Penggunaan Transformasi Lapplace

Analisis Rangkaian :
Resistor

Hukum Ohm :

- Dalam Time-Domain: v(t ) = Ri (t )

- Dalam s-Domain: V ( s ) = RI ( s )
 Analisis Rangkaian : Induktor
Time domain:

di (t ) 1 t
v(t ) = L
dt
i (t ) =
L ∫
0−
v(τ )dτ + i (0−)

s-domain:
V ( s ) i (0 − )
V ( s ) = sLI ( s ) − Li (0−) I (s) = +
sL s
Analisis Rangkaian : Induktor

I (s )
sL
I (s )
1 i (0 − )
V (s )
V (s ) sL s
Li(0− )

+
 Analisis Rangkaian : Kapasitor
Time Domain:
1 t dv(t )
v(t ) =
C ∫
0−
i (τ )dτ + v(0−) i (t ) = C
dt
s-domain:
I ( s ) = sCV ( s ) − Cv (0−)
I ( s ) v (0 − )
V (s) = +
sC s
Analisis Rangkaian : Kapasitor

I (s ) 1
sC
I (s )
sC
V (s )
+ V (s ) Cv(0− )

v (0 − )
s
 Rangkaian Gandeng
L1i1 (0−) L2 i 2 ( 0 − ) I 2 ( s)
M I1 ( s )
+
i1 (t ) • • i2 (t ) +

L1 L2 v 2 (t ) sM
v1 (t )
• •

sL1 sL2
V1 ( s ) V2 ( s )

Mi2 (0−) Mi1 (0−)

+ +

di1 di2
v1 (t ) = L1 +M
dt dt V1 ( s ) = sL1 I1 ( s ) − L1i1 (0−) + sMI 2 ( s ) − Mi2 (0−)
V2 ( s ) = sMI1 ( s ) − Mi1 (0−) + sL2 I 2 ( s ) − L2 i2 (0−)
di2 di1
v2 (t ) = L2 +M
dt dt
 Example
R1 C
R1 C Cv(0− )
+ +
i L (t ) +
vC (t ) I L (s)
+ VC (s )
i1 (t ) +
L i2 (t ) I1 ( s )
v g (t ) R2 Vg (s) I 2 ( s)
sL R2

L[i1 (0− ) − i2 (0− )]

+

 di di 
v g = R1i1 + L 1 − 2 
 dt dt 
 di2 di1  1 t
0 = L
 dt
− +
dt  C 0 − ∫
i2 dt + vc (0−) + Ri2

V g ( s ) = R1 I1 ( s ) + L[ sI1 ( s ) − i1 (0−) − sI 2 ( s ) + i2 (0−)]

I 2 ( s ) v c (0 − )
0 = L[ sI 2 ( s ) − i2 (0−) − sI1 ( s ) + i1 (0−)] + + + R2 I 2 ( s )
sC s
 Example
Switch is trown from position 1 to 3Ω 1H
1
2 at time t=0. The initial conditions 2

are iL(0-)=2 Amp and vC(0-)=2 vg

+
5V V1
iL

vC
1
2
F
i (t )
Volt. Determine the current
through the inductor after the
switch is thrown.
 Example

3 s 2
+
5 2  2
− + 2 =  3 + s +  I (s)
s s  s
5 2

2s + 3 1 1 s
s

I ( s) = = + I (s )
( s + 1)( s + 2) s + 1 s + 2 +
2
s
i (t ) = L−1{I ( s )} = e −t + e − 2t
 System Stability
Transfer function:

Y ( s ) bN s N + bN −1s N −1 +  + b1s + bo
H (s) = = D
X ( s) s + a D −1s D −1 +  + a1s + ao
bN s N + bN −1s N −1 +  + b1s + bo
H (s) =
( s − p1 )( s − p2 )  ( s − p D )
K1 K2 KD
H (s) = + ++
s − p1 s − p2 s − pD
h(t ) = K1e p1t + K 2 e p2t +  + K D e p D t
 System Stability
Stability Marginal Stability Instability
All poles in the open LHP One or more simple poles on One or more poles in the open
the ω axis but no multiple RHP or one or multiple poles
poles on the ω axis and no on the ω axis
poles in the open RHP
 Unit Step Response
Let the transfer function of an LTI is:
N ( s)
H (s) =
D( s)

The response to an excitation X(s) is:

N ( s ) N1 ( s ) K
Y (s) = = +
sD( s ) D( s ) s
The unit step response is:
N (s)
Y ( s) = H (s) X ( s) = X ( s)
D( s)
 Generalization
If the excitation is
N x (s)
X (s) =
Dx (s)
Then the response is

N ( s ) N x ( s ) N1 ( s ) N x1 ( s )
Y (s) = H ( s) X (s) = = +
D( s ) Dx ( s) D( s) Dx ( s)
 Example
Let the transfer function is:
A
H ( s) =
1 − ( s / p)

The step response is

A A A
Y (s) = = −
s[1 − ( s / p )] s s − p
The inverse is
− pt
y (t ) = A(1 − e )u (t )
 Example
The system transfer function is:
Aωo2
H (s) = 2
ωo > 0
s + 2ξωo s + ω o2

The step response is:

Aω o2
Y (s) =
[
s s 2 + 2ξωo s + ω o2 ]
 1 ξ 2 
1 2
− 1 + ξ ξ 2 − 1  1 ξ 2
2
− 1 − ξ ξ 2 − 1  
Y ( s ) = A +  +  

s s + ω o  ξ + ξ 2 − 1  s + ω o  ξ − ξ 2 − 1  
     
 −ωo  ξ + ξ 2 −1 t −ωo  ξ − ξ 2 −1 t 
 e   e   
y (t ) = A  + 
 2 ξ 2 − 1 + ξ ξ 2 − 1  2 ξ 2 − 1 − ξ ξ 2 − 1  
     
 Standard Realization of Systems
The transfer function of system can be written as:
Y ( s) bN s N + bN −1s N −1 +  + b1s + bo
H (s) = = N
X ( s) s + a N −1s N −1 +  + a1s + ao
This transfer function can be regarded as multiplication of two
transfer functions:
Y1 ( s) 1
H1 ( s ) = = N N −1
X ( s) s + a N −1s +  + a1s + ao

and
Y (s)
H 2 (s) = = bN s N + bN −1s N −1 +  + b1s + bo
Y1 ( s)

Thus,
X ( s) = s N Y1 ( s) + a N −1s N −1Y1 ( s) +  + a1sY1 ( s ) + aoY1 ( s )
or
[
s N Y1 ( s) = X ( s) − a N −1s N −1Y1 ( s ) +  + a1sY1 ( s ) + aoY1 ( s ) ]
Finally,
( )
Y ( s) = bN s N + bN −1s N −1 +  + b1s + bo Y1 ( s )
Overall Canonical System Realization

bN

bN-1

b2
b1

b0 Y(S)

1 1 1 1
X(S) 2 2 2 2 Y1 (S)

aN-1

a2

a1

a0
 Cascade Realization
The transfer function can also be written as:
Y ( s) s − z1 s − z 2 s − zN 1 1 1
H ( s) = =A  
X (s) s − p1 s − p 2 s − p N s − p N +1 s − p N + 2 s − p D
Any of the component fraction can be written as
1
H k (s) = (1 − z k )
s − pk
can be drawn as follow:

s − zk
H k (s) =
s − pk
1
H k (s) =
s − pk
1 1
X k(s) -zk Yk(s) Xk(s) 2
Yk(s)
2

-pk pk

Canonical realization of a sigle subsystem in

the cascade realization