Chapter 3

Laplace Transforms
1. Standard notation in dynamics and control
(shorthand notation)
2. Converts mathematics to algebraic operations
3. Advantageous for block diagram analysis

Laplace Transform

L(f (t)) = f (t)e -st dt

0

Chapter 3

Example 1:

a
L(a)= ae dt e st
s
0
-st

L(e )= e e dt e
-bt

-bt -st

-(b+s)t

a
a
0
s
s

1
-e ( b s)t
dt
b+s

df
df -st

L(f ) L e dt
dt
dt
0

Usually define

f(0) = 0

sL(f) f(0)
(e.g., the error)

1
s+b

Other Transforms

Chapter 3

d2 f
df
d

L
= L
where =
2
dt
dt
dt
s(s) - (0)
= s sF(s) - f(0) f (0)
= s2F(s) sf(0) f (0)

etc. for

d nf
dt n

e -jt e jt

L(cos t) = L
2

1
1
1

2 s j s j
1 s j
s j
= 2

2 s 2 s2 2
s
= 2
s 2

e jt - e j t
L(sin t) = L

2j

= 2
s

Note:

Chapter 3

Table 3.1 Laplace Transforms for Various Time-Domain Functionsa

Chapter 3

f(t)

F(s)

Table 3.1 Laplace Transforms for Various Time-Domain Functionsa

Chapter 3

f(t)

F(s)

Table 3.1 Laplace Transforms for Various Time-Domain

Functionsa (continued)
f(t)

F(s)

Example 3.1

Chapter 3

Solve the ODE,

dy
5 4y 2
y 0 1
dt
First, take L of both sides of (3-26),
2
5 sY s 1 4Y s
s
Rearrange,
5s 2
Y s
s 5s 4
Take L-1,

(3-26)

(3-34)

5s 2
y t L

s 5s 4
From Table 3.1 (line 11),
y t 0.5 0.5e 0.8t

(3-37)

Example:
d3y
d2y
dy
6 2 11 6 y 4
3
dt
dt
dt
y( 0 )= y ( 0 )= y( 0 )= 0

Chapter 3

system at rest (s.s.)

Step 1

Take L.T. (note zero initial conditions)

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

Rearranging,
Y(s)=

4
( s 3 6s 2 11s 6) s

Chapter 3

Step 2a. Factor denominator of Y(s)

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

Step 2b. Use partial fraction decomposition

4
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


1 s 2 3 4
(s +1 )(s + 2 )(s + 3 ) s 0
s 1 s 2 s 3
4
2
1
1 2
3
3

s 0

Chapter 3

For 2, multiply by (s+1), set s=-1 (same procedure

for 3, 4)
2
2 2 , 3 2 , 4
3
Step 3. Take inverse of L.T.

(Y(s)=

2
2
2
2/3

)
3s
s 1 s 2
s3

2
2
2e t 2e 2t e 3t
3
3
2
t
y(t)
t 0 y (0) 0. (check original ODE)
3
y(t)=

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

Laplace transforms can be used in process

control for:

Chapter 3

1. Solution of differential equations (linear)

2. Analysis of linear control systems
(frequency response)
3. Prediction of transient response for
different inputs

Factoring the denominator polynomial

Chapter 3

1.

2
3s 2 4 s 1
1
3s 4 s 1 (3s 1)( s 1) 3( s )( s 1)
3
2

Transforms to e-t/3, e-t

Real roots = no oscillation

2.

2s
s2 s 1

Chapter 3

s 2 s 1 (s

1
3
1
3
1
3

j )( s
j ) (s )2 ( )2
2 2
2 2
2
2

3
3
t , e 0.5t cos
t
2
2
Complex roots = oscillation
0.5t
Transforms to e sin

L1[ 3(

3
2
1 2
3 2
(s ) ( )
2
2

)(

1
s
2
1 2
3 2
(s ) ( )
2
2

From Table 3.1, line 17 and 18

t
2

3
3
y (t ) e (sin( t ) 3 cos( t ))
2
2

)]

Chapter 3

Let h0, f(t) = (t) (Dirac delta)

L() = 1

1 st
1
F ( s) e dt (1 e hs ) Use LHopitals theorem
0 h
hs
(h0)
If h = 1, rectangular pulse input
h

Difference of two step inputs S(t) S(t-1)

(S(t-1) is step starting at t = h = 1)

Chapter 3

By Laplace transform
1 e s
F (s)
s s

Can be generalized to steps of different magnitudes

(a1, a2).

One other useful feature of the Laplace transform

is that one can analyze the denominator of the transform
to determine its dynamic behavior. For example, if

Chapter 3

1
Y(s)= 2
s 3s 2
the denominator can be factored into (s+2)(s+1).
Using the partial fraction technique

1
2
Y(s)=

s 2 s 1
The step response of the process will have exponential terms
e-2t and e-t, which indicates y(t) approaches zero. However, if

Y(s)=

1
1

s 2 s 2 (s 1 )(s 2 )

We know that the system is unstable and has a transient

response involving e2t and e-t. e2t is unbounded for
large time. We shall use this concept later in the analysis
of feedback system stability.

Other applications of L( ):
A.

Final value theorem

y()= lim sY(s)

Chapter 3

s 0

offset

Example 3: step response

1 a
s 1 s
a
sY(s)
s 1

Y(s)

lim
s 0

a
a
s 1

offset (steady state error) is a.

B. Time-shift theorem
y(t)=0 t <
L

y t- =e

-s

Y(s)

C. Initial value theorem

lim y(t)= lim sY(s)

Chapter 3

t 0

4 s+2
For Y(s)=
s(s+1 )(s+2 )(s+3 )

y( 0 )=0

by initial value theorem

1
y()=
3

by final value theorem

Chapter 3
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