25-Sep-23

Applied Mathematic in M.E.

APPLIED Schedules of the course and evaluation method

MATHEMATICS 1. Instructor – Ha Le Nhu Ngoc Thanh, Ph.D.

Email: [email protected]
in MECHANICAL Department: Mechatronics Engineering (E1-302) Chapter 1 Laplace Transforms
Inverse Laplace Transforms Weeks 1-4
ENGINEERING 2. Course Schedule: Application of Laplace to solve ODE
 Lecture: Math Course
 Assignment: volunteer to solve problem Chapter 2 Numerical method to solve ODEs Weeks 5-7
 Midterm exam (1 official, 1 unofficial):
handwritten - Week 8, 14 (TBA) Euler (and Modified - Euler)
 Final exam: handwritten - Week 15 (TBA) method, Runge-Kutta
3. Course Schedule: Chapter 3 Polynomial Interpolation Weeks 8-9
Textbooks and references Lagrange, Newton, spline…
[1]. Erwin Kreyszig, “Advanced Engineering
Mathematics", 10th Edition, John Wiley & Sons
Chapter 4 Numerical integration Weeks 10-11
[2]. David V.Kalbaugh, “Differential Equation for Chapter 5 Linear algebra Weeks 12-15
Engineers”, Taylor & Francis, CRC Press
[3]. James R. Brannan, William E. Boyce,
“Differential Equations: An introduction to
Lecture notes modern methods and applications”, Wiley

Ha Le Nhu Ngoc Thanh, Ph.D.

Applied Mathematics in
Ph.D. Ha Le Nhu Ngoc Thanh 2 Mechanical Engineering

Chapter 1:
1. Definition Ordinary Differential Equation 1. Definition of Ordinary Differential Equation Notes:
2. Laplace transforms First-Order ODEs 2. General and particular solution
3. Characteristic Second-Order Linear ODEs 3. Initial Value Problem
4. Applied Laplace Transform to Mechanical Engineering Applied Differential Equation to Mechanical Engineering 4. Problem

LAPLACE TRANSFORMS & APPLICATIONS ORDINARY DIFERENTIAL EQUATION

Why do we learn math?
Formulate the problem as a mathematical
expression in terms of variables, functions,
1. Overview of Ordinary Differential Equation (ODE) and equations.
2. Laplace Transforms
3. Properties of Laplace Transform The process of formulating the problem,
4. Inverse of Laplace solving it mathematically, and interpreting
the result in physical or other terms is
5. Applications called mathematical modeling or, briefly,
modeling.

Many physical concepts, such as velocity

and acceleration, are derivatives. Hence a
model is very often an equation containing
derivatives of an unknown function. Such
a model is called a differential equation.

Applied Mathematics in Applied Mathematics in

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 25-Sep-23

Ordinary Differential Equation 1. Definition of Ordinary Differential Equation Definition of Laplace transforms 1. Improper integral
Notes: Notes:
First-Order ODEs 2. General and particular solution Properties of the Laplace transform 2. Laplace transform definition
Second-Order Linear ODEs 3. Initial Value Problem Inverse Laplace transforms 3. Linearity Laplace transform
Applied Differential Equation to Mechanical Engineering 4. Problem Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform.

ORDINARY DIFERENTIAL EQUATION DEFINITION of LAPLACE TRANSFORMS

Why do we learn differential Equation? - Laplace transforms are of basic importance to the engineer.
- The Laplace transforms is that the process of solving an ODE is simplified to an algebraic
problem

t : variable only in Laplace

Mathematic model of a quadcopter is constructed in previous section:
 U cos  sin  cos   sin  sin  


1

 m 
 U1 cos  sin  sin   sin  cos  
 
 x   m 
    U 1 cos  cos   
 y   g  U 
 z   m  U 1 
   1  Iy  Iz  , where U 2   1
   U2  
    3   x  2  vr  vl  cos 
   Ix Ix 

  U 4  
  I z  I x     1
   1
U     y   vr  vl  sin 
 Iy 3 Iy

  2

 1
   vr  vl 
 1  Ix  Iy  
  L
 U   
 Iz 4 Iz 

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Definition of Laplace transforms 1. Improper integral Definition of Laplace transforms 1. Improper integral
Notes: Notes: 𝑨
Properties of the Laplace transform 2. Laplace transform definition Properties of the Laplace transform 2. Laplace transform definition
Inverse Laplace transforms Inverse Laplace transforms
𝒇 𝒕 𝒅𝒕 = 𝐥𝐢𝐦 𝒇 𝒕 𝒅𝒕
3. Linearity Laplace transform 3. Linearity Laplace transform 𝒂 𝑨→ 𝒂
Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform.

DEFINITION of LAPLACE TRANSFORMS DEFINITION of LAPLACE TRANSFORMS

An improper integral (tích phân suy rộng): integrate of a function from a constant to infinity):
1 

A
∫𝒂 𝒇 𝒕 𝒅𝒕 = 𝐥𝐢𝐦 ∫𝒂 𝒇 𝒕 𝒅𝒕,
𝑨→
𝑨
A>0 Ex.2. Let f (t )  , t  1, find
t 1 f (t )dt ?

If : lim
A
 f (t )dt  const  improper inegral is converge
Solution: 1

f (t )dt  
1 A dt 
dt  lim   
a t1 A 1   t 
 lim ln t   lim ln A   (improper intergral diverges)
A
A

 f (t )dt    improper inegral is diverge A 1 A

If : lim
A 
Ex.3. Let f (t )  t p , t  1, p  1, find 1
a
 f (t )dt ?
Ex.1. Let f (t )  ect , t  0, c  const  0, find 0 f (t )dt ?

  A
  1 A 
f (t )dt   ect dt  lim   ect dt   lim   ectd ct 
0    
Solution: I  1
 
  p
lim  d t p1 , because : d t p 1  1  p  t pdt
A
0 A   0  A c 0  Solution: 1 f (t )dt   t dt 
 A 1
 
1 1 1  p A 1
 lim ect   lim ecA  1
   
A
1 1 1
 lim t p 1  lim Ap1  1  (improper intergral converges)
c A  0  c A 1  p A 1  p A p 1
c  0, I   (diverge) 1

 c  0, I  1 (converge)
 c
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 25-Sep-23

Definition of Laplace transforms 1. Improper integral Definition of Laplace transforms 1. Improper integral
Notes: 𝑨 Notes:
Properties of the Laplace transform 2. Laplace transform definition Properties of the Laplace transform 2. Laplace transform definition 𝒔𝒕 𝒇
Inverse Laplace transforms 3. Linearity Laplace transform
𝒇 𝒕 𝒅𝒕 = 𝐥𝐢𝐦
𝑨→
𝒇 𝒕 𝒅𝒕 Inverse Laplace transforms 3. Linearity Laplace transform
𝑭 𝒔 = 𝒆 𝒕 𝒅𝒕
𝒂 𝒂
Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 𝟎

DEFINITION of LAPLACE TRANSFORMS DEFINITION of LAPLACE TRANSFORMS

Laplace transform definition: Let f(t) , t ∈[0, ∞). The Laplace transform of f(t) is the function F(s) defined by Linearity Laplace transform: Theorem: suppose that 𝑓 and 𝑓 are two functions whose Laplace transforms
the improper integral exist for 𝑠 > 𝑎 and 𝑠 > 𝑎 , respectively. In addition, let 𝑐 and 𝑐 be real or complex numbers. Then, for s
𝒔𝒕 greater than the maximum of 𝑎 and 𝑎
ℒ 𝑓(𝑡) = 𝑭 𝒔 = 𝒆 𝒇 𝒕 𝒅𝒕 (𝟏)
 st
L c1 f1(t )  c2 f2 (t )  0 c f (t )  c f (t )dt
𝟎
F(s) is called the Laplace transform of f(t). The domain of F(s) is the set of all values of s for which the e  1 1 2 2 
integral in Eq. (1) converges. The Laplace transform of f is denoted by both F and ℒ 𝑓
 st  st
Remark. We will use t (representing time) as a variable defined by lowercase letters: f(t), x(t), y(t),…. The  c1  e f1(t )dt  c2  e f2 (t )dt
corresponding Laplace transforms will be denoted by the same letter in uppercase such as ℒ 𝑓(𝑡) = 0 0
ℒ 𝑓 (𝑠) = 𝐹(𝑠), ℒ 𝑦(𝑡) = ℒ 𝑦 (𝑠) = 𝑌(𝑠), ℒ 𝑥(𝑡) = ℒ 𝑥 (𝑠) = 𝑋(𝑠)  L c1 f1(t )  c2 f2 (t )  c1 L  f1(t )  c2  f2 (t )
Ex.1. A
e sA 1  1
Let f (t )  1, t  0, find L 1 ?  L 1   estdt   lim
e st  1 where the last integrals converge if s  max a1, a2 

  lim     , s  0  L 1  , s  0
0 A s A   s s  s s
0
Ex.2.
Let f (t )  eat , t  0 and a real, find L eat ? where s  a   Remark : the general linearity laplace transforms

     L c1 f1 (t )    cn fn (t )  c1 L  f1(t )    cn  fn (t )
 st at  s a t 1 1
0
at
L e e e dt  e dt  , s  a  L eat  , s a
0 s a s a

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Definition of Laplace transforms 1. Improper integral Definition of Laplace transforms 1. Improper integral
Notes: Notes:
Properties of the Laplace transform 2. Laplace transform definition Euler's formula for complex number: Properties of the Laplace transform 2. Laplace transform definition 𝒔𝒕𝒇
𝑭 𝒔 = 𝒆 𝒕 𝒅𝒕
Inverse Laplace transforms
Solving the Differential Equation
3. Linearity Laplace transform
4. s-Shifting: Replacing s by in the Transform.
e i  cos   i sin  Inverse Laplace transforms
Solving the Differential Equation
3. Linearity Laplace transform
4. s-Shifting: Replacing s by in the Transform. 𝟎

DEFINITION of LAPLACE TRANSFORMS  

L e at 
1
sa PROPERTIES of the LAPLACE TRANSFORMS
Ex.1 Find L sin t  , L cos t  t  0 First shifting theorem: s-Shifting: Replacing s by in the Transform.

Solution: from Euler ' s formula e i t  cos t  i sin t

 sin t 
ei t  ei t
2i
1 
2i 
 1 1
 L sin t    L e(i  )t  L e(i  )t     
1 


 2i s  i  s  i  
 
 L sin t  

s 2  2

 L eat f (t )  L  f (t )  s s a 
 F s  a 
s
*Similar: L cos t  
s 2  2 Ex.1. Find L e  at
  
cos t , L eat sin t ? using definition of Laplace and s-shifting

 3 sin 4t, t  0. Find L  f (t )

 
2t
Ex.2 Given f (t )  2  5e L eat cos t  L cos t 
s (s a )

Solution: L f (t )  L 2  5 L e   2t 2

 3 L sin 4t   
5

12
, s0 
s

s a

 L eat cos t   s a
s 2  2 s  a  s  a 
2 2
s s  2 s 2  16 s (s a )  2
 2

Similar to: L e sin t  L sin t 
at
 


 L e sin t  at
 
s 2  2 s  a 
s (s a ) 2
s (s a )  2

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 25-Sep-23

Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Notes: 𝒔𝒕 Notes:
Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace 𝑭 𝒔 = 𝒆 𝒇 𝒕 𝒅𝒕 Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace
Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function 𝟎 Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function
Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function

PROPERTIES of the LAPLACE TRANSFORMS  uvdx  uv   u vdx PROPERTIES of the LAPLACE TRANSFORMS
Laplace Transform of Derivatives Find L  f (t ) ? Ex.1.
L  f (t )  s L  f (t )  f (0)  sF (s )  f (0)
L  f (t )  s L  f (t )  f (0)  s 2F (s )  sf (0)  f (0) Solution: L y   2 L y   5 L y   L e t  
L  f (t )  s L  f (t )  f (0)  s F (s )  s f (0)  sf (0)  f (0)
3 2 1
2
Y (s)  sy(0)  y (0)  2 sY (s )  y(0)  5Y
 s  (s ) 
 s 1
 L y  L y  L y 
y (0)1, y (0)3  1
  s 2Y (s )  s  3  2 sY (s )  1  5Y (s) 
Proof: s 1

L  f (t ) 
 st
0 e f (t )dt 
 s 2  2s  5 Y (s )   1
 s  1  Y (s ) 
s2

 
s 1 s  1 s 2  2s  5  
  e d  f (t )  est f (t )   s e st f (t )dt
st 
(intergration by part) Ex.2. Find Laplace transform: y   4 y   3 y  e t ; y (0)  0; y (0)  2
0  0
u
0
v  f (0)

 L  f (t )  f (0)  s  e st f (t )dt

0 
F (s )

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Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Notes: Notes:
Properties of the Laplace transform
Inverse Laplace transforms
Solving the Differential Equation
2. Laplace transform definition
3. Linearity Laplace transform
4. s-Shifting: Replacing s by in the Transform.
6. Differentiation of Laplace
7. Heaviside function
8. Dirac’s delta function
𝑭 𝒔 =
𝟎
𝒆 𝒔𝒕
𝒇 𝒕 𝒅𝒕 Properties of the Laplace transform
Inverse Laplace transforms
Solving the Differential Equation
2. Laplace transform definition
3. Linearity Laplace transform
4. s-Shifting: Replacing s by in the Transform.
6. Differentiation of Laplace
7. Heaviside function
8. Dirac’s delta function
 
L t n f (t )   1 F  n   s 
n

PROPERTIES of the LAPLACE TRANSFORMS PROPERTIES of the LAPLACE TRANSFORMS

Differentiation of Laplace Ex.1.

 
n n 
Solution: using L t n f (t )  1 F s , where f (t )  1  F (s )   s 1

1
s
1 
F  s   s 2  1
1


1.2 s 2 2 2!  

F  s   2s 3   1 

3 

s3 s
 
3 ! 
  L t n  1 n F (n ) s  1 n 1 n n !  n !
F (3) s   6s 4  1         n 1 n 1
3

s 4 
 s s
 

n ! 
F (n ) s   1 
n


s n 1 




 
L t n f (t )  1 F s 
n n 
L t   
n n!
 1  L f (t )
n (n ) n 1
s
 

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Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Notes: Notes:
Properties of the Laplace transform
Inverse Laplace transforms
Solving the Differential Equation
2. Laplace transform definition
3. Linearity Laplace transform
4. s-Shifting: Replacing s by in the Transform.
6. Differentiation of Laplace
7. Heaviside function
8. Dirac’s delta function
 
L t n f (t )   1 F    s 
n n Properties of the Laplace transform
Inverse Laplace transforms
Solving the Differential Equation
2. Laplace transform definition
3. Linearity Laplace transform
4. s-Shifting: Replacing s by in the Transform.
6. Differentiation of Laplace
7. Heaviside function
8. Dirac’s delta function
 
L t n f (t )   1 F    s 
n n

PROPERTIES of the LAPLACE TRANSFORMS PROPERTIES of the LAPLACE TRANSFORMS


Ex.2. Find L t sin at , L t cos at    
Ex.3. Find L t neat , L teat sin t   

Solution: using L t n f (t )  1 F  n n  s ,


Solution: using L t n f (t )  1 F s ,  n n 
Compute : L t sin at 
where n  1, f (t )  sin at
 
Compute : L t neat , where f (t )  eat  F (s ) 
1
s a
1 n!
, F (s )1
 n
a 2as F (s )
n
F (s ) F (s )
  n  s a 
 
s a n 1
n!
s 2 a 2   1 F s      L t neat 
s 2 a 2 2 n
2as n at
L t sin at   1 F  s  
 L t sin at   L t e
1

s  a 
n 1

s 
2
2 2
a

Compute : L t cos at 
Other method by using s-shifting with f (t )  t n : L eat f (t )  F s  a   L t n     
n!
s s a 
s  a 
n 1
where n  1, f (t )  cos at
s s a 2s a s
  
2 2 2 2 2
F (s ) F (s )  Compute : L teat sin t , where n  1, f (t )  eat sin t  F (s ) 
s 2 a 2
s 2 a 2  s 2 a 2  s2  a2 s  a 
2
2 2

L t cos at   1 F  s   

 L t cos at    2
1

s 
2 2s a 
2 2
a F s 
2 s  a 
 2
2

s a   
   
2

L teat sin t  1 F  s  

1
 

 L teat sin t 
 2
s  a   2 
2
 
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Mechanical Engineering Mechanical Engineering

Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Notes: Notes:
Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace 𝒔𝒕 Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace
Inverse Laplace transforms
𝑭 𝒔 = 𝒆 𝒇 𝒕 𝒅𝒕 Inverse Laplace transforms
3. Linearity Laplace transform 7. Heaviside function 3. Linearity Laplace transform 7. Heaviside function
Solving the Differential Equation 𝟎 Solving the Differential Equation
4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function

PROPERTIES of the LAPLACE TRANSFORMS PROPERTIES of the LAPLACE TRANSFORMS

0 𝑓𝑜𝑟 𝑡 < 2 𝑒 , 𝑓𝑜𝑟 0 ≤ 𝑡 < 1
Ex.4. Compute Laplace of the function 𝑔 𝑡 = Ex.4. Compute Laplace transform of the function 𝑓 𝑡 =
𝑡 +1 𝑓𝑜𝑟 𝑡 ≥ 2 4, 𝑓𝑜𝑟 𝑡 ≥ 1

 st 
L g(t )  G (s ) 
2
0 0 e 
g(t )dt   e st g(t )dt
st
e g (t ) 
  2
0

t 
 st  st
2 2
2
G (s )  e g(t )dt  e  1 dt

u  t 2  1 


let 

v   est  v   1 e st

Integrate by part
 
1
G (s )   e st t 2  1
 uv dx uv  u vdx s
  2
1  st
s 2
5 1 
te dt  e 2s  2  te st dt
s s 2


 s
2

Integrate by part  1 1  2 1  2 1
    t est
dt   e st t   estdt  e 2s  e st  e 2s  e 2s
 uv dx uv  u vdx 2
u v s 2
s 2 s s2 2 s s2
5 4 2
 G (s )  e 2s  e 2s  e2s
s s2 s3

Applied Mathematics in Applied Mathematics in

Ph.D. Ha Le Nhu Ngoc Thanh 19 Ph.D. Ha Le Nhu Ngoc Thanh 20
Mechanical Engineering Mechanical Engineering
 25-Sep-23

Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Notes: Notes:
Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace
Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function
Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function

PROPERTIES of the LAPLACE TRANSFORMS THE HEAVISIDE FUNCTION (STEP FUNCTION)

Exercise The Heaviside Function (Step function)
The shifted Heaviside function is defined by:
𝟎, 𝒕 < 𝒂
𝑯 𝒕−𝒂 =
𝟏, 𝒕 > 𝒂

L H (t  a )   e  st H (t  a)dt
0
a  st 
 e H (t  a ) dt   e  st H (t  a ) dt
0 
  a  
0 1
1   st 1  1
e d   st    e  st  e  as
s a

s a s
1
 L  H (t  a)  e  as , s  0
s
*Case a  0 :

H (t )  0, t  0
1, t  0
 Unit step function or Heaviside function
 L  H (t )  1
s

Applied Mathematics in Applied Mathematics in

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Mechanical Engineering Mechanical Engineering

Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Notes: Notes:
Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace
Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function
Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function

THE HEAVISIDE FUNCTION (STEP FUNCTION) THE HEAVISIDE FUNCTION (STEP FUNCTION)
Using Heaviside Function to shift a signal of an arbitrary function Pulse function
Let gives an arbitrary function 𝑔(𝑡), let shift a signal of 𝑔(𝑡) on from a (turn a signal off from 0 – a). Heaviside function is used to define a pulse function. If 𝑎 < 𝑏
0 for t  
 H t    cos t   
for t  a 0, for t  a
H t  a  g t   0 cos(t ) for t   H (t  a )  H (t  b)  1, for a  t  b
g (t ) for t  a  0, for t  b

H (t  a )g(t )
g (t )

a t
Ex.2.
Notes: H(t-a) can be used to turn a 0, for t   2
signal off until time t=a, and then to  H (t   2)  H (t  2 ) sin(t )  sin(t ), for  2  t  2
turn it on. 0, for t  2
Applied Mathematics in Applied Mathematics in
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 25-Sep-23

Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Notes: Notes:
Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace
Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function
Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function

THE HEAVISIDE FUNCTION (STEP FUNCTION) THE HEAVISIDE FUNCTION (STEP FUNCTION)
Second Shifting theorem Ex.3.
the laplace transforms 𝑜𝑓 𝐻 𝑡 − 𝑎 𝑓 𝑡 − 𝑎 → can be computed by: Other method (Using definition of Laplace)
L  H (t  a ) f (t  a)  e  as L  f (t )  e  as F ( s)
 st 
L g (t )  G (s ) 
2
0 0 e 
g(t )dt   est g(t )dt
st
Ex.3. Compute Laplace of the function 𝑔 𝑡 =
0 𝑓𝑜𝑟 𝑡 < 2 e g (t )dt 
𝑡 +1 𝑓𝑜𝑟 𝑡 ≥ 2   2

 
  0
0 0
 for t  2 Using 2nd shifting theorem G (s )   e st g (t )dt   est t 2  1 dt
 
for t  2 
because : H t  2   , Thus : H t  2 t 2  1      2 2
t  2 H t  2 
  L f t  2 H t  2 ,  u  t 2  1 
2
L
 
1 for t  2 t 2  1 for t  2  1 1  5 1 
 
   let 
Integrate by part
G(s )   est t 2  1  2  testdt  e 2s  2  te st dt

 
  st 1 st 
To use second shifting theorem, we have to convert t 2  1 to become f (t  2) 2 v   e
 v  e  uv dx uv  u vdx s s 2 s s 2
where f t  2  t  2  f (t )  t 2  F (s ) 
2

 s 2
 

We can see that: t  1  t  2  2  1  t  2  4 t  2  5
2 2

 
2
s3 Integrate by part  1 st 1  st 2 2s 1 
2 t edt   s e t  s 2 e dt  s e  s 2 2 d e
st st

  2 2s 
 L t  2 H t  2
2 2s
 t 2  1  t  2  4 t  2  5  f (t  2)  t  2  4 t  2  5   e F (s )  3 e  uv dx uv  u vdx
2 2


 

 s u v 2 
2 1 2 1
 g (t )  H t  2 t  1
Question
  2
 
Similar : L 4 t  2 H t  2  e 
4 2s  e 2s  e st
s s 2 2
 e 2s  e 2s
s s2
  s2 5 2s 4 2s 2 2s
 H t  2 t  2  4 t  2  5
2
 G (s )  e  e  e
   
Similar : L 5H t  2  e2s
5
s
s s2 s3
 t  2 H t  2  4 t  2 H t  2  5H t  2
2
2 4 5
   L g(t )  e 2s  e 2s  e 2s
 L g(t )  L t  2 H t  2 
  L 4 t  2 H t  2  5 L H t  2   
2
s 3
s 2 s
 


Applied Mathematics in Applied Mathematics in
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Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Notes: Notes:
Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace
Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function
Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function

THE HEAVISIDE FUNCTION (STEP FUNCTION) THE HEAVISIDE FUNCTION (STEP FUNCTION)
Ex.4. Method 2: (Using second shifting theorem)
L y   4y   s 2Y (s )  sy(0)  y (0)  4Y (s )  Y (s ) s 2  4  
Find : L  f (t )  ?
It can be seen that: t  t  3  3
Method 1: (Using definition of Laplace)
0, t  3
L  y   4 y  s 2Y ( s )  sy (0)  y (0)  4Y ( s)  Y ( s ) s 2  4    tH (t  3)  
Question
   f (t )  tH (t  3)
 3   t, t  3
L  f (t )   e  st f (t )dt   e  st 0dt   e  st tdt   te  st dt
0 0  3 3
  
L  f (t )  L tH (t  3)  L t  3  3 H (t  3)



