REGULATION AND CONTROL

REVIEW OF LAPLACE TRANSFORM

By Tewedage Sileshi

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Summary from last class

 Why do we need Control?

 What is a Control System?
 Types of Controls
 Feedback is very important.
 Control design process
 Mathematical reviews required

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Goal for today’s lecture

 Solving linear constant-coefficient ODEs using Laplace transforms

 Definition of the Laplace transform
 Laplace transforms of commonly used functions
 Laplace transform properties
 from ODE to Transfer Function

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Laplace Transforms
 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 4
Definition

 The Laplace transform of a function, f(t), is defined as


F ( s )  L  f (t )   f  t  e st dt (3-1)
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 + bj,

j 1
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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  

Important Properties:

Both L and L-1 are linear operators. Thus,

L  ax  t   by  t    aL  x  t    bL  y  t  
 aX  s   bY  s  (3-3) 6
 Cont’d
where:
- x(t) and y(t) are arbitrary functions
- a and b are constants
- X  s   L  x  t   and Y  s   L  y  t  
   

Similarly,

L1  aX  s   bY  s    ax  t   b y  t 
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Why Laplace transformer?

1. Standard notation in dynamics and control (shorthand notation)

2. Converts mathematics to algebraic operations

3. Advantageous for block diagram analysis

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 Cont’d

 Laplace transforms can be used in process control for:

1. Solution of differential equations (linear)

2. Analysis of linear control systems (frequency response)

3. Prediction of transient response for different inputs

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Why Laplace transformer?
 By use of Laplace transform we can convert many common functions into algebraic function of
complex variable s.
 For example

sin t  2 2
s 
 at 1
Or
e 
sa
 Where s is a complex variable (complex frequency) and is given as

s    j
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Laplace Transforms of Common Functions

Constant Function
Let f(t) = a (a constant). Then from the definition of the Laplace transform in (3-1),


 a  st  a a
L  a    ae  st
dt   e  0   (3-4)
0 s  s s
0

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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   (3-5)
1 for t  0

 Because the step function is a special case of a “constant”, it follows from (3-4) that

1
L S  t   
  (3-6)
s 12
Derivatives

 Not only common function can be converted into simple algebraic expressions but calculus operations

can also be converted into algebraic expressions.

 For example

dx(t )
  sX ( S )  x( 0 )
dt
2
d x(t ) dx(0)
 2
 s 2
X ( S )  sx ( 0 ) 
dt dt 13
 Cont’d

 In general

d n x(t )
  s n X ( S )  s n 1 x( 0)    x n 1 ( 0 )
dt n

 Where x(0 )is the initial condition of the system.

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Exponential Functions
f  t   e bt
Consider where b > 0. Then,
 
L e bt    e bt e  st dt   e   dt
 b s t
  0 0
1   b  s  t   1
 e  (3-16)
bs  0 sb
Rectangular Pulse Function

It is defined by: 0 for t  0


f  t   h for 0  t  t w (3-20)
0 for t  t 15

 w
 Cont’d

f  t

tw
Time, t
The Laplace transform of the rectangular pulse is given by
h

F  s   1  e t w s
s
 (3-22)
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Laplace Transform of Integrals

1
 x(t )dt  X ( S )
s
• The time domain integral becomes division by s in frequency
domain.

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Calculation of the Transfer Function
• Consider the following ODE where y(t) is input of the system
and x(t) is the output.
d 2 x(t ) dy(t ) dx(t )
A C B
• or dt 2 dt dt

Ax' ' (t )  Cy' (t )  Bx' (t )

• Taking the Laplace transform on either sides
A[ s 2 X ( s )  sx( 0)  x' ( 0)]  C[ sY ( s )  y( 0 )]  B[ sX ( s )  x( 0 )] 18
Calculation of the Transfer Function
A[ s 2 X ( s )  sx( 0)  x' ( 0)]  C[ sY ( s )  y( 0)]  B[ sX ( s )  x( 0)]
• Considering Initial conditions to zero in order to find the transfer
function of the system
As 2 X ( s )  CsY ( s )  BsX ( s )

• Rearranging the above equation

As 2 X ( s )  BsX ( s )  CsY ( s )
X ( s )[ As 2  Bs ]  CsY ( s )
X (s) Cs C 19

 
Y ( s ) As  Bs As  B
2
 Table 3.1 Laplace Transforms for Various Time-Domain Functions

f(t) F(s)
Chapter 3

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 Table 3.1 Laplace Transforms for Various Time-Domain Functions

f(t) F(s)

Chapter 3

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Table 3.1 Laplace Transforms for Various Time-Domain Functions (continued)
f(t) F(s)

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23
Example 1
Solve the ODE, dy
5  4y  2 y  0  1 (3-26)
dt
First, take L of both sides of (3-26),
2
5  sY  s   1  4Y  s  
s
Rearrange,
5s  2
Y  s  (3-34)
s  5s  4 
Take L-1,
1  5 s  2 
y t  L  
 s  5s  4  
From Table 3.1 (line 11),
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y  t   0.5  0.5e 0.8t (3-37)

Example 2
d3y d2y dy
3
 6 2  11  6 y  4
dt dt dt
y( 0 )= y( 0 )= y( 0 )= 0 system at rest (s.s.)
Chapter 3

Step 1 Take L.T. (note zero initial conditions)

4
s Y(s)+ 6s Y(s)+11sY(s)  6Y ( s ) =
3 2 25

s
 Rearranging, 4
Y(s)= 3
( s  6s 2  11s  6) s

Step 2a. Factor denominator of Y(s)

Chapter 3

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

Step 2b. Use partial fraction decomposition

4 α α α α
 1 2  3  4
s(s +1 )(s + 2 )(s + 3 ) s s  1 s  2 s  3

Multiply by s, set s = 0
4  α2 α3 α 
 α1  s    4 
(s +1 )(s + 2 )(s + 3 ) s 0  s  1 s  2 s  3  s 0
4 2 26
 α1 
1 2  3 3
 For a 2, multiply by (s+1), set s=-1 (same procedure
for a3, a4) 2
α2  2, α3  2, α4  
3
Step 3. Take inverse of L.T. 2 2 2 2/3
(Y(s)=  +  )
3s s 1 s  2 s 3
Chapter 3

2 2
y(t)=  2e t  2e 2t  e 3t
3 3
2
t  y(t)  t  0 y(0)  0. (check original ODE)
3
You can use this method on any order of ODE,
limited only by factoring of denominator polynomial
(characteristic equation)

Must use modified procedure for repeated roots,

imaginary roots 27
Summary

 Solving linear constant-coefficient ODEs using Laplace transforms

 Definition of the Laplace transform
 Laplace transforms of commonly used functions
 Laplace transform properties
 from ODE to Transfer Function

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Next lecture

 Transfer functions of the translational & rotational mechanical elements that we know

 Electrical elements: resistors, capacitors, inductors, amplifiers

 Transfer functions of electrical elements

 Fluid elements: resistors, capacitors, inductors, amplifiers

 Transfer functions of fluid elements

 Thermal elements: resistors, capacitors, inductors, amplifiers

 Transfer functions of thermal elements

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