CHE 3002-PROCESS INSTRUMENTATION AND

CONTROL

Dr.A.Babu Ponnusami
Associate Professor
SCALE

LECTURE – 1
• Important analytical method for solving linear ordinary
differential equations.
- Does it apply to nonlinear ODEs? No, it should be
linearized first.
• Laplace transforms play a key role in important process
control concepts and techniques.
- Examples:
• Converting ODEs into simple algebraic equations
• Transfer functions
• Frequency response
• Control system design
• Stability analysis 2
Definition

The Laplace transform of a function, f(t), is defined as


F(s)  L  f (t)   0 f t e
st dt

where F(s) is the symbol for the Laplace transform, L is the

Laplace transform operator, and f(t) is some function of time, t.

Note: The L operator transforms a time domain function

f(t) into an s domain function, F(s).

s is a complex variable: s = a + bj

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Inverse Laplace Transform, L-1:
By definition, the inverse Laplace transform operator, L-1,
converts an s-domain function back to the corresponding time
domain function:

f t   L1 F
 s 

Important Properties:
Both L and L-1 are linear operators.

Thus, they satisfy superposition principle

 t   by t   aL  x t   bL  y t 

L ax
 aX s   bY s 
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where:
- x(t) and y(t) are arbitrary functions
- a and b are constants

Similarly,

 s   bY s   ax t   b y t 
L1 aX

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1. Constant Function
Let f(t) = a (a constant). Then from the definition of the
Laplace transform


 0   a
 st a st a
L a   dt   e
0 ae
s
 s
  s
0

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2. Step Function
The unit step function is widely used in the analysis of process
control problems. It is defined as:

0 for t  0
S t  for t  0 (3-5)
 1

Because the step function is a special case of a “constant”, it

follows from (3-4) that

L  S t  
1
(3-6)
s

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3. Derivatives
This is a very important transform because derivatives appear
in the ODEs we wish to solve.

L    sF s   f 0 
df
 dt  (3-9)

initial condition at t = 0

Similarly, for higher order derivatives:

dn f 
n2 1
L
n
  s n
F s   s n1
f 0   s f 0  
 dt 
...  sf n2  0   f n1 0  (3-14)
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where:
- n is an arbitrary positive integer

dk f
- f k  0 
dt k t0

Special Case: All Initial Conditions are Zero

Suppose f 0   f 1 0   ...  f n1 0 . Then

dn f 
L  n   s n F s 
 dt 
In process control problems, we usually assume zero initial
conditions. Reason: This corresponds to the nominal steady state
when “deviation variables” are used.

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4. Exponential Functions
Consider f t   ebt where b > 0. Then,

 bt   bt st  bs t

 0
L e  e e dt   e dt
 0

1  bs t   1
 e  (3-16)
bs  0 s b

5. Rectangular Pulse Function

It is defined by:

0 for t  0

f t   h for 0  t  tw (3-20)
0 for t  t
 w

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 h

f t 

tw
Time, t

The Laplace transform of the rectangular pulse is given by


F s   s 1 etw s
h
 (3-22)

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6. Impulse Function (or Dirac Delta Function)
The impulse function is obtained by taking the limit of the
rectangular pulse as its width, tw, goes to zero but holding
the area under the pulse constant at one. (i.e., let h  1 )
tw
Let,  t  impulse function

Then, L  t   1

7. Trigonometric Functions
L[cos(wt)] = L[ejwt+e-jwt ]/2 = s/(s2+w2)

L[sin(wt)] = L[ejwt-e-jwt ]/2j = w/(s2+w2)

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Solution of ODEs by Laplace Transforms
Procedure:
1. Take the L of both sides of the ODE.
2. Rearrange the resulting algebraic equation in the s domain to
solve for the L of the output variable, e.g., Y(s).
3. Perform a partial fraction expansion.
4. Use the L-1 to find y(t) from the expression for Y(s).

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Example 3.1
Solve the ODE,
dy
5  4y  2
y 0   1 (3-26)
dt
First, take L of both sides of (3-
5 sY s  1 4Y s  
26), 2
s
Rearrange,
Y s   5s  2 (3-34)
s 5s  4 
Take L-  5s  2 
L 1
1,
y t   s 5s  4 
 
 
From Table 3.1,
y t   0.5  0.5e0.8t (3-37)
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Important Properties of Laplace Transforms

Final Value Theorem

It can be used to find the steady-state value of a closed loop
system (providing that a steady-state value exists.

Statement of FVT:

lim y t   lim sY s 

t s0

providing that the limit exists (is finite) for all

Re s   0, where Re (s) denotes the real part of complex
variable, s.
Initial Value Theorem……

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 Example:

Suppose,
Y s   5s  2 (3-34)
s 5s  4 
Then,
5s  2 
y    lim y t   lim    0.5
Final value:
t s0  5s  4 

& Initial value: Y(0) = 1,

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