Universiteit van Stellenbosch / Stellenbosch University

E&E Ingenieurswese / Engineering

Beheerstelsels / Control Systems 314
2009

Tutoriaal / Tutorial 1
Dinsdag / Tuesday 10 Feb 2009
Lokaal / Room: E353 / E354 E&E Ing / Eng
Uitgehandig: 6 Feb 2009
Handig in voor 18h00 op 10 Feb 2009
Made available on: 6 Feb 2009
Submit before 18h00 on 10 Feb 2009

Probleme op die aangehegte bladsye (vanuit Ogata met toestemming):

Problems on the attached pages (taken from Ogata with permission):
B-2-1 (a) en (b)
B-2-3
B-2-7
B-2-8
B-2-9
B-2-13 (b)
B-2-15 (per hand en met tabelle soos nodig, nie Matlab nie)
B-2-20
B-3-18
B-3-19

Tutoriaal 1 Memo
B-2-1 (a)
s
s2 + 122
= F (s + )
(s + 0.4)
=
(s + 0.4)2 + 122

L{cos(12t)}

L{et f (t)}
L{e0.4t cos(12t)}
B-2-1 (b)
sin(4t +
"

1
L
sin(4t) +
2

)
3#

(3)
cos(4t)
2

sin(4t) cos( ) + cos(4t) sin( )

3
3

3
4
s
1
=
+
2 s2 + 42
2 s2 + 42
!
4
3 s + 3
=
2
s2 + 42
=

B-2-3
L{t2 }

2
s3

L{t2 eat }

2
(s + a)3

B-2-7
(u(t) is the unit step function)

f (t)

= t [(t T )u(t T )]
1
1
2 eT s
F (s) =
2
s
s
B-2-8
f (t)

F (s)

24
24
24
t 2 u(t a/2) 3 (t a)u(t a)
a3
a
a
24 1
24 1 a s 24 1 as
2 e 2 3 2e
a3 s2
a s
a s

Deur n Taylor reeks uitbreiding the gebruik kan ons wys dat lim a 0F (s) = s.
B-2-9
lim s 0s

10
s(s + 1)
10
s(s + 1)
f (t)

=
=
=

lim t

=
1

10
10
10

s
s+1
10u(t) 10et

10 0 = 10

B-2-13 (b)

F (s)

(5s + 2)
A
B
C
=
+
+
(s + 1)(s + 2)2
s + 1 s + 2 (s + 2)2

5s + 2
= 3
(s + 2)2 s=1

5s + 2
=8
s+1
s=2

As + Bs
f (t)

= 0 B = A = 3
= 3et + 3e2t + 8te2t

B-2-15

F (s)
A
B
C
D
f (t)

B
C
D
A
+
+
+
s + a s + 3 s + 5 (s + 5)2
= 15/16
=

= 5/4
= 35/16

= 15/4
15 t 5 3t 35 5t 15 5t
=
e + e
e
+ te
16
4
16
4

B-2-20
L{x}

L{
x}

0
2
X(s)[s + 2n s + n ]
X(s)

= sX(s) x(0)
= s2 X(s) sx(0) x(0)

= s2 X(s) sa b 2n sX(s) sn a + n2 X(s)

= sa + b + 2n a
sa + b + 2n a
=
s2 + 2n s + n

b + sn a
s
n2
=
+a 2
n2
s2 + 2n s + n
s + 2n s + n
!

b + sn a
n
n t
p
=
e
sin n 1 2 t
n2
1 2

!!

p
p
1 2
1
n t
2
e
sin n 1 t + arctan
+a 1 p

1 2
2

B-3-18
m1 x
1
m2 x
2

m1 s2 + b1 s + (k1 + k3 ) X1 (s)

m2 s2 + b2 s + (k2 + k3 ) X2 (s)

X1 (s)
U (s)
X2 (s)
U (s)

= k1 x1 b1 x 1 (x1 x2 )k3 + u
= k2 x2 b2 x 2 + (x1 x2 )k3
= k3 X2 (s) + U (s)
= k3 X1 (s)
=
=

m2 s2 + b2 s + (k2 + k3 )
(m1 s2 + b1 s + (k1 + k3 ))(m2 s2 + b2 s + (k2 + k3 )) k32
k3
2
(m1 s + b1 s + (k1 + k3 ))(m2 s2 + b2 s + (k2 + k3 )) k32

B-3-19
I1 (s)R1 + (I1 (s) I2 (s))sL
1
I2 (s)R2 + I2 (s)
+ (I2 (s) I1 (s))sL
sC

= Ei (s)
=

E0 (s)

0
1
sC
Ei (s) + I2 (s)
R + SL
Ei (s)sL
R + sL
Ei (s)sL
R + sL

= I2 (s)

I1 (s)

sL
1
+ sL
I2 (s) R2 +
sC
R + sL

Eo (s)sC (. . .)

Eo (s)
Ei (s)

sL
1
sC(R + sL)(R2 + sC
+ sL

sL
R+sL )

Universiteit van Stellenbosch / Stellenbosch University

E&E Ingenieurswese / Engineering
Beheerstelsels / Control Systems 314
2009

Tutoriaal / Tutorial 2
Dinsdag / Tuesday 17 Feb 2009
Uitgehanding: 13 Feb 2009 Handing in voor 18h00 op 17 Feb 2009
Made available: 13 Feb 2009 Submit before 18h00 on 17 Feb 2009

Obtain the transfer function of the mechanical system shown in the figure (a).
Also obtain the transfer function of the electrical system shown in figure (b). Show
that the transfer functions of the two systems are of identical form and thus they
are analogous systems.

Obtain the transfer function Eo (s)/Ei (s) of the op-amp circuit shown in the
figure.

Obtain the transfer function Eo (s)/Ei (s) of the op-amp circuit shown in the
figure.

Consider the system shown in the figure. An armature-controlled dc servomotor

drives a load consisting of the moment of inertia JL . The torque developed by
the motor is T . The moment of inertia of the motor rotor is Jm . The angular
displacements of the motor rotor and the load element are m and , respectively.
The gear ratio is n = m /. Obtain the transfer function (s)/Ei (s)

Linearize the nonlinear equation:

v = v 2 + 4vv
+ 6v 2 + f (t)

in the region defined by 8 v 10, 2 v 4. With v(0)

= 9 and v(0) = 3. Find

V (s)/F (s)

Tutoriaal 2 Memo
1 (a) Set up the force equations. (At any point the forces pulling (or pushing)
in opposite directions must be equal.)
b1 (xi x0 ) + k1 (xi x + 0) = b2 (x0 y)

b2 (x0 y)
= k2 y
Take the Laplace transform.
b1 [sXi (s) sX0 (s)] + k1 [Xi (s) Xo 9(s)]
b2 [sXo (s) sY (s)]

= b2 [sXo (s) sY (s)]

(1)

= k2 Y (s)

(2)

Make Y (s) the subject of equation 2 and substitute into equation 1. Solve for
X)o(s)/Xi (s).

b1
b2
k1 s + 1
k2 s + 1
X0 (s)

=
b2
b1
Xi (s)
s+1
s + 1 + b2 s
k1

k2

k1

1 (b) Find die equivalent impedence for the R1 and C1.

