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Lecture 2-Tools for Control Analysis

The document outlines a lecture on Process Dynamics and Control, focusing on tools for control analysis, including complex number operations, Laplace transforms, and theorems related to initial and final values. It provides definitions, manipulations, and examples relevant to these concepts. The lecture aims to enhance understanding of control systems through mathematical representations and transformations.

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Catherine chaima
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Download as PDF, TXT or read online on Scribd
4 views

Lecture 2-Tools for Control Analysis

The document outlines a lecture on Process Dynamics and Control, focusing on tools for control analysis, including complex number operations, Laplace transforms, and theorems related to initial and final values. It provides definitions, manipulations, and examples relevant to these concepts. The lecture aims to enhance understanding of control systems through mathematical representations and transformations.

Uploaded by

Catherine chaima
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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MALAWI UNIVERSITY OF SCIENCE AND TECHNOLOGY

Process Dynamics and Control


PRDC-410

Lecturer : R. Chilipa
Email : rchilipa@must.ac.mw
Phone : 0 994 069 262
Office Number : 1st floor Room 57

Lecture 2

Tools for Control Analysis


Learning objectives:

 To revise complex number operations.


 To revise partial fractions.
 To introduce the Laplace transform for signals and systems.
 To introduce an alternative Laplace transform representation for
differentiation and integration.
 To examine some formal Laplace transform manipulations.
 To introduce initial and final value theorems
Complex Numbers
Cartesian (or rectangular) representation

Polar representation

Complex exponential representation

z  re j
re j  r(cos  j sin  )  a  jb
Table 1: Useful properties of the complex exponential.

Manipulation of Complex Numbers


Addition/Subtraction Multiplication Division

z1  a  jb z1  re j1 z1  re j1
z2  c  jd j 2 z2  re j2
z2  re
z  z1  z2
z  z1  z2 z  z1 z2
re j1
z  (a  jb)  (c  jd ) z  j2
z  re j1 re j2 re
z  (a  c)  j (b  d ) r
z  (r1r2 )e j (1 2 ) z  ( 1 )e j (1 2 )
r2
Laplace Transforms
Let us assume that x(t) is a time signal for 0 ≤ t < ∞ and x(t) = 0 for t < 0.
The operation of applying the Laplace transform is indicated by the symbol
ℒ{x(t)} and is defined as:

X ( s)  {x(t )}   x(t )e st dt
0
where s = σ+ jω is a complex variable.
Laplace, s, and the s-Plane
Laplace Transform Table
Transfer Functions
As control engineers, it is common to meet expressions of the form:

σ represents real component and ω the an imaginary component or


frequency.

The terms n(s) and d(s) are numerator and denominator polynomials in s.

The function G(s) is commonly referred to as a transfer function, since it will


determine how the information or energy in the input signal is transferred
to the output signal.
Partial Fractions
A convenient method for obtaining the inverse Laplace transform is to use
the partial fraction expansion method.

For example, given:

b
G( s) 
s( s  a)
The solution strategy adopted is to write X(s) as the summation of two
simple transforms for which the time function can be found easily:

b A B
G(s)   
s( s  a) s s  b
To find the values of A and B, multiply both sides of the above equation by
s(s + a) to obtain:

Now equate the coefficients of this polynomial equation to find A and B,


namely:
Final Value Theorem
It is often of interest to know the final value or steady state value of a signal,
x(t), as time approaches infinity. i.e

With these conditions noted:

1. X(s) should represent a bounded signal, having poles only in the left
half plane,
2. X(s) should have no purely complex poles,
3. X(s) should not have multiple poles at the origin,

then the Final Value Theorem is:

Initial Value Theorem


By analogy with the Final Value Theorem, we can relate the initial value of
a signal to the Laplace transform of its derivative as s →∞, using the Initial
Value Theorem:

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