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3 - 1 Laplace Transform

The document provides an example of using Laplace transforms to solve an ordinary differential equation (ODE) modeling a liquid draining tank. The ODE describes how the liquid level changes over time based on the inflow and outflow. Taking the Laplace transform of the ODE allows it to be rearranged and solved for the transformed liquid level. Taking the inverse Laplace transform then provides the solution to the original ODE as a function of time. Key steps in the process include taking the Laplace transform, rearranging terms, and performing a partial fraction expansion to solve for coefficients before taking the inverse transform.

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Shilpya Kurniasih
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84 views

3 - 1 Laplace Transform

The document provides an example of using Laplace transforms to solve an ordinary differential equation (ODE) modeling a liquid draining tank. The ODE describes how the liquid level changes over time based on the inflow and outflow. Taking the Laplace transform of the ODE allows it to be rearranged and solved for the transformed liquid level. Taking the inverse Laplace transform then provides the solution to the original ODE as a function of time. Key steps in the process include taking the Laplace transform, rearranging terms, and performing a partial fraction expansion to solve for coefficients before taking the inverse transform.

Uploaded by

Shilpya Kurniasih
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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MODELING EXAMPLE 3.6.

Liquid draining tank

You are asked to develop a dynamic model for a liquid


draining tank. The process is initially operating at steady
state, and experiences a step increase in the flow in with a
step changes of -10 m3/h in F0.

Pa = atmospheric pressure
F0

L=level Partially open valve

F1
Pa
MODELING EXAMPLE 3.6. Liquid draining tank

• From Mass balance : 𝑑𝐿


𝐴 = 𝐹0 − 𝐹1
𝑑𝑡
• Using the resistance equation from pipe and valve:
𝐹1 = 𝐾𝐹1 𝐿0.5
𝐾𝐹1 can be evaluated using initial steady state data = 37.8 (m3/h)/(m0.5)
MODELING EXAMPLE 3.6. Liquid draining tank

• The differential equation become:


𝑑𝐿
𝐴 = 𝐹0 − 𝐾𝐹1 𝐿0.5
𝑑𝑡
• Using linearization approximation:
−0.5
𝐿0.5 ≈ 𝐿𝑠 0.5 + 0.5𝐿𝑠 𝐿 − 𝐿𝑠

• The differential equation become:


𝑑𝐿
𝐴 = 𝐹0 − 𝐾𝐹1 𝐿𝑠 0.5 + 0.5𝐿𝑠 −0.5 𝐿 − 𝐿𝑠
𝑑𝑡
• We can write this equation for the initial steady state:
𝑑𝐿
𝐴 = 𝐹0𝑠 − 𝐾𝐹1 𝐿𝑠 0.5 + 0.5𝐿𝑠 −0.5 𝐿𝑠 − 𝐿𝑠
𝑑𝑡 𝑠
0
MODELING EXAMPLE 3.6. Liquid draining tank

• Subtract both equation by taking the definition of


deviation variable :
𝑑𝐿′
𝐴 = 𝐹′0 − 0.5𝐾𝐹1 𝐿𝑠 −0.5 𝐿′
𝑑𝑡
• Rearrange to isolate the time constant and gain:
𝐴 1
𝜏= −0.5 𝐾𝑝 =
0.5𝐾𝐹1 𝐿𝑠 0.5𝐾𝐹1 𝐿𝑠 −0.5

𝑑𝐿′
𝜏 + 𝐿′ = 𝐾𝑝 𝐹′0
𝑑𝑡
• We can get the solution by using integrating factor:
𝑡
−𝜏
𝐿′ = 𝐾𝑝 Δ𝐹0 1 − 𝑒
END
LAPLACE
TRANSFORMS
WHY WE NEED LAPLACE TRANSFORM

I can model this;


what more do
I need?

I would like to
• model elements
individually
• combine as needed
• determine key
dynamic features
w/o solving

•This will be a
“transfer function”
WHY WE NEED LAPLACE TRANSFORM

Now, I can combine


elements to model
many process
structures

Even more amazing,


I can combine to
derive a simplified
model!
WHY WE NEED LAPLACE TRANSFORM

• 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
Definition of Laplace transform
The Laplace transform of a function, f(t), is defined as
∞
𝐹(𝑠) = ℒ 𝑓(𝑡) = න 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡
0
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 + b j, 𝑗 ≐ −1

Inverse Laplace Transform, 𝓛 -1 :


By definition, the inverse Laplace transform operator, ℒ -1, converts an s-
domain function back to the corresponding time domain function:

𝑓 𝑡 = ℒ −1 𝐹 𝑠
Laplace Transforms of Common
Functions
1. Constant Function f(t) = C (C constant).
∞ 𝑡=∞
−𝑠𝑡
𝐶 −𝑠𝑡 𝐶
ℒ(𝐶) = න 𝐶𝑒 𝑑𝑡 = − 𝑒 ቤ =
𝑠 𝑡=0
𝑠
0