Z1 = R1 +

1
sC1

Find die equivalent impedence for the R2 and C2.

Z2 =

1
R2

R2
1
=
sC2 R2 + 1
+ sC2

Find the transfer function E0 (s)/Ei (s)

E0 (s) = Ei (s)

E0 (s)
Ei (s)

E0 (s)
Ei (s)

R1 +

Z1
Z1 + Z2
R1 + sC1 1
1
sC1

R2
sC2 R2 +1

(R1 C1 s + 1)(R2 C2 s + 1)
(R1 C1 s + 1)(R2 C2 s + 1) + R2 C1 s

The voltage at point A is

EA (s) =

1
[Ei (s) + E0 (s)]
2

(3)

The voltage at point B is

EB (s) =

1
Cs

R2 +

1
Cs

Ei (s) =

1
Ei (s)
R2 Cs + 1

(4)

Since EA (s) = EB (s) we can substitute equations 3 and 4 and solve for Eo (s)/Ei (s).
s
Eo (s)
=
Ei (s)
s+
1

1
R2 C
1
R2 C

3 We start by finding an equation for each of the current i15 .

I1

I2

I3

I4

I5

Ei E A
R1
EA E o
R3
EA 0
1
C1 s

EA V B
R2
V B E0
1
C2 s

We know that VB = 0 and that I4 = I5 since no current flows into the opamp.
Thus:
I4
EA
R2

= I5
E0
=
1

EA

= R2 C2 sE0

C2 s

(5)

Examining node A we now that

I1 = I2 + I3 + I4
Which leads to
EA V B
EA E o
EA
Ei E A
=
+ 1 +
R1
R3
R2
C1 s

(6)

By combining equations 5 and 6 the transfer function Eo (s)/Ei (s) can be found.
Eo (s)
1
=
2
Ei (s)
R1 C1 R2 C2 s + [R2 C2 + R1 C2 + (R1 /R3 )R2 C2 ] s + (R1 /R3 )
4 For motor torque constant KT and back-emf constant KE .
T = IKT
EM = KE m
With EM begin the motor back-emf and T begin the total torque (including
the torque required to accelerate the motors rotor. I use n = m / the tut
originally had the inverse, but it has been changed. going directly into the
Laplace domain:
Ei
T
m

= ILs + IR + K1 sm
1
= (Jm + 2 JL )s2 m
n
= n
2

We solve these equations to find (s)/Ei

I

Ei

Ei

(s)
Ei

(Jm + n12 JL )ns2

T
=
KT
KT
(Jm + n12 JL )ns2
(sK + R)
+ KE ns
KT

(Jm + n12 JL )ns2

+ KE ns

KT
KT
(sL + R)(Jm + n12 JL ) + KT KE ns

5 NOTA: Die vergelyking word rondom n WERKPUNT gelineariseer, nie n

EKWILIBRIUM nie. Ons neem aan f (0) = 0.
v =
k1

k2

v0 + (
v v0 ) g(v0 , v 0 ) + k1 (v v0 ) + k2 (v v 0 ) + f (t)

dg
= 4v + 0 + 12v0 = 72
dv v=v0 , v=
v 0

dg
= 2v 0 + 4v0 = 30
dv
v=v0 , v=
v 0

Let ve = (v v0 ), ve = (v v 0 ) and ve = (
v v0 )
v
e =
2e
s V =
e
V (s)
=
F (s)

72e
v + 30ve + f (t)
72Ve + 30sVe + F (s)
1
s2 30s 72

Universiteit van Stellenbosch / Stellenbosch University

E&E Ingenieurswese / Engineering
Beheerstelsels / Control Systems 314
2009

Tutoriaal / Tutorial 3
Dinsdag / Tuesday 24 Feb 2009
Uitgehanding: 20 Feb 2009 Handing in voor 18h00 op 24 Feb 2009
Made available: 20 Feb 2009 Submit before 18h00 on 24 Feb 2009
Questions 5 and 6 do NOT need to be completed for this tutorial.
Vrae 5 en 6 hoef NIE vir hierdie tutoriaal gedoen te word nie.

A linear feedback control system has the block diagram as shown. Using block
diagram rules, obtain the closed-loop transfer function Y (s)/R(s).
1

Using block diagram reduction rules, convert the block diagram shown here to
a simple loop.
2

Simplify the following block diagram, and obtain the input-output transfer function. (Do not use Masons rule)
3

The block diagram of a feedback control system is shown here. The output
Y (s) = M (s)R(s) + Mw (s)W (s)

Find the transfer functions M (s) and Mw (s).

This feedback configuration is used to position a device in response to an input.

The motor selected for this application has a gain constant Km = 0.1 and a timeconstant m = 0.1. For an amplifier gain KA = 20, determine the following.
5

Undamped natural frequency, damping ratio and damped natural frequency.

Rise time, peak time, peak overshoot and settling time.

n Klein robotiese voertuig (70cm lank) se veerstelsel toon die volgende oordragsfunksie tussen pad oppervlak hoogte H(s) en onderstel verplasing X(s):
6

G(s) =

X(s)
4

=
2
H(s)
s +2 2+4

Indien die voertuig teen n lae vertikale randsteen opry sonder dat die wiele die
grond verlaat, kan H(s) as n trapfunksie gemodelleer word. Bepaal die volgende
parameters vir hierdie stelsel se respons tot n trapintree:
1. Ongedempte natuurlike frekwensie
2. Dempingsverhouding
3. Natuurlike frekwensie
4. Persentasie oorskiet
5. Piektyd
6. 2% Wegsterftyd
7. 0-100% Stygtyd

Tutoriaal 3 Memo
1 Refer to figure 1 for block diagram simplification. Final answer:
Y (s)
R(s)

G1 G2 (G3 + G4 /G2 )
H2
1
1 + G1 G2 (G3 + G4 /G2 )( H
G1 + G3 +G4 /G2 + 1)

