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MATHEMATIC BACKGROUND
LAPLACE TRANSFORM
Laplace definition:
A Laplace transform is a mapping between the
time domain and the domain of complex
variable s defined by
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LAPLACE TRANSFORM
LAPLACE TRANSFORM
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LAPLACE TRANSFORM
LAPLACE TRANSFORM
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LAPLACE TRANSFORM
y& + ay = bσ (t )
with y (0) = 0
0(t ≤ 0)
step function : σ (t ) =
1(t > 0)
LAPLACE TRANSFORM
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LAPLACE TRANSFORM
Laplace transform:
y& + ay = bσ (t )
b
→ sY − y (0) + aY =
s
b
→ sY + aY =
s
LAPLACE TRANSFORM
b
sY + aY =
s
b
→Y =
s(s + a)
b1 b 1
→Y = −
as as+a
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LAPLACE TRANSFORM
Inverse:
b1 b 1
Y= −
as as+a
→ y = − e− at + C
b b
a a
( y ( 0) = 0)
→ y = − e− at
b b
a a
MATRIX
column
Matrix form
5 6 − 5 − 2 0
3 3 8 1 9 row
A=
7 6 0 2 1
3 4 8 0 5
4X5 matrix
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MATRIX
Square matrix – number of row is equal to
number of column
5 8 0 1
0 1 7 − 9
A=
4 0 6 0
0 − 6 8 4
0 0 0 1
0 1 0 0
A=
4 0 6 0
0 0 0 4
MATRIX
Symmetric matrix
5 0 4 3
0 1 1 9
A=
4 1 6 0
3 9 0 4
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MATRIX
Diagonal matrix
5 0 0 0
0 1 0 0
A=
0 0 6 0
0 0 0 4
MATRIX
Matrix Properties
Distributive ( A ⋅ B) ⋅ C = A ⋅ (B ⋅ C)
Associative A ⋅ (B + C) = A ⋅ B + A ⋅ C
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MATRIX
Matrix Manipulation
A + B = {aij + bij }
Addition
Example
1 4 0 8
A= B=
2 6 10 3
1 + 0 4 + 8 1 12
A+B = = 12 9
2 + 10 6 + 3
MATRIX
Multiplication n
A ⋅ B = ∑ aik ⋅ bkj
k =1
Example 0 8
1 4
A= B=
2 6 10 3
1× 0 + 4 ×10 1× 8 + 4 × 3 40 20
A+B = = 60 34
2 × 0 + 6 × 10 2 × 8 + 6 × 3
Note: number of column of A must be equal to
number of row of B
A ⋅ A = A2
Only when it is a square matrix
Pham Huy Hoang
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MATRIX
Equality
aij = bij A=B
Example
1 4 1 4
A= B=
2 6 2 6
A=B
Note:
number of row of A must be equal to number of row of B
number of column of A must be equal to number of column of B
MATRIX
Transpose aij = b ji A = BT
Example 1 4 1 2
A= B=
2 6 4 6
Scale multiplication
λ ⋅ A = {λ ⋅ aij }
1 4 3 ×1 3 × 4 3 12
A= 3× A = = 6 18
2 6 3 × 2 3 × 6
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MATRIX
Transpose of a multiplication (A B )T = BT AT
1 4 0 8
Example A= B=
2 6 10 3
40 20
(A B )T =
40 60
AB = ⇒
60 34 20 34
1 2
AT =
4 6
⇒ T A T = 40 60
B 20 34
T 0 10
B =
8 3
Pham Huy Hoang
MATRIX
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MATRIX
MATRIX
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MATRIX
Inverse A⋅B = I A = B −1 B = A −1
MATRIX
Example
a b 1 a − b
A= A −1 = − c d
c d A
1 2
A= −1 1 6 − 2 − 3 1
A = × = 1
4 6 1× 6 − 2 × 4 − 4 1 2 −
2
We can obtain
1 2 − 3 1 1 0
−1
A× A = × 2 1 = 0 1
4 6 2
Pham Huy Hoang
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MATRIX
∑a
i =1
ii
MATRIX
[a1 a4 ]
Vector
Row vector a2 a3
Column vector a1
a
2
a3
a4
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MATRIX
Linear Mapping
X = A⋅Y
Solution of equation:
X = A⋅Y
Only when A is a not singular matrix
When A is a singular matrix, A has pseudo-
inverse, which is beyond the scope of this
module.
MATRIX
x1 1 3 4 y1
x = 5 6 2 ⋅ y
2 2
x3 0 0 0 y3
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MATRIX
MATRIX
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MATRIX
MATRIX
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