System Analysis Control Chapter 1

Laplace Transformations

‫تحليل منظومات السيطرة‬

{ ‫منظومات سيطرة‬
‫قياسات‬

Mathematical Basics ‫اسس رياضية‬

A Review of Laplace Transforms and Algebra of Matrices

)‫(مراجعة لتحويالت البالس وجبر المصفوفات‬

A summary of the important Laplace transformations

‫ واي رمز اخر‬Laplace Operator ‫ ترمز لمعامل البالس‬s , ‫ ترمز للزمن‬t ‫دائما‬
.‫هو ثابت‬

∫( )

( ) ( ) ( ) ( )

Simple Laplace transforms

∫ |

1 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

( )

( ) ( ) ∫ ( )

( ) ( ) ∫ * + , -

( ) ( )

* + * + * +
Review

Special angles
( ) ( )

( ) ⁄ ( )

2 Prof. Dr.Eng.Kadim K.M. AlTurshan

 System Analysis Control Chapter 1

Laplace Transformations

‫الدالة في مجال البالس‬

No ( ) ‫الدالة في مجال الزمن‬
( ) 𝓛 () ∫ ()

1 Unit Step Function ‫دالة وحدة الخطوة‬

( )
( )
‫دالة قياسية اختبارية لمنظومة السيطرة‬
( )
Standard checksum function of the control
system

2 Step Function
( )
( )
‫دالة قياسية اختبارية لمنظومة السيطرة‬
( )
Standard checksum function of the control
system

3 Prof. Dr.Eng.Kadim K.M. AlTurshan

 System Analysis Control Chapter 1

3 Unit Ramp Function

( )
F(t)=t
‫دالة قياسية اختبارية لمنظومة السيطرة‬
Standard checksum function of the control
system

4 Impulse (Dirac) Function ( )

( ) ( )

5 ( )
( )

Be careful for the signs change from

to

4 Prof. Dr.Eng.Kadim K.M. AlTurshan

 System Analysis Control Chapter 1

6 ( ) where k is real
( )
number positive or zero

( ) ( )

( ) ( )
( )
etc.… ( )

7 ( ) ( )
( )

8 ( ) ( ) ( )

9 ( ) ( )
( )

10 ( ) ( ) ( )

11 ( ) ( ) ( )
( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( )
( )
( ) ( )
( ) ( )
( ) Value of function at t=0
( ) Transform of ( )
( ) Value of derivative at t=0
( ) Value of derivative n-1 at t=0
( ) Value of derivative n-2 at t=0

5 Prof. Dr.Eng.Kadim K.M. AlTurshan

 System Analysis Control Chapter 1

12 ( ) ( )
( ) ( )
( )

13
( )
∫ ( )

∫∫∫∫ ∫ ( )
( )
Integration of n times
( ) dummy
14 ( ) . /
( * ( )
15 ( ) ( ) ( ) ( )
( ) Transform of the function ( )
( ) Transform of the function ( )
16 ( ) ( ) First shift theorem
‫نظرية النقل االولى‬

( )

( )
Be careful for the signs change from to

6 Prof. Dr.Eng.Kadim K.M. AlTurshan

 System Analysis Control Chapter 1

17

Second shift theorem

Shifted step function ‫نظرية النقل الثانية‬

( ) ( )
( )
( )

( ) Shifted unit step function

18 ( ) ( ) *

( ) ( )

7 Prof. Dr.Eng.Kadim K.M. AlTurshan

 System Analysis Control Chapter 1

∫ ( ) ( )

( ) ( )
∫ ( ) ( )
( ) ( )

∫ ( ) ( )
( ) ( )

∫ ( ) ( ) ( ) ( )

dummy parameters
( ) Transform of the function ( )
( ) Transform of the function ( )
19 ( )
∫ ( )

Putting and find integration and

sub by the limits of integration

8 Prof. Dr.Eng.Kadim K.M. AlTurshan

 System Analysis Control Chapter 1

20 ( ) ( ) ∫ ( )

‫الدوال المتكررة كل فترة زمنية الى‬ Periodic Function: The function repeats
itself at same interval

21 ( ) ( ) ( )

Initial value theorem

‫نظرية القيمة االبتدائية‬
( ) ( ) ( )

Final value theorem

‫نظرية القيمة النهائية‬

( )

9 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

Note

( )
( )

( )( )

Example 1

By using the derivatives transformation find the transfer of the

function

( ) ( )

Assume ( ) is the transform function of ( )

( ) ( )

( )

( ) ( )

( )

( ) ( ) ( )

By taking the Laplace transformation for two sides

( ) ( ) ( )

( ) ( ) ( ) ( )

10 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

( ) ( )

( ) ( )

( ) ( ) ( )

Another solution from the function definition

( ) [ ]

[ ]

Graph of

x x
. .
. .
. .
-3 -3
-2 -3.6 -2 3.7
-1 -1.17 -1 1.5
0 0 0 1
1 1.17 1 1.5
2 3.6 2 3.7
3 3
. .
. .
. .

