ME 413 Systems Dynamics & Control

Solved Problems <Chapter 2: Laplace transform>

Solved Problems Chapter 2: Laplace Transform (IVP)

Dr.A.Aziz.Bazoune

Problem#1
SolvethefollowingInitialValueProblem(IVP)

&& + y = sin ( 2t ) , y

y ( 0 ) = 2,

& ( 0 ) = 1 y

Solution
& (t ) L y = sY ( s ) y ( 0 )
2 && (t ) & ( 0) L y = s Y (s ) s y ( 0) y

Step1:

TakeLaplaceTransform(LT)ofbothsidesoftheaboveequation:

2 & (0) + Y (s ) = 2 s 2 Y (s ) sy (0) y 1444 4 24444 3 { s + ( 2 )2 L y 1 4 24 3 L && y L sin 2t

Substitutingtheinitialconditions y

( 0 ) = 2,

& ( 0 ) = 1 gives y

s 2 Y (s ) 2s 1 +Y (s ) =
or

2 s2 +4

(s
Step2: SolvingforY

+ 1) Y (s ) =

2 + 2s + 1 s +4
2

(s ) gives
Y (s ) =

(s

+ 4 )( s 2 + 1)

2s + 1 ( s 2 + 1)

or

1/6

ME 413 Systems Dynamics & Control

Solved Problems <Chapter 2: Laplace transform>

Y (s ) =
whichcanbewrittenintheform

2 + ( 2s + 1) ( s 2 + 4 )

(s

+ 4 )( s 2 + 1)

2s 3 + s 2 + 8s + 6 = 2 2 + + 4 1 s s ( )( )

Y (s ) =
where or

as +b cs +d + ( s 2 + 1) ( s 2 + 4 )

( as + b ) ( s 2 + 4 ) + (cs + d ) ( s 2 + 1) = 2s 3 + s 2 + 8s + 6

( a + c ) s 3 + (b + d ) s 2 + ( 4a + c ) s + ( 4b + d ) = 2s 3 + s 2 + 8s + 6
( a + c ) = 2, (b + d ) = 1 + = + = 4 a c 8, 4 b d 6 ( ) ( )
= 2 3
,fromwhichitfollowsthat

Therefore,comparingcoefficientsoflikepowersof s gives

Consequently, a

= 2, c = 0, b =

5 3

and d

Y (s ) =
Step3: Solving

2s 53 ( 2 3) + ( s 2 + 1) ( s 2 + 1) ( s 2 + 4 )

y (t ) = L

2s ( 2 3) 53 5 1 + 2 2 2 = 2cos(t ) + sin(t ) sin ( 2t ) 3 3 ( s + 1) ( s + 1) ( s + 4 )

Problem#2
SolvethefollowingInitialValueProblem(IVP)

f (t)
& ( 4 ) = 2 2 y
2

&& + y = f (t ) , y
where f

y ( 4 ) = 2,

(t ) isgivenbythegraphdepictedinFig.2
1
Figure2.

Solution

2/6

ME 413 Systems Dynamics & Control

Solved Problems <Chapter 2: Laplace transform>

= f 2t t = L

Theexpressionof f

(t ) isgivenby f (t ) = 2t and F ( s )=L

problem the Initial Conditions (I. Cs) are not expressed at time t = 0 . The only way that we can take Laplace transform of the derivatives is to have the I. Cs at t = 0 . This means that we will need to formulate the IVP in such a way that the I. Cs are defined at t = 0 . Therefore, let us assume that y

2 s2

.Noticethatinthis

(0) = a

and

& (0) = b y

and solve the IVP. From the obtained solution, substitute

y = , 4 2
Step1:

& y = 2 2 andfind a and b . 4

TakeLaplaceTransform(LT)ofbothsidesoftheaboveequation:

& (0)} + { s Y (s ) sy (0) y Y (s )} = { 1444 4 24444 3 123

2

L y &&

y L

L 2t

2 s2 {

Substituting y

( 0 ) = a and y& ( 0 ) = b intheaboveequationyields

s 2 Y (s ) a s b +Y (s ) = 2 s2

(s
Step2: SolvingforY

+ 1)Y (s ) =

2 + as +b s2

(s ) gives Y (s ) = 2 as +b + 2 2 s ( s + 1) ( s + 1) 1 4 24 3 1 4 24 3
2

X (s )

Z (s )

where

X (s ) =

2 = + 2+ 2 2 s ( s + 1) s s ( s + 1)
2

s 2 ( s 2 + 1)

