CH - 02 Laplace Transform V-07 PDF

ME 413
SYSTEM DYNAMICS
& CONTROL
Dr. A. Aziz Bazoune

Mechanical Engineering Department
King Fahd University of Petroleum & Minerals
LECTURE - 02
LAPLACE
TRANSFORM
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Chapter Outline
A. Aziz BAZOUNE
ME 413 SYSTEM DYNAMICS & CONTROL
CH 02 Slide 3
OBJECTIVES
After completion of this Chapter, students should be able to do the following:
1.
Define Laplace transform of a given function .
2.
Apply Laplace transform to some specified input signal.
3.
Use properties of Laplace transform.
4.
Use Laplace transform theorems.
5.
Use partial fraction expansion for the inverse Laplace transform.
6.
Use Laplace transform method to solve Initial Value Problem (IVP).
7.
Apply MATLAB to implement the methods of the chapter.
A. Aziz BAZOUNE
CH 02 Slide 4
What is Laplace transform?

Laplace transform is a solution technique that transforms differential equations in
the time domain into algebraic equations in the s-domain.
Laplace transform is a powerful tool formulated to solve a wide variety of InitialValue Problems (IVP).
A. Aziz BAZOUNE
CH 02 Slide 5
INTRODUCTION
The strategy is to transform the difficult differential equations into simple algebraic
problems where solutions can be easily obtained.
Applying the Inverse Laplace transform to retrieve the solutions of the original
problems. This can be illustrated as follows:
L 1
A. Aziz BAZOUNE
CH 02 Slide 6
Definition of Laplace Transform (LT)

Laplace transform of a function
is defined as:
X s L x t
x t e stdt
(1)
0
where
Kernel of transformation
: Laplace Transform of
= 0 for
: time function such that

=
, complex variable and
<0
x t
Im
s j
A. Aziz BAZOUNE
Re
t
CH 02 Slide 7
Laplace Transform (LT) of Some Common Signals

Exponential Function
0
u(t ) t
Ae
Where
and
Consider the exponential function shown in the figure below.
u t
for t 0
for t 0
are constants.
t
Laplace transform of
U (s) L
can be obtained as follows.
t
Ae
s t
Aetestdt A e
dt
0
s t
A e
s
A. Aziz BAZOUNE
A
s
CH 02 Slide 8
Step Function
Consider the step function shown in the figure below.
0
u(t )
A
where
u t
for t 0
for t 0
is a constant. Notice that this is a special
case of the exponential function
where
= 0.
t
Laplace transform of
U (s) L
A. Aziz BAZOUNE
u t
( ) can be obtained as follows.
Aestdt
A e
0
s t
dt Aes t
s
A
s
CH 02 Slide 9
The step function whose height is unity is called a unit-step function.

The unit step function that occurs at time
The previous step function whose height is
can written as
Physically, a step function occurring at time

applied to the system at time
is frequently written as 1
1( ).
corresponds to a constant signal suddenly
u t
u t 1t
Notation
0,
u t
1,
t to
t to
or
1 t to
t
A. Aziz BAZOUNE
to
t
CH 02 Slide 10
Ramp function Consider the ramp function shown in the figure below.
0
u(t )
At
where
for t 0
for t 0
is a constant. Laplace transform of ( )
can be obtained as follows.
U (s) L At
At estdt

A tes tdt
0
To evaluate the above integral we use the formula for the integration by parts
u Bt
udv uv |
0 vdu
0
A. Aziz BAZOUNE
dv e
st
dt
du B
1 st
v e
s
CH 02 Slide 11
Therefore,
F (s ) L At
(0 0)
A. Aziz BAZOUNE
Ate st
st
Ate dt
|0
s
Ae
st
s2
|
0
s2
Ae st
dt
s
A
s2
CH 02 Slide 12
Pulse function
Consider the pulse function shown in the figure below.
A
, for 0 t t0
u(t ) t 0
0, for t 0, t 0 t
where
and
are constants.
Laplace transform of the above signal can be

obtained by direct application of the definition
of Laplace transform, that is
L u t
t0
A. Aziz BAZOUNE
t0
A st
A st
A 1 st0
A 1
A
e dt
e
e

