Control Engineering

Tutorial #1
Laplace Transform

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

Laplace Transform
• Our system is modeled by a differential equation or a
set of differential equations
• We use Laplace transform to transform these equations
from the time domain into another domain “S - Domain”
to make the manipulation of these equations easier.

Laplace
f(t) F(s)
Transform

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

1
 Laplace Transform Table

Function Plot Laplace Transform

f(t) F(s)

f(t)
Unit Impulse
f (t )   (t )

t F ( s)  1
f(t)

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

Laplace Transform Table – cont’d

Function Plot Laplace Transform

f(t) F(s)

f(t)
Unit step
1
f (t )  1(t ) 1 F (s) 
s
t

f(t)
step a
a F ( s) 
f (t )  a1(t ) s

t
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

2
 Laplace Transform Table – cont’d

Function Plot Laplace Transform

f(t) F(s)

f(t)
Ramp
a
f (t )  at F ( s) 
a s2
t

f(t)
Parabolic or a * m!
higher F (s) 
tm
t 3
s m 1
f (t )  at m t2
t
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

Laplace Transform Table – cont’d

Function Plot Laplace Transform

f(t) F(s)

f(t)
Exponential
1 1
f (t )  e  at F ( s)  
s  (a) s  a
t

•Important property of Laplace

Transform (super position)

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

3
Problem 2

Solution:

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

Solution (cont’d):

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

4
Laplace Transform Table – cont’d

Function Plot Laplace Transform

F(t) F(s)

F(t)
sine
a
f (t )  sin(at) F (s) 
t
s  a2
2

F(t)
cosine s
F (s) 
f (t )  cos(at) s  a2
2

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

Laplace Transform Important Properties

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

5
Problem 3

Solution:

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

Laplace Transform Important Properties (cont’d)

Multiplication by time corresponds to differentiation in frequency

dn
L{t f (t )}  (1)
n
F ( s) n

ds n

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

6
Problem 4

Solution:

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

Problem 5
Using the final value theorem, get the steady state value of the function:
1
F ( s) 
s ( s  2)
Solution:
1 1
s.s.value  Lim sF ( s )  Lim s  Lim  0.5
s 0 s ( s  2)
s 0 s  0 ( s  2)
if we get the inverse Laplace of F ( s ) :
1
f (t ) 
2

1  e  2t 
Now apply the basic definition for the final value :

f ()  Lim f (t )  Lim

t  t 
1
2
  1
2
 1
2

1  e  2t  1  e   1  0   0.5

The resultsDr.coincide !!!

Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

7
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

8
 Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

Problem 6
Find the time function corresponding to each of the following Laplace Transform:

3s 2  9s  12
( s  2)( s 2  5s  11)
Solution:
perform partial fraction expansion :
3s 2  9 s  12 c1 c s  c3
F (s)    2 2
( s  2)( s  5s  11) ( s  2) ( s  5s  11)
2

3s 2  9 s  12 c1 ( s 2  5s  11)  (c2 s  c3 )( s  2)
 
( s  2)( s 2  5s  11) ( s  2)( s 2  5s  11)
 equating numerators :
3s 2  9 s  12  c1 ( s 2  5s  11)  (c2 s  c3 )( s  2)
3s 2  9 s  12  (c1  c2 ) s 2  (5c1  2c2  c3 ) s  11c1  2c3
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

9
Solution (cont’d):

 equating coeff . of s 2 :
c1  c2  3
 equating coeff . of s :
5c1  2c2  c3  9
 equating coeff . of s 0 :
11c1  2c3  12
Solve three equations in three unkowns :
1
 1 1 0  c1   3   c1   1 1 0  3   1.2 
 5 2 1  c    9   c    5 2 1   9    1.8 
  2     2       
11 0 2 c3  12 c3  11 0 2 12  0.6
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

Solution (cont’d):
c1 c2 s  c3 1.2 1.8s  0.6
F ( s)    
( s  2) ( s 2  5s  11) ( s  2) ( s 2  5s  11)
1.2 L1
 1.2e  2t
( s  2)
1.8s  0.6 1.8s  0.6 1.8( s  2.5)  5.1
 
( s 2  5s  11)  19  2
( s  2.5)    ( s  2.5) 2   19 
2

 4   2 
 
19
( s  2.5) 5.1 2 L1
 1.8 2
 2

 19  19  19 
( s  2.5) 2    
2 ( s  2.5)   2 
2

 2   
 19   2.5t 5.1  19   2.5t
1.8 cos t e  sin  t e
 2  19  2 
2
 19   2.5t 5.1  19   2.5t
f (t )  1.2e  1.8 cos
 2t
t e  sin  t e
 2  19  2 
2
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

10
Problem 7
Find the time function corresponding to each of the following Laplace Transforms:
2
2s  s  1
Solution: s3 1
2s 2  s  1 2s 2  s  1

s3 1 ( s  1)( s 2  s  1)
perform partial fraction exp ansion :
2s 2  s  1 c1 c s  c3
F (s)    22
( s  1)( s  s  1) ( s  1) ( s  s  1)
2

