex conjugates

Some useful formulas:

e j cos j sin

(1)

e j cos j sin

(2)

2j

ME2142 Feedback Control Systems

1 j
cos e e j
2
1 j
e e j
sin

(3)
(4)

Laplace Transforms
A mathematical tool that transforms difficult differential equations into simple
algebraic equations where solutions can be easily obtained.

Definition:

f (t ) 0 for t 0
Inverse Transform:

1 c j
st

F
(
s
)
e
ds

2j
Normally Tables of Laplace Transform Pairs are used for taking the
Laplace Transform and the Inverse Transforms.
ME2142 Feedback Control Systems

Properties of Laplace Transforms

Linearity:

ME2142 Feedback Control Systems

Properties of Laplace Transforms

Use of Linearity Property:
Example : Find the Laplace Transform of

3t 5 sin( 2t )

From the table, we have:

So

L t

1
s2

and L sin(2t )

3t 5 sin( 2t )

ME2142 Feedback Control Systems

2
s2 4

3
10

s2 s2 4
7

Properties of Laplace Transforms

Property of Translation

If

, and L f (t ) F ( s)

then
In addition,
ME2142 Feedback Control Systems

Properties of Laplace Transforms

Using the Property of Translation, we can get the inverse transforms

1
If L F ( s ) f (t ) ,

L e
1

as

F ( s ) g(t )

f (t a), t a
g(t )
ta
0,

L 1 F (s a) e at f (t )

ME2142 Feedback Control Systems

Properties of Laplace Transforms

Let us use Property of Translation
Property 1:

If

, then

For example

g1 (t ) (t 2) 3 , G1 ( s ) ?

From Tables:

f (t ) t 3 F ( s )
Since

6
s4

g1 (t ) f (t 2), G1 ( s ) e

2 s

6
s4

Property 2:
For example
Since

g 2 (t ) e 2 t t 3 , G 2 ( s ) ?

6
g 2 (t ) e f (t ), G2 ( s )
( s 2) 4

ME2142 Feedback Control Systems

2t

10

Properties of Laplace Transforms

Properties regarding the derivatives:
Useful

Not so
useful

ME2142 Feedback Control Systems

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Properties of Laplace Transforms

Initial-value theorem:
Not so
useful

f 0 lim f (t ) lim sF ( s )
t 0

Final-value theorem:
Useful

f lim f (t ) lim sF ( s )
t

ME2142 Feedback Control Systems

s0

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Finding the Inverse Transforms

Not
normally
used

1. Using

1
-1
L F ( s)

c j

2j c j

F ( s )e st ds

2. Using the Table of Transform Pairs

3. Using Properties of Transforms
4. Using Partial Fraction Expansion
(We do not normally use Approach 1. We mainly use a
combination of 2 to 4.)

ME2142 Feedback Control Systems

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Using Table and Properties

Example
Find the inverse of

F (s)

1
5
8

s 2 ( s 3) 2 s 2 16

Solution

L-1 12 t

Lookup from Table

5
1
-1
L (s 3) 2 5L-1 (s 3) 2 5te 3t

Lookup from Table

L-1 s

8
-1 4 2 sin( 4t )

2
L
2
2
2
16
s 4

Thus

Lookup from Table

1
1
t n 1 e at

n
( s a) n 1 !

a
sin at
2
2
s a

L-1F ( s) t 5te 3t 2 sin(4t )

ME2142 Feedback Control Systems

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Using Table and Properties

Example
We write

If L

2e 8 s
Find the inverse of F ( s ) 2
s 2s 5

2e 8 s
2
F (s) 2
e 8 s
s 2s 5
( s 1) 2 2 2

F (s) f (t ) , L

as

f (t a), t a
g(t )
ta
0,

F ( s ) g(t )

L 1 F (s a) e at f (t )

(1)
(2)

From Table L-1 s 2 2 2 sin( 2t )

t
Using property of translation (2), we get L-1 s 1 2 22 e sin(2t )

Using property of translation (1), we get

8 s
e (t 8) sin 2(t 8), t 8
2
L-1 e s 1 2 22
0, t 8

ME2142 Feedback Control Systems

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Using Partial Fractions

Frequently we can write

F ( s)

N ( s)
D( s )

with N(s) and D(s) being polynomials in s

bm s m bm1 s m1 b1 s b0
Example F ( s )
an s n an1 s n1 a1 s a0
or

K ( s z1 )( s z 2 ) ( s z m )
F (s)
( s p1 )( s p2 ) ( s pn )

with n m

Eqn(1-1)

z1 , z 2 , , z m and p1 , p2 ,, pn are the zeros and

poles of F(s) respectively. They can either be real or
complex. If they are complex, they always occur in
conjugate pairs.
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ME2142 Feedback Control Systems

Using Partial Fractions

Of the form (s+p)
If Eqn(1-1) has distinct (not repeated) real poles, then F(s) can
always be expanded into a sum of partial fractions:

F ( s)
where

an
N ( s)
a1
a2

D ( s ) s p1 s p2
s pn

Eqn(1-2)

ak are constants.