1 e st0
t s
t0
t0 s
t0 s t0s
0
0
CH 02 Slide 13
The pulse function may be considered as a step function of height
= 0 and that is superimposed by a negative step function of height
that begins at
beginning at
that is
u(t )
Then the Laplace Transform of
A
t0
1 t
A
t0
1 t t0
( ) is
A 1 A 1 st0
A
L u t L
1t L
1 t t0 e
1 e st0
t
t
t s t s
t0s
0
0
0
A. Aziz BAZOUNE
CH 02 Slide 14
Impulse function or Dirac Delta function

The impulse function is a special limiting case of the pulse
function. Consider the impulse function
A
lim
,
u t t 0 t0
0,
for
0 t t0
for t 0, t 0 t
The figure depicts the impulse function shown as

approaches 0. Since the height of the impulse function is
and the duration is
curve is
. Therefore the area under the
As the duration
approaches 0, the height approaches
infinity but the area under the curve remains
Notice that the magnitude of the impulse is measured by its area

A. Aziz BAZOUNE
CH 02 Slide 15
Referring to the transformed equation previously derived for the pulse function, i.e,
A
s t0
L u t
1
t0s
Laplace Transform of the impulse function is shown to be
A 1 e s t0
L u t lim
t0 0
t0s
dt0
lim
t0 0
Thus Laplace Transform of the impulse function is

equal to the area under the impulse.
The impulse function whose area is equal to unity
is called the unit impulse function or the Dirac
delta function.
The unit impulse function occurring at =
is usually denoted by
A. Aziz BAZOUNE
A 1 e s t0
d
t s
dt0 0
t t 0
0
t t
0

t t 0 1

A se s t0
A
lim
t0 0
s
for
t t0
for
t t0
CH 02 Slide 16
Sinusoidal Function
Consider the sinusoidal function shown in the figure below.
0
for t 0
u(t )
A sin t for t 0
where
and
are constants.
Eulers Formula.
e
e
j t
cos t j sin t
j t
cos t j sin t
The expressions of sin and cos can be written as
A. Aziz BAZOUNE
1 j t
j t
e
e
2j
1 j t
j t
cos t e
e
2
sin t
CH 02 Slide 17
Therefore
A
L A sin t
2j
A
s j t
s j t
st
e
e
e
dt
e
dt
2j 0
0
A 1
1
A s j s j

2
2
2j s j s j 2j
s
A 2 j
A

2 j s 2 2 s 2 2
j t
j t
L A sin t
s 2 2
and
A
A
j t
j t
s j t
s j t
L A cos t e
e
e st dt e
e
dt
2 0
2 0
A 1
1 A s j s j

2
2
2 s j s j
2
s
A 2s
As

2 s 2 2 s 2 2
As
L A cos t
s 2 2
A. Aziz BAZOUNE
CH 02 Slide 18
LAPLACE TRANSFORM TABLES

Refer to the textbook Table
2-1 pages 18-19 .
Be careful ! Laplace
transforms provided in tables
are valid from 0 to .
A. Aziz BAZOUNE
CH 02 Slide 19
Time Shifting of Singularity Functions

For the function
2,
5,
h(t )
1,
1,
0t 4
4t 7
7 t 9
t 9
h(t ) 2 u t u t 4
5 u t 4 u t 7
1 u t 7 u t 9
1 u t 9
h(t ) 2 u t 3 u t 4 6 u t 7 2 u t 9
1
e 4s
H (s ) 2 3
s
s
e 7s
6
e 9s
2
1
H (s ) 2 3e 4s 6e 7s 2e 9s
s
A. Aziz BAZOUNE
CH 02 Slide 20
Properties of Laplace Transform

Refer to the
textbook Table 2-2
page 20 .
A. Aziz BAZOUNE
CH 02 Slide 21
A. Aziz BAZOUNE
CH 02 Slide 22
Linearity
L u t L 1 f1 t 2 f2 t 1F1 s 2F2 s
Proof
L 1 f1 t 2 f2 t
f t f t estdt
2 2
1 1
f1 t estdt f2 t estdt
1
F1 s
Example
A. Aziz BAZOUNE
F2 s
5
3
L 5us t 3e2t 5L us t 3L e 2t
s s 2
CH 02 Slide 23
Time delay (Translated Functions)

