SKF 3143

Process Control and Dynamics:

Process Control and Dynamics: 
Laplace Transform

Mohd. Kamaruddin Abd. Hamid, PhD

[email protected]
www.cheme.utm.my/staff/kamaruddin
Learning Objectives
Learning Objectives

When I complete this chapter,

chapter I want to be able
to do the following:

1. Solve linear differential equation using

Laplace Transform

2
Introduction
• In previous chapter, we developed a number of mathematical 
models that describe the d namic operation of selected processes
models that describe the dynamic operation of selected processes.
• Solving such models, requires either analytical or numerical 
integration of the differential equations.
• One important class of models includes systems described by linear 
differential equations.
• Such linear systems represent the starting point for many analytical 
Such linear systems represent the starting point for many analytical
techniques in process control.
• In this chapter, we introduce a mathematical tool, the Laplace 
t
transform, that can significantly reduce the effort required to solve 
f th t i ifi tl d th ff t i dt l
linear differential equation models analytically.
• A major benefit is that this transformation converts differential 
equations to algebraic equations, which can simplify the 
mathematical manipulations required to obtain a solution.
3
The Laplace Transform of Representative 
F
Functions
i
• The Laplace transform of a function f(t) is defined as
∞
F (s ) = L[ f (t )] = ∫ f (t )e − st dt
0

where F(s) is the symbol for the Laplace transform, f(t) is some function of 

,
time, and L is an operator, defined by the integral.
p , y g
• The Function f(t) must satisfy mild conditions which include being 
piecewise continuous for 0<t<∞.
• When the integration is performed, the transform becomes a function of 
the Laplace transform variable s which is a complex variable.
• The inverse Laplace transform (L‐1) operates on the function F(s) and 
converts it to f(t).
• One of the important properties of the Laplace transform and the inverse 
Laplace transform is that they are linear operators.
• The Laplace transformation is a linear operation:

L[a1 f1 (t ) + a2 f 2 (t )] = a1 L[ f1 (t )] + a2 L[ f 2 (t )]
4
Laplace Transforms of Some Basic 
Functions
i
• Constant Function. For f(t) 
Constant Function. For f(t) = a
a (a constant),
(a constant),
∞
∞
⎛ a⎞ a
L(a) = ∫ ae dt = − e
−st a −st = 0 −⎜− ⎟ =
0
s 0
⎝ s⎠ s

• Step Function. The unit step function, defined as
⎧0 t < 0
S (t ) = ⎨
⎩1 t ≥ 0
The Laplace transform of the unit step function is similar for the constant 
a above
L[S (t )] =
1
s
5
Laplace Transforms of Some Basic 
F ti
Functions
• Derivatives The transform of a first derivative is important because such 
Derivatives. The transform of a first derivative is important because such
derivatives appear in linear differential equations. This transform is
∞
L⎛⎜ df ⎞⎟ = ∫ ⎛⎜ df ⎞⎟e − st dt
⎝ dt ⎠ 0 ⎝ dt ⎠
Integrating by parts,
∞
L⎛⎜ df ⎞⎟ = ∫ f (t )e − st sdt + fe − st
∞

⎝ dt ⎠ 0 0

sL( f ) − f (0 ) = sF (s ) − f (0 )
An nth order derivative when transformed yields a series of (n+1) terms:
An nth‐order derivative, when transformed, yields a series of (n+1) terms:

⎛ dn f ⎞ n
L⎜⎜ n ⎟⎟ = s F (s ) − s n −1 f (0 ) − s n − 2 f (1) (1) − K − sf (n − 2 ) (0 ) − f (n −1) (0 )
⎝ dt ⎠
6
Laplace Transforms of Some Basic 
Functions
i
• Exponential Functions. For a negative exponential, e‐bt, with b>0
Exponential Functions. For a negative exponential, e , with b>0
∞ ∞
( )
L e −bt = ∫ e −bt e − st dt = ∫ e −(b + s )t dt
0 0

=
1
b+s
[
− e −(b + s )t ] ∞

0
=
1
s+b
• Trigonometric Functions. The Laplace transform of cos ωt can be 
calculated using integrating parts.
e jωt + e − jωt
cos ωt =
2 2
1
2
( )
= L(cos ωt ) = L e jωt + L e − jωt
1
( )
1⎛ 1 1 ⎞ 1 ⎛ s + jω + s − j ω ⎞ s
= ⎜⎜ + ⎟⎟ = ⎜ ⎟ =
2 ⎝ s − j ω s + jω ⎠ 2⎝ s2 + ω 2 ⎠ s +ω
2 2

7
References:
• Seborg, D. E., Edgar, T. F., Mellinchamp, D. A. (2003). Process 
Dynamics and Control, 2nd. Edition. John Wiley, ISBN: 978‐04‐
71000‐77‐8.
• Marlin
Marlin, T. E. (2000). Process Control:  Designing Processes and 
T E (2000) Process Control: Designing Processes and
Control System for Dynamic Performance, 2nd. Edition.  
McGraw Hill, ISBN: 978‐00‐70393‐62‐2.
• Stephanopoulos, G. (1984). Chemical Process Control. An 
Introduction to Theory and Practice. Prentice Hall, ISBN: 978‐
0 3 86 9 0
01‐31286‐29‐0