Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform
Time response
Transfer function Design specs
• Transient
Lecture 2 • Steady state
Models for systems Root locus
Laplace transform • electrical
Frequency response
• mechanical Frequency domain
• Bode plot
• electromechanical
PID & Lead-
Lead-lag
Stability
Prof. Clark Radcliffe, Prof. Jongeun Choi Block diagrams
• Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering • (Nyquist)
Nyquist)
Linearization
Michigan State University

(Matlab simulations &) laboratories

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Laplace transform Example of Laplace transform

ƒ One of most important math tools in the course! ƒ Step function f(t)
5
ƒ Definition: For a function f(t) (f(t)=0 for t<0), ⎧⎪ 5 t ≥ 0
f (t) = 5u(t) = ⎨ t
0 t<0 0
⎩⎪
∞ ∞ ∞

∫ f (t)e dt = ∫ 5e dt = 5 ∫ e− st dt
− st − st
(s: complex variable) F(s) =
f(t) 0 0 0

⎡ 1 ∞⎤ ⎡1 ⎤ 5
F(s) = 5 ⎢ − ⎡⎣ e− st ⎤⎦ 0 ⎥ = 5 ⎢ ⎥ =
0 t ⎣ s ⎦ ⎣s⎦ s
ƒ We denote Laplace transform of f(t) by F(s).
Remember L(u(t)) = 1/s
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 Integration is Hard Laplace transform table
(Table B.1 in Appendix B of the textbook)

Tables are Easier

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Inverse Laplace Transform

Properties of Laplace transform Properties of Laplace transform

Linearity Differentiation

Proof.
Proof.

Ex.
t-domain s-domain
Ex.

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 Properties of Laplace transform Properties of Laplace transform
Integration Final value theorem
if all the poles of sF(s)
sF(s) are in
the left half plane (LHP)

Proof.
Ex.

sF(s) are in LHP, so final value thm applies.

Poles of sF(s)
t-domain s-domain
Ex.

sF(s) are not in LHP, so final value

Some poles of sF(s)
thm does NOT apply.
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Properties of Laplace transform Properties of Laplace transform

Initial value theorem Convolution
if the limits exist. Convolution

Remark: In this theorem, it does not matter if

pole location is in LHP or not.

Ex. IMPORTANT REMARK

Ex.
L−1 (F1 (s)F2 (s)) ≠ f1 (t) f2 (t)

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An advantage of Laplace transform Example 1
ƒ We can transform an ordinary differential ƒ 1st Order ODE with input and Initial Condition
equation (ODE) into an algebraic equation (AE). 5 y&(t) + 10y(t) = 3u(t) y(0) = 1
t-domain s-domain
ƒ Take Laplace Transform
⎡1 ⎤
5 [sY (s) − y(0)]+ 10 [Y (s)] = 3 ⎢ ⎥
ODE AE ⎣s⎦
1 ƒ Solve for Y(s)
(5s + 10 )Y (s) = 5y(0) + 3 ⎡⎢
2 1⎤
⎣ s ⎥⎦
Partial fraction 5 3 1 0.6
Y (s) = + = +
Solution to ODE
3
expansion (5s + 10 ) s (5s + 10 ) (s + 2 ) s (s + 2 )
(Initial Condition) + (Input)
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Properties of Laplace transform

Example 1 (cont) Differentiation (review)
ƒ Use table to Invert Y(s) term by term to find y(t)
1 0.6
Y (s) = +
(s + 2 ) s (s + 2 )
t-domain
ƒ From the Table:
⎛ 1 ⎞ ⎛ 1 ⎞
L⎜ = e− at ⇒ L−1 ⎜ = e−2t
⎝ s + a ⎟⎠ ⎝ s + 2 ⎟⎠
⎛ a ⎞ ⎛ (0.3)2 ⎞
L⎜
⎝ s (s + a )⎠⎟ ( )
= 1 − e− at ⇒ L−1 ⎜
⎝ s (s + 2 )⎟⎠
(
= 0.3 1 − e−2t )
ƒ So that

y(t) = e−2t + 0.3 1 − e−2t ( )

s-domain
(Initial Condition) + (Input)
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 Example 2 Example 2 (cont’d)
unknowns
Partial fraction expansion
(s + 1) 1 A B C
Y (s) = + 2 2 = + + 2
( ) ( )
s − 1 s s − 1 (s − 1) (s + 1) s
2

s
1
s Y (s) − s − 1 − Y (s) = 2 ( ) 1
s − 1 Y (s) = (s + 1) + 2
2

s Multiply both sides by (s-1) & let s 1

(s + 1) 1 ⎡ A B C⎤
Y (s) = + (s − 1)Y (s) s→1 = (s − 1)⎢ + + 2⎥=A
( ) (
s2 − 1 s2 s2 − 1 ) ⎣ (s − 1) (s + 1) s ⎦
⎧⎪ (s + 1) 1 ⎫⎪ ⎧ 1 ⎫ 1 3
A B C so A = (s − 1)⎨ 2 + 2 2 ⎬ = ⎨1 + 2 ⎬ = 1+ =
Y (s) =
( ) ( )
s − 1
+
s + 1
+ 2
s
(Find A, B and C) ( )
⎪⎩ s − 1 s s − 1 ( )⎪⎭ s→1 ⎩ s (s + 1)⎭ 2 2

Y (s) =
(3 / 2 ) + (−1 / 2 ) + (−1) Similarly, B = (s + 1)Y (s) s→−1 = −
1
How do we
(s − 1) (s + 1) s 2 do that???
2
y(t) = (3 / 2 )et + (−1 / 2 )e−t + (−1)t ( )
C = s 2 Y (s)
s→0
= −1

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Example 3 Example 3 (cont’d)

ODE with initial conditions (ICs) Inverse Laplace transform

Laplace transform

If we are interested in only the final value of y(t), apply

Final Value Theorem:
(This also isn’t in the table…)

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 Example: Newton’s law EX. Air bag and accelerometer
ƒ Tiny MEMS accelerometer
M
ƒ Microelectromechanical systems (MEMS)

We want to know the trajectory of x(t).

x(t). By Laplace transform,

(Total response) = (Forced response) + (Initial condition response)

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Summary & Exercises

ƒ Laplace transform (Important math tool!)
ƒ Definition
ƒ Laplace transform table
In this way, we can find a rather
ƒ Properties of Laplace transform
complicated solution to ODEs easily by
ƒ Solution to ODEs via Laplace transform
using Laplace transform table!
ƒ Exercises
ƒ Read Appendix A, B.
ƒ Solve Quiz problems…
problems…

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