11 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

12 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

Example 2

( )
First Method

Partial Fractions

( )
( )
( ) ( )

Denominator = Denominator i.e. equal

( )

To find the constants A, B

Put in two sides

( )

Put in two sides

( )
( )

( ) ( ) , -

Second method to find the values of constants A, B

13 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

Polynomial ‫كثيرة الحدود‬

( ) ( )

( )

Cover up method to find the values of constants A, B

( ) ( )

( ) ( )

( )

Second Method

Using the rule

( ) ∫ ( )

Third Method

( ) ( ) ( ) ( )

14 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

Convolution integral

( ) ( )
( )

∫ ( ) ( ) ( ) ( )

∫ ( )( ) * + ( )

Fourth Method

Convolution integral (opposite to the previous method)

∫ ( ) ( ) ( ) ( )

Integration with respect to i.e. any other variable

considered constant

( ) ( )
( )

( )( ) ( ) ( )
∫ ∫
( )

we must change the integral limits

15 Prof. Dr.Eng.Kadim K.M. AlTurshan
System Analysis Control Chapter 1

( )
* + , -

( ) ( ) ( )

( ) ( ) ( )

Note

The integration can be solved in another two methods

( )
∫

∫ * + , -

Also

( ) ( )
∫ ∫ ∫

16 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

∫ * + , -

[ ] , -

Example 3

Solve the following Integral Differential Equation

( ) ∫ ( ) ( )

by taking Laplace transformation for two sides (to transform the

integral differential equation to algebraic equation in term of s)
( ) ( )

, ( )- ( ) ∫ ( )

( ) ( ) ( )

( ) ( )

. / ( )

( ) ( )

17 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

( )( ) ( )
( )

( ) ( )

Note

( )

( ) ( )

( ) ( )

Example 4

Solve the following Differential Equation

( ) ( )
( ) ( ) ( )

18 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

( ) ( )
, ( ) ( )- , -
( ) ( ) , -
by taking Laplace transformation for two sides (to transform the
integral differential equation to algebraic equation in term of s)

, ( ) ( ) ( ) ( )- ( )

( ) ( )

by partial fraction

( )
( ) ( )( )
( )

( )

( )( ) ( ) ( ) ( )
( ) ( )( )
( )( ) ( ) ( ) ( )
First Method
( )( ) ( ) ( ) ( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( )
( ) ( ) ( )
Equating two sides yields;

19 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

()
( )
( )
( )
()
The other equations solve simultaneously we get,

Second Method to find A, B, C, D

( )( )

( )( )

( )( ) ( )( ) ( )( )( )

( )( )

( )( ) ( )

( )( )( )

( )
20 Prof. Dr.Eng.Kadim K.M. AlTurshan
System Analysis Control Chapter 1

( ) ( )

( ) ( )

( )

Sub A, B, C, D in equation (*) yields;

( )
( )

( ) ( )
( )

. /

Using the rule

( )
√

. /

One can use this fraction

21 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

Cover up method

( )( )
Roots

( )( )

( )( )
√

Or find the roots by ‫بالدستور‬

√ ( ) √( ) ( )( )

√ √ √

( ) ( )

√ √
* ( )+ * ( )+

22 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

( )
√

√
( )
√ √
( )

√
√ √

√
( *
√

√ √ √
( *
√ √
Equating two sides of complex number yields,
√ √

( *

Example 5

Find the Laplace transform

,∫ ( * -

23 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

∫ ( )

∫ ( )

* +

,∫ ( * -

. / . / . /
[ ]

( *

Note

( )

24 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

Another Method for solution

∫ ( )

∫ ( ) ( )

*∫ ( ) +

* +

[ ]

. / . / . /
[ ]

( *

Note

25 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

( )( )( )

Control Properties

P Proportional
D Derivative
I Integral
PI Proportional Integral
PD Proportional Derivative,
DI Derivative Integral
PID Proportional Integral Derivative
Example 6

Solve the instantaneous differential equations

̇ ( )

̇ ( )

26 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

Two instantaneous differential equations, each equation has 2

unknowns

Initial conditions

( ) ( )

assume ( ) is the transform of ( )

also ( ) is the transform of ( )

using Laplace transformation change the differential equations to

algebraic

by taking the Laplace transformation for equation (1)

( ) ( ) ( ) ( )

( ) ( ) ( )

( ) ( ) ( ) ( )

by taking the Laplace transformation for equation (2)

( ) ( ) ( ) ( )

( ) ( ) ( )

( ) ( ) ( ) ( )

Equations (3) and (4) are algebraic equation has 2 unknowns

Multiply equation (3) by ( )

27 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

( )( ) ( ) ( ) ( ) ( ) ( )

Multiply equation (4) by 2

( ) ( ) ( ) ( )

Subtract equation (6) from equation (5)

,( )( ) - ( )

( )
( )

( )
( ) ( )

( ) ( ) ( )

Multiply equation (3) by -5

( ) ( ) ( ) ( )

Multiply equation (4) by ( )

( ) ( ) ( )( ) ( ) ( ) ( )

Subtract equation ( ) from equation ( )

,( )( ) - ( )

( )
( )
( )

( ) ( )

28 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

( ) ( )

( )

Example 7

, -

where

, - 0 1

, - , -
, -
| | | |

( )
[ ] [ ]
( ) ( ) ( )
( ) ( )( )

( ) ( )

( )
[( ) ( ) ]

( ) ( )

( )
[( ) ( ) ]

29 Prof. Dr.Eng.Kadim K.M. AlTurshan

System Analysis Control Chapter 1

( ) ( ) ( )

( ) ( )
( )
[ ( ) ( ) ( ) ]

( )
, - [ ]
( )

30 Prof. Dr.Eng.Kadim K.M. AlTurshan