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Process Dynamics and Control: Chapter 3 Lectures

The document discusses Laplace transforms and their application to solving linear ordinary differential equations (ODEs). It provides definitions of the Laplace transform and inverse Laplace transform. It then gives Laplace transforms of several common functions including constants, step functions, derivatives, exponentials, rectangular pulses, and impulse functions. The document outlines the procedure for using Laplace transforms to solve ODEs which involves taking the Laplace transform of the ODE, rearranging to solve for the output variable Y(s), performing a partial fraction expansion if needed, and taking the inverse Laplace transform. It also discusses important properties like the final value theorem and representing time delays.

Uploaded by

Muhaiminul Islam
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
512 views

Process Dynamics and Control: Chapter 3 Lectures

The document discusses Laplace transforms and their application to solving linear ordinary differential equations (ODEs). It provides definitions of the Laplace transform and inverse Laplace transform. It then gives Laplace transforms of several common functions including constants, step functions, derivatives, exponentials, rectangular pulses, and impulse functions. The document outlines the procedure for using Laplace transforms to solve ODEs which involves taking the Laplace transform of the ODE, rearranging to solve for the output variable Y(s), performing a partial fraction expansion if needed, and taking the inverse Laplace transform. It also discusses important properties like the final value theorem and representing time delays.

Uploaded by

Muhaiminul Islam
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 23

Chapter 3

Pierre Simon Laplace


Born: 23 March 1749 in Beaumont-en-Auge, Normandy, France
Died: 5 March 1827 in Paris, France

Laplace Transforms
Dr. M. A. A. Shoukat Choudhury

Laplace Transforms

Chapter 3

Important analytical method for solving linear ordinary


differential equations.
- Application to nonlinear ODEs? Must linearize first.
Laplace transforms play a key role in important process
control concepts and techniques.
- Examples:
Transfer functions
Frequency response
Control system design
Stability analysis
Dr. M. A. A. Shoukat Choudhury

Definition
The Laplace transform of a function, f(t), is defined as

Chapter 3

F ( s ) = L [ f (t ) ] = f ( t ) e st dt
0

(3-1)

where F(s) is the symbol for the Laplace transform, L is the


Laplace transform operator, and f(t) is some function of time, t.
Note: The L operator transforms a time domain function f(t)
into an s domain function, F(s). s is a complex variable:
s = a + bj, j = 1

Dr. M. A. A. Shoukat Choudhury

Inverse Laplace Transform, L-1:

Chapter 3

By definition, the inverse Laplace transform operator, L-1,


converts an s-domain function back to the corresponding time
domain function:
f ( t ) = L1 F ( s )

Important Properties:
Both L and L-1 are linear operators. Thus,
L ax ( t ) + by ( t ) = aL x ( t ) + bL y ( t )
= aX ( s ) + bY ( s )

Dr. M. A. A. Shoukat Choudhury

(3-3)
4

where:
- x(t) and y(t) are arbitrary functions

Chapter 3

- a and b are constants


- X ( s ) = L x ( t ) and Y ( s ) = L y ( t )

Similarly,
L1 aX ( s ) + bY ( s ) = ax ( t ) + b y ( t )

Dr. M. A. A. Shoukat Choudhury

Laplace Transforms of Common


Functions

Chapter 3

1. Constant Function

Let f(t) = a (a constant). Then from the definition of the


Laplace transform in (3-1),

L ( a ) = ae
0

st

a st
dt = e
s

Dr. M. A. A. Shoukat Choudhury

a a
= 0 =
s s

(3-4)

2. Step Function

Chapter 3

The unit step function is widely used in the analysis of process


control problems. It is defined as:
S (t ) =

0 for t < 0

1 for t 0

(3-5)

Because the step function is a special case of a constant, it


follows from (3-4) that
1
L S ( t ) =
s

Dr. M. A. A. Shoukat Choudhury

(3-6)

3. Derivatives

Chapter 3

This is a very important transform because derivatives appear


in the ODEs we wish to solve. In the text (p.53), it is shown
that
df
L = sF ( s ) f ( 0 )
dt

(3-9)

initial condition at t = 0
Similarly, for higher order derivatives:
dn f
L n
dt

n
n 1
n 2 (1)
=

0
s
F
s
s
f
s
f (0)
(
)
(
)

n2
n 1
... sf ( ) 0 f ( ) 0
(3-14)

( )

Dr. M. A. A. Shoukat Choudhury

( )

where:
- n is an arbitrary positive integer

Chapter 3

- f (k ) (0)

k
d
f
=

dt k

t =0

Special Case: All Initial Conditions are Zero


Suppose

1
n 1
f ( 0 ) = f ( ) ( 0 ) = ... = f ( ) ( 0 ) . Then

dn f
L n
dt

n
= s F (s)

In process control problems, we usually assume zero initial


conditions. Reason: This corresponds to the nominal steady state
when deviation variables are used, as shown in Ch. 4.
Dr. M. A. A. Shoukat Choudhury

4. Exponential Functions

Consider f ( t ) = e bt where b > 0. Then,

Chapter 3

b+ s t
L e bt = ebt e st dt = e ( ) dt

0
0

1 ( b+ s )t
1
=
e
=
0
b+s
s+b

(3-16)

5. Rectangular Pulse Function

It is defined by:

0 for t < 0

f ( t ) = h for 0 t < tw
0 for t t
w

Dr. M. A. A. Shoukat Choudhury

(3-20)

10

Chapter 3

f (t )

tw
Time, t
The Laplace transform of the rectangular pulse is given by

F (s) =
Dr. M. A. A. Shoukat Choudhury

h
1 e t w s
s

(3-22)

11

6. Impulse Function (or Dirac Delta Function)

Chapter 3

The impulse function is obtained by taking the limit of the


rectangular pulse as its width, tw, goes to zero but holding
1
the area under the pulse constant at one. (i.e., let h = )
tw
Let,
( t ) = impulse function
Then,

L ( t ) = 1

Dr. M. A. A. Shoukat Choudhury

12

Chapter 3

Table 3.1. Laplace Transforms

See page 54 of the text.

