EEE 326 Control Systems I

OVERVIEW OF LAPLACE TRANSFORM

Lecture Notes 2
 Chapter 3 FeedbackResponse
Dynamic Control Systems

Review of Laplace Transform

Time domain Frequency domain
Problem
L{ }
f (t ) F (s)

difficult easy
operations operations

g (t )
L −1
{} G (s)
Solution
∞
Laplace Transform L { f=
(t )} F=
(s) ∫ f (t )e − st dt , s= σ + jω
0−
σ c + j∞
1
{F (=
s )}
2π j σ c ∫− j∞
−1
Inverse Laplace Transform L (t )
f= F ( s )e st ds
 Chapter 3 FeedbackResponse
Dynamic Control Systems

Review of Laplace Transform

Time domain Frequency domain

Hard Problem

y′′ + y = te − t L{ } 2
Y ( s + 1) =
1
(0) y=
y= ′(0) 0 ( s + 1) 2

difficult to algebraic
solve operations

Solution in y?

y (t ) =
− 12 cos t + 12 te − t
L −1
{} 1
Y= 2
+ 12 e − t ( s + 1)( s + 1) 2
 Chapter 3 FeedbackResponse
Dynamic Control Systems

Laplace Transform: Example

f (t ) = a
∞

0−
a
L {a} = ∫ ae dt = − e − st
s
− st ∞

0−
(
a −∞ 0−
− e −e
=
s
=
a
s
)

f (t ) = e − at
∞ ∞
1 − ( s + a )t 1
L {e − at } = ∫ e − at e − st dt = ∫ e − ( s + a )t dt = −
∞
e =
0 −
0 − s+a 0− s+a
 Chapter 3 FeedbackResponse
Dynamic Control Systems

Laplace Transform: Example

f (t ) = cos ωt
∞ ∞ ∞
1 jωt 1 − ( s − jω )t 1 − ( s + jω )t
cos ωt} ∫ ( e + e=
L {= − jωt
) e − st dt ∫− 2 e dt + ∫ e dt
0−
2 0 0−
2
1 1 1 1 1 ( s + jω ) 1 ( s − jω )
= + = +
2 ( s − jω ) 2 ( s + jω ) 2 s + ω
2 2
2 s2 + ω 2
s
= 2
s + ω2

f (t ) = sin ωt
∞
1 jωt − jωt − st ∞
1
∞
1 − ( s + jω )t
{sin ωt} ∫ ( e =
L= − e ) e dt
∫ e − ( s − jω ) t
dt − ∫ e dt
0−
2j 2j 2j
0− 0−
1 1 1 1 1 ( s + jω ) 1 ( s − jω )
= − = −
2 j ( s − jω ) 2 j ( s + jω ) 2 j s +ω 2 2
2 j s2 + ω 2
ω
= 2
s + ω2
 Chapter 3 FeedbackResponse
Dynamic Control Systems

Table of Laplace Transform

δ (t )
1

unit impulse t
u (t )
1

unit step t
r (t )
1

unit ramp
1 t
 Chapter 3 Dynamic Response

Table of Laplace Transform

 Chapter 3 Dynamic Response

Properties of Laplace Transform

1. Superposition
L {α ⋅ f1 (t ) + β ⋅ f 2 (t )} = α ⋅ F1 ( s ) + β ⋅ F2 ( s )
2. Time delay
L { f (t − λ ) ⋅ u (t − λ )} = e − λ s ⋅ F ( s )
3. Time scaling
1 s
L { f (at )}= ⋅F 
a a
4. Shift in Frequency
L {e − at ⋅ f (t ) ⋅ u (t )} = F ( s + a )
5. Differentiation in Time
L { f ′(t )} = s ⋅ F ( s ) − f (0− )
L { f ′′(t )} = s 2 ⋅ F ( s ) − s ⋅ f (0− ) − f ′(0− )
L { f n (t )} = s n ⋅ F ( s ) − s n −1 ⋅ f (0− ) −  − s ⋅ f n − 2 (0− ) − f n −1 (0− )
 Chapter 3 Dynamic Response

Properties of Laplace Transform

6. Integration in Time
L {∫0
t
} 1
f (t )dt = ⋅ F ( s )
s
7. Differentiation in Frequency
dF ( s )
L {t ⋅ f (t )} =
−
ds
8. Convolution
F1 ( s ) ⋅ F2 ( s )= L { f1 (t ) ∗ f 2 (t )}
F1 ( s ) ∗ F2 ( s ) =2π j ⋅ L { f1 (t ) ⋅ f 2 (t )}
∞
f1 (t ) ∗ f 2 (t=
) ∫ f (λ ) ⋅ f (t − λ )d λ
1 2
0−
 Chapter 3 Dynamic Response

Properties of Laplace Transform

 Superposition
(t ) 2e − t + t
f=
L {2e − t=
+ t} 2L {e − t } + L {t}
1 1
= 2 + 2
s +1 s
2s 2 + s + 1
= 2
s ( s + 1)
 Superposition
f (t ) 2sin 3t + cos 3t
=
L {2sin 3t + cos 3=
t} 2L {sin 3t} + L {cos 3t}
3 s
= 2 2 2+ 2 2
s +3 s +3
s+6
= 2 2
s +3
f (t ) = t 3 + 2t 2 − 4t + 1 ⇒ L { f (t )} = ....
 Chapter 3 Dynamic Response

Properties of Laplace Transform

 Shift in Frequency L {e − at f (t ) ⋅ u (t )} =F ( s + a )
f (t ) = e − t t 3
3! 6
L {= t} =
3

s 3+1 s 4
6
L {e − t t 3 } =
( s + 1)
4

dF ( s )
 Differentiation in Frequency L {t ⋅ f (t )} =
−
f (t ) = t cos 3t ds
s
L {cos 3t} = 2 2
s +3
d  s 
L {t cos 3t} = −  2 2 
ds  s + 3 
s 2 − 32
= 2 2 2
(s + 3 )
 Chapter 3 Dynamic Response

Laplace Transform
Example 1:
Obtain the Laplace Transform of f (t=
) δ (t ) + 2 ⋅ u (t ) − 3e −2t , t ≥ 0.

s ) L {δ (t )} + L {2 ⋅ u (t )} − L {3e −2t }
F (=

= L {δ (t )} + 2 ⋅ L {u (t )} − 3 ⋅ L {e −2t }
1 1
= 1+ 2 ⋅ − 3⋅
s s+2
s2 + s + 4
F (s) =
s ( s + 2)
 Chapter 3 Dynamic Response

Laplace Transform
Example 2:
Find the Laplace Transform of the function shown below.
g (t )
4

0 1 2 3 4 t

g (t ) =4 ⋅ u (t − 2) − 4 ⋅ u (t − 3)
G ( s ) = L { g (t )}
e −2 s e −3 s
= 4⋅ − 4⋅
s s
4 −2 s −3 s
G ( s)
= (e − e )
s
 Chapter 3 Dynamic Response

Inverse Laplace Transform

σ c + j∞
1
{F (=
s )}
2π j σ c ∫− j∞
−1
L (t )
f= F ( s )e st ds

 Instead of using the formula above to calculate the Inverse

Laplace Transform, we try to match entries in the Laplace
Transform table.
 The easiest way to find f(t) from its Laplace Transform F(s), if
F(s) is rational, is to expand F(s) as a sum of simpler terms
that can be found in the tables.

The steps to find the Inverse Laplace Transform:

1. Decompose F(s) into simple terms using “Partial-Fraction
Expansion Method”.
2. Find the inverse of each term by using the table of Laplace
Transform.
 Chapter 3 Dynamic Response

Inverse Laplace Transform

Example 3:
( s + 2)( s + 4)
Find y(t) for Y ( s ) = .
s ( s + 1)( s + 3)
c1 c2 c3
Y (s) = + +
s s +1 s + 3

c1 ( s + 1)( s + 3) + c2 ⋅ s ( s + 3) + c3 ⋅ s ( s + 1)
=
s ( s + 1)( s + 3)
(c1 + c2 + c3 ) s 2 + (4c1 + 3c2 + c3 ) s + 3c1 1s 2 + 6 s + 8
Y (s) = ≡
s ( s + 1)( s + 3) s ( s + 1)( s + 3)

● Algebraic Method
 Chapter 3 Dynamic Response

Inverse Laplace Transform

Comparing the 1
c1 + c2 + c3 =
8 3 1
coefficients 4c1 + 3c2 + c3 =
6 c1 = , c2 = − , c3 = −
3 2 6
3c1 = 8
81 3 1  1 1 
Y ( s ) =  −  −  
3  s  2  s +1 6  s + 3 
y (t ) = L−1 {Y ( s )}
8 −1  1  3 −1  1  1 −1  1 
=L   − L  − L  
3 s 2  s + 1 6  s + 3
 8 3 − t 1 −3t 
y (t ) = − e − e  u (t )
3 2 6 

