Reference Books

1. Modern Control Engineering,

Katsuhiko Ogata
Prentice Hall, 1992.

2. Modern Control Systems,
Dorf R.C.,
Seventh Edition, Addison-Wesley, 1995.

3. Automatic Control Systems,
Benjamin C. Kuo
Sixth Edition, Prentice Hall India, 1996.

4. Feedback and Control Systems,
Distefano III, Stubberud, Williams
Schaum Publishing Co., 1967.
Laplace Transform in
Control Engineering
Dr.P.V.Manivannan
Mechanical Engineering Department
Definition of Laplace Transform
Complex variable:
- Real part
- Imaginary part
s j o e
o
e
= +






Graphical representation of s
Laplace transforms of Standard
Functions (Input signals)
1. Unit step function: f(t) = u(t), 0 for t < 0, 1 for t 0
At t = , e
-st
approaches zero (0),
Laplace transforms of Standard
Functions (Input signals)
Ramp function r(t) = t, for t 0; Unit >
Integrating by parts and evaluating gives
Laplace transforms of Standard
Functions (Input signals)
2. Exponential function: f(t) = e
at
, t 0
Laplace transforms of Standard Functions
Find the Laplace transform of: sint and cost
cos sin
cos sin
j t
j t
e t j t
e t j t
e
e
e e
e e

= +
=
1
cos ( )
2
1
sin ( )
2
j j
j j
e e
e e
j
u u
u u
u
u

= +
=
0
2 2
2 2
( )
1 1 1 1
2 ( ) 2 ( )
( )
, :
cos
( )
j t j t st
e e e dt
j s j j s j
s
Similarly we can write
s
t
s
e e
e
e e
e
e
e
e

}

=
+
=
+
=
+
1
L(si n t ) =
2j
L
Laplace transforms of Standard
Functions (Input signals)
Shifted unit step function

f(t) = u(t 3); 0 for t < 3 & 1 for t > 3

-as
-3s
L{f (t ) . u(t - a)} = e L {f (t )}
e
=
s
Laplace transform of Pulse function
| |
-as
( ) ( ) ( )
e
A
s
sin propert
bs
f t A u t a u t b
e
s
u g

=
(

(

-as
Lf (t ) =
e
L{u(t - a)} =
s
Laplace Transform Theorms
Laplace Transform theorms
Laplace Transform theorms
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace of a function (in
Laplace domain) can be found
easily by Partial Fraction method
& Inverse Laplace Table
Example Problem:1
( ) u t a

=
`
)
-as
-1
e
L
s
3 4
2
( ) ( )
s s
G s e e
s

=
We know that
3 4
2
s s
e e
s s

(

=
` `
(
) )

-1 -1
L L
| |
2 ( 3) ( 4) u t u t =
Example Problem:2

Given Function:
2
1
( )
( 5)
s
G s e
s

2
1
We also know that,
(s+a)
at
te

=
Example Problem:2

Here,


2
1
( ) [ ( )]
( 5)
g t G s
s
= =

-1
L
and , as 'a'= 1
as s
e e

=
5( 1)
( 1) ( 1)
t
g t t e

=
Example Problem:2
5( 1)
2
5( 1)
1
( 1) . u(t-1)
( 5)
( ) ( 1) . u(t-1)
s t
t
e t e
s
g t t e

= =
`

)
=
-1
L
Example Problem:3
Example problem:4
(Simple Roots)
Example problem:4
(Simple Roots)
Example Problem:5
Example Problem:5
Example Problem:6
Solving Differential Equation
2 2
3 A Bs+C
= +
s+1 ( 1)( 9) s 9
Y
s s
=
+ + +
Finding Solution for Electrical
System
Current waveform
Example Problem:7
Time Domain Response of
different systems
First Order system time
response for step input
First Order system time
response
First Order system time
response
First Order system time
response
Second Order system time response
Second Order system time
response

Second Order system time
response
Second Order system time
response
Example Problem:1
Example Problem:2
Find K and a for the closed-loop system below such
that the transient response to a step input satisfies:
%OS 5% & t
s
4 seconds
Laplace Transform of Periodic Function
Laplace Transform of Periodic Function
Laplace Transform of Periodic Function
( )=t.[u(t) - u(t-1)] , has period of T = 2 f t
Laplace Transform of Periodic
Function
( ) sin . [ ( ) u(t- )], period (p) = f t t u t t t =
Laplace Transform of Periodic
Function
Inverse Laplace transform of
Periodic function


(1 )
1
( ) (where T is a constant)
( 1)(1 )
s T
sT
e
Given that G s
s e

=

As we know that Laplace transform of Periodic wave will
have term: 1/ (1-e
-sT
), we will consider remaining part alone
Thank you