Department of Mechanical Engineering

NATIONAL UNIVERSITY OF SINGAPORE

ME2142 Feedback Control Systems
T1.1.

Find the Laplace Transform of the following functions:

a)

b)

c)

d)

Tutorial 1 - Solution
AY 2015/16
Sem 1

2 sin 3
0

,
,

2
2

Solution:
T1.1
a)

From the Laplace Transform Table,

2!

Using frequency shift property will yield

(Ans)
b)

From the Laplace Transform Table, with

2 sin 3

3, the transform of
3
6
3
9

Using time-shift property will yield

2 sin 3
c)

(Ans)

can be expressed as
1
where

is the unit step function.

From the Laplace Transform Table,

1
Using time-shift property will yield
1

Therefore,
(Ans)
d)

can be expressed as
1
where

is
,
0 ,

0
0

From the Laplace Transform Table,

1
Using time-shift property will yield
1

Therefore,
(Ans)

ME2142 - Tutorial 1-Solution

September 2015

Page: S1.1

ME2142 - Tutorial 1-Solution

T1.2.

Find the inverse Laplace transform of the following functions

a)

b)
and

c) For the two functions,

very large.

obtained, determine their values when time becomes

d) Solve the following differential equation for the function

Transforms
7

0,

using the method of Laplace

1,

1.

Solution:
a)

Using partial fraction expansion,

4
2

a
s

bs

c
2

Multiplying both sides by the denominator term yields

4
2
5
c

5
2

Equating the coefficients yields

2

0.8
0.8
1.6

0
0

Hence,
0.8

1
s

2
2

0.8

1
s

1
1

1
2

2
1

From the Laplace Transform Table,

1

1
1
2
1

e cos 2

e sin 2

Therefore,
cos 2

0.8 1
b)

(Ans)

0.5 sin 2

Using partial fraction expansion with repeated roots, we have

(T1.2-1)
For coefficient a, we have
10

lim

Similarly, for b, we have

10

lim

10

For multiple poles, we have

lim s

d
c

lim

d
s
ds

2 F s

10
s s 1

10 2s 1
s s 1

2 F s

7.5

Hence,
F s
Therefore,
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2.5

2.5
s
10e

10
s 1

7.5
s 2

7.5e

September 2015

5
s
5te

2
(Ans)
Page: S1.2

ME2142 - Tutorial 1-Solution

c)

d)

We can use final value theorem to solve this problems.

(a) f

lim sF s

(b) f

lim sF s

0.8

To solve the ode, we use Laplace Transform method, taking the Laplace Transform on the
ode yields
2
0
0
7
0
3
0
2
1
7
1
3
0
2
9
4.5
4.5
7
3
3.5
1.5
2
0.5
3
Using partial fraction expansion,
4.5
0.5

0.5

For a, we have
4.5
3

lim

8
5

Similarly, for b, we have

4.5
0.5

lim

3
5

Using partial fraction expansion,

8
5

3
0.5

From the Laplace Transform Table, we have

.

(Ans)

T1.3.
a)
x3
x2

x1

m
b

For the mechanical system shown above, derive the transfer function

and

Solution:

Free body diagram about point A

Since
And,

0,

0 gives

0.

and

Thus

0 or

Taking Laplace Transform assuming zero initial conditions, we have

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September 2015

.1

Page: S1.3

ME2142 - Tutorial 1-Solution

Free body diagram on the mass

nd

Using Newtons 2

Law , we have
or

Taking Laplace Transform and assuming zero initial conditions

or
. 2
Substituting Eq. (a.2) into Eq. (a.1) and eliminating and respectively, we have

And

b)
x1

x2

k2

k1
m

For the mechanical system shown above, derive the transfer function

Solution:

Free body diagram on the mass

The free body diagram of the mass is shown above in which f1 and f2 are the tensile forces
in the springs and fb the tensile force in the damper.
These forces are,
and

,
nd

Using Newtons 2

Law, we have

f 2 f b f1 mx1
1
Giving k 2 ( x2 x1 ) b( x2 x1 ) k1 x1 mx
or

mx1 bx1 (k1 k2 ) x1 bx2 k2 x2

Taking Laplace Transform assuming zero initial conditions, we have

(ms 2 bs k1 k2 ) X 1 ( s) (bs k2 ) X 2 ( s )
and the transfer function is

X1 (s)
bs k2
2
X 2 ( s ) ms bs k1 k2

(Ans)

c)
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September 2015

Page: S1.4

ME2142 - Tutorial 1-Solution

C2

C1
R2

vi

R1

. Hence, determine the steady-state

For the circuit above, derive the transfer function

when the input

value of the output

vo

being a unit step input.

Solution:
From the note, we have

where
1

Similarly,
1
Therefore,
(Ans - part)
For input

, we have
1

Hence,
1
1

For steady state value,

lim

lim

1
1

1
(Ans)

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September 2015

Page: S1.5