G1 G2 G3 + G1 G4
H1 (G2 G3 + G4 ) + H2 G1 G2 + G1 G2 G3 + G1 G4 + 1

2 Refer to figure 2 for block diagram simplification. Final answer:

Y (s)
R(s)

= G4 +

G1 G2 G3
1 + H1 G2 + H2 G2 G3 + H1 G1 G2

3 Refer to figure 3 for block diagram simplification. Final answer:

Y (s)
(1 + H2 G4 )G1 (G2 + G3 )
=
R(s)
1 + H1 H2 G1 (G2 + G3 )
4 Refer to figure 4 for block diagram simplification. To find Y (s)/R(s) we ignore the W input.
Y (s)
R(s)
Y (s)
W (s)

=
=

G1 G2 G3
1 + H1 G1 G2 G3 + H2 G3 + H3 G2
G3 + G2 G3 H3
1 + H1 G1 G2 G3 + H2 G3 + H3 G2

G4

1
R

G1

G2

G3

1
Y

H1
H2

G4/G2

G1

2
R

G2

G3

2
Y

H1/G1
H2

3
R

G1

G2

G3+G4/G2

3
Y

H1/G1

H2/(G3+G4/G2)

4
R

G1G2(G3+G4/G2)

H1/G1 + H2/(G3+G4/G2) + 1

Figure 1: Block Diagram simplification for question 1.

4
Y

H2

G1

G2

G3

1
Y

H1

G4

H2

G1

G2/(1+H1G2)

G3

R1

2
Y1

H1/G3

G4

G1

[G2G3/(1+H1G2)] / [ 1 +H2 G2 G3/(1+H1G2)]

R2

3
Y2

H1/G3

G4

Figure 2: Block Diagram simplification for question 2.

G2

1
R

G1

G3

H2

H1

1
Y

G4

G1(G2+G3)

2
R1

H2

2
Y1

H1

H2G4

G1(G2+G3)

3
R2

H2G4

H2

H1

Figure 3: Block Diagram simplification for question 3.

3
Y2

H3/G3

G1

1
R1

G2

G3/(1+H2G3)

1
Y1

H1

G1

2
R2

[ G2G3/(1+H2G3) ] / [ 1 + G2H3/(1+H2G3) ]

2
Y2

H1
1
W1
H3

G2

G3

1
Y3

H2
G1

H1

G3

2
W2

2
Y4

H3

G2

G1H1

H2

G3

W3

Y5
G2H3
G2

G1H1

H2

G3

4
W4

G2H3/(1+G2H3)

4
Y6

G1G2H1+H2

Figure 4: Block Diagram simplification for question 4(a) and (b).

Universiteit van Stellenbosch / Stellenbosch University

E&E Ingenieurswese / Engineering
Beheerstelsels / Control Systems 314
2009

Tutoriaal / Tutorial 4
Dinsdag / Tuesday 3 Feb 2009
Uitgehanding: 27 Feb 2009 Handing in voor 18h00 op 3 Feb 2009
Made available: 27 Feb 2009 Submit before 18h00 on 3 Feb 2009

This feedback configuration is used to position a device in response to an input.

The motor selected for this application has a gain constant Km = 0.5 and a timeconstant m = 0.1. For an amplifier gain KA = 20, determine the following.

1. Undamped natural frequency, damping ratio and damped natural frequency.

2. Rise time, peak time, peak overshoot and settling time.
n Klein robotiese voertuig (70cm lank) se veerstelsel toon die volgende oordragsfunksie tussen pad oppervlak hoogte H(s) en onderstel verplasing X(s):
A small robotic vehicle (70cm in length) has a suspension system with the following
transfer function from road surface height H(s) to displacement X(s):
2

G(s) =

X(s)
4

=
H(s)
s2 + 2 2s + 4

Indien die voertuig teen n lae vertikale randsteen opry sonder dat die wiele die
grond verlaat, kan H(s) as n trapfunksie gemodelleer word.
If the vehicle should drive over a low vertical curb without the wheels leaving the
ground H(s) can be modeled as a step function.
Bepaal die volgende parameters vir hierdie stelsel se respons tot n trapintree:
Determine the following parameters of the systems response to a step input:
1. Ongedempte natuurlike frekwensie / Undamped natural frequency
2. Dempingsverhouding / Damping ration
3. Natuurlike frekwensie / Natural Frequency
1

4. Persentasie oorskiet / Percentage Overshoot

5. Piektyd / Peak time
6. 2% Wegsterftyd / 2% Settling Time
7. 0-100% Stygtyd / 0-100% Rise Time
Gestel ons beskik oor n aanleg wat beskryf kan word deur die standaard 2deorde oordragsfunksie:
A system is described by the standard 2nd order transfer function:
3

G(s) =

n2
s2 + 2n s + n2

Arseer die gebied op die komplekse s-vlak (Laplace-vlak) waarbinne die aanleg se
pole moet verkeer om die volgende gesamentlike gedrag in respons tot n trapintree
te lewer:
Mark the area on the complex s-plane (Laplace-plane) where the systems poles
must lie to have the following response to a step input:
<

tp

>

1.15 < ts2%

< sekondes
1

2
< 4.6 sekondes

Im

Re

Tutoriaal 4 Memo
1 (1)
Km
m
KA

=
=
=

(s)
L (s)

2n

0.5
0.1
20
1

100
s(s+10)
100
+ s(s+10)

s2

100
+ 10s + 100

10

10
= 0.5
10 =
(2)(10)
p
= n 1 2 = 8.6605

1 (2)
tr

tp

Mp
ts

arccos
p
= 0.2418
n 1 2

= 0.3628
d

1 2

= 0.1630
4
= 0.8
n

= e

2 (1) - (7)
n

= 2

= 0.707
= 1.4142

Percentage Overshoot
tp
ts2%
tr100%

= 4.321%
= 2.22
= 2.83
= 1.67

1j

45
-3.48

-0.870

-1j

> d < 1
d
1
> > 45
2
4
4
4
= 1.15 < < 4.6
ts =
n

> 0.87 and < 3.48

tp =

Universiteit van Stellenbosch / Stellenbosch University

E&E Ingenieurswese / Engineering
Beheerstelsels / Control Systems 314
2009

Tutoriaal / Tutorial 5
Dinsdag / Tuesday 10 Maart / March 2009
Uitgehanding: 06 Maart 2009 Handing in voor 18h00 op 10 Maart 2009
Made available: 06 March 2009 Submit before 18h00 on 10 March 2009

