Automatic Control

Mechanical Engineering Department

Automatic Control
Lecture 2 & 3

Laplace Inverse Theorem

2- Solve for output

To solve linear ODE:

1- Laplace transform ODE to s-domain
2- Solve output variable.
3- partial fraction expansion.
4- Inverse Laplace transform.

s 2Y ( s ) s 2 3sY ( s ) s 2Y ( s )
s 2Y ( s ) 3sY ( s ) 2Y ( s ) s 1
5
s
s ( s 2 3s 2)Y ( s ) s 2 s 5

Example 1:

Us=step function
y 3 y 2 y 5U s
y (0) 1,.. y (0) 2,..I .C.

1) Laplace transform:

5
s

( s 2 3s 2)Y ( s ) s 1

s2 s 5
Y ( s)
s ( s 1)( s 2)

[ s 2Y ( s ) sy (0) y (0)] [3sY ( s ) 3 y (0)] 2Y ( s )

Dr. Talal Mandourah

5
s
1

5
s

Automatic Control

Mechanical Engineering Department

Laplace Inverse Theorem

3- Partial fraction

4- Inverse Laplace

k1
k
k
2 3
s s 1 s 2
s2 s 5
5
k1 sY ( s ) s 0 s[
]s 0
s ( s 1)( s 2)
2

Y (s)

y (t )

5
3
5e t e 2 t
2
2

s2 s 5
k 2 ( s 1)Y ( s ) s 1 ( s 1)[
]s 1 5
s ( s 1)( s 2)
s2 s 5
3
k3 ( s 2)Y ( s ) s 2 ( s 2)[
]
s ( s 1)( s 2) 2
5/ 2 5 3/ 2
Y (s)

s
s 1 s 2

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Laplace Inverse Theorem

Partial Fraction Expansion
F ( s)

K ( s z1 )( s z 2 )...( s z m )
B( s)

A( s ) ( s p1 )( s p2 )...( s pn )

B( s)
ak ( s p k )
A( s )

an
a1
a2

...
s p1 s p2
s pn

s pk

ak
pk t
ak e
s pk

L1

f t L1[ F ( s )] a1e p1t a2 e p2t ... an e pnt

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Laplace Inverse Theorem

Example2:
Find the Laplace inverse of:

5( s 2)
F (s) 2
s ( s 1)( s 3)

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Examples
Obtain the inverse Laplace
F (s)

s3
( s 1)( s 2)

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Examples
Obtain the inverse Laplace
s 3 5s 2 9 s 7
F ( s)
( s 1)( s 2)

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Partial Fraction With MATLAB

Example
B ( s ) 2 s 3 5 s 2 3s 6

A( s ) s 3 6s 2 11s 6

input

output

num=[2 5 3 6];
den=[1 6 11 6];
[r,p,k]=residue(num,den)
r = -6.0000
-4.0000
3.0000
p = -3.0000
-2.0000
-1.0000
k= 2

Num=[2 5 3 6];
Den=[1 6 11 6]
[r,p,k]=residue(num,den)
Printsys(num,den,s)

num / den
Dr. Talal Mandourah

2 s^3 5 s^2 3 s 6
s^3 6 s^2 11 s 6

Automatic Control

Mechanical Engineering Department

Finding zeros and poles With MATLAB

Find zeros and poles of:

B( s)
4 s 2 16s 12

A( s ) s 4 12 s 3 44s 2 48s

input

output

num=[0 0 4 16 12];
den=[1 12 44 48 0];
[z,p,k]=tf2zp(num,den)
z = -3
-1
p=
- 0
-6.0000
-4.0000
-2.0000
k= 4

Dr. Talal Mandourah