2s2

=2
s =0

2 ( 2s ) d 2s2 = 2 2 = 2 2 ds s ( s + 1) + s 1 ( ) s =0
Therefore
3/6

=0
s =0

ME 413 Systems Dynamics & Control

Solved Problems <Chapter 2: Laplace transform>

+ 2) s 2 + 2 ( 2 2 X (s ) = 2 2 = 2+ 2 = 2 2 s ( s + 1) s s s s + 1 + 1 ( ) ( )
Equatingbetweenthecoefficientsofthesamepowerofthenumeratorofthelefthandsideandtheright handsideoftheaboveequationgives

( + 2) = 0

= 2

and

X (s ) =

2 2 2 = s 2 ( s 2 + 1) s 2 ( s 2 + 1)

as +b s 1 =a 2 +b 2 Z (s ) = 2 ( s + 1) ( s + 1) ( s + 1)
Therefore

Y (s ) =
Step3: Solving

2 2 s 1 + a + b s 2 ( s 2 + 1) ( s 2 + 1) ( s 2 + 1) 2 2 s 1 +a 2 +b 2 2 2 s s 1 s 1 s 1 + + + ( ) ( ) ( )

y (t ) = L

[Y

(s ) ] = L

y (t ) = 2t 2sin (t ) + a cos (t ) + b sin (t )

Differentiatingtheaboveexpressionwithrespecttotimegives

& (t ) = 2 2cos (t ) a sin (t ) + b cos (t ) y

Tofind a and b oneneedstosubstitutethegivenvalues y solutionexpressiontoget

= , 4 2

& y = 2 2 inthe 4

y ( ) = 2( ) 2sin + a cos + b sin = 4 4 4 4 4 2

Aftersimplification,theaboveexpressiongives Similarly

a +b = 2

(1)

& ( ) = 2 2cos y a sin + b cos = 2 2 4 4 4 4

4/6

ME 413 Systems Dynamics & Control

Solved Problems <Chapter 2: Laplace transform>

a + b = 0

(2)

SolvingEquations(1)and(2)simultaneously,gives a solutionequationgives CHECK:

= 1 and b = 1 .Substitutingthesevaluesintothe

y (t ) = 2t sin (t ) + cos (t )

y ( ) = 2 sin + cos = 4 4 4 4 2 & ( ) = 2 cos y sin = 2 2 4 4 4

Problem#3
SolvethefollowingInitialValueProblem(IVP)

&& + b y = f (t ) , y

y ( 0 ) = 1,

& ( 0) = 0 y

f (t)
1

where b isaconstantand f

(t ) isshowninFig.3.

Solution
TheexpressionoftherighthandsideoftheIVPcanbegiven by:

a
Figure3

f (t ) = u (t a )
Step1:

or

0, f (t ) = 1,

t <a t a

TakeLaplaceTransform(LT)ofbothsidesoftheaboveIVP:

& (0)} + b {Y (s )} = s Y (s ) sy (0) y { 123 1444 4 24444 3

2

L && y

L y

L u t a

e a s s {

Substituting y

( 0 ) = 1 and y& ( 0 ) = 0 intheaboveequationandrearrangingyields

e a s ( s + b )Y (s ) = s + s
2

5/6

ME 413 Systems Dynamics & Control

Solved Problems <Chapter 2: Laplace transform>

Step2:

SolvingforY

(s ) gives

Y (s ) =

s 1 e a s = F1 ( s ) + F2 ( s )e a s + 2 2 s + b ) s (s + b ) (4 1 24 3 1 4 24 3
F1(s ) F2 (s )

where

F1 ( s ) = F2 ( s ) =
Therefore

s (s + b )
2

1 1 1 s = 2 s ( s + b ) bs b ( s + b )
2

s 1 1 = 2 s (s + b ) b

s f 1 (t ) = L F1 ( s ) = L s 2 + b = cos ) ( s 1 1 1 f 2 (t ) = L 1 F s = ( ) 2 b L s s 2 + b ( )
1 1

bt

1 = 1 cos b

bt

))

Remember
s L f (t )u (t ) = e F (s ) L 1 s F ( s )e = f (t )u (t )

Hence

L
Finally,

1 s F2 ( s )e = f 2 (t )u (t ) = b 1 cos b (t ) u (t ) y (t ) = f 1 (t ) + f 2 (t )u (t ) y (t ) = cos

bt +

1 ) b (1 cos

b (t ) u (t )

6/6