Vanuit Gopal / From Gopal:

6.4
6.5
6.6
5.1 (a) & (b)
5.4 (b) & (c)
5.8 (a)

Tutoriaal 5 Memo
6.4 Vanaf r:
ess

lim

s0

sR(s)
= lim
1 + DG(s) s0 1 +

10
5
1
0.1s+1 (s+1)(0.2s+1)

10
5
=
1+5
3

=
Vanaf :
E(s)

Y (s)
W (s)
W (s)

(0.1s + 1)sW (s)

s0 5 + (s + 1)(0.2s + 1)(0.1s + 1)
14
=
= 4/6
5+111

ess

= lim

Using superposition:
ess = 5/3 4/6 = 1
6.5
(a)
KV =
=

(3s + 1)(30s + 1)(10s + 1) + 0.1 50 0.16 KA

900s3 + 420s2 + 43s + (1 + 0.8KA )
s3
s2
s1
s0

900
420
A)
43 900(1+0.8K
420
1 + 0.8KA

43
(1 + 0.8KA )
0
0

Check for stability:

1 + 0.8KA

>

KA
900(1 + 0.8KA )
43
420
KA
1.25 <

>

1.25

>

<
KA

23.83
< 23.83

(b)
ess
KP
KA

1
= 0.1 KP = 9
1 + KP
KA 0.1 50 0.16
= lim KA DGH(s) = lim
= 0.8KA
s0
s0 (3s + 1)(30s + 1)(10s + 1)
= 11.24
=

6.6
ess
KP

1
= 0.02 KP = 49
1 + KP
2KC
= KC KC = 49
= lim 3
s0 s + 4s2 + 5s + 2

We must check whether the system is stable for this value of KC as the final value theorem assumes
the system is stable.
KV = s3 + 4s2 + 5s + 2 + 2 49
= s3 + 4s2 + 5s + 100

s3
s2
s1
s0

1
5
4
100
20 0
100

The system is unstable! It is not possible to get a 2% position error using only proportional
feedback!
(b) Since there is a free integrator in the open loop, we have a type 1 system and the position
error wil be zero. We still have to check for which values of KI the system will be stable.
KV = s4 + 4s3 + 5s2 + 8s + 2KI
s4
s3
s2
s1
s0

1
4
3
248KI
3
2KI

5
8
2KI
0

2KI
0
0
0

0 < KI < 3
5.1 (a)
s4
s3
s2
s1
s0

1
2
6=
3=
3=

8
4
3=
0

(2)(8)(1)(4)
2
(6)(4)(2)(3)
6
(3)(3)(6)(0)
3

(2)(3)(1)(0)
2

3
0
0
0

All poles in the left half plane.

5.1 (b)
s6
s5
s4
s3
s3
s2
s1
s0

1
3
1 = (3)(2)(1)(9)
3
12 = (1)(9)(3)(1)
1
1
7 = (1)(1)(1)(6)
1
(7)(6)(1)(20)
22
7 =
7
20 = (22/7)(20)(7)(0)
22/7

2
9
1 = (3)(5)(1)(12)
3
72 = (1)(12)(3)(20)
1
6
20 = (1)(20)(1)(0)
1
0
0

2 poles in the right half plane.

2

5
12
20 = (3)(20)(1)(0)
3
0
0 (divide by 12)
0

20
0
0

5.4 (b)
s4
s3
s2
s1
s0
From s3

From s

From s1

1
K
(1

1
1
1
0

1
K )2
K1K
K1

1
0
0

K>0
1
1
1
>0
<1K>1
K
K
K 1 K2
> 0 K 1 K2 > 0
K 1

Contradiction. The system is unstable for all values of K.

5.4 (c)
s4
s3
s2
s2
s1
s0

1
3
7
3

7
2 97 K
3K

From s0
From s1

3
2
K
3K
0

K
0
0
0 Multiply by 3

: K>0
14
9
: 2 K >0K <
7
9

14
9 .

System will be stable for 0 < K <

5.8 (a)
(i)

KV: s(s + 3)(s + 7) + K(s + 3)

s3 + 10s2 + (21 + K)s + 13K
s3
s2
s1
s0

1
10

21 + K
13K
0

210+10K13K
10

210 + 10K 13K

0<
(ii)

= 0
= 0

>
K

0
< 70

K = 70

(iii)
10s2 + 13 70
s2 + 91

= 0
= 0

s = 9.53j

(1)

Universiteit van Stellenbosch Dept.

Elektriese en Elektroniese Ingenieurswese
Beheerstelsels 314 2009
Prakties 1
Dinsdag 17 Maart 2009
Uitgehandig: 13 Maart 2009
Handig in voor die voorlesing van 17 Maart 2009
Studente wat Beheerstelsels 314 herhaal en klas bostings het, moet die praktiese EN teoretiese
gedeeltes van prakties voor Vrydag 20 Maart vir Steven Kriel (sckriel@sun.ac.za) e-pos.
PRAKTIES 1
Studente werk in groepe van twee. Dit behoort nie langer as 1 1 2 uur te neem om die praktiese werk
te voltooi nie.
Groepe:
Daar is 60 opstellings. Studente werk in groepe van twee. As (en net as) daar te min
opstellings is mag studente in groepe van drie werk.
Lokaal:
2de Vloer Lab, E&E Ingenieurswese
Benodighede:
1. 'n Rekenaar met Matlab sagteware, wat met 'n GS-Motor Tutorkassie toegerus is
(daar bestaan 60 sulke opstellings).
2. Die rt_usb_3dejr_prak1.mdl Simulink ler wat op die courses.ee.sun.ac.za webtuiste vir
Beheerstelsels 314 gevind word.
3. 'n LabADA kassie met 'n USB-poort kabel. Teken hierdie uit by die stoorman (Mnr.
Nick van Graan).
4. Drie verbindingskabels met piesangproppe ('banana plugs') aan beide punte. Hierdie
kabels hang aan die loopgang kant van elke bank.
Doel:
Bepaling van 'n parametriese model van 'n GS-motor opstelling, dmv. eksperimentele data.
BELANGRIK: Maak 'n duidelike nota van die spesifieke kassie wat jy gebruik (nie net die
spesifieke rekenaar waaraan dit verbind is nie). Elke kassie se model verskil, en volgende keer
kan jy gevra word om vir jou spesifieke kassie 'n beheerstelsel ontwerp te behartig.
Opstelling:
1. Verbind die USB kabel tussen die rekenaar en die LabADA kassie, asook die DB9
kabel tussen die LabADA kassie en die Tutorkassie. Verbindings word op die
LabADA kassie aangedui.
2. Op die tutorkassie: Verbind die tutorkassie se analooguittree kanaal DA0 aan die
motor se spanningsinset Vm.
3. Verbind die motor se draaitempo meting, aangedui as wt , maar verder na verwys as

v w (t ) of Vw (s ) , aan die kassie se eerste analoogintree AD0.