 L t  3 H (t  3)  3 L H t  3   
0

1 1  3 1 
 


 uvdx uv   uvdx 3 u 

 t e  st dt   e  st t   e  st dt  e 3s  2  d e  st
Integrate by part
t  3 H (t  3)  L f t  3 H (t  3), where g t  3  t  3  g(t )  t  G(s )  1 s 2

v s 3 s 3 s s 3 Because L
3 1  3 1  3s  1  1 1  3s 
1
  L  f (t )  e 3s
second shifting theorem
 e 3 s  2 e  st  e 3s  2 e 3s  e 2 s  2   e 3s   3e3s
s s 3 s s  s  s  s 2 
s2
   
3 s  3 s  1  3s  1 
2
 
 Y (s ) s  4  e  2   Y (s)  e 3 s 

 
1  3s 
 Y (s ) s 2  4  e 3s 
 1  3s 
  Y (s )  e 3s  
 s   s 2 s2  4 
     s 
2  
s 2 s 2  4   
 
Applied Mathematics in Applied Mathematics in
Ph.D. Ha Le Nhu Ngoc Thanh 27 Ph.D. Ha Le Nhu Ngoc Thanh 28
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 25-Sep-23

Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Notes: Notes:
Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace
Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function
Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function

THE HEAVISIDE FUNCTION (STEP FUNCTION) THE HEAVISIDE FUNCTION (STEP FUNCTION)


Ex.5. Find L e 2t H  t   e 3t H  t  4   Ex.6.
to solve the problem, we have to find L e at H  t  b      
 
Find L cos 2t H  t    9t 2  2t  1 H  t  2  
  8 


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Mechanical Engineering Mechanical Engineering

Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Notes:
Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace
Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function
Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function

IMPULSES & DIRAC’s DELTA FUNCTION EXERCISES

Impulse: Exercises
An impulse is a force of extremely large magnitude applied over an extremely short period of time. Impulse Find the Laplace transform of below function:
functions have wide applications in modeling of physical phenomena.

1 0, t a
  t  a    H  t  a   H  t  a     1  , a  t  a    t  a 
 0, t  a  
 0
    t  a   lim    t  a  ,   t  a  is a dirac's delta funtion 1
 0 

Laplace of dirac's delta function

a a 
L    t  a  
1  1  as 1   a   s  e
e  e
 as
1  e  
 s

  s  s
s 
 t  a  
 L   t  a   lim
 0 
e

 as

1  e  s    lim  e  0  se   
L hopital
 as  s

 0   s   0   s 
   
L   t  a   e  as a
0
 L   t   1
a

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Definition of Laplace transforms Definition of Laplace transforms

Notes: Notes:
Properties of the Laplace transform Properties of the Laplace transform
Inverse Laplace transforms 1. Inverse Laplace Inverse Laplace transforms 1. Inverse Laplace
Solving the Differential Equation 2. Properties of inverse Laplace Solving the Differential Equation 2. Properties of inverse Laplace

INVERSE LAPLACE TRANSFORMS INVERSE LAPLACE TRANSFORMS

s
Inverse Laplace transform Ex.1. Find f (t ), with F (s ) 
s  2
5
Given the Laplace transform F s  of the function f t  , F (s )  L  f (t )
Solution:

 The inverse Laplace is: f (t )  L 1 F (s) s  2  2 1 2

F (s )    (*)
s  2 s  2 s  2
5 4 5
Properties of inverse Laplace transform
   
   
    
1. L f (t ) is a linear operator  L F (s ) is a linear operator
1       
 1   2  1  1  3 !  1 4 !
f (t )  L F (s )  L 
1 1 
L 
1 
  L  

  2 L 
 1  

 

2. L eat f (t )  F (s  a )  L 1 F (s  a )  eat L 1 F (s )  eat f (t ) s  24 
 
s  25 
 
 3 !  s  24 
 
 4 ! s  25 
     

   
 Check table   Check table
3. L t n f (t )  1 F (n )(s )  L 1 F (n )(s )  1 t n f (t )
n n
1 2 1
f (t )  t 3e 2t  t 4e 2t  t 3e 2t 2  t 

4. L  f (t  a )H (t  a )  eas F (s )  L 1 e as F (s )  f (t  a )H (t  a )  3! 4! 12
L 1 F (s a ) eat L 1 F (s ) eat f (t )

 1 

  L 1  2 




Other method:      L 1 F (s)  L 1    
 f (t ) .H (t  a ) (*)
s  24  s  25 
t (t a )
   
 L 1 F (s ) .H (t  a )  1   1  1
 e 2t L 1    2e 2t L 1    e2t L 1    e 2t L 1  
 3!  2  4 ! 
t (t a )
s  s  3 ! s  4 ! s 
4 5 4 5

1 2 1
 e 2t t 3  e 2t t 4  t 3e 2t 2  t 
3! 4! 12
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Definition of Laplace transforms Definition of Laplace transforms

