2. laplace transforms
DESCRIPTION
Laplace transformTRANSCRIPT
Review on Laplace Transforms
Definition: The Laplace transform is defined by the linear transformation
where is an arbitrary complex number and f(t) is of exponential order
(i.e. is bounded for large t).
Some Laplace Transform Pairs
Unit Impulse
where
Unit Step
where
Exponential
where
Ramp
where
Table 4.1: Laplace Transform Table
Properties/ theorems of Laplace Transform
Superposition / Linearity
Let's use this relationship to find , where
where
From eqns. (4.7) and (4.9) we have
or
Note that this relationship can be derived from the basic definition in eqn. (4.3).
Time Delay / Time Shift
where
Letting and , gives
Note that the time delay is given formally by the use of the delayed unit step
function, . If we define a causal time function as one that is identically zero
for a negative argument [i.e. for t < t0], then the use of the unit step
notation is unnecessary. Therefore, we denote such a function as and its
Laplace transform is where .
Differentiation
where
Integrating this expression by parts gives
and
For the 2nd derivative, we have
In general, the nth derivative is
Integration
where
Integrating by parts gives
and
Note that Matlab has built-in capability within the Symbolic Toolbox to generate
Laplace transforms and inverse Laplace transforms (see commands LAPLACE
and ILAPLACE, respectively).
Inverse Transforms
Definition: The inverse Laplace transform is given by
This is a formal definition. In practice, one usually does not need to perform a
contour integration in the complex plane. Instead, a "dictionary" of Laplace
transform pairs is generated and some simple rules allow one convert
between the time domain solution, f(t), and the frequency or s-plane solution, F(s).
Laplace transform solutions to nth-order linear time-invariant systems are typically
of the form:
where the are referred to as the zeros of F(s) and the
are the poles of F(s).
There are two principal methods for finding when F(s) is a ratio of
polynomials; Partial Fraction Expansion and the Method of Residues. These will
be illustrated with examples.
Partial Fraction Expansion
Non-Repeated Linear Factors
Repeated Linear Factors
Complex Roots and Quadratic Factors
Solving for A gives
Now clearing fractions gives
Equating like terms
Bs2 = s2, 2C = 4, (2B+C)s = 4s
Or
B = 1, C = 2, 2+2 = 4
Finally, rewriting the quadratic term as follows
or
gives
and from Laplace table & theorem
Method of Residues
Statement of Method: If F(s) is a ratio of polynomials in s, then
where the residue of an nth-order pole at s = s1 is given by
First Order Pole:
Second Order Pole:
Non-Repeated Linear Factors
Repeated Linear Factors
Complex Roots and Quadratic Factors
Note that given , the roots are given by
and for this case the roots of the quadratic term are
Therefore, F(s) can be written in terms of linear factors, or
Expanding the middle term, for example, gives
Evaluating the first and last terms in a similar manner gives
The Partial Fraction Expansion technique and Method of Residues are very
powerful and they can be utilized in most cases of interest. Both methods can be
complicated algebraically, but conceptually it is straightforward to find f(t) given
F(s) and vice versa.
Note: residue function in MATLAB can be used for partial fraction.
e.g.
[r,p,k] = residue([3 5 3 6],[1 6 11 6])
Solving LTIV Differential EquationsSolving LTIV differential equations by Laplace involve 2 steps:
1. Take Laplace transform of each term in differential equation and rearrange
to obtain the Laplace expression
2. Take the inverse Laplace
Example 1:
Example 2: