CONTROL SYSTEMS

LAPLACE TRANSFORMS 1

NTTF
Forward Transformation Procedure
• Transform of an Equation
– The transform of an equation is obtained by taking
the transform of the expressions on each side of
the equation.
• Transform of an Expression
– 1. Identify the terms, which are connected by sum
(+) or difference (-) signs.
– 2. Categorize the terms and take the transform of
each term.
– Constant Term: Term containing only constants
and no variables of time.
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 Example
• Find the Laplace transform of 12, 256, 0.25,
and 1/40
Solution
• The transformed term is represented by the
constant divided by s. The corresponding
terms are

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 Example
Undefined Variable Term without Any coefficient
• Find the Laplace transform of e, x, x(t), y, and
i(t).
Solution
• The transform is represented by the capital letter
representing the variable, followed by s
enclosed in parentheses: E(s), X(s), x(s), y(s),
I(s).

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 Example
Undefined Variable Term with Constant
Coefficient
• Term containing an undefined variable of time
multiplied or divided by a constant.
• Find the Laplace transform of 10e, 0.5x, x(t)/25,
2y(t)/3

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 Solution
• The transform is represented by the constant
term (as is ) followed by the capital letter
representing the variable with s enclosed in
paranthesis.
• The transformed terms are 10E(s), 0.5X(s),
X(s)/25, 2Y(s)/3

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 Example
Defined Variable Term without Any
Constant Coefficient
• A term that is defined as a variable of time and
is not multiplied or divided by a constant.
• Find the Laplace transform of sin 1Ot, t, e-20t
and sin πt.

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 Solution
• The Transform is determined using the
transform table. The corresponding entries
from the table of transform pairs are

10 1 1 π
, , ,
s + 100
2
s 2
s + 20 s +π
2 2

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 Example
Defined Variable Term with Constant
Coefficient
• A term defined as a variable of time and
multiplied and/or divided by a constant.
• Find the Laplace transform of 5 sin 1Ot, 1OOt
2.5e-20t and 6 sin πt.

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 Solution
• The transform of each term is the product of
the constant term and the corresponding entry
from the transform table.

or

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 Example
• Find the Laplace transform of each of the
following.
– a. i(t)
– b. v(t)
– c. a
– d. x

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 Solution
• L[i(t)] = I(s)
– The Laplace transform of a function of time is
indicated simply by changing the letter to
uppercase and replacing t in parentheses with s.
b. Similarly, L[v(t)] = V(s).
c. L[a] = A(s)
By convention, a is a function of time and can also
be expressed as a(t).
d. L[z]=Z(s)

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 Example
• Determine the Laplace transform of t.
• Determine the Laplace transform of t3.
Solution
• From the Laplace transform table ,

• From the transform table ,

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 Example
• Determine the Laplace transform of sin 10t.
• Determine the Laplace transform of sin t.
• Determine the Laplace transform of cos 0.lt.

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 Example
• Determine the Laplace transform of e-2t.
Solution

Therefore

− 2t 1
L[e ]=
s+2

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 Inverse transformation
• Inverse transformation is performed to convert
the s-domain terms back to real time (time
domain).
• Inverse Transform of an Equation
– Inverse transformation of an equation is done by
taking the inverse transform of the expressions on
each side of the equation.

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 Inverse Transformation
• Inverse Transform of an Expression
– The inverse transformation process can be as
simple as the forward transformation process.
– Ideally, an entry can be found in transform table
that matches the problem at hand.
– It then becomes a simple matter of substitution of
the terms.
– Unfortunately, it is rare to find an exact match, and
some manipulation of terms is needed.

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 Inverse Transform Process
• In general, the following approach is
recommended.
• Identify the terms, which are connected by
sum (+) or difference (- ) signs.
• Categorize the terms as follows and take the
inverse transform of each term
– Constant Term: A term containing only constants
and no s term (variables of time). A purely
constant term represents an impulse function in
time.

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 Example
• Determine the inverse Laplace transform of
1,2.5, and 10.
Solution
• The corresponding time-domain term (inverse
transformation) is a product of a constant with
the delta function. (See Chapter 6 for the
delta/impulse function.)
• The inverse transformed terms are δ(t), 2.5δ(t),
and 10δ(t).
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 Inverse Transform
• In the following discussions, multiplication or
division by a constant is not considered.
• A constant coefficient does not change the
forward or inverse transformation process and
can be considered transparent to both.
• The only time a constant term is treated
differently is when it appears on its own and
not as a coefficient to another term.

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 Inverse Transform
• Term Containing Division by s
– It relates to a constant term in the time domain.
Example
• Determine the inverse Laplace transform of

Solution
• The corresponding time-domain term in each
case is expressed by simply removing the s
term from the expression: 1,256,0.25, and 1/40

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 Inverse Transform
• Undefined Variable Term
– A term containing a capital letter representing an
undefined variable followed by s enclosed in
parentheses.
Example
• Determine the inverse Laplace transform of

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 Solution
• The time-domain term is expressed as the
lowercase letter representing the variable.
• To explicitly indicate that the inverse quantity
is in the time domain, it can be expressed as
the lowercase variable followed by t enclosed
in parentheses.

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 Inverse Transform
• Other Terms Containing s
– Find an entry in the transform table similar to the s-
domain term under consideration. The entry should have
identical s terms in both the numerator and denominator
but can differ in the numerical constant term.
– If no match can be found, use partial fractions to factor
the s-domain term into simpler terms.
– Manipulate the s term so that the coefficient of the s term
is the same as in' a suitable entry in transform pair table.
This can be done by dividing and/or multiplying both
numerator and denominator by a suitable constant.
– If necessary, take the constant terms outside the
transformation (rule 1)
– Using one-to-one correspondence with the table entry,
convert the s-domain term into time domain.
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 Example
• Find the inverse Laplace transform of the
following.
– a. M(s)
– b. P(s)
– c. X(s)

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 Solution
• a. L-1[M(s)] = m(t)
– Simply changing the uppercase letter to lowercase
and replacing s in parentheses with t indicate the
inverse Laplace transform of a function.
• b. Similarly, L-1[P(S)] = p(t).
• c. L-1[X(s)] = x(t)

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 Example
• Determine the inverse Laplace transform of

Solution
• On checking the entries in Table, entry 14 is
found to be a close match

Therefore, the answer is cos 10t

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 Laplace Transform Pairs

NTTF
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 Example
• Find the inverse Laplace transform of the
following.
• 2
• sI(s)
• s2X(s)+Y(s)
• 4X(s)/s

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 Solution
• A f (t) = L-1 [2]
= 2L-1 [l ]
= 2δ(t) [δ(t) is the impulse function ]

•B f (t) = L-1 [sI(s)]

= di(t)/dt
• C

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