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Tutorial-2

This document provides a review of Laplace transforms including: - Why Laplace transforms are used to solve linear ordinary differential equations by converting them to algebraic equations. - The definition and properties of the Laplace transform such as linearity and how it converts functions of time to functions of frequency. - Examples of using Laplace transform properties and the inverse Laplace transform to solve differential equations. - How the Laplace transform can be used to find the zero-input and zero-state responses of systems described by differential equations.

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呀Hong
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© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
10 views

Tutorial-2

This document provides a review of Laplace transforms including: - Why Laplace transforms are used to solve linear ordinary differential equations by converting them to algebraic equations. - The definition and properties of the Laplace transform such as linearity and how it converts functions of time to functions of frequency. - Examples of using Laplace transform properties and the inverse Laplace transform to solve differential equations. - How the Laplace transform can be used to find the zero-input and zero-state responses of systems described by differential equations.

Uploaded by

呀Hong
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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EE3114

Systems and Control

Tutorial - 2

Semester A, 2019-20
Review

Laplace Transform
Review

• Why Laplace Transform


• Definition of Laplace Transform
• Existence of Laplace Transform
• Laplace Transform Properties
• Laplace Transform Table
• Inverse Laplace Transform
Why Laplace Transform
• Solving linear ordinary differential equations (ODEs)

• Converting functions of time t (real variable) to


functions of frequency s (complex variable)

• Converting ODEs to algebraic equations in s

• Obtaining transfer functions

• Using graphical techniques for predicting the


performances of a system with out solving ODEs
Definition of Laplace Transform

One-sided Laplace Transform


Existence of Laplace Transform

à
Existing only for Re(s) > 0 for
the convergence of the “limit”
More precisely

Existing only for Re(s) > 0


and u(t) is the unit step function.

Existing only for Re(s) > Re(-a)


Properties of Laplace Transform

These two properties together à

𝐿 𝑎𝑓 𝑡 + 𝑏𝑔(𝑡) = 𝑎𝐿 𝑓 𝑡 + 𝑏𝐿{𝑔 𝑡 }
Example:

(This will be solved later below)


Euler Formulas:

.
Properties of Laplace Transform
Properties of Laplace Transform
Example 5. (Using Integration property)

Find the Laplace Transform of the function 𝑓 𝑡 = 𝑡𝑢 𝑡

Solution: First, note that a ramp function is the integral of the step function:

"
% 𝑢 𝜏 𝑑𝜏 = 𝑡𝑢(𝑡)
!!

Therefore, using the Integration property of the Laplace Transform, we obtain


"
𝐿 𝑡𝑢 𝑡 = 𝐿 % 𝑢 𝜏 𝑑𝜏
!
1
= 𝐿 𝑢 𝑡
𝑠
1 1
= ×
𝑠 𝑠
1
= #
Ramp function t u(t) 𝑠
Exercise: (5 minutes)

1
𝐿 𝑢 𝑡 =
𝑠
1 !"#
𝐿 𝑢 𝑡−𝑎 = 𝑒
𝑠
Proof:
Exercise: (5 minutes)
*
Given 𝐹 𝑠 = where K, a, b, c, d are constants
+(-+./)(1+.2)

Find lim 𝑓 𝑡 = ?
3→5

Answer:
*
lim 𝑓 𝑡 = /2
3→5
Table of Laplace Transforms

More … … (see Handout)


Inverse Laplace Transform
Procedure for finding Inverse Laplace Transforms:

Break down F(s) into components for each of which


you know its Inverse Laplace Transform

Find the Inverse Laplace Transform of each component

Add Inverse Laplace Transforms of these components


together
Three Typical Cases:

Laplace Transform (rational function)


𝑘 𝑠 − 𝑧6 ⋯ 𝑠 − 𝑧7
𝐹 𝑠 =
𝑠 − 𝑝6 ⋯ (𝑠 − 𝑝8 )
has
a) Distinct real poles
b) Multiple poles
c) Complex poles
a) Single poles

1
𝑒 -3 ↔
𝑠−𝑎
Example:
./0 ./0 4 52
𝐹 𝑠 = = = +
. ! /1./02 (./3)(./4) ./3 ./4

à
𝑓 𝑡 = 3𝑒 536 − 2𝑒 546
b)