2s 2  s  1 c1 ( s 2  s  1)  (c2 s  c3 )( s  1)
 
( s  1)( s 2  s  1) ( s  1)( s 2  s  1)
 equating numerators :
2 s 2  s  1  c1 ( s 2  s  1)  (c2 s  c3 )( s  1)
2 s 2  s  1  (c1  c2 ) s 2  (c1  c2  c3 ) s  c1  c3
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

Solution (cont’d):
 equating coeff . of s 2 :
c1  c2  2
 equating coeff . of s :
c1  c2  c3  1
 equating coeff . of s 0 :
c1  c3  1
Solve three equations in three unkowns :
1
1 1 0   c1  2  c1  1 1 0  2 4 3
1  1 1  c   1   c   1  1 1  1   2 3
  2     2       
1 0  1 c3  1  c3  1 0  1 1  1 3 
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

11
Solution (cont’d):

c1 c s  c3 43 2 3s 1 3
F ( s)   22   2
( s  1) ( s  s  1) ( s  1) ( s  s  1)
43 L1 4 t
 e
( s  1) 3
2 3s 1 3 2 3s 1 3 2 3 ( s  0.5) L1
  
( s  s  1)
2
3 2
( s  0.5) 2    ( s  0.5) 2   3 
4  2 
 
2  3  0.5t
cos t e
3  2 
4 2  3  0.5t
f (t )  e t  cos t e
3 3  2 
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

12
Problem 8

Solution:
1st find the Laplace ransform of the O.D.E

2nd Solve the equation obtained for Y(s)

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

3rd use the PFE to find the time function

Equate the numerators and match coefficients of like power s

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

13
 Finally

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

Solution

yt
4

yt
5 10 15 20

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

14
Problem 9
Using Laplace Transform, solve the following initial value problem

x  19.86 x  397.22 x  1.16 cos(5.82 t )  3.97 sin(5.82 t )

x(0)  0, x (0)  0
Solution:

1st find the Laplace transform of the O.D.E, and solve for X(s)
s 5.82
( s 2  19.86 s  397.22 ) X ( s)  1.16  3.97 2
s  (5.82)
2 2
s  (5.82) 2

1  1.16 s 23.1 
X (s)   2  2 
( s  19.86 s  397.22 )  s  33.87 s  33.87 
2

1  1.16 s  23.1 
X (s)   
( s 2  19.86 s  397.22 )  s 2  33.87 
1.16 s  23.1
X (s)  2
( s  19.86 s  397.22 )( s 2  33.87)
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

2nd Apply PFE

1.16 s  23.1
X (s) 
( s  19.86 s  397.22 )( s 2  33.87)
2

c1s  c2 c s  c4
X (s)   23
( s  19.86 s  397.22 ) ( s  33.87)
2

(c1s  c2 )( s 2  33.87)  (c3 s  c4 )( s 2  19.86 s  397.22 )

X (s) 
( s 2  19.86 s  397.22 )( s 2  33.87)

(c1  c3 ) s 3  (c2  19.86c3  c4 ) s 2  (33.87c1  397.22c3  19.86c4 ) s  (33.87c2  397.22c4 )

X ( s) 
( s 2  19.86 s  397.22 )( s 2  33.87)
Equate the numerators and match coefficients of like power s

c1  c3  0 Solving for the coefficients, we get

c2  19.86c3  c4  0 c1  0.00026
33.87c1  397.22c3  19.86c4  1.16 c2  -0.058
33.87c2  397.22c4  23.1 c3  -0.00026
Dr. Ayman A. El-Badawy c4  0.0631
Department of Mechanical Engineering
Al-Azhar University

15
 c1s  c2 c s  c4
X (s)   23
( s  19.86 s  397.22 ) ( s  33.87)
2

0.00026s - 0.058 - 0.00026 s  0.0631

X ( s)  
( s  19.86 s  397.22 )
2
( s 2  33.87)

 0.26s - 58 - 0.26s  63.1 

X ( s )  10 3  2  2 
 ( s  19.86 s  397.22 ) ( s  33.87) 

x(t )  L1X ( s )
  0.26s - 58  1  3  - 0.26s  63.1 
x(t )  L1 10 3  2   L 10  2 
  ( s  19.86 s  397.22 )    ( s  33.87) 

x(t )  e 9.93t 0.0026 cos(17.28t )  0.0035 sin(17.28t )

0.0026 cos(5.82t )  0.0108 sin( 5.82t )
Dr. Ayman A. El-Badawy
Department of Mechanical Engineering
Al-Azhar University

Investigating the solution obtained, we realize that the particular part of the
solution is exactly the same as in problem no. 1….

Homogenous solution

x(t )  e 9.93t 0.0026 cos(17.28t )  0.0035 sin(17.28t )

0.0026 cos(5.82t )  0.0108 sin( 5.82t )
Particular solution

Dr. Ayman A. El-Badawy

Department of Mechanical Engineering
Al-Azhar University

16