L f t us t e s F s
Proof
L u(t )f (t )
e st f (t )dt
u t
e st u(t )f (t )dt
s
e e su f (u )du
0
e s (u ) f (u )du
e s F (s )
Example
A. Aziz BAZOUNE
4s
e
0.5 t 4
L e us t 4
s 0.5
CH 02 Slide 24
Multiplication by
L e t f t F s
Proof
L e t f t
Example:
et f t estdt
0
s t
f t e
dt F s
Given LT of
L sin t
F s and
2
2
s
Find LT of
sin and
s
L cos t
G s
2
2
s
cos
Solution:
L e t sin t F s
L e t cos t F s
A. Aziz BAZOUNE
s
2
s 2
CH 02 Slide 25
Differentiation
d
L f t
dt
Proof
L
f t
dt
sF s f 0
f t e st dt f t e st s f t e st dt sF s f 0
0
dt
Example
s2
4
L
cos 2t s cos 2t 1
1
L 2 sin 2t
2
2
dt
s 4
s 4
A. Aziz BAZOUNE
CH 02 Slide 26
Similarly, and nth derivative, one can write
d2
L
f t
2
dt
for the second derivative
In the above, the following quantities
The notation
A. Aziz BAZOUNE
denotes
s 2F s sf 0 f 0
n 1
dn
n
n
1
n
2
L
f t s F (s ) s f (0) s
f(0) f (0)
n
dt
for the nth derivative
0 ,
0 ,
0 represent the values of
, respectively, evaluated at = 0 .
CH 02 Slide 27
Given 3x 5x 7x f t ,
Example
x 0 2, x 0 4
(1)
, of
Find Laplace transform

Solution
Taking LT of both sides of Eq. (1) gives
3 s 2 X (s ) sx (0) x(0) 5 sX s x 0 7 X
(s ) F s
L x
L x
L x
L f t
Rearranging the above expression
3s 2 5s 7 X (s ) 3s 5 x 0 3x(0) F s
Solving for ( ) yields

X (s )
F s
3s 2 5s 7
3s 5 x 0 3 x(0)

2
3s 5s 7
R esponse due to force
Substitute for
0 = 2, 0 = 4 gives
X (s )
F s
3s 2 5s 7
R esponse due to force
A. Aziz BAZOUNE
R esponse due to Initial Conditions
3s 5 2 3 (4)

3s 2
5s 7
R esponse due to Initial Conditions
CH 02 Slide 28
Integration
t
F s
L f d
s
0
Proof
t
L f d
0
Example
Solution
Find
F s
1
1
f d e st dt f d e st f t e st dt
s 0
s 0
s
L Ad
0
From the above expression, we have
and
= , therefore,
A s2
F s
A
L Ad
s
s
0
s3
A. Aziz BAZOUNE
CH 02 Slide 29
Final Value Theorem (FVT)

lim f t lim sF s
s 0
Provided that all poles of
( ) are
in the left half plane (LHP).
Example
Given
F s
5
s s 2 s 2
Find
lim
Solution
Applying the (FVT) above gives
5s
5
lim f t lim
t
s 0 s s2 s 2
2
Poles are
+ +2=0
1
7
=
2
2
Poles of are lying in LHP, so the FVT applies.

A. Aziz BAZOUNE
CH 02 Slide 30
Initial Value Theorem (IVT)

f 0 lim sF s
s
Example
Given
F s
5 s 3 s 4
s s 2 s 6
Find the initial value of
or
Solution
Applying the (IVT) above gives
5 s s 3 s 4
f 0 lim SF s lim
s
s s s 2 s 6
A. Aziz BAZOUNE
5s 3
5
lim
s
s 3
CH 02 Slide 31
Relationship among Singularity Functions

The impulse, step and ramp functions represent a family of functions, which as shown
in the figure below are related by successive integrations.
u s t
u r t
1.0
1.0
t
Time
L t 1
A. Aziz BAZOUNE
t
Time
1
L u s t
s
1.0
Time
L u r t
1
s2
CH 02 Slide 32
EXAMPLE
Find Laplace Transform (LT) of
mx cx kx f t
L x t sX s x 0
L x t s 2 X s sx 0 x 0
Therefore,
m s 2X s sx 0 x 0 c sX s x 0 kX s F s
Solving for
X s
A. Aziz BAZOUNE
F s
ms 2 cs k
ms c x 0 mx 0
ms 2 cs k
CH 02 Slide 33
For the steady-state solution: (assuming x 0 x 0 0)
X s
F s
1
2
ms cs k
H s
where
x t L
A. Aziz BAZOUNE
X s H s F s
or
1
ms 2 cs k
X s L
F s
ms cs k
CH 02 Slide 34
USE OF MATLAB
Matlab performs Laplace transform symbolically. Thus, you need to first define the variable t
and s as a "symbol".
Example I
Find the Laplace transform of
>> syms t s
f (t ) 5e t
% syms is a command to define the symbolic variable in MATLAB
Next, enter the function f(t):