1 𝑛!
𝑒 -3 ↔ 𝑡 7 𝑒 -3 ↔ 7.6
𝑠−𝑎 𝑠−𝑎
c) Complex poles

Example:
𝑠+1
𝐹 𝑠 = 9
𝑠 + 4𝑠 + 13
+.6 +.9 6
= +.9 ! .:! = +.9 ! .:! − +.9 ! .:!
à
𝑓 𝑡 = 𝑒 ;93 cos 3𝑡 − 𝑒 ;9 sin 3𝑡
Recall Properties of Laplace Transform

Example:
Initial conditions:
!
𝑑𝑥 0!
𝑥 0 = −2, = −6
𝑑𝑡
Initial conditions:
𝑑𝑥 0!
𝑥 0! = −2, = −6
𝑑𝑡

2 2 6
Applying Inverse Laplace Transform à
-1

-1 -1 -1

This is the solution of

Initial conditions:
!
𝑑𝑥 0!
𝑥 0 = −2, = −6
𝑑𝑡
Keep it handy
Solving Differential Equations

Fourier Analysis 4-33


Solution of Differential Equations

q Unilateral Laplace transform can be used


to solve linear constant-coefficient (LCC)
differential equations with non-zero initial
conditions.
q Procedure:
m Apply the time-differentiation property.
m Solve for Y(s).
m Take the inverse transform of Y(s) to find y(t).

Fourier Analysis 4-34


Example

q Consider a causal system described by


d 2 y(t ) dy (t ) dx (t )
5 6 y(t ) x(t )
dt dt dt
q Initial conditions:
y(0 ) 2 and y(0 ) 1
q Input:
4t
x(t ) e u (t )
q Find y(t).

Fourier Analysis 4-35


Example (cont’d)
q Solution:
dy
sY ( s) y (0 ) sY ( s) 2
dt
d2y
s 2Y ( s) sy(0 ) y (0 ) s 2Y ( s) 2s 1
dt 2

q For the input signal, we have


1
x(t ) X ( s)
s 4
dx s s
sX ( s) x(0 ) 0
dt s 4 s 4
Fourier Analysis 4-36
Example (cont’d)

q Taking transform for all terms in the D.E.,

d 2 y (t ) dy (t ) dx (t )
5 6 y (t ) x(t )
dt dt dt
2 s 1
s Y ( s) 2s 1 5 sY ( s) 2 6Y ( s)
s 4 s 4
q Solving for Y(s),

2s 2 20 s 45
Y ( s)
( s 2)(s 3)(s 4)

Fourier Analysis 4-37


Example (cont’d)

q Applying partial-fraction expansion,

13 / 2 3 3/ 2
Y ( s)
s 2 s 3 s 4

q Taking inverse Laplace transform,

13 2t 3t 3 4t
y (t ) e 3e e u (t )
2 2

Fourier Analysis 4-38


Zero-Input and Zero-State Components

q In the previous example, the total


response is obtained.
m itincludes both the zero-input and zero-state
components.
q It is possible to separate the two
components.
q The initial condition terms give rise to the
zero-input response.

Fourier Analysis 4-39


Example (cont’d)

q We can separate out the initial condition


terms as follows:
d 2 y (t ) dy (t ) dx (t )
5 6 y (t ) x(t )
dt dt dt
2 s 1
s Y ( s ) sy(0 ) y (0 ) 5 sY ( s ) y (0 ) 6Y ( s )
s 4 s 4
2 s 1
s Y ( s ) 2s 1 5 sY ( s ) 2 6Y ( s )
s 4
s 1
( s 2 5s 6)Y ( s ) (2s 11)
initial condition terms
s 4
input terms

Fourier Analysis 4-40


Example (cont’d)
2s 11 s 1
Y ( s)
s 2 5s 6 ( s 4)(s 2 5s 6)
zero - input component zero - state component

7 5 1/ 2 2 3/ 2
s 2 s 3 s 2 s 3 s 4

q Taking the inverse transform:

2t 3t 1 2t 3t 3 4t
y (t ) 7e 5e u (t ) e 2e e u (t )
zero - input response
2 2
zero - state response

Fourier Analysis 4-41


Zero-Input and Zero-State Response

Fourier Analysis 4-42


Zero-Input and Zero-State Response

Fourier Analysis 4-43


END

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