Laplace transform: Review Use

time domain Laplace or s domain

Algebraic Equation

Differential Equation

Solution

L-1

Laplace Transform of Solution

Definition of Laplace transform Existence Laplace transforms of some functions of time Exponential Impulse Ramp Sine, Cosine .
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Properties of Laplace Transforms Translation:

L( f (t )) = e s F ( s )

f(t-) f(t) t

Multiplication by exponential:
L( e t f (t )) = F ( s + )

Differentiation:
L( df (t ) ) = s F( s) f (0) dt
d 2 f (t ) dt 2 ) = s 2 F( s ) s f ( 0) df (t ) dt t =0

L(

Integration
L( f ( )d =
0 t

F( s) s

Laplace transforms (Section 2.3): Final value theorem Use: Can find f() even if you do not know f(t).
limt f (t ) = lims 0 sF ( s)

Conditions: f, df/dt Laplace transformable and poles of sF(s) have negative real parts. Initial value theorem:
limt 0 + f (t ) = lims sF( s )

Conditions: f, df/dt Laplace transformable Example: Mass suspended by a spring and a damper it hit by a hammer. Find initial displacement, velocity and final value of displacement.

Inverse Laplace Transform Idea for finding inverse Laplace transforms. Break down F(s) into components of which you know the inverse Laplace transforms. Add the inverse Laplace transforms of these components.
F(s) = k ( s + z1 )( s + z 2 )...( s + zm ) ( s + z1 )(s + z 2 )...( s + zn )

Cases: a) Distinct real poles b) Complex poles c) Multiple poles a)

F(s) = a a1 +...+ n s + p1 s + pn

f (t ) = L1 ( F ( s)) = a1e p1t +...+ an e pn t

b) Complex poles Use:

L(e at sin t ) = s+a (s + a) 2 + 2

L( e at cos t ) =

(s + a) 2 + 2

c) Multiple poles

F(s) =

5s + 2 ( s + 1)( s + 2) 2

3 3 8 + + s + 1 s + 2 ( s + 2) 2

f (t ) = 3e t + 3e 2t + 8te 2t

Why not use:

F( s) = 5s + 2 ( s + 1)( s + 2) 2 = a b + s + 1 ( s + 2) 2

Try to find a and b:

5s + 2 = a( s 2 + 4 + 2s ) + b( s + 1)

3 equations, 2 unknowns. Need to introduce another fraction so that you have 3 unknowns.

Solving differential equations using Laplace transforms Example: mass-spring system Importance of ultra simple models in real life Problem: Designed aircraft wing for low vibration. Large safety margin.

The boss wants to redesign the wing to reduce weight. Recommends reducing plate thickness by 10%. Need to find if vibration level will still be acceptable. Need a quick answer.
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Simplification

F(t)=sint Actual structure x(t) F(t)=sint x(t) Simplified model 1 Beam, same I and A as average I and A of wing section

Simplified model 2

x(t)

Equivalent static stiffness, k

mass of wing/2

F(t)=sint
Find x(t) using simplified model 2 Check if it still acceptable.

 Example: vibration of aircraft wing if engine detaches from wing.

k static equilibrium position (no engine)

0
m x ( t ) + cx ( t ) + kx( t ) = 0 x( 0 ) = 0 , x ( 0 ) = 0

x(t)

X( s ) =

ms 2 + k

ms 0

x( t ) = 0 cos(

x(t)
period= 2 /
k m

k t) m

Linearize non linear systems Non linear systems very difficult to analyze Linearize using Taylor series expansion about static equilibrium position Example:

+ g sin = 0 l

Nonlinear because of the sin.

g sin l

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linear approximation sin

Taylor expansion:
f ( ) = f ( 0 ) + f ( ) f ( 0 ) + df ( ) ( 0 ) + H .O .T . d =0 df ( ) ( 0 ) d =0

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