>> f = 5*exp(-t);
Finally, enter the following command:
>> F = laplace(f)
% laplace is the built in function for evaluating Laplace transform of f(t)
Matlab yields the following answer:

F=
5/(s+1)
% The answer given by MATLAB
You may want to carry out the transformation by hand (or using Laplace transform table) to verify this result.
Therefore Laplace transform of
A. Aziz BAZOUNE
f (t ) 5e t
is
F s L f (t ) 5 (s 1)
CH 02 Slide 35
Example II
f (t ) 1.25 3.5te 2t 1.25e2t
Find the Laplace transform of

>> syms t s
% syms is a command to define the symbolic variable in MATLAB
Next, enter the function f(t):

>> f = -1.25 + 3.5*t*exp(-2*t) + 1.25*exp(-2*t);
Finally, enter the following command:
>> F = laplace(f)
% laplace is the built in function for evaluating Laplace transform of f(t)

F = 5/(4*(s + 2)) + 7/(2*(s + 2)^2) - 5/(4*s)
To make the expression more read able one can use the commands, simplify and pretty.
>> simplify(F)
% simplify is the built in function for simplifying the expression of f(t)

Ans = (s - 5)/(s*(s + 2)^2)
>> pretty(F)
% pretty is the built in function for a more readable form the expression of f(t)

s-5
-------------2
s (s + 2)
A. Aziz BAZOUNE
Therefore,
F (s ) s 5 s s 2
CH 02 Slide 36
Inverse Laplace Transform

The inverse Laplace transformation refers to the process of finding the time function
from the corresponding Laplace transform
= L
, i.e.,
( )
Several methods are available for finding the inverse Laplace transforms
A. Aziz BAZOUNE
1.
Use Tables of Laplace transforms.
2.
Use partial-fraction expansion method.
CH 02 Slide 37
Partial-Fraction Expansion for Finding Inverse Laplace Transforms

If
, the (LT) of
is broken up into components,
+
,
and if the inverse (LT) of
A. Aziz BAZOUNE
,
,
+L
where
( ) =L
,
,
+
,
are readily available, then
+
+
are
+L
the
inverse
Laplace
transform
, respectively.
CH 02 Slide 38
frequently occurs in the form

where
and
= deg
< deg
are polynomials in .
Notice that applying the partial-fraction expansion technique in the search for the
inverse (LT) of
requires that the poles of
must be known in
advance.
Consider
written in the factored form
where
for each
,,
or
and
, ,,
+
+
in
+
+
are either real or complex quantities, but
there will occur the complex conjugate of
Here the highest power of

A. Aziz BAZOUNE
+
+
or
, respectively.
is assumed to be higher than that in
.
CH 02 Slide 39
Notice that if the degree of the numerator is greater than (or equal to) that of the
denominator, then polynomial division must be performed so that the remainder
polynomial is of a lower degree than
For instance,
+2
= +
+1
A. Aziz BAZOUNE
+2
,
+1
deg
+ 2 < deg
+1
CH 02 Slide 40
Case I: Real Distinct Poles

Example
Find the inverse Laplace transform of
Solution
Zeros of
: values of
( )=
: values of
+1
The partial fraction expansion of
( )=
where
and
A. Aziz BAZOUNE
+3
+1
+2
that make
+2 =0
+2
3
undefined
1, 2
Real and distinct poles
is
+1
+1
=0
that make
+3=0
Poles of
+3
+2
are found as follows
CH 02 Slide 41
+3
( )=
+1
+2
Thus
+1
+3
+1
+3
+1
+2
and
( ) =L
+2
( )=
=L
+2
2
+
+1
2
+1
+L
+1
+3
+2
+3
+1
+2
=
1+3
=2
1+2
2+3
=
2+1
=2
1
+2
1
+2
The above partial fraction can be performed by the of MATLAB. residue function
[r,p,k] = residue(num,den)
A. Aziz BAZOUNE
CH 02 Slide 42
Example Obtain the inverse Laplace transform of

