Chapter 5-Laplace Transform

Chapter 5 Laplace Transform
CHAPTER 5 LAPLACE TRANSFORM

4.1 Introduction The Laplace transform offers a simple alternative of solving linear differential equation. With Laplace transform, problem are solved in complex frequency domain (function of complex variable, ) instead of the usual time domain. By Laplace transform, differential equation is transformed into an algebraic function in terms of complex variable, s where . Then it can be manipulate to produce the solution in term of s. Finally, the solution in time domain can be obtained by referring to the Laplace transform pairs.
4.2
Bilateral and Unilateral Laplace Transform The Laplace transform of a signal x(t) is given by:
If If The unilateral Laplace transform is actually the Laplace transform of a causal signal. Since signal of all system is causal, only the unilateral Laplace transform is considered. The lower limit can be written as as long s x(t) does not include a singularity function at t = 0.
Example: Find the Laplace transform for i. ii. iii. iv. x(t) = A, x(t) =
where A is a constant for t 0
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Solution:
Using Eulars identity
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4.3
Properties of Unilateral Laplace transform
4.3.1 Property of Homogeneity (Amplitude Scaling)
Example:
4.3.2 Property of Superposition
Example:
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4.3.3 Property of Linearity
Example:
4.3.4 Shifting in the Time Domain
Example: Find the Laplace transform for the following signals, given that and is a constant. for
From Example (i)
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4.3.5 Shifting in the s Domain
Example:
4.3.6
Time Scaling
Example:
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4.3.7
Multiplication by t
Example:
4.3.8 Differentiation in Time-Domain
Example:
Given
Substitute
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4.3.9 Integration in the time domain
4.3.10 Initial value theorem
4.3.11 Final value theorem
Example: Find the initial and the final value of x(t) given X(s) as below:
Initial value
Final value
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4.4
Inverse Laplace Transform The inverse Laplace transform equation is given by:
However this equation is not used to evaluate the inverse Laplace transform due to the integration in the complex plane. In most cases, the Laplace transform exists in the following form:
Where values of s that will set B(s) to zero such are known as ZEROs of G(s) while values of s that will set A(s) to zero such are known as POLEs of G(s). The degree of polynomial B(s) is less than the degree of A(s) (m < n). The inverse Laplace transform can be obtained by applying the partial fraction. Otherwise, long division must be applied first to reduce the expression such that m is less than n. Partial Fraction Expansion Method A technique to reduce proper rational functions as in equation sum of simple terms as follows: into a
4.4
Where
has the following term:
Step in inverse Laplace transform: 1. Expand G(s) in terms of a sum of partial fractions 2. Express A(s) as a product of factors 3. Inverse Laplace transform is obtained by summing the inverse Laplace transform f each of the partial fractions.
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Case 1: G(s) contains only distinct poles: If polynomial G(s) contains only linear non-repeated factors, it can be rewritten as follows:
Values of
can be obtained by multiplying both sides of the equation by
Refer to Table of Unilateral Laplace Transform
Solution: Since degree of polynomial B(s) is higher than A(s), long division is performed.
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By partial fraction:
Method I:
Method II:
Compare coefficient:
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Case 2: G(s) contains multiple poles: If polynomial G(s) contains repeated factors, it can be rewritten as follows:
The multiple poles of way:
of multiplicity r can be obtained in the following
The other roots are assumed to be distinct, and should be treated as in Case 1
Example:
Solution:
Method I
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Method II:
Or
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Case 3: G(s) contains complex conjugate poles: If polynomial G(s) contains non-repeated irreducible second degree polynomial, it can be rewritten as follows:
Solution:
Compare coefficient: S = 0:
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Side A
Side B
Side A:
Side B:
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4.5
Application of Laplace Transform

APPLICATION OF LAPLACE TRANSFORM
SOLUTION OF DIFFERENTIAL EQUATION
DETERMINATION OF TRANSFER FUNCTION
STABILITY IN THE SDOMAIN
4.5.1 Solution of Differential Equation Procedure: 1. Apply Laplace transform to both side of the differential equation and substitute the appropriate initial condition, to obtain an algebraic equation in terms of Y(s) 2. Solve the algebraic equation for Y(s) in sum of and 3. Apply inverse Laplace transform to obtain y(t)
Example: A second order linear time invariant differential equation is given by:
Using Laplace transform method, determine: i. ii. iii. Given Solution: The zero input solution The zero state solution The total solution
i.
Zero input solution
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Substitute
ii.
Zero state solution:
For zero state solution, substitute
, hence
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iii.
Total solution:
Example: Using Laplace transform theorem, determine the initial and the final value for:
Then prove that the values are correct using inverse Laplace transform. Solution: Using the Initial Value Theorem
Using the Final Value Theorem
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Using the inverse Laplace transform:
Inverse Laplace transform:
Initial value:
Final value:
Both methods produced the same answer.
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4.5.2 Determination of transfer function: Transfer function: a mathematical modeling to characterize the input-output relationships of a system
Procedure to derive transfer function: 1. Obtain the differential equation that describes the dynamics of the system. 2. Take the Laplace transform of the differential equation. Assume all the initial conditions are zero. 3. Take the ratio of output function to the input function.
Example: Determine the transfer function of the following differential equation:
Solution:
Assume all the initial conditions are zero or
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Example: Determine the transfer function for the circuit as shown in Figure 4.1
L R
Vin (t)
i (t)
Vout (t )
Figure 4.1 Solution: Component Resistor Inductor Capacitor Laplace transform
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4.5.2 Stability in the s-domain The poled and zeros can be represented on the complex plane or s-plane. A small circle [ O ] is used to denote the location of a zero while a small cross [ X ] is used to denote the location of a pole in the s-plane. The complex plane consists of real axis and imaginary axis . The complex plane can be divided into: 1. Left half plane 2. Right half plane A linear system is stable if and only if all it poles of its transfer function are located on the left half plane (all the roots of the characteristic polynomial have negative real parts.
j
LHS RHS
x x x
LHS RHS
Example: Determine whether the system with the following transfer function is stable. Draw its pole-zero plot.
Solution: Characteristic polynomial:
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Pole-zero plot:
j
LHS
x x
-3 -2 -1
3 2 1 -1 -2 -3 1
RHS
2 3
LHS
RHS
Example: Determine whether the system with the following transfer function is stable. Draw its pole-zero plot.
Solution: Characteristic polynomial:
j
LHS
3 2 1
RHS
-3 -2 -1
x
-1 -2 -3
1 2 3
RHS
LHS
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Chapter 5 Laplace Transform