MECH466 : Automatic Control

Lecture 2
Laplace transform

Dr. Ryozo Nagamune

Department of Mechanical Engineering
University of British Columbia

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 Laboratory group
• Each lab group consists of about 4 students.
• By Jan. 5 (Fri): Register both the course and the lab.
• A & B: Monday (5-8pm)
• C & D: Friday (5-8pm)
• E & F: Wednesday (5-8pm)
• By Jan. 8 (Mon): The instructor and TAs will decide the
groups, and post tentative groups on Connect.
• By Jan. 9 (Tue): In case of inconvenience, contact the
instructor (nagamune@mech.ubc.ca).
• Unacceptable request: “I want to be in the same group as xxx”
• By Jan. 12 (Fri): Lab groups will be finalized and posted
on Connect.
• Jan. 15 (Mon): Lab starts.

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 Course roadmap
Modeling Analysis Design

Laplace transform Stability

Design specs
• Routh-Hurwitz
Transfer function • Nyquist
Root locus
Models for systems Time response
Frequency domain
• mechanical • Transient
• electrical • Steady state
PID & Lead-lag
• electromechanical
Frequency response
Design examples
Linearization, delay • Bode plot

Matlab simulations & laboratories

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 Laplace transform
• One of most important math tools in the course!
• Definition: For a function f(t) (f(t)=0 for t<0),

(s: complex variable)

A:=B (A is defined by B.)
f(t)

t
F(s)
0
• We denote Laplace transform of f(t) by F(s).

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 Advantages of s-domain
• We can transform an ordinary differential equation
into an algebraic equation which is easy to solve.
(Next lecture)
• It is easy to analyze and design interconnected
(series, feedback etc.) systems.
(Throughout the course)
• Frequency domain information of signals can be
dealt with.
(Lectures for frequency responses: after midterm)

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 Examples of Laplace transform
• Unit step function f(t)
1
t
0

(Memorize this!)

Enforcing f(t) to be f(t)

• Unit ramp function zero for negative t.

t
0

(Integration by parts: see next slide)

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 Integration by parts
• Formula

Why?

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 Ex. of Laplace transform (cont’d)
• Unit impulse function f(t)
Width = 0
Height = inf
Area = 1

t
0
(Memorize this!)

f(t)
• Exponential function
1
t
0

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 Ex. of Laplace transform (cont’d)
• Sine function

• Cosine function (Memorize these!)

Remark: Instead of computing Laplace transform for

each function, and/or memorizing complicated Laplace
transform, use the Laplace transform table !

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Laplace transform table

Inverse Laplace
Transform

(u(t) is often omitted.)

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 Properties of Laplace transform
1. Linearity

Proof.

Ex.

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 Properties of Laplace transform
2.Time delay
f(t) f(t-T)

Proof. 0 T

t-domain

s-domain
Ex.

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 Properties of Laplace transform
3. Differentiation

t-domain
Proof.

s-domain
Ex.

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 Properties of Laplace transform
4. Integration

t-domain
Proof.

s-domain

Ex.

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 Properties of Laplace transform
5. Final value theorem
if all the poles of sF(s) are in open left
half plane (LHP), with possibly one
simple pole at the origin.

Ex.
Poles of sF(s) are in LHP, so final value thm applies.
(poles = roots of the denominator)
Ex.

Since some poles of sF(s) are not in open LHP,

final value theorem does NOT apply.
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 Complex plane
Im (Imaginary axis)

Open LHP Open RHP

Re
(Real axis)

“Open” means that it does not include imag.-axis.

“Closed” means that it does include imag.-axis.

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 Properties of Laplace transform
6. Initial value theorem

if the limits exist.

Remark: In this theorem, it does not matter

if pole location is in LHS or not.

Ex.

Ex.

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Properties of Laplace transform
7. Convolution

Convolution

IMPORTANT REMARK

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 Properties of Laplace transform
8. Frequency shift theorem

t-domain
Proof.

s-domain
Ex.

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Exercise 1

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Exercise 2

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Exercise 3

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Euler’s formula

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 Summary & Exercises
• Laplace transform (Important math tool!)
• Definition
• Laplace transform table
• Properties of Laplace transform
• Next
• Solution to ODEs via Laplace transform
• Exercises
• Solve problems in MECH466_Ex_L2.pdf.

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