+5 +9 +7
+1
+2
( )=
Solution
Poles of
+1
are
+ 2 = 0 or
1, 2
Since the degree of the numerator is higher than that of the denominator polynomial, we must
divide the numerator by the denominator
= +2+
Notice that L
= 1 and L
+3
+1
A. Aziz BAZOUNE
=s+2+
1
+2
The inverse Laplace transform of
+2
2
+1
is given by
+2
+2
CH 02 Slide 43
Case II: Complex Conjugate Poles

Example
Find the inverse Laplace transform of
( )=
2 + 12
+2 +5
Im
Solution I : Use of Complex Numbers
The poles of the denominator are

,
2
2
S1 1 j 2
16
1 2
=
=
A. Aziz BAZOUNE
+1+ 2
2 + 12
+1+ 2
+1
+1
Re
Therefore, ( ) can be written as

2 + 12
=
+2 +5
S 2 1 j 2
CH 02 Slide 44
where the constants
and
can be found as before
+ 1 + 2 2 + 12
|
+1+ 2
+1
2
+1
2 2 + 12
|
+1+ 2
+1
2
Notice that
=
=
1
1
2 + 12
10
4
=
=1
2+1
2
4
5
2
1 + 2 + 12
10 + 4
5
=
=1+
1+ 2+1+ 2
+4
2
is the complex conjugate of . Substitute the values of
and
into the
expression of ( )
5
5
1
+
2 + 12
2 +
2
=
+2 +5
+1+ 2
+1
2
1
( )=
=L
( ) = 1
=
A. Aziz BAZOUNE
5
2
5
+ 1+
2
5
2
5
+
2
CH 02 Slide 45
j 2t
j 2t
j 2t
j 2t
e
e
e
t
f t 2e t
j
5
e
2
2
j 2t
j 2t
e j 2t
e j 2t
t e
t e
f t 2e
5e
2
2
j
cos 2 t
sin 2 t
f t 2e t cos 2t 5e t sin 2t
A. Aziz BAZOUNE
CH 02 Slide 46
Solution II : Completing the square

( ) can be written in general as
where
and
( )=
+
+
+2
are real positive. The denominator in the above expression is a
complete square, i.e., it can be written as
+2
( )=
+2
+
+
+
+
cos
+
+
+
+
( ) = L
= L
A. Aziz BAZOUNE
=0
Therefore,
Complex conj. poles
+
+
sin
+
+
+
+
+
should be
memorized
CH 02 Slide 47
In our example we have
2 s 12
2 s 12
2 s 12
2
2
s 2 2 s 5 s
2
s
4
s
1
22
F (s)
s 1
Thus we have
expression of
= 1,
22
= 2, = 2, = 12. Substitution of these constants into the
gives
d ca a t
f t L 1 F ( s ) ce a t cos t
e sin t

12 2 1 t
2e t cos 2t
e sin 2t
2
Similar Solution
5
obtained before !
f t e t 2cos 2t 5sin 2t
A. Aziz BAZOUNE
CH 02 Slide 48
Case III: Repeated Poles

Consider the expression
+1
It is clear that
Hence
( )=
= 0 gives
= 1 is repeated 3 times
or is a pole of multiplicity 3
1, 1, 1
( ) can be written in the form
( )=
where
+2 +3
+1
and
+2 +3
=
+1
+1
+1
A. Aziz BAZOUNE
+1
, are determined as follows.

+ 1 , we obtain
By multiplying both sides of the above equation by
Then, letting
+1
1, Eq. (E1) gives
+1 +
+1
(E1)
+1
CH 02 Slide 49
Differentiation of both sides of Eq. (E1) with respect to
+1
If we let
+2
gives
+1
(E2)
1 in Eq. (E2), then,
+1
By differentiating both sides of Eq. (E2) with respect to
we obtain
1
=
2!
+1
+1
A. Aziz BAZOUNE
=2
CH 02 Slide 50
Therefore,
=
+1
+1
+2 +3
1
=
2!
+2 +3
+1
+1
= 2
1
=
2!
1
2!
Hence,
( )=
2 +2
2
+1
+1
=
0
+1
1
2
2!
+
+2
1 +3=2
+2 +3
+1
+1
= 2 +2
+1
=
1 +2 =0
+2 +3
+1
=1
1
+1
and
=L
A. Aziz BAZOUNE
( ) =
0
CH 02 Slide 51
Use of MATLAB function resi2