2. Step Function
The unit step function is widely used in the analysis of process
control problems. It is defined as:
0 for 𝑡 < 0
𝑆 𝑡 =ቊ
𝐶 for 𝑡 ≥ 0

The step function is a special case of a “constant”


𝐶
ℒ𝑆 𝑡 =
𝑠
Laplace Transforms of Common
Functions
3. Derivatives
𝑑𝑓
ℒ = 𝑠𝐹 𝑠 − 𝑓 0 initial condition at t = 0
𝑑𝑡

𝑑𝑛 𝑓 𝑛 𝐹 𝑠 − 𝑠 𝑛−1 𝑓 0 −. . . −𝑠𝑓 𝑛−2 𝑛−1


ℒ = 𝑠 0 −𝑓 0
𝑑𝑡 𝑛

4. Exponential functions, 𝑓 𝑡 = 𝑒 −𝑏𝑡 (where b > 0).


1
ℒ 𝑒 −𝑏𝑡 =
𝑠+𝑏
Laplace Transforms of Common
Functions
5. Rectangular Pulse Function
It is defined by: 0 for 𝑡 < 0
𝑓 𝑡 = ቐℎ for 0 ≤ 𝑡 < 𝑡𝑤
0 for 𝑡 ≥ 𝑡𝑤
ℎ

𝑓 𝑡 ℎ
ℒ 𝑓(𝑡) = 1 − 𝑒 −𝑡𝑤 𝑠
𝑠

𝑡𝑤

Time, t
Table 4.1. Laplace Transforms
Table 4.1. Laplace Transforms
Solution of ODEs by Laplace
Transforms
■ Procedure:
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).
Example
Solve the ODE, 𝑑𝑦
5 + 4𝑦 = 2 𝑤𝑖𝑡ℎ 𝑦 0 = 1
𝑑𝑡

First, take ℒ of both sides of ODE


𝑑𝑦 2
ℒ 5 + 4𝑦 = ℒ(2) 5 𝑠𝑌 𝑠 − 1 + 4 𝑌 𝑠 =
𝑑𝑡 𝑠

Rearrange, 5𝑠 + 2
𝑌 𝑠 =
𝑠 5𝑠 + 4

Take inverse, ℒ -1, 5𝑠 + 2


𝑦 𝑡 = ℒ −1
𝑠 5𝑠 + 4

From Table 4.1,


𝑦 𝑡 = 0.5 + 0.5𝑒 −0.8𝑡
Partial Fraction Expansions
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).
5𝑠 + 2
𝑌 𝑠 =
𝑠 5𝑠 + 4

Perform a partial fraction expansion (PFE)


5𝑠 + 2 𝛼1 𝛼2
= +
𝑠 5𝑠 + 4 𝑠 5𝑠 + 4

where coefficients 𝛼1 and 𝛼2 have to be determined.


Example
Laplace transform of ODE, 𝑦ഺ + 6𝑦ሷ + 11𝑦ሶ + 6𝑦 = 1, with zero
initial conditions resulted in the expression
1
𝑌 𝑠 =
𝑠 𝑠 3 + 6𝑠 2 + 11𝑠 + 6

The denominator can be factored as


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

Note: Numerical techniques are required in order to calculate the


roots.
1 𝛼1 𝛼2 𝛼3 𝛼4
𝑌 𝑠 = = + + +
𝑠 𝑠+1 𝑠+2 𝑠+3 𝑠 𝑠+1 𝑠+2 𝑠+3

20
Solve for coefficients to get
1 1 1 1
𝛼1 = , 𝛼2 = − , 𝛼3 = , 𝛼4 = −
6 2 2 6

Take ℒ −1 of both sides:

1/6 1/2 1/2 1/6


ℒ −1 𝑌 𝑠 = ℒ −1 −ℒ −1 +ℒ −1 −ℒ −1
𝑠 𝑠+1 𝑠+2 𝑠+3

From Table 4.1,


1 1 −𝑡 1 −2𝑡 1 −3𝑡
𝑦 𝑡 = − 𝑒 + 𝑒 − 𝑒
6 2 2 6
Laplace Transform of Integral
∞
𝐹(𝑠) = ℒ 𝑓(𝑡) = න 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡
0

𝒕
■ If we have function 𝐟 𝐭 = ‫𝒙𝒅 𝒙 𝒇 𝟎׬‬

𝑡 ∞ 𝑡
ℒ න 𝑓 𝑥 𝑑𝑥 = න න 𝑓 𝑥 𝑑𝑥 𝑒 −𝑠𝑡 𝑑𝑡
0 0 0

■ Can be solve by applying integration by parts


𝑡 𝑡=∞ ∞ −𝑠𝑡
𝑒 −𝑠𝑡 𝑒
= න 𝑓 𝑥 𝑑𝑥 +න 𝑓 𝑡 𝑑𝑡
0 𝑠 𝑡=0 0 𝑠

𝑡
1
ℒ න 𝑓 𝑥 𝑑𝑥 = 𝐹(𝑠)
0 𝑠
END

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