ES332 Control Theory

Lecture 2

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Laplace Transform (LT): It is kind of integral transforms that possess linearity property.
It has many interesting properties that make it easy to solve linear differential equations.
1. Mathematical form of laplace transform
is defined for t ≥ 0 then,
⑱
c(v
-- e

L.T S]
f ~

(f(t)) = F(s) =
-
-
is the laplace transform of f(t) provided f(t) satifies the condition ~

O * N
for some real value of σ.
I
-

2. Advanatges of L.T:

● Homogenous and particular integral of the solution are obtained in one equation.
...

● It converts integral-differential equations into an algebraic equation in the Laplace

*f(t) = i,
Where c is some real constant that is greater than all singularties of F(s) . It is a line
integral that is evaluvated in S plane. This method is not normally used rather laplace
transform table is used to get the inverse transform

Impulse response of system

y()
S() -

- :g(t)
 dSP.

"
. . .
-

b Impulse response
x(t)
M

⑭
B
-

***,,.
f(t)
⑭ Bi kx
+
=

Process Model
#
UsingImpulse
-> y() r(t)*g(
=

response
·

rce)g() e)de
-
.
w

S 3
→Convolution integral: Let g(t) be the impulse response of the system and r(t) be the input
excitation.
v(t)
15(5)
=

Let r(t) = r(0)+r(T)+r(2T)+r(3T)+r(4T)………….

where T is the time interval at which a sample is taken from r(t) .The response due to r(0) = r(0)g(t),
response due to r(T) = r(T)g(t-T), response due to r(2T) = r(2T)g(t-2T) simlarly for r(nT) = r(NT)g(t-nT).
The total response to r(t) is given by y(t).

(
15/V
!
r(t) g(t) y(t) 1

ofrat. !
-

g() Impulse
↓

->
response
 p
● Convolution Integral –Cont’d
a ro
.ggs
-

r(i).g(t 1)
② 1=
-

#........
-

t
........
!
③ f(LT) g(t -2T)

I
r(t) A
=
ieR)

UCO): A.SCE)
2T
⑨
Total response =
r(0(g?.t)
1

↑
((T)g(+. -T) v(t-
+
+

ar)
⑦
677 . . . .
r(ui) g(0)
● Convolution Integral –Cont’d
=Ir(11)g(t it)
- -

1j
i - 0

t n
=
T

jrcigstins
↑. de

a
 y(t) = (summation of response due to r(0), r(T), r(2T), r(3T),…….)

𝑡
y(t) = න 𝑟 𝜏 𝑔 𝑡 − 𝜏 𝑑𝜏 (1)
0

Equation (1) represents convolution integral

𝑡
Laplace transform of y(t) = LT of න 𝑟 𝜏 𝑔 𝑡 − 𝜏 𝑑𝜏 = R(s) G(s)
0 51.

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L (yt)
T

:5009,e) e de to

t
- -

E 4 =

d du
= -
 .. r(xg()due Y.,
-

57d7

=Nocese de gases du
~ S2

wow

⑭i
Y(17
Ross. GOST acss
&

R(1]
-
-

1 (v
i
(t) * gC)] RCS.GCs,
=

L (r t) g()] R(s* Gs, -

=
Transfer function: Transfer function of linear time invariant (LTI) system is defined as the ratio of the laplace
transform of output to input having all initial conditions set to zero. Also the transfer function of LTI system is
defined as the laplace transform of the impulse response with all initial conditions set to zero.

Properties of transfer function:

● Transfer function is defined for only LTI sytems. It does not exist for linearly time variant (LTV) systems and
non-linear (NL) systems.

● The transfer function is independent of system input variable.

● The transfer function of a continuous time system is represented by complex variable ‘s’. It is not the
function of real time variable ‘t’ or any other independent variable.

● The transfer function can be determined from the system differential equation by taking ratio of the laplace
transform of output to input variable with all initial conditions set to zero.
● The system differential equation can be obtained from the transfer function by replacing the differential
operator d/dt = D by LT variable ‘s’.

● The stability of LTI system can be determined from the characteristic equation. The denominator of the
system transfer function is set to zero, that gives the characteristic equation of the system.

● For a system to remain stable, roots of the characteristic equation must have negative real parts.

● A system can be represented by pole zero map in ‘s’ domain.

● A system transfer function can also be represented by its pole-zero and a gain constant.
● If the laplace transform of the output of the system is given by Y(s) = R(s)G(s) has

y(t) = Inv LT [ R(s)G(s) ]

is the time response of the system.

● The time response is determined from the location of poles of R(s)G(s) and by evaluating residue at

these poles.

● Therefore the system response depends on both poles and zeros of the transfer function and pole-

zero of the input function.

● The response due to systems poles leads transient response and the response due to excitation/input

poles leads to steady state response.

● Singularity of a function are the points in s plane at which the function and its derivative do not exist.

● A pole is a common type of singularity.

Example

Poles = -3, -3, -1-j, -1+j

Zeros = 1, -2-j, -2+j