The previous partial fraction (for repeated poles) can be performed by the of MATLAB.
resi2 function.
resi2 Residue of a repeated pole.
resi2(U,V,POLE,N,K) returns the residue of a repeated pole of order N and the K-th power
denominator of [1 -pole], where U and V represent the original polynomial ratio U/V.
For example, if P is a pole of multiplicity 2, then this routine should be called twice with N = 2,
first using K = 1, then K = 2. If K is not provided, it defaults to N. If N is not provided, it
defaults to 1.
resi2 is used by RESIDUE to compute the partial fraction expansion of repeated poles.
A. Aziz BAZOUNE
CH 02 Slide 52
Example: Initial Value Problem (IVP)

d 2y
Solve the (IVP):
dt
dy
8y 2,
dt
y (0) y(0) 0
s 2 6s 8 Y s 2
Step 1: Apply (LT) for each term of the above and
arrange terms
Y (s )
Step 2: Solve for ( )
Step 3: Apply partial fraction expansion for ( )
Finding ,
and
is left as
Y (s )
Y (s )
an exercise for the student.
Step 4: Apply (inverse LT) for each term

A. Aziz BAZOUNE
2
s (s 2)(s 4)
s
(s 2)
(s 4)
1 4
s
1 2
(s 2)
1 4
(s 4)
1 e 2t
e 4t
y(t )
4
2
4
CH 02 Slide 53
Example: Initial Value Problem (IVP)

Solve the (IVP):
= ,
0 = 1,
0 =1
Step 1: Take Laplace Transform (LT) of both sides of the above equation:
s 2 Y ( s ) sy (0) y (0) Y
( s ) 1
/ s2

y
L

L
t
L y

Step 2: Substitute the I.Cs
+ 1 ( ) =
0 = 1,
( )=
( )=
( )=
Step 3: Solving for
0 = 1 and solve for
+ +1
Let
Therefore
1
+1
1
+
+1
( ) = L
A. Aziz BAZOUNE
+1
1
+1
+1
1
+1
1
+1
1
1
= +
+1
+ L
+1
+1
= + cos( )
CH 02 Slide 54
The diagram below summarizes the approach followed in solving the previous IVP.
y y t,
y 0 1,
y (t ) L
1
s 2 L
y (t ) t cos(t )
A. Aziz BAZOUNE
L
y ' 0 1
s 1
2
s 2 Y ( s ) sy (0) y '(0) Y
(
s
)
1
/
s

L y L t
L
y
L 1
1
s
Y (s ) 2 2
s
s 1
CH 02 Slide 55
Example II: Solving IVP using Laplace Transform

Solve the IVP
x 4x 3x e t , x 0 x 0 1
Take LT of both sides of the above IVP gives
s 2 X s sx 0 x 0 4 sX s x 0 3X s L e t
s 2X s s 1 4 sX s 1 3 Xs s 1 1
2
Solving for
X s
s 6s 6
s 1 s 2
s 2 6s 6
Use Partial Fractions
s 1 s 3
4s 3
s 6s 6
2
s 1 s 3
A
B
C
s 1 s 1 2 s 3
7 4
12
3 4
X s
2
s 1
s
3

s 1
7
=
4
A. Aziz BAZOUNE
1
+
2
s 1 s 3 0
3
4
s 1, 1
1,2
s3 3
Finding A, B and
C is left as an
exercise for the
student !
CH 02 Slide 56
Example V: Response due to Pulse Excitation

Determine the response of the (m, c, k) due to pulse excitation shown in the figure below, a
constant force F0 acting for time t0.
Solution
(EOM):
mx cx kx F t
(I. Cs):
x 0 x 0 0;
Expression of f(t):
F t F0 u t u t t0
Expression of F(s):
F s
F0
t0s
1
For zero (I.C.s), Take LT of both sides of the