Dr. M. A. A. Shoukat Choudhury

13

Chapter 3

Laplace Transform Table

Dr. M. A. A. Shoukat Choudhury

14

Solution of ODEs by Laplace Transforms


Procedure:

Chapter 3

1. Take the L of both sides of the ODE.


2. Rearrange the resulting algebraic equation in the s domain to
solve for the L of the output variable, e.g., Y(s).
3. Perform a partial fraction expansion.
4. Use the L-1 to find y(t) from the expression for Y(s).

Dr. M. A. A. Shoukat Choudhury

15

Example 3.1

Chapter 3

Solve the ODE,

dy
y (0) = 1
5 + 4y = 2
dt
First, take L of both sides of (3-26),
2
5 ( sY ( s ) 1) + 4Y ( s ) =
s
Rearrange,
5s + 2
Y (s) =
s ( 5s + 4 )
Take L-1,

(3-26)

(3-34)

From Table 3.1,

5s + 2
y (t ) = L

s ( 5s + 4 )

y ( t ) = 0.5 + 0.5e0.8t
Dr. M. A. A. Shoukat Choudhury

(3-37)
16

Partial Fraction Expansions

Chapter 3

Basic idea: Expand a complex expression for Y(s) into


simpler terms, each of which appears in the Laplace
Transform table. Then you can take the L-1 of both sides of
the equation to obtain y(t).

Example:
Y (s) =

s+5
( s + 1)( s + 4 )

(3-41)

Perform a partial fraction expansion (PFE)

1
2
s+5
=
+
( s + 1)( s + 4 ) s + 1 s + 4

(3-42)

where coefficients 1 and 2 have to be determined.


Dr. M. A. A. Shoukat Choudhury

17

To find 1 : Multiply both sides by s + 1 and let s = -1


s+5
1 =
s+4

4
=
3
s =1

Chapter 3

To find 2 : Multiply both sides by s + 4 and let s = -4


s+5
2 =
s +1

s =4

1
=
3

A General PFE
Consider a general expression,
Y (s) =

N (s)
D(s)

N (s)
n

( s + bi )

(3-46a)

i =1
Dr. M. A. A. Shoukat Choudhury

18

Here D(s) is an n-th order polynomial with the roots ( s = bi )


all being real numbers which are distinct so there are no repeated
roots.
The PFE is:

Chapter 3

Y (s) =

N (s)
n

( s + bi )

=
i =1

(3-46b)

s + bi

i =1

Note: D(s) is called the characteristic polynomial.

Special Situations:
Two other types of situations commonly occur when D(s) has:
i) Complex roots: e.g., bi = 3 4 j

(j=

ii) Repeated roots (e.g., b1 = b2 = 3 )


For these situations, the PFE has a different form. See SEM
text (pp. 61-64) for details.
Dr. M. A. A. Shoukat Choudhury

19

Example 3.2

Chapter 3

y + +6 &&
y + 11 y& + 6 y = 1 , with zero initial conditions
The ODE, &&&
resulted in the expression
Y (s) =

1
3

s s + 6 s + 11s + 6

(3-40)

The denominator can be factored as

s s 3 + 6 s 2 + 11s + 6 = s ( s + 1)( s + 2 )( s + 3)

(3-50)

Note: Normally, numerical techniques are required in order to


calculate the roots.
The PFE for (3-40) is
Y (s) =

1
= 1 + 2 + 3 + 4 (3-51)
s ( s + 1)( s + 2 )( s + 3) s s + 1 s + 2 s + 3

Dr. M. A. A. Shoukat Choudhury

20

Solve for coefficients to get


1
1
1
1
1 = , 2 = , 3 = , 4 =
6
2
2
6

Chapter 3

(For example, find , by multiplying both sides by s and then


setting s = 0.)
Substitute numerical values into (3-51):
1/ 6 1/ 2 1/ 2 1/ 6
Y (s) =

s
s +1 s + 2 s + 3
Take L-1 of both sides:
1
1 1/ 6
1 1/ 2
1 1/ 2
1 1/ 6
L Y ( s ) = L
L
+L
L

s
s + 1
s + 2
s + 3
From Table 3.1,
y (t ) =

1 1 t 1 2t 1 3t
e + e e
6 2
2
6

Dr. M. A. A. Shoukat Choudhury

(3-52)
21

Important Properties of Laplace Transforms


1. Final Value Theorem

Chapter 3

It can be used to find the steady-state value of a closed loop


system (providing that a steady-state value exists.
Statement of FVT:
lim y ( t ) = lim sY ( s )
t

s 0

providing that the limit exists (is finite) for all


Re ( s ) 0, where Re (s) denotes the real part of complex
variable, s.

Dr. M. A. A. Shoukat Choudhury

22

Example:
Suppose,

Chapter 3

5s + 2
Y (s) =
s ( 5s + 4 )

(3-34)

Then,
5s + 2
y ( ) = lim y ( t ) = lim
= 0.5

t
s 0 5 s + 4
2. Time Delay
Time delays occur due to fluid flow, time required to do an
analysis (e.g., gas chromatograph). The delayed signal can be
represented as
y ( t ) = time delay
Also,

L y ( t ) = e sY ( s )

Dr. M. A. A. Shoukat Choudhury

23

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