Bladsy 1

4. Verbind die motor se hoekposisie uittree, aangedui as L maar verder verwys na as

VPOT , aan die kassie se tweede analoogintree AD1.
5. Maak die rt_usb_3dejr_prak1.mdl ler oop binne Matlab se Simulink omgewing en
voer die program uit.
Indien Simulink aandui dat die serile poort nie geaktiveer kan word nie: Staak
Matlab, ruil die USB kabel na 'n ander poort voorop die rekenaar en probeer weer.

Parametriese Model van Tutorkassie se GS-motor Opstelling

Die tutorkassie se GS-motor opstelling word slegs itv. meganika gemodelleer. Die meganika bepaal
die dominante 2de-orde gedrag van die stelsel, siende dat die elektriese tydkonstantes meer as 'n
orde-grootte kleiner is as die meganiese tydkonstantes. Die opstelling kan as volg gemodelleer
word:

w = &

Figure 1 Megatroniese Model van Tutorkassie se GS-Motor Opstelling

Die oordragsfunksie vanaf die spanningsintree ( VM 1 ) tot die vliegwiel se draaitempo (hoektempo in
rad/s), voorgestel as 'n spanning ( V w ), word beskryf as:
GVw s = VVMw!((ss)) = sk+'nbv'

()

Dus, vir 'n trapintree van grootte V0 Volt by t=0, word V w se tydgebied gedrag beskryf as:

vw (t ) = V0kb''nv 1 e b 't

Bladsy 2

Stap 1: Bepaal b'

Gebruik die gegewe Simulink ler om 'n 8V piek-tot-piek blokgolf tot die motor aan te l. Beskou
die resulterende trapweergawes van GVw (s ) . Die uittree vw (t ) skakel duidelik tussen twee
gestadigde toestand spanningsvlakke. Let op dat die uittree 1b ' sekondes na die begin van elke
skakeling tot 63,21% = 100 1 e 1 = 100 1 e b 't van die finale waarde van die totale
spanningsverandering vorder. Bepaal hiermee die waarde van b', GVw (s ) se tydkonstante

Stap 2: Bepaal k ' nv

Bereken k ' nv deur die finalewaarde van vw (t ) (net voor elke skakeling van die blokgolf) met die
insetspanning te vergelyk.

Stap 3: Bepaal n p
Bepaal die waarde van n p deur gebruik te maak van die fisiese feit dat: VPOT = 10V as = .

Figure 2 Voorstelling van Vliegwiel se Hoeklesing (spanning) vs. Tyd

Stap 4: Bepaal nv
Bepaal die waarde van nv deur die helling van VPOT met die hoektempo lesing vw (t ) te vergelyk.
Gebruik 'n gedeelte waar die hoektempo reeds gestabiliseer het.

Stap 5: Bepaal k'

Bereken nou vir k' vanaf die informasie bekend uit stappe 2 en 4 hierbo.

Voltooi ook die teoretiese probleme op die volgende bladsy en handig

in saam met die praktiese eksperiment

Bladsy 3

Verpligte Teoretiese Probleme:

Vanuit Gopal Hfst 7:

Analises:
7.1) a) & b) (los wegbreek punte / dont do breakaway points)

Bladsy 4

Stellenbosch University
Electrical and Electronic Engineering
Control Systems 314 2009
Practical 1
Tuesday 17 March 2009
Made Available: 13 Maart 2009
Hand in: Tuesday 17 March 2009 18h00
Students who are repeating Control Systems 314 have until Friday 20 March to e-mail the
completed practical (theoritical and practical questions) to Steven Kriel (sckriel@sun.ac.za).

PRACTICAL 1
Students work in groups of two. The practical section should not take longer than one and a half
hours.

Groups:
There are 60 practical setups. Students will work in groups of two. If, and only if, there are
too few working setups students will be allowed to work in groups of three.
Location:
2nd floor lab, Electronic Engineering
Requirements:
1. A computer with Matlab installed that is equipped with a DC-Motor tutor-box.
2. The rt_usb_3dejr_prak1.mdl Simulink file that is available on the website.
3. A LabADA bos with USB kabel. Sign this out at Nick.
4. Three connection cables with banana plugs on both ends.
Goal:
Determine the parameters of a DC-models mathematical model using experimental data.
IMPORTANT: Make a note of the number of the tutor box that you are using. Each boxs
varies slightly and you will be designing a control system for your specific model in a future
practical.
Setup:
1. Connect the USB cable from the computer to the LabADA box, and the DB9 cable
from the LabADA to the tutor box. The connections are shown on the LabADA box.
2. On the tutor bos: Connect the analog output channel DA0 to the motors voltage
input Vm.
3. Connect the motors rotational velocity measurement, indicated as wt , but referred
to henceforth as v w (t ) or Vw (s ) , to the boxs first analog input AD0.
4. Connect the motors angle measurement, indicated as L , but referred to henceforth
as VPOT , to the second analog input AD1.
5. Open the file rt_usb_3dejr_prak1.mdl in Matlab Simulink and execute the program.

Bladsy 5

If Simulinks indicates that the serial port cannot be activated: Close Matlab, switch
the USB kabel to a different USB port in the front of the computer and try again.

Parametric Model of the Tutor Boxs DC-motor setup

Only the mechanics of the tutor boxs DC-motor are modeled. The mechanics determine the
dominant 2nd order behavior of the system, since the electrical time constants are more than an
order of magnitude smaller than the mechanical time constants. The setup can be modeled as
follows:

w = &

Figure 3: Mechatronic Model of the Tutor Boxs DC-motor

The transfer function from the voltage input ( VM 1 ) to the flywheels angular velocity (in rad/s),
expressed as a voltage ( V w ), can be written as:
GVw s = VVMw!((ss)) = sk+'nbv'

()

For a step input of size V0 Volt at t=0, the time domain value of V w can be described as:

vw (t ) = V0kb''nv 1 e b 't

Bladsy 6

Step 1: Determine b'

Use the Simulink file to apply an 8V peak-to-peak square wave to the motor. Investigate the
resultant step responses of GVw (s ) . The output vw (t ) switches immediately between the two steady
state voltage levels. Note that after 1b ' seconds of each switch the output wil be have moved
63,21% = 100 1 e 1 = 100 1 e b 't from the initial to final value. Use this knowledge to
determine the value of b, the time constant of GVw (s ) .