● Is there an easiest and faster

method? “Cover-Up Method”
 Chapter 3 Dynamic Response

Inverse Laplace Transform

Example 3 (Cover-up method):

Find y(t) for Y ( s ) =

( s + 2)( s + 4) c1 c2 c3
. Y (s) = + +
s ( s + 1)( s + 3) s s +1 s + 3
( s + 2)( s + 4) 8
c1 sY
= ( s) s =0 =
( s + 1)( s + 3) s =0 3
( s + 2)( s + 4) 3
( s + 1)Y ( s ) s = −1 =
c2 = =
−
s ( s + 3) s = −1 2
( s + 2)( s + 4) 1
( s + 3)Y ( s ) s = −3 =
c3 = =
−
s ( s + 1) s = −3 6

81 3 1  1 1   8 3 − t 1 −3t 
Y ( s ) =  −   −   y (t ) = − e − e  u (t )
3  s  2  s +1  6  s + 3  3 2 6 
 Chapter 3 Dynamic Response

Inverse Laplace Transform

Different Examples
 s+2 
L−1  2  = .... .... = e 2t
s − 4

 s+6 
−1
L  2  = .... .... cos 2t + 3sin 2t
=
s + 4

 9s − 8 
L−1  2  = .... 4 u (t ) + 5e 2t
.... =⋅
 s − 2s 
 Chapter 3 Dynamic Response

Inverse Laplace Transform

EXAMPLE 4: Repeated Poles (Repeated Denominator Roots)

−1  s 2
− 15s + 41  −1  A B C 
L  2
= L  + + 
 ( s + 2)( s − 3)   s + 2 ( s − 3) 2
s − 3 

s 2 − 15s + 41 d  s 2 − 15s + 41  ● Cover-Up Method +

A= 2
=3 C=   Differentiation
( s − 3) s = −2
ds  ( s + 2)  s =3

 (2 s − 15)( s + 2) − (1)( s 2 − 15s + 41) 

 = −2
2
s − 15s + 41 =
B= =1  ( s + 2) 2
 s =3
( s + 2) s =3

 3
−1 1 −2  −2 t 3t 3t
L  + 2
+  = 3e + te − 2e
 s + 2 ( s − 3) s − 3
 Chapter 3 Dynamic Response

Inverse Laplace Transform

EXAMPLE 5: Complex Poles (Complex Denominator Roots)

 −1  A Bs + C 
2
4 s − 5s + 6 
= L 
−1
L  + 2 
 ( s + 1)( s 2
+ 4)   s + 1 s + 4 

4 s 2 − 5s + 6 ● Cover-Up Method +
A= 2
=3 Algebraic Method
( s + 4) s = −1

4 s 2 − 5s + 6 ( s 2 + 4) ( Bs + C )( s + 1)
= 3 +
( s + 1)( s 2 + 4) ( s + 1)( s 2 + 4) ( s + 1)( s 2 + 4)
(3 + B) s 2 + ( B + C ) s + (12 + C ) 1, C =
⇒B= −6
=
( s + 1)( s 2 + 4)

−1  4 s 2
− 5s + 6  −1  3 s−6  −1  3 s 2 
L  = 2  L  + 2 2
= L  + 2 2
− 3 2 2
 ( s + 1)( s + 4)   s + 1 s + 2   s + 1 s + 2 s + 2 

=3e − t + cos 2t − 3sin 2t

 Chapter 3 Dynamic Response

Inverse Laplace Transform

EXAMPLE 6: Complex Poles (Complex Denominator Roots)
 Chapter 3 Dynamic Response

Inverse Laplace Transform

EXAMPLE 6 (cont’d): Complex Poles (Complex Denominator Roots)
 Chapter 3 Dynamic Response

Solving ODEs Using Laplace Transform

EXAMPLE 7:  Input
(determine forced response)
5 y′ + 4=
y 2, y (0)
= 1
 Initial condition
L{ } (determine natural response)

2
5 [ sY ( s ) − y (0) ] + 4Y ( s ) =
s
2
Y ( s ) [5s + 4] =5 +
s
5s + 2 A B 5s + 2
Y (s) = = + ,
= A = 0.5
s (5s + 4) s (5s + 4) (5s + 4) s =0
5s + 2
=B = 2.5
0.5 2.5 s s = −0.8
Y (=
s) +
s (5s + 4)

y (t ) =0.5 ⋅ u (t ) + 0.5e −0.8t

 Chapter 3 Dynamic Response

Solving ODEs Using Laplace Transform

EXAMPLE 8:  Input
(determine forced response)
y′′ − 3 y′ + 2= = 0, y′(0)
y 2e3t , y (0) = 7
 Initial condition
L{ } (determine natural response)

2
 s 2Y ( s ) − sy (0) − y′(0)  − 3 [ sY ( s ) − y (0) ] + 2Y ( s ) =
( s − 3)
2
 s 2Y ( s ) − 7  − 3 [ sY ( s ) ] + 2Y ( s ) =
( s − 3)
2
Y ( s )  s 2 − 3s + 2  =7 +
( s − 3)
7 s − 19 6 5 1
Y (s) = =
− + +
( s − 1)( s − 2)( s − 3) s −1 s − 2 s − 3

−6et + 5e 2t + e3t
y (t ) =
 Chapter 3 Dynamic Response

More Exercises in Solving ODEs

′ + 2 y 10e3t=
y= , y (0) 6
.... ⇒ y (t ) = 4e −2t + 2e3t

y′′ − 3 y′ + 2 y =4t − 6, y (0) =1, y′(0) =3

.... ⇒ y (t ) =2t + et

y′′ + 4= = 1, y′(0)
y 3, y (0) = 1 3 1 1
.... ⇒ y (t ) = u (t ) + cos 2t + sin 2t
4 4 2
 Chapter 3 Dynamic Response

Initial and Final Value Theorem

 An especially useful property of the Laplace Transform in
control is Initial and Final Value Theorem.

 Initial Value Theorem (IVT) is useful to easily calculate the

initial value of a time function f(t), given its Laplace
Transform F(s).
 Final Value Theorem (FVT) allows us to compute the constant
steady-state value of a time function f(t) from its Laplace
Transform F(s).
lim+ y=
(t ) lim s ⋅ Y ( s )  Initial Value Theorem (IVT)
t →0 s →∞

lim y=
(t ) lim s ⋅ Y ( s )  Final Value Theorem (FVT)
t →∞ s →0

 The condition to use FVT: all poles of Y(s) are in the left hand
of the s-plane, except for one at s = 0.
Final Value Theorem is only applicable to stable system,
i.e. a system with convergent step response
 Chapter 3 Dynamic Response

Initial and Final Value Theorem

Example 9:
Find the final value of the system corresponding to
3( s + 2)
Y (s) =
s ( s 2 + 2 s + 10)

y (∞
= ) lim y=
(t ) lim s ⋅Y ( s )
t →∞ s →0

3( s + 2) 3⋅ 2
y (∞
= ) lim s ⋅ 2
= = 0.6
s →0 s ( s + 2 s + 10) 10
 Chapter 3 Dynamic Response

Initial and Final Value Theorem

Example 10:
Find the final value of the system corresponding to
3
Y (s) =
s ( s − 2)

3 3
y (∞
= ) lim y (=
t ) lim s ⋅Y (=
s ) lim s ⋅ =
t →∞ s →0 s →0 s ( s − 2) −2
WRONG
Sinc 3 −3 2 3 2
(s)
Y= = +
e s ( s − 2) s s−2

L−1 {Y ( s )} =
y (t ) = − 3 2 ⋅1(t ) + 3 2 ⋅ e 2t ⋅ u (t )
One pole (s = 2) is in the right half of the s-plane
 Not convergent
 FVT not applicable
 Chapter 3 Dynamic Response

Initial and Final Value Theorem

Example 11:
Find the final value of
2
Y (s) = 2
s +4
2
y (∞
= ) lim y (=
t ) lim s ⋅Y (=
s ) lim s ⋅ 2 =0
t →∞ s →0 s →0 s +4 WRONG
Sinc
e 2
Y ( s )= 2 ⇒ y (t )= sin 2t
s +4
A pair of poles on the imaginary axis (s = ±j2)
 Sinusoidal signal / periodic signal
 Not convergent
 FVT not applicable
Partial-Fraction Expansion with MATLAB
 Partial-Fraction Expansion with MATLAB
Example 12: Different Roots
 Partial-Fraction Expansion with MATLAB
Example 13: Repeated Roots