above Eq. and rearrange
A. Aziz BAZOUNE
ms
cs k X s
F0 1 e t 0s
CH 02 Slide 57
Solving for X(s) gives:
X s
where
X1 s
1 et s F0
0
s ms cs k
F0
s ms cs k
2
X1 s X 2 s
X2 s
F0e t0s
s ms cs k
2
X1 s et0s
To invert these, use m = 1 kg, c = 2 N-s/m and k = 5 N/m. Therefore,
ms 2 cs k s 2 2s 5 0 s1,2 1 j 2
Since the poles of the second order polynomial of the denominator are complex conjugates, we
can complete the square of the denominator as follows
2
s 2s 5 s 2s 1 4 s 2s 1 2 s 1 22
2
and
X1 s
A. Aziz BAZOUNE
F0
s ms cs k
2
F0
s s 1 22
1
s
1s 1
2
s 1 22
CH 02 Slide 58
X1 s
F0
s s 1 22
1
s
1s 1
2
s 1
22
Coefficients of the RHS = Coefficients of the LHS on the above equation, therefore
F0 1 s 2 2s 5 1s 2 1s
coefficients of s 0 : F0 51
F0 1 1 s 2 21 1 s 51
coefficients of s 1 : 21 1 0
coefficients of s 2 : 1 1 0
1 F0 5
1 21 2 F0 5
1 1 F0 5
Substitution of the above values into the expression of X1(s) gives

X1 s
F0
s s 1 22
Therefore
A. Aziz BAZOUNE
x1 t
F0
5
F0 5
s
F 5
F0
F0
s 2
s 1
1
2
0
5 s 1 2 22
s
5 s 1 2 22
2 s 1 2 22
F0
F0 t
1 t
1
t
e
cos
2
t
e
sin
2
t
e
cos
2
t
sin
2
t
5
2
5
2
CH 02 Slide 59
Similarly
X2 s
F0e t0s
s ms 2 cs k
X1 s e t0s
Remember Shifting Theorem
L f t t0 1 t t0 F s e t0 s
L1 F s e t0 s f t t0 1 t t0
Apply the shifting theorem to the expression of X2(s), one can obtain
x2 t
F0
1
1 e t t0 cos 2 t t0 sin 2 t t0

5
2
The total response is therefore
x t x1 t x 2 t
F0
1
1 e cos 2t sin 2t
x t
5
2

F
1
t t
0 1 e 0 cos 2 t t0 sin 2 t t0 ,
5
2

A. Aziz BAZOUNE
t t0
CH 02 Slide 60
Example VI: Response due to Impulsive Load

Solve the following IVP where
in given in the figure below
y y u t ,
Solution
y 0 1, y 0 0
u t t 2
First we need to find the expression of
s 2Y s sy 0 y 0 Y s e 2s
Taking LT of both sides of the above IVP gives

Substitute y 0 1,
y 0 0
s 2Y s s Y s e 2s
Solving for
gives
Taking the inverse

of
gives
Y s
s
2
s 1
e2s
s2 1
y t cos t sin t 2 u t 2
Since sin t 2 sin t the above solution can be written as
cos t
0 t 2
y t
cos(t ) sin(t ), t 2
A. Aziz BAZOUNE
CH 02 Slide 61
MATLAB Plot of the previous example

MATLAB Program
t = zeros(1,1000);
for i = 1:1001;
t(i)=(i-1)*6*pi/1000;
if t <=2*pi
y(i)=cos(t(i));
else
y(i)=cos(t(i))+sin(t(i));
end
end
plot(t,y)
%
title('Response y(t)')
xlabel('t')
ylabel('y(t)')
A. Aziz BAZOUNE
CH 02 Slide 62
Example : Non-Zero Initial Conditions

my cy ky g t ,
Solve the following IVP

Difficulty
y a, y b
(1)
Remember: (1) LT of the derivatives is to have the ICs at = 0.

(2) ICs at = 0 are not given in this problem.
(3) ICs are given at time =
Solution (I)
Assume y 0 y 0 , y 0 y0
Solve the IVP in terms of
Substitute
unknowns
Find
A. Aziz BAZOUNE
and
0 =
, 0 =
to get
( )=
= a, = b in the obtained solution you will get 2 equations with 2

and
CH 02 Slide 63
Example VII: Use of Symbolic Matlab

y 3y 2y e t ,
y 0 4, y 0 5
Solution
Define necessary symbolic variables
>> syms s t Y
Define the RHS function and find its Laplace transform
>> f = exp(-t)
>> F= laplace(f,t,s)
Find Laplace transform of the first derivative: Y1
>> Y1 = s*Y 4
% Remember
0 =4
Find Laplace transform of the second derivative: Y2

