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Laplace transform table (review) Advantages of s-domain (review)
We can transform an ordinary differential
equation into an algebraic equation which is
easy to solve. (This lecture)
Inverse Laplace It is easy to analyze and design interconnected
Transform
(series, feedback etc.) systems. (Throughout the
course)
Frequency domain information of signals can be
dealt with. (Lectures for frequency responses:
after midterm)
(u(t)
u(t) is often omitted.)
1. Laplace transform
ODE AE
1
2
Partial fraction
Solution to ODE expansion
3 distinct roots
2
Properties of Laplace transform Example 1 (cont’d)
Differentiation (review) unknowns
2. Partial fraction expansion
Similarly,
s-domain
2008/09 MECH466 : Automatic Control 9 2008/09 MECH466 : Automatic Control 10
1. Laplace transform
3
Example 2 (cont’d) Example 2 (cont’d)
unknowns unknowns
2. Partial fraction expansion 2. Partial fraction expansion
To obtain A: To obtain C:
To obtain B:
Take derivative
Let s go to -2.
t-domain
Proof.
4
Example 3 (complex roots) Example 3 (cont’d)
unknowns
ODE with zero initial conditions (ICs) 2. Partial fraction expansion
1. Laplace transform
To obtain A, B & C:
Complex roots
5
Ex: Mechanical accelerometer Ex: Accelerometer (cont’d)
Taken from Dorf & Bishop book We would like to know how y(t) y(t) moves when unit
step f(t)
f(t) is applied with zero ICs.
By Newton’
Newton’s law
-0.2
Read Sections 2-
2-2 up to page 42.
-0.3
Solve Problems 3 & 4 in page 94 (or page 28).
-0.4
-0.5
0 2 4 6 8 10
Time [sec]
2008/09 MECH466 : Automatic Control 23 2008/09 MECH466 : Automatic Control 24