Step 2: Determine k ' nv

Determine k ' nv by comparing the final value of vw (t ) (just before the switching of the square
wave) with the input voltage.

Step 3: Determine n p
Determine the value of n p by using the fact that the position is measured using a potentiometer so
that: VPOT = 10V as = .

Figure 4 Representation of the flywheels angle measurement (voltage) vs Time

Step 4: Determine nv
Find the value of nv by comparing the gradient of VPOT with the angular velocity measurement
vw (t ) . Use a section where the angular velocity has stabilized.

Step 5: Determine k'

Calculate k from the knowledge gained from steps 2 and 4.

Complete the theory problems on page 4 and hand it in with your

practical report.

Bladsy 7

Practical 1 Memo
Determining b0

The equation
vW (t) =

V0 k 0 nv
b0 t
1

e
,
b0

(1)

describes the time-domain response of the motor to a voltage step. It is VERY IMPORTANT
to remember that the time-domain step response assumes a ZERO INITIAL CONDITION and a
pulse occurring at t=0. DO NOT BLINDLY APPLY EQUATION 1 TO THE PROBLEM as we
do not have zero initial conditions and pulses occurring at different times. This is one of the main
reason we use transfer functions, they are always the same!
The current set-up inputs a square wave signal, a repeating sequence of positive and negative
steps. Choose one of these steps and zoom in on the scope to see the step response of angular
velocity.
Do not use the first pulse in the square wave. The initial condition of the LabADA is not
known and thus the real amplitude and step time of the first pulse cannot be accurately measured.
If you zoom in ons one pulse it should look like this:

5
4
3
2
1
0
1
2
3
4
5
2.8

3.2

3.4

3.6

3.8

From equation [1] we can see that b0 affects the speed as which the step settles to the new value. We
know that system takes one time-constant b10 to move to 63,21% of the new value. Remember:
The system has to move from its initial condition to the new value, NOT from zero to the new
value. So if the system is settled at -5 and steps to +5, the step size is 10, not 5.
1. Calculate the step size by subtracting the lower limit form the upper limit. This should be
between 8 and 11.
1

2. Calculate 63.21% of this value, this is the distance the signal moves from the lower limit in
1/b0 seconds. This should be between 5 and 7.
3. Add this distance to the lower limit to calculate the absolute value of this point. (The graph
has a line at this voltage) This should be between 1 and 2.
4. Measure the time from the start of the step to the point where the graph crosses this
voltage. In the range of 0.14 seconds.
5. This is the time-constant, . b0 is the reciprocal of the time-constant.
b 6.88
0

k nv
nv
Determining k 0 nv From GV (s) = ks+b
0 we can see that the term
b0 is the DC-gain for the
system from the input voltage Vm1 to the measured angular velocity V . Apply the final value
theorem to GV to confirm this! Once again we would rather not use the time domain specification
as initial conditions complicates matters. Since we are interested in the DC gain we look at the
signal after it has settled.

k 0 nv
b0 v (tss )
v (tss )
= 0 k 0 nv =
with VM 1 = 4V
V0
b
V0

(2)

Unfortunately the LabADA is not 100% accurate and most have a DC offset. The result is that the
sytem does not settle at the same value for positive and negative steps. To improve the accuracy
in the measurement of the DC gain take the average of the (absolute values of the) postive and
negative steady state values. In other words, if your system settles at 5 and -4.5 use 4.75 as you
steady state value.
1. Measure the steady state value. Should be between 4.5 and 5.5.
2. Calculate k 0 nv using equation 2.
k 0 nv 8.25
Determining np
From the block-diagram we can see that np represent the sensor gain of
the position sensor. It is important to understand the physical interpretation np . is a physical
quantity, we use a sensor to measure it. The sensor outputs an electrical voltage. Without knowing
np this signal would be useless: How many degrees are one Volt? BUT if I tell you that one Volt
represents 1 degree, the signal makes sense.
Position is measured using a potentiometer connected to -10V and +10V. By turning the
potentiometer the measured voltage changes from -10 to 10V. In other words a full rotation
equates to a 20V change. np can thus be calculated empirically and no calculation is needed.
np = 20/2
np = 3.1831
You may notice that the position graph does not ever seem to reach 10V. The reason is that the
sampling time is quite slow, and the time the sensor measured 10V before wrapping to -10V is
VERY SHORT. We only look at a few snapshots of the signal and simply dont see the signal
reaching 10V. Connect the oscilloscope to the tutor-case to see the analogue version of the signal.
Determining nv
From the block-diagram we see that nv is the sensor gain for the angular
velocity sensor. Unfortunately, this gain is not as easy to calculate as np . The velocity is measured
using a 2nd motor acting as a generator. To calculate this gain empirically would be very difficult
and require motor theory!
So, how do we find nv ? We have the output signal of the sensor V ,but this a voltage, what
does this mean in radians per second? To calculate nv experimentally we need to find the actual
We have Vpot , we divide by np to find . is the derivative of , but the
angular velocity: = .
derivative is simply the slope of the graph!
2

Zoom In
Position Measurement
10

VPOT [V]

VPOT [V]

Position Measurement
10

-2

-4

-4

-6

-6

-8

-8

-10

-10
1

4
5
Time [s]

dY

-2

dX

3.8

dy
dx

1. Calculate the slope of the VP OT graph. m =

velocity has stabilised.

3.85

3.9
Time [s]

3.95

Make sure that you do this in a time the

2. Divide by np to find .
3. Divide V by to find nv .
nv 0.0736
Determining k 0

We have calculated k 0 nv and nv . Finding k 0 is trivial:

k0

k0

k 0 nv
nv
112.2291

Comparing theoretical and practical findings: (This is not part of the practical, but is a
very good exercise. We have calculated all the variables in the block diagram. The block diagram
is implemented in Simulink and the predicted and actual outputs are compared.

DA0 Output Voltage

AD0 Voltage Output

3s Period 8V Pulse
Generator

Add

AD1 Voltage Output

-4V to +4V
Square Wave

AD2 Voltage Output

Product

-4

AD0 Voltage

Voltage Output to DA0

AD3 Voltage Output

AD1 Voltage

Tutorboard Inputs (ADx input in Volt)

Tutorboard Output (DA0 output in Volt)

Voltage Offset

AD2 Voltage

AD3 Voltage

Step

k
Gain

K Ts

K Ts

z-1
Discrete-Time

z-1
Discrete-Time
Integrator1

Integrator

Gain1

b
Gain2

Scope1
n_v

n_p

Scope
Gain3

5
Teoreties
Prakties
4

The theoretical and practical values are almost exactly the same. The largest errors occur because
of the offset from the LabADA box.

7.1 (a)
F (s) =

K(s + 2)
(s + 3)2 (s + 1 + j4)(s + 1 j4)

Root Locus
10

Imaginary Axis

10
12

10

4
Real Axis

(i) Large-gain Asymptotes See p.421 of Gopal: Rule 3

A

[(3) + +(3) + (1) + (1)] [(2)]

= 2
41
(2q + 1)180
with q = 0, 1, ...(n m 1)
nm
60 , 180 , 300

(ii) Angle of Departure from Complex Poles See p.426 of Gopal: Rule 6
P

180 +

Where is the net contribution at this pole of all other open-loop poles and zeros.
P
1
2
1
P

180 + (1 1 2 )
90
4
= arctan( ) = 63.44 Remember, 2 poles at this location
2
4
= arctan( ) = 75.96
1
= 180 + 63.44 90 53.13 53.13
= 39.08
=
=

(v) j Axis crossing See p.425 of Gopal: Rule 5

5

To calculate the point where the locus crosses the imaginary axis we use Rouths Criterion.
Remember that a pole on the imaginary axis results in a row of zeros in the table.
K(s + 2)
(s + 3)2 (s + 2s + 17)

(s2 + 6s + 9)(s2 + 2s + 17) + K(s + 2)

Characteristic Equation: 1 +

s + 8s + 38s + (120 + k)s + (153 + 2K)

s4
s3
s2
8 s2
s1
s0

1
8
304(120+K)
8

184 K

(184K)(120+K)8(1224+16K)
184K

38
120 + K
153 + 2K
1224 + 16K
0

153 + 2K
0
0
0

1224 + 16K

A row of zeros at s1 would imply two poles on the imaginary axis.

(184 K)(120 + K) 8(1224 + 16K)
184 K
22080 + 64K K 2 9792 128K
K 2 + 64K + 12288
K

= 0
= 83.38

To work out the frequency of these poles we set up a polynomial using the s2 row in the table
substituting the above value for K. (This is explained in Gopal, reread the section on Rouths
Criterion concerning rows of zeros)
(184 K)s2 + (1224 + 16K) = 0
s2 + 25.42
s = 5.04j

7.1 (b)
F (s) =

K
s(s + 3)(s2 + 2s + 2)

Root Locus
5

Imaginary Axis

5
8

2
Real Axis

(i) Large-gain Asymptotes See p.421 of Gopal: Rule 3

A

[(0) + (3) + (1) + (1)] []

= 5/4
40
(2q + 1)180
with q = 0, 1, ...(n m 1)
nm

45 , 135 , 225 , 315

(ii) Angle of Departure from Complex Poles See p.426 of Gopal: Rule 6
P

180 +

Where is the net contribution at this pole of all other open-loop poles and zeros.
P
1

=
=

=
=

180 + (1 2 3 )
90
1
180 arctan( ) = 135
1
1
arctan( ) = 26.6
2
180 135 90 26.6
71.6 = 288.4

(v) j Axis crossing See p.425 of Gopal: Rule 5

To calculate the point where the locus crosses the imaginary axis we use Rouths Criterion.
Remember that a pole on the imaginary axis results in a row of zeros in the table.
7

If the table has been set up correctly we solve for values of K that would result in a row of
zeros (usually at s1 ).
K

8.16

To work out the frequency of these poles we set up a polynomial using the s2 row in the table
substituting the above value for K. (This is explained in Gopal, reread the section on Rouths
Criterion concerning rows of zeros)
s2 + 1.2 = 0
s = 1.09j

Universiteit van Stellenbosch / Stellenbosch University

E&E Ingenieurswese / Engineering
Beheerstelsels / Control Systems 314
2009

Tutoriaal / Tutorial 6
Dinsdag / Tuesday 24 Maart / March 2009
Uitgehanding: 20 Maart 2009 Handing in voor 18h00 op 24 Maart 2009
Made available: 20 March 2009 Submit before 18h00 on 24 March 2009

Vanuit Gopal / From Gopal:

Problems: (NOT Review Questions)
7.1) c,d en g (los wegbreek punte / dont do breakaway points)
7.3) los wegbreek punte / dont do breakaway points (kan presies gedoen word,
sonder iteratiewe metode / Can be done exactly, without iterative methods)
7.11)

Tutoriaal 6 Memo
7.1 (c)
Root Locus
6

Imaginary Axis

6
6

3
2
Real Axis

Large-gain Asymptotes:
= 180
Angles of Arrival:
z = 180
z = 180 (90 126 117 104 ) = 437 = 77

7.1 (d)
Root Locus
6

Imaginary Axis

6
6

3
2
Real Axis

Large-gain Asymptotes:
= 60 , 60 , 180
= 1.33
j Axis crossing:
K = 20

s = j 5
Angles of Departure:
z = 180 +
z = 180 + (90 153 ) = 63

7.1 (g)
Root Locus
15

10

Imaginary Axis

10

15
4.5

3.5

2.5

2
Real Axis

1.5

Large-gain Asymptotes:
= 90 , 90
= 0.75
j Axis crossing:
K = 25/4

s = j 8.5

0.5

0.5

7.3

F (s) =

K
s(s + 1)(s + 2)
Root Locus

Imaginary Axis

4
6

2
Real Axis

Large-gain Asymptotes

[(0) + (1) + (2)] []

= 1
3
(2q + 1)180
=
with q = 0, 1, ...(n m 1)
nm
= 60 , 180 , 300

A =
A
A

j Axis crossing

K = 6

s = j 2
We want to place the poles at the location where the locus
crosses the = 0.5 line. Since = sin() it is clear that = 30 . a and
b also related: a = b tan(30)
Controller

Root Locus

1.5

0.5

Imaginary Axis

-0.5

-1

-1.5

-1

-0.8

-0.6

-0.4
Real Axis

-0.2

0.2

Root Locus

Imaginary Axis

0.5

l1

l2

l3

3
2

-0.5

-1

-2

-1.5

-1
Real Axis

-0.5

We use the angle criterion to find b, calculating the angle from the three
poles to the proposed location on the locus.
p1 = 120
b
)
1 b tan(30)
b
= arctan(
)
2 b tan(30)

p2 = arctan(
p3

The angles are substituted into the angle criterion and we solve for b.
The arctan identities are very important, remember them!

