Laplace Transform

A system represented by a differential equation

is difficult to model as a block diagram

LT represents input, output and system as

separate entities
Their inter-relationship will be simply algebraic

F(S) = N(S)/D(S)
Table 2.1
Laplace transform table
Table 2.2
Laplace Transform
Theorems
Electric Network Transfer Function
Transfer Function
Formulate a system representation shown below by establishing a viable
definition for a function that algebraically relates a systems output to its
input

Separation of the input, system and output into three and distinct
parts (unlike differential eqt.)

Algebraically combine mathematical representations of subsystems

to yield total system representation
Figure 2.2
Block diagram of a transfer function
Electric Network Transfer Function

Table 2.3
Voltage-Current, Voltage-Charge, and Impedance relationships for
Capacitors, Resistors, and Inductors
 Transfer Function Single loop via differential Equation

Find the transfer function relating the capacitor voltage, Vc(s), to the input
voltage, V(s)

Figure 2.3
RLC network
Figure 2.4
Block Diagram of Series RLC Electrical Network
Figure 2.5
Laplace-Transformed Network
 Transfer Function Single loop via transform method

Find the transfer function relating the capacitor voltage, Vc(s), to the input
voltage, V(s), using mesh analysis and transform methods without writing a
differential equation

Figure 2.3
RLC network
 Transfer Function Single Loop via Transform Method

Find the transfer function relating the capacitor voltage, Vc(s), to the input
voltage, V(s), using nodal analysis without writing a differential equation

Figure 2.3
RLC network
 Transfer Function Single Loop via Voltage Division

Find the transfer function relating the capacitor voltage, Vc(s), to the input
voltage, V(s), using voltage division and transformed circuits

Figure 2.3
RLC network
Transfer Function Multiple Loops
 Transfer Function Multiple Loops

For Loop 1

For Loop 2

Figure 2.6
a. Two-Loop Electrical Network;
b. Transformed Two-Loop Electrical Network;
c. Block Diagram
 Rearranging both the equations, we get:

Using Crammers Rule:

Where

Thus,
The equations previously formed follow the following pattern:
 Transfer Function Multiple Loop via Transform Method

Find the transfer function relating the capacitor voltage, Vc(s), to the input
voltage, V(s), using nodal analysis without writing a differential equation

Where: &

Thus,

Figure 2.6
RLC network
Figure 2.7
Block diagram of the network of Figure 2.6
Figure 2.8
Transformed Network Ready for Nodal Analysis
Figure 2.9
Three-Loop Electrical Network
 An electronic component used as a basic building block to implement

transfer functions

It has following characteristics:

Op-Amp
Figure 2.10
a. Operational Amplifier;
b. Schematic for an Inverting Operational Amplifier;
c. Inverting Operational Amplifier configured for transfer function realization.
Inverting Amplifier

Transfer Function:
Figure 2.11
Inverting Operational Amplifier Circuit for Example 2.14
?
Non-Inverting Amplifier

Transfer Function:

Figure 2.12
General Non-inverting Operational Amplifier Circuit
Figure 2.13
Non-inverting Operational Amplifier Circuit for Example 2.15
By putting the values in the transfer function equation
derived previously, we get
Figure 2.14
Electric circuit for Skill-Assessment Exercise 2.6
Mechanical Systems
Translational
Table 2.4
Force-velocity, force-displacement, and impedance translational
relationships for springs, viscous dampers, and mass
 Transfer Function One Equation of Motion

Transfer Function

Figure 2.15
a. Mass, spring, and damper system;
b. block diagram
 Laplace Transform

Figure 2.16
a. Free-body diagram of mass, spring, and damper system;
b. Transformed free-body diagram
 Transfer Equation Two Degrees of Freedom

Figure 2.17
a. Two-degrees-of-freedom translational mechanical system;
b. Block diagram
Figure 2.18
a. Forces on M1 due only to motion of M1
b. Forces on M1 due only to motion of M2
c. All forces on M1
Figure 2.19
a. Forces on M2 due only to motion of M2;
b. Forces on M2 due only to motion of M1;
c. All forces on M2
Transfer Function

Where,
Notice, that the form of equations is similar to the Electrical Mesh
Equations:
 Equation of Motion by Inspection

Figure 2.20
Three-degrees-of-freedom translational mechanical system
Figure 2.21
Translational mechanical system for Skill-Assessment Exercise 2.8
Answer
Mechanical Systems
Rotational
Mechanical Systems Rotational
Rotational Mechanical Systems handled the same way as
Translational Mechanical Systems, except that:
Torque replaces Force
Angular Displacement replaces Translational
Displacement

The Mechanical Components for Rotation are the same as those

for Translational Systems, except that:
Component undergoes Rotation instead of Translation
Table 2.5
Torque-Angular Velocity, Torque-Angular Displacement, and Impedance Rotational
Relationships for Springs, Viscous Dampers, and Inertia
Transfer Function Two Equations of Motion

Figure 2.22
a. Physical system; b. Schematic; c. Block diagram
Figure 2.23
a. Torques on J1 due only to the motion of J1
b. Torques on J1 due only to the motion of J2
c. Final free-body diagram for J1
Figure 2.24
a. Torques on J2 due only to the motion of J2;
b. torques on J2 due only to the motion of J1
c. final free-body diagram for J2
Transfer Function

Where,
Well known form of equations:
 Equation of Motion by Inspection

Figure 2.25
Three degrees of freedom rotational system
Figure 2.26
Rotational mechanical system for Skill-Assessment Exercise 2.9
(S2 + S + 1) 1(S) (S + 1) 2(S) = T(S)

(S + 1) 1(S) + (2S + 2) 2(S) =0