LAPLACE

TRANSFORMS

Chapter 3
Learning Outcomes
Upon the completion of this chapter, students are able
to:
Convert Ordinary Differential Equation, ODE
equations to algebraic equations using Laplace
Transform
Laplace Transforms (LT)
1. Standard notation in dynamics and control
2. Converts ordinary differential equation to algebraic operations
3. Laplace transforms play a key role in important process
control concepts and techniques.
 Examples:
• Transfer functions
• Frequency response
• Control system design
• Stability analysis
Definition

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


F ( s )  L  f (t )   f  t  e st dt (3-1)
0

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.
Definitions and Properties of
LT
 Laplace Transform

F(s)  L(f (t))= f (t)e -st dt
0
 Inverse Laplace Transform
f  t   L1  F  s  

 Both L and L-1 are linear operators. Thus,

L  ax  t   by  t    aL  x  t    bL  y  t  
 aX  s   bY  s  (3-3)

Similarly,
L1  aX  s   bY  s    ax  t   b y  t 
LT of Common Functions

a  st   a a
Constant L(a)=  ae dt   e   0     
-st
3.4
Function
0
s 0
 s s
 
1  1
Exponential L(e )=  e e dt   e
-bt -bt -st -(b+s)t
dt  
 -e  ( b  s)t

  3.16
Function 0 0
b+s 0 s+b

 df  df -st
L(f )  L     e dt  sL(f)  f(0)  sF(s) - f(0)
Derivative 3.9
Function  dt  0 dt
Usually define f(0) = 0 (e.g., the error)

Higher order  dnf  n

Derivative L n   s F(s)  s n 1f(0)  s n  2 f (1) (0)  
Function  dt 
 sf (n  2) (0)  f (n 1) (0)
Step Function

0 for t  0
S (t )  
1 for t  0
1
L  S  t    (3-6)
s

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

h

F  s   1  e t w s
s
 (3-22)
tw
Time, t
Table 3.1 Laplace Transforms for Various Time-Domain Functionsa
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 Inverse Laplace L-1 to find y(t) from the expression for
Y(s).

9
Example 3.1
Solve the ODE,
dy
5  4y  2 y  0  1 (3-26)
dt
First, take L of both sides of (3-26),
2
5  sY  s   1  4Y  s  
s
5s  2
Rearrange, Y  s   (3-34)
s  5s  4 
1  5s  2 
Take L-1, y  t   L  
 s  5 s  4  
From Table 3.1,
y  t   0.5  0.5e 0.8t (3-37)
Example 3.2
Solve the ordinary differential equation

With initial condition y(0)=y’(0)=y”(0)=0

Solution
Take LTs,term by term,using Table 3.1

Rearranging and factoring out Y(s) ,we obtain

Partial Fraction Expansion
(PFE)
 Basic idea: Expand a complex expression for Y(s) into simpler
terms, each of which appears in the Laplace Transform table. Then
you can take the L-1 of both sides of the equation to obtain y(t).
 Consider a general PFE (purposely for no complex and repeated
factors appear)
N  s N  s
Y  s   (3-46a)
D s n
  s  bi 
i 1

Here D(s) is an n-th order polynomial with the roots all being real
numbers which are distinct so there are no repeated roots.
N  s n
i
The PFE is: Y  s    (3-46b)
i 1 s  bi
n
  s  bi 
i 1
Three methods to solve PFE
Calculate the value of for the below equation

Method 1 : by multiply both side by

Method 2:Because the above eq must be valid for all value if s,we can specify
two values of s and solve for the two constant

Method 3:
The fastest and most popular method is call HEAVISIDE EXPANSION.
In this method multiply both side of the equation by one of the denominator
term (s+bi) and then set s=-bi, which causes all terms except one to be multiplied
by zero.
Method 1 : by multiply both side by
Method 2:Because the above eq must be valid for all
value if s,we can specify two values of s and solve for
the two constant
Method 3:The fastest and most popular method is call HEAVISIDE EXPANSION.
In this method multiply both side of the equation by one of the denominator
term (s+bi) and then set s=-bi, which causes all terms except one to be multiplied
by zero.
Example 3.2-continued