>> Y2 = s*Y1 5
% Remember
L dy dt sY s y 0
L d 2y dt 2 s 2Y s sy 0 y 0
0 =5
Set the LT of the LHS minus the RHS to zero and solve for Y
>> Sol = solve(Y2 + 3*Y1 + 2*Y F, Y)
Find the inverse LT of the solution
>> sol = ilaplace(Sol,s,t)
A. Aziz BAZOUNE
CH 02 Slide 64
Example VII: Use Symbolic Matlab

y 3y 2y e t ,
y 0 4, y 0 5
Solution
syms s t Y
f = exp(-t)
F= laplace(f,t,s)
Y1=s*Y - 4
Y2=s*Y1 5
Sol = solve(Y2 + 3*Y1 +2*Y F, Y)
sol = ilaplace(Sol,s,t)
The solution is given by Matlab as:
sol = 12*exp(-t) - 8*exp(-2*t) + t*exp(-t)
y t 12e t 8e 2t te t
http://edu.levitas.net/Tutorials/Matlab/controlsys.html
A. Aziz BAZOUNE
CH 02 Slide 65
https://www.youtube.com/watch?v=4Mr7aEHQr8E
https://www.youtube.com/watch?v=6gvq54tXu3g
https://www.youtube.com/watch?v=vzah6M-yxHg
http://www.emathhelp.net/notes/differential-equations/laplace-transform/solvingivps-with-laplace-transform/
A. Aziz BAZOUNE
CH 02 Slide 66

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ME 413

Dr. A. Aziz Bazoune

ME 413 SYSTEM DYNAMICS & CONTROL

Define Laplace transform of a given function .

Apply Laplace transform to some specified input signal.

Use properties of Laplace transform.

Use Laplace transform theorems.

Use partial fraction expansion for the inverse Laplace transform.

Use Laplace transform method to solve Initial Value Problem (IVP).

Apply MATLAB to implement the methods of the chapter.

ME 413 SYSTEM DYNAMICS & CONTROL

What is Laplace transform?

ME 413 SYSTEM DYNAMICS & CONTROL

ME 413 SYSTEM DYNAMICS & CONTROL

Definition of Laplace Transform (LT)

: time function such that

, complex variable and

ME 413 SYSTEM DYNAMICS & CONTROL

Laplace Transform (LT) of Some Common Signals

Consider the exponential function shown in the figure below.

can be obtained as follows.

ME 413 SYSTEM DYNAMICS & CONTROL

Consider the step function shown in the figure below.

is a constant. Notice that this is a special

case of the exponential function

( ) can be obtained as follows.

ME 413 SYSTEM DYNAMICS & CONTROL

The step function whose height is unity is called a unit-step function.

The previous step function whose height is

Physically, a step function occurring at time

corresponds to a constant signal suddenly

ME 413 SYSTEM DYNAMICS & CONTROL

is a constant. Laplace transform of ( )

can be obtained as follows.

ME 413 SYSTEM DYNAMICS & CONTROL

ME 413 SYSTEM DYNAMICS & CONTROL

Consider the pulse function shown in the figure below.

Laplace transform of the above signal can be

ME 413 SYSTEM DYNAMICS & CONTROL

The pulse function may be considered as a step function of height

= 0 and that is superimposed by a negative step function of height

ME 413 SYSTEM DYNAMICS & CONTROL

Impulse function or Dirac Delta function

The figure depicts the impulse function shown as

and the duration is

. Therefore the area under the

approaches 0, the height approaches

infinity but the area under the curve remains

Notice that the magnitude of the impulse is measured by its area

ME 413 SYSTEM DYNAMICS & CONTROL

Laplace Transform of the impulse function is shown to be

Thus Laplace Transform of the impulse function is

ME 413 SYSTEM DYNAMICS & CONTROL

Consider the sinusoidal function shown in the figure below.

The expressions of sin and cos can be written as

ME 413 SYSTEM DYNAMICS & CONTROL

ME 413 SYSTEM DYNAMICS & CONTROL

LAPLACE TRANSFORM TABLES

ME 413 SYSTEM DYNAMICS & CONTROL

Time Shifting of Singularity Functions

ME 413 SYSTEM DYNAMICS & CONTROL

Properties of Laplace Transform

ME 413 SYSTEM DYNAMICS & CONTROL