A+B
arctan(A) + arctan(B) = arctan
1 AB
5

p1 p2 p3 = 180 2 + 3 = 60

b
b
+ arctan
= 60
arctan
1a
2a

!
b
b
+
1a
2a
arctan
= 60
b2
1 (1a)(2a)

b
b2
b
+
= tan(60)
1a 2a
(1 a)(2 a)

tan(60)(1 a)(2 a) b(2 a) b(1 a) b2 tan 60 = 0

Substitute a = tan(60)b into the equation.
2 tan(60) 3 tan(60) tan(30)b + tan(60) tan2 (30)b2 3b + 2 tan(30)b2 tan(60)b2
In this case the b2 terms cancel.
2 tan(60) 3b = 0
b = 0.577
a = 0.333
We now know the position at which the locus crosses the = 0.5 line:
s = 31 j0.577. To find the gain needed to place the poles at the
desired location we use the magnitude criterion. The distance from
each pole to the location is calculated.
p
l1 =
b2 + a2
p
l2 =
b2 + (1 a)2
p
b2 + (2 a)2
l3 =
K
= 1 Magnitude Criterion
l1 l2 l3
K = 1.037
Closed Loop Transfer Function

G(s) =

1.037
(s + 0.333 + j0.577)(s + 0.333 j0.577)(s + 2.33)

7.11

G(s) =

K(s + 4)
(s + 2)(s 1)
Root Locus

Imaginary Axis

-1

-2

-3

-4
-8

-7

-6

-5

-4
-3
Real Axis

-2

-1

There are two points where the root locus crosses the 0.707 damping
line. We chose the one further from the origin to ensure that the settling
time condition is met. The procedure for solving the problem is the same
as in 7.3.
K
s
Mp
ts
es s

=
=
=
=
=

5
3 j3
0.043
4/3sec
11.11%

Tydgebied Spesifikasies / Time Domain Specifications

Vir die oordragfunksie / For the transfer function:

1% Wegsterftyd / 1% Settling Time :

ts =

0-100% Stygtyd / 0-100% Rise Time :

tr =

=
Oorskiet / Overshoot :

4.6

wn 1

tp =

= cos 1 ( )

wd

Mp =e

Piektyd / Peak Time :

met / with:

wn2
s 2 + 2wn s + wn2

G (s ) =

1 2

wd

= wn

en / and

wd = wn 1 2

Laplace Transform Tabelle / Laplace Transform Tables

Time Functions
Unit impulse (t )
Unit step U (t )

A
t
t2
t n1
(n = 1,2,3)
(n 1)!

t n for n = 1,2,3.....

Transformed functions
1
1
s
A
s
1
s2
2!
s3
1
sn
n!
s n +1
1
s+a

e at

Bladsy 10 - Page 10

te

at

1
t n1e at (n = 1,2,3)
(n 1)!

t n e at (n = 1,2,3)

1
(s + a )2
1
(s + a )n
n!
(s + a )n+1

sin t

s +2
s
2
s +2
2

cos t

s 2

sinht

1
(e at e bt )
ba
1
(be bt ae at )
ba

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

1
1

1+
(be at ae bt )

ab a b

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

1
(1 e at ate at )
a2

1
s (s + a) 2

1
(at 1 + e at )
2
a

1
s ( s + a)

cosht

1
(1 e at )
a

(s + a )2 + 2

e at sin t
e

at

cos t

C aB
e at B cos t +
sin t

2 Ke

at

s+a
(s + a )2 + 2
Bs + C
(s + a )2 + 2
Ke j
Ke j
+
s + a j s + a + j

cos(t + )

n
e t sin n 1 2 t (0 < < 1)
2
1
n

Bladsy 11 - Page 11

wn

s 2 + 2 n s + n

1
1

e nt sin n 1 2 t
1

= tan 1

and

1
1

s
s + 2 n s + n
2

= tan 1
1

(0 < < 1, 0 < <

e nt sin n 1 2 t +
1 2

and

(0 < < 1, 0 < <

n2
2
s ( s 2 + 2 n s + n )
)

1 cost

s (s 2 + 2 )

t sin t

s 2 (s 2 + 2 )
2 3
(s 2 + 2 )2
s
2
(s + 2 )2

sint t cost
1
t sint
2

s2 2
(s 2 + 2 )2
s
2
2
2
( s + 1 )(s 2 + 2 )

t cost

1
(cos 1t cos 2t ) ( 12 2 2 )
2
2 1
1
(sint + t cost )
2
2

s2
(s 2 + 2 )2

Properties of Laplace Transforms

L[ Af (t )] = AF ( s)

L[ f1 (t ) f 2 (t )] = F1 ( s ) F2 ( s )

2
3

L [

4
5
6

L [
L [

d
f (t )] = sF ( s ) f (0)
dt

d2
2
f
(
t
)]
=
s
F
(
s
)

sf
(
0

f
(0 )
dt 2

n
( k 1)
( k 1)
dn
d k 1
n k
n
f
(
t
)]
=
s
F
(
s
)

s
f
(
0

)
where
f
(
t
)
=
f (t )

dt n
dt k 1
k =1

L [ f (t ) dt ] =

F (s) 1
+ f (t ) dt
s
s
t = 0

Bladsy 12 - Page 12

L [ ... f (t ) (dt ) n ] =

F ( s) n
1
+ nk +1 ... f (t ) (dt ) k
n
s
k =1 s

t = 0
t

L[ f (t ) dt ] =
0

10
11
12
13
14

15

F (s)
s

f (t ) dt = lim s0 F ( s ) if f (t ) dt

exists

L[e t f (t )] = F ( s + a )
L[ f (t ) 1(t )] = e s F ( s )

dF ( s )
ds
2
d
L[t 2 f (t )] = 2 F ( s )
ds
n
d
L[t n f (t )] = (1) n n F ( s )
(n = 1,2,3,...)
ds
L[t f (t )] =

1
L[ f (t )] = F ( s ) ds
s
t

1
if lim s 0 f (t ) exists
t

16

1
L[ f ( ) = aF (as )
a

17

t
L f1 (t ) f 2 ( ) d = F1 ( s ) F2 ( s )
0

18

L[ f (t ) g (t )] =

1 c + j
F ( p )G ( s p ) dp
2j c j

Bladsy 13 - Page 13