To determine the value of ak, multiply both sides of Eqn(1-2) by

(s+pk) and let s = -pk.

( s pk )

N ( s ) a1 ( s pk ) a2 ( s pk )
a ( s pk )
a ( s pk )

k
n
D(s)
s p1
s p2
s pk
s pn

N (s)
a k ( s p k )
D( s ) s pk

ME2142 Feedback Control Systems

Eqn(1-3)
17

Using Partial Fractions

Example
Find the inverse of

Solution:
We let

then

F ( s)

F ( s)

s3
( s 1)( s 2)

s3
a
a
1 2
( s 1)( s 2) s 1 s 2

( s 3)
a1 ( s 1)
2

s
s
(

1
)(

s 1

( s 3)
1
a 2 ( s 2)

(
1
)(
2
s
s

s 2

Thus F ( s )

2
1
and

s 1 s 2

ME2142 Feedback Control Systems

f (t ) 2e t e 2t

18

Using Partial Fractions

More than one real pole (s+pr)
with the same value
If Eqn(1-1) has multiple real poles, each multiple pole pr of order
q will be equivalent to partial fractions of the form:
bq
b1
b2

( s pr ) ( s pr ) 2
( s pr ) q

where

bk (k=1, 2, , q) are constants.

which Indicates a
pair of complex
conjugate poles

If Eqn(1-1) has denominators of the form ( s as b) ,where a2-4b <

0, each of these will be equivalent to partial fractions of the form:
2

F (s)

N ( s)
cs d

2
2
( s as b)
s as b

where a, b, c and d are constants.

ME2142 Feedback Control Systems

19

Using Partial Fractions

Example

s 2 2s 3
Given F ( s )
,
3
( s 1)

find f(t).

Solution:
Let

b3
b1
b2
s 2 2s 3
F (s)

( s 1) ( s 1) 2 ( s 1) 3
( s 1) 3

Multiplying both sides by (s+1)3

s 2 2 s 3 b1 ( s 1) 2 b2 ( s 1) b3
Letting s 1 we have

b3 2

Comparing terms in s2, we have b1 1

Comparing constant terms, we have
Thus F ( s )

1
2

s 1 ( s 1) 3

ME2142 Feedback Control Systems

and

3 b1 b2 b3 giving b2 0

f (t ) e t t 2 e t
20

Solving differential equations

1. Take the Laplace transform of the differential

equation to convert it into an algebraic equation.
The Laplace transform of the dependent variable
is then obtained using simple algebra.
2. The time function of the dependent variable is
then obtained by taking the inverse of the
Laplace transform.

ME2142 Feedback Control Systems

21

Solving differential equations

Example
Solve for y(t) given

Solution:
Transforming

y 2 y 5 y 3,

y (0) 0,

y (0) 0

s Y (s) sy(0) y (0) 2sY (s) y(0) 5Y (s) 3s

2

or

s 2Y ( s ) 2 sY ( s ) 5Y ( s ) ( s 2 2 s 5)Y ( s )

giving

Y ( s)

ME2142 Feedback Control Systems

a
bs c
3

s ( s 2 2 s 5) s s 2 2 s 5

3
s

22

Solving differential equations

Example
Y ( s)

We have

3
a
bs c

s s 2 2s 5
s ( s 2 2 s 5)

Multiplying both sides by s and letting s=0, we get

3
5

Multiplying both sides by the denominators s ( s 2 2 s 5)

3 a( s 2 2s 5) (bs 2 cs)

we have

Comparing terms in s,

0 6 / 5 c c 6 / 5

Comparing terms in s2,

0 3 / 5 b b 3 / 5

Thus
and

Y (s)

3 3 s2
3 3
s 1
3
2
2

5s 5 s 2 s 5 5s 5 ( s 1) 2 2 2 10 ( s 1) 2 2 2

y (t )

3
3 3 t
e cos 2t e t sin 2t
5 5
10

ME2142 Feedback Control Systems

for t 0

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Laplace Transforms

END

ME2142 Feedback Control Systems

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