MCB3013 Control System

Review of Mathematical Foundation (cont.)

Lec03: Objectives

At the end of the lecture, I should be able to:

Model dynamic systems by means of differential equation
Find the Laplace transform of time function and the
inverse Laplace transform
Laplace transform table

L[V unit step] = Vs-1

or V/s

K
1
L K exp( pt )
s p
Laplace transforms of
derivatives
dy =0 However we will
L sY ( s) y (0) = sY(s) always assume
dt that our
initial conditions
d2y 2 =0 =0
L 2 s Y ( s ) s y (0) y (0) = s2Y(s) are zero.then
dt

L[y(t) dt] = Y(s)/s

Example 1
d2y dy
2
5 6 y 3u (t )
dt dt
Laplace transform rules

Addition/Subtraction

L[ f1(t) + f2(t) ] = F1(s) + F2(s)

Multiplication by a constant

L[ k f(t) ] = k F(s)
Partial-fraction expansion

Example 2: Given the following differential

equation where u(t) is a unit step input, solve
for y(t) if all initial condition are zero. Use the
Laplace transform.

2
d y dy
2
12 32 y 32u (t )
dt dt
Partial-fraction expansion

2
d y dy
2
12 32 y 32u (t )
dt dt
The L.T. eq. is:

32
s Y ( s) 12sY ( s) 32Y ( s)
2

s
Solving for the
response Y(s):
32 32
Y ( s)
s( s 12s 32) s( s 4)(s 8)
2
 Partial-fraction expansion

32 32
Y ( s)
s( s 12s 32) s( s 4)(s 8)
2

Form partial-fraction expansion:

32 A B C
Y ( s)
s( s 4)(s 8) s s 4 s 8
Where:

32 32 32
A 1 B 2 C 1
( s 4)(s 8) s0 s( s 8) s 4 s( s 4) s8
Partial-fraction expansion

Hence:
1 2 1
Y ( s)
s s 4 s 8

Taking the I.L.T:

y(t ) (1 2e4t e8t )u(t )