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Laplace Transform
Laplace Transform
F(s) L[ f (t)]= f (t)e-stdt (3.1)
0
a st
L[a ]= ae dt e
-st
s
a a
0 (3.2)
0
0
s s
Step function:
Laplace Transform
0 t0
S (t ) (3.3)
1 t0
Exponential Functions
Laplace Transform
bt
e b>0
L[e bt
]= e e dt e
bt -st ( b s ) t
dt
1
bs
e ( b s ) t
0
1
sb
0 0
(3.5)
Derivatives
Laplace Transform
L[ df dt ]= df dt e dt f (t )e sdt f (t )e
-st st st
0
0 0
Second-order derivatives
Laplace Transform
d 2 f d df
L 2 L where
dt dt dt
d 2 f d
L 2 L
dt dt
s ( s ) (0)
(3.7)
s sF ( s ) f (0) f (0)
s 2 F ( s ) sf (0) f (0)
Higher-order derivatives
Laplace Transform
d n f
L n s n
F ( s ) s n 1
f ( 0 ) s n2
f (0) ...
dt
( n2) ( n 1) (3.8)
sf (0) f ( 0)
Trigonometric functions
Laplace Transform
e jt e jt
Euler identity: cos t
2
e jt e j t
L cos t L
2
1 1 1
2 s j s j
1 s j s j
2 s
2 2
s
2
s 2
Sine function
Laplace Transform
e j t e j t
L sin t L
2 j
1 1 1
2 j s j s j
1 s j s j
2j s
2 2
(3.9)
2
s 2
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Rectangular pulse function
Laplace Transform
0 t0
0t h
f (t ) 1 / h (3.10)
0 th
h 1 st 1
F (s) e dt (1 e hs )
0 h hs
By Laplace transform
1 e s
F (s)
s s
repeated factors
and complex
factors may arise.
(3.11)
First, take L of both sides of (3-11),
Laplace Transform
2
5 sY s 1 4Y s
s
Rearrange,
(3.12)
Take L-1,
1 5s 2
y t L
s 5 s 4
From L Table
(3.13)
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Example 3.2
d3y d2y dy du
3
6 2
11 6 y 4 2u
dt dt dt dt
y( 0 )=y ( 0 )=y ( 0 )=0
Laplace Transform
du
0 at t=0
dt
4 s+2 1
Y(s)=
s 3 6 s 2 11s 6 s
1
U(s) (unit step input)
s
Multiply by s, set s = 0
4 s+2 α2 α3 α4
α1 s
(s+1 )(s+2 )(s+3 ) s 0 s 1 s 2 s 3 s 0
2 1
α1
1 2 3 3
For a2, multiply by (s+1), set s = -1 (same procedure for a3, a4)
5
α2 1, α3 3, α4
3
1 1 3 5/3
Y(s)=
3s s 1 s 2 s 3
07/25/20 CAB3014 - Chemical Process Dynamics and Control 20
Step 3. Take inverse of L.T.
Laplace Transform
1 t 2t 5 3t
y(t)= e 3e e
3 3
1
t y(t)
3
3s 2 4s 1 (3s 1)( s 1) 3( s 1 )( s 1)
3
2s b2 1
Example 2: 1
s2 s 1 4a 4
3 3
s 2 s 1 ( s 0.5 j )( s 0.5 j)
2 2
3 3
Transforms to e 0.5t sin t , e 0.5t cos t
2 2 (oscillation)
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Remarks
• You can use this method on any order of ODE, limited
only by factoring of denominator polynomial
Laplace Transform
(characteristic equation)
s 2 s 1
The step response of the process will have exponential
terms e-2t and e-t, which indicates y(t) approaches zero.
1 1
However, if Y(s)= 2
s s 2 (s 1 )(s 2 )
“offset”
s 0
1 a
Y(s)
τs 1 s
a a
sY(s) lim a
τs 1 s 0 τs 1
Example 4.
4 s+2
For Y(s)=
s(s+1 )(s+2 )(s+3 )
by initial value theorem: y ( 0) 0
1
by final value theorem: y ( )
3
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Conclusion!