Solve for PFE

Example 3.2 (continued)
Recall that the ODE, d3y/dt3 + 6d2y/dt2 + 11dy/dt + 6y = 1

, with zero initial conditions resulted in the expression

1
Y  s  (3-40)
 3 2
s s  6 s  11s  6 
The denominator can be factored as

 
s s 3  6s 2  11s  6  s  s  1  s  2   s  3 (3-50)
Note: Normally, numerical techniques are required in order to
calculate the roots.
The PFE for (3-40) is
1 1  2 3 4
Y  s      (3-51)
s  s  1  s  2   s  3 s s 1 s  2 s  3
20
Solve for coefficients to get
1 1 1 1
1  ,  2   ,  3  ,  4  
6 2 2 6
(For example, find  , by multiplying both sides by s and then
setting s = 0.)
Substitute numerical values into (3-51):
1/ 6 1/ 2 1/ 2 1/ 6
Y (s)    
s s 1 s  2 s  3

Take L-1 of both sides:

1 1/ 6  1  1/ 2  1  1/ 2  1  1/ 6 
L Y  s    L 
1
 L   L   L 
 s   s  1 s  2  s  3 
From Table 3.1,
1 1 t 1 2t 1 3t
y  t    e 21 e  e (3-52)
6 2 2 6
Example 3.3
d3y d2y dy
3
 6 2
 11  6y  4
dt dt dt
y( 0 )= y ( 0 )= y ( 0 )= 0

Step 1 Take L.T. (note zero initial conditions)

4
s 3Y(s)+ 6s 2Y(s)+11sY(s)  6Y (s ) =
s
Rearranging
4
Y(s)=
( s 3  6 s 2  11s  6) s

Step 2a. Factor denominator of Y(s)

s(s 3+6s 2+11s+6 )=s(s+1 )(s+2 )(s+3 )
Step 2b. Use partial fraction decomposition
4 α1 α2 α3 α4
   
s(s +1 )(s + 2 )(s + 3 ) s s  1 s  2 s  3

Multiply by s, set s = 0
4  α2 α3 α4 
 α1  s    
(s +1 )(s + 2 )(s + 3 ) s 0  s  1 s  2 s  3  s 0
4 2
 α1 
1 2  3 3

For 2, multiply by (s+1), set s=-1 (same procedure for 3, 4)
2
α2  2 , α3  2 , α4  
3
Step 3. Take inverse of L.T.

2 2 2 2/3
(Y(s)=  +  )
3s s 1 s  2 s3
2 t 2 t 2 3t
y(t)=  2e  2e  e
3 3
2
t  y(t)  t  0 y (0)  0.
3
 Exercise
Using partial fraction expansion where required, find x(t) for
SOLUTION:using PFE

=1

= -6

=6
By doing Inverse Laplace for both side.

Final equation function of t is:

Repeated Factor

If a term s+b occurs r times in the denominators terms must be included

in the expansion that incorporate the s+b factor

Example for repeated factor problem

Eq A
To find value of ,multiplying eq A by and letting s=-2 yields

To find value of ,multiplying eq A by s and letting s=0 yields

To find value of ,substituting the values=-1 in eq A yields

 Exercise: Using partial fraction expansion where required,find x(t)
for Eq 1

Solution
Important Properties of LT
A. Final value theorem
y()= lim sY(s)
s 0

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

B. Time-shift theorem
y  t  θ θ  time delay
L  y  t  θ    eθsY  s 
C. Initial value theorem
lim y(t)= lim sY(s)
t 0 s 

Example:
4 s+2
For Y(s)=
s(s+1 )(s+2 )(s+3 )
y( 0 )=0 by initial value theorem
1
y()= by final value theorem
3