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SISTEMAS DE CONTROLE
Transformadas de Laplace
Sumrio
Transformadas de Laplace
Teorema do Valor Final;
Teorema do Valor Inicial;
Transformada Inversa de Laplace;
Expanso em Fraes Parciais;
Resoluo de EDOs.
Transformadas de Laplace
f ( ) = lim f ( t ) = lim sF ( s)
t
s 0
Transformadas de Laplace
f ( 0+ ) = lim f ( t ) = lim sF ( s)
t 0
Transformadas de Laplace
5s + 2
=1
G ( 0 ) = lim sG ( s ) = lim
s 5s + 4
s
+
5s + 2 1
G ( ) = lim sG ( s ) = lim
=
2
s 0
s 0 5s + 4
Transformadas de Laplace
Transformadas de Laplace
Transformadas de Laplace
z (s)
G (s) =
( s + p1 )( s + p2 ) ... ( s + pn )
Transformadas de Laplace
A
B
N
+
+ .... +
G (s) =
s + p1 s + p 2
s + pn
A = lim ( s + p1 ) G ( s )
s p1
B = lim ( s + p2 ) G ( s )
s p2
N = lim ( s + pn ) G ( s )
s pn
9
Transformadas de Laplace
G (s) =
z (s)
( s + p1 ) ( s + p2 ) .... ( s + pn )
k
razes iguais
10
Transformadas de Laplace
A2
Ai
Ak
B
N
G ( s) =
+
+
...
+
+
+
....
+
k
s + p1 ( s + p1 )2
( s + pn )
( s + pi ) ( s + p2 )
11
Transformadas de Laplace
Ak = lim ( s + p1 ) G ( s )
s p1
k
d
Ak 1 = lim
( s + p1 ) G ( s )
s p1 ds
d ( k 1)
k
A1 = lim ( k 1) ( s + p1 ) G ( s )
s p2 ds
B = lim ( s + p2 ) G ( s )
s p2
N = lim ( s + pn ) G ( s )
s pn
12
Transformadas de Laplace
1
1
=
G (s) =
3
2
s ( s + 6 s + 11s + 6 ) s ( s + 1)( s + 2 )( s + 3)
B
D
A
C
G ( s) = +
+
+
s ( s + 1) ( s + 2) ( s + 3)
13
Transformadas de Laplace
1
A = lim( s + 0)
=
s 0
0
s( s + 1)( s + 2)( s + 3) 6
1
1
B = lim( s + 1)
=
s 1
1
s( s + 1)( s + 2)( s + 3)
2
1
1
C = lim ( s + 2)
=
s 2
s( s + 1)( s + 2)( s + 3) 2
1
1
D = lim( s + 3)
=
s 3
s( s + 1)( s + 2)( s + 3)
6
14
Transformadas de Laplace
1
1
1
1
G ( s) =
+
(
)
(
)
6s 2 s + 1 2 s + 2 6( s + 3)
15
Transformadas de Laplace
G (s) =
s +1
s +1
=
2
2
s ( s + 4s + 4 )
s ( s + 2)
A
B
C
G ( s) = +
+
s ( s + 2) ( s + 2) 2
16
Transformadas de Laplace
s +1 1
=
B = lim ( s + 0 )
2
s 0
s ( s + 2 ) 4
d
s + 1
d s + 1
1
2
1
A1 = lim ( s + 2 )
=
lim
=
lim
=
s 2 2
2
s 2 ds
s 2 ds s
4
s
s ( s + 2 )
s + 1 1
s + 1
2
= lim
A2 = lim ( s + 2 )
=
2
s 2
s 2
s ( s + 2 )
s 2
17
Transformadas de Laplace
1
1
1
G ( s) =
+
(
)
4 s 4 s + 2 2( s + 2) 2
18
Transformadas de Laplace
19
Transformadas de Laplace
20
Transformadas de Laplace
d 3 y( t )
d 2 y( t )
dy( t )
+6
+ 11
+ 6 y( t ) = u( t )
3
2
dt
dt
dt
com as seguintes condies iniciais
d 2 y( 0)
dy( 0)
= 0,
= 0,
2
dt
dt
y( 0) = 0
21
Transformadas de Laplace
2
dy( t )
d y( t )
d y( t )
L
+ 6L
+ 11L
+ 6L
2
3
dt
d
dt
d
dt
[ y( t )] = L[ u( t )]
2
3
(
)
dy
0
d
y( 0) 2
dy( 0)
2
s y( s) s y( 0) s dt dt 2 + 6 s y( s) sy( 0) dt +
+11[ sy( s) y( 0) ] + 6 y( s) = u( s)
22
Transformadas de Laplace
s 3 y( s) + 6s 2 y( s) + 11sy( s) + 6 y( s) = u( s)
1
y ( s) = 3
u( s)
2
s + 6s + 11s + 6
L[ u( t )] = u( s) =
1
s
23
Transformadas de Laplace
1
1
y ( s) = 3
2
s + 6s + 11s + 6 s
y ( s) =
s( s 3 + 6s 2 + 11s + 6)
1
y ( s) =
s( s + 1)( s + 2)( s + 3)
24
Transformadas de Laplace
A
B
C
D
y ( s) = +
+
+
s ( s + 1) ( s + 2) ( s + 3)
1
1
A = lim( s + 0)
=
s 0
(
)(
)(
)
s s +1 s + 2 s + 3 6
1
1
B = lim( s + 1)
=
s 1
(
)(
)(
)
s s +1 s + 2 s + 3
2
25
Transformadas de Laplace
1
1
=
C = lim ( s + 2)
s 2
s( s + 1)( s + 2)( s + 3) 2
1
1
D = lim( s + 3)
=
s 3
(
)(
)(
)
s s +1 s + 2 s + 3
6
1
1
1
1
y ( s) =
+
6s 2( s + 1) 2( s + 2) 6( s + 3)
26
Transformadas de Laplace
1 - 1 1 1 - 1 1 1 - 1 1 1 - 1 1
1
L y( s) = L L ( ) + L ( ) L ( )
s +1 2
s+2 6
s+3
6
s 2
1 1 t 1 2 t 1 3 t
y( t ) = e + e e
6 2
2
6
27
Transformadas de Laplace
ATIVIDADE 01
28