Notes: Notes:
Properties of the Laplace transform Properties of the Laplace transform
Inverse Laplace transforms 1. Inverse Laplace Inverse Laplace transforms 1. Inverse Laplace
Solving the Differential Equation 2. Properties of inverse Laplace Solving the Differential Equation 2. Properties of inverse Laplace

INVERSE LAPLACE TRANSFORMS INVERSE LAPLACE TRANSFORMS

Ex.2. Ex.3.
3 8
Find f (t ), with F (s )   1  e 3s
2
s  16 s  5s  12 Find f (t ), with F (s ) 
Solution: s4
Solution:
  1  e 3s 1 e3s
 3  F (s )   
1  8 
f (t )  L F (s )  L 
1   
 s 4
s 4
s4
s  16 
 2 s  5  s  12    1   3s 
1 e






 f (t )  L 1
F (s )  L 1 
 4   L  4 
s   s 

   
       1
  1 3
3  4   8   1 1  
1 
 L         
  L 1  
 4  t

 4  2

s  4 2     s  5 s  12 
 7 


 
s 
 6

 
    3s 
  e3s 
  1 e L 1 e as F (s )  f (t a )H (t a )   f (t  3)H (t  3)  1 t  3 3 H (t  3)

 sin 4t e 5t e 12 t 
  L 

 

4 
 L 1  
 s 4 
 
 
1 3 1 6
3 8 5t  s   F (s )1 s  f (t ) 6t  f (t 3) 6t 3
3


   
4
12t
 f (t )  sin 4t  e  e
4 7 1 
 f (t )  L 1 F (s )  t 3  t  3 H (t  3)
3

6  
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Definition of Laplace transforms Definition of Laplace transforms

Notes: Notes:
Properties of the Laplace transform Properties of the Laplace transform
Inverse Laplace transforms 1. Inverse Laplace Inverse Laplace transforms 1. Inverse Laplace
Solving the Differential Equation 2. Properties of inverse Laplace Solving the Differential Equation 2. Properties of inverse Laplace

INVERSE LAPLACE TRANSFORMS INVERSE LAPLACE TRANSFORMS

8 s 1
Ex.4. Find f (t ), with F (s )  Ex.5.
s  1s 2  2s  5
Find f (t ), with F (s ) 
Solution: Solution:
s 2

 1 s2  9 
8 A Bs  C A  B s 2
 2A  B  C  s  5A  C
s 1 As  B Cs  D A  C s 3  B  D  s 2  9A  C  s  9B  D
F (s )    
s  1 s 2  2s  5 s  1 s  s  1s 2  2s  5 F (s)    
s   s  s  s  
2
 2s  5 2 2 2 2 2
1 s  9 1 9  1 s2  9
A  B  0 A  1


  A  C  0 A  1 8


 2A  B  C  0   B  1  
 
 B  D  0 
B  1 8
5A  C  8 C  3
    

9A  C  1 C  1 8
1 s 3 1 s  1  2  

D  1 8
 F (s )     9B  D  1

s  1 s 2  2s  5 s  1 s  12  22  



  
1 s  1  2  F (s )  
1  s  1

s  1  1  s
  
1

s

1 3 

           
  
8  s2  1 8 3 2 

s  1  22 s  1  22
1
s 2 2 2 2 2 2 2
2 2
s 9   s 1 s 1 s 3 s 3 
et       
1 1 
 f (t )  L 1 F (s )  cos t  sin t  cos 3t  sin 3t 
e t cos 2t e t sin 2t
 f (t )  L 1 F (s )  e  e t t
cos 2t  et sin 2t 8  3 

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Definition of Laplace transforms Definition of Laplace transforms

Notes: Notes:
Properties of the Laplace transform Properties of the Laplace transform
Inverse Laplace transforms 1. Inverse Laplace Inverse Laplace transforms 1. Inverse Laplace
Solving the Differential Equation 2. Properties of inverse Laplace Solving the Differential Equation 2. Properties of inverse Laplace

INVERSE LAPLACE TRANSFORMS INVERSE LAPLACE TRANSFORMS

s 2  20s  31
Ex.6. Find f (t ), with F (s )  Ex.7. Find the solution of ODE:
a ) y   2y  sin 4t,
s  2 s  3 y(0)  1
2

b) y   y  et cos 2t y(0)  2, y (0)  1

Solution:

F (s ) 
s 2  20s  31
A

B


C

A s 2  s  6  B s  3  C s 2  4s  4     Guide :
4 s 2  20 6  1  1  s  1  4 
s  2 s 2 3 s  2 s  2 s  3 s  2 s  3  
2 2 2 Laplace
a )    sY (s )  y(0)  2Y (s )   Y (s )        
A  C  
s   A  B  4C  s  6A  3B  4C s 2  16  
s  2 s 2  16 5 s  2  5 s 2  16  10 s 2  16 
 Inverse 6 1
   y(t )  e 2t  cos 4t  sin 4t
1
s  2 s  3
2
5 5 10 s 1 2s  1 s 1
A  C  1 A  3 Laplace 2
b)    s Y (s )  sy(0)  y (0)  Y (s )   Y (s )  
 A  B  4C  20  B  1 s  1  4

s 2  1 s  1  4

 
2
s2  1 2
6A  3B  4C  31 C  4  
   y(t ) 
21 13 1 t 1 t
cos t  sin t  e cos 2t  e sin 2t
3 1 4 10 10 10 5
 F (s )   
s 2

s 3

2
s 2
 f (t )  L 1 F (s )  3e 2t  te2t  4e 3t

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 
Definition of Laplace transforms Definition of Laplace transforms
Notes: Notes:
Properties of the Laplace transform
Inverse Laplace transforms 1. Inverse Laplace
L 1 e as F (s )  f (t  a )H (t  a ) Properties of the Laplace transform
Inverse Laplace transforms 1. Inverse Laplace
Solving the Differential Equation 2. Properties of inverse Laplace Solving the Differential Equation 2. Properties of inverse Laplace

INVERSE LAPLACE TRANSFORMS EXERCISES

Ex.7. Find the solution of ODE: y   9y  18 sin 3t H t   , y(0)  1, y (0)  0 Exercises.
y   9y  18 f (t ) 
Solution:  0, t  
 
 f (t )  
sin 3t, t   , y(0)  1, y (0)  0
Taking Laplace transform of both sides of the differential equation  

 
Yields: s 2Y (s )  sy(0)  y (0)  9Y (s )  18 L sin 3tH (t  )
 
  
where L sin 3tH (t  )  L sin  3(t  )  3) H (t  ) , because sin   3)   sin  
 L sin 3(t  )H (t  )
 e s L sin 3t  , because L f (t  a)H (t  a )  e as

L  f (t )
3
 e s ,
2
s 9
 

s 1  1  
 1 
 1
Hence, Y (s )   54e s
, find: L 1 e s   ?, using L 1 
 2 
 sin 3t  3t cos 3t 
s2
 9 (s 2  9)2  s 2  9)2 
( (s  32 )2 



 2.32


 
L cos 3t
 
1
F (s )
L 1 e asF (s ) f (t a )H (t a )  1 
    L 1 e s   1  sin 3 t    3 t    cos 3 t   H t     1  sin 3t  3 t   cos 3t  H t  
  54  
 (s 2  9)2  2.32 
1
f (t ) L 1 (F (s ))
2.32
sin 3t 3t cos 3t  
 y(t )  L 1 Y (s )  cos 3t   sin 3t  3 t   cos 3t  H t  
 

Applied Mathematics in Applied Mathematics in

Ph.D. Ha Le Nhu Ngoc Thanh 41 Ph.D. Ha Le Nhu Ngoc Thanh 42
Mechanical Engineering Mechanical Engineering

Definition of Laplace transforms Definition of Laplace transforms

Properties of the Laplace transform Properties of the Laplace transform
Inverse Laplace transforms Inverse Laplace transforms
Solving the Differential Equation 1. Applications of inverse Laplace Solving the Differential Equation 1. Applications of inverse Laplace

APPLICATION of LAPLACE TRANSFORMS APPLICATION of LAPLACE TRANSFORMS

Application to Mass – Spring – Damper system Application to Mass – Spring – Damper system x (t )
Given a mass–spring–damper system as shown in Figure. Initial condition of the system x(0)=0, x(0)=0  
0, t  0
a) L x   2x   9x   9 L  f (t ) , where f (t )   
c  const is a viscous friction generating force fc  c.v (v  velocity stem of damper ), k is a spring's stiffness. 1, t  0

 f (t )
9
Question: a system is impacted by a force f(t).  s 2 X (s )  sx (0)  x (0)  2 sX (s )  x (0)  9X (s ) 
  s
Let determine a moving equation x(t) of the mass m. 9 A Bs  C A  B s 2  2A  C  s  9A
0, t  0  X (s )    
where m  1 9 kg  , c  2 9 N .s m  , k  1 N m  , a )f (t )   , and b)f (t )  (t ) 
s s 2  2s  9 s
 s 2  2s  9 
s s 2  2s  9 
    1, t  0 A  B  0
 A  1

 
 

Solution: x (t )  
2A  C  0  B  1

 

Apply a Newton's second rule:  F  ma A  1





C  2

  F  f (t )  cx   kx f (t )  

 
 ma  mx  1  s  2  1 
  s  (  1)  1 2 2 
 X (s )        
c k 1 s s 2  2s  9  
   
s  2 2
 f (t )  cx   kx  mx   x   x   x  f (t ) s  (1)  2 2 2 2
s  (1)  2 2 
2 2

m m m L 1 1 
    
 x   2x   9x  9 f (t ),  e t cos 2 2t e t sin 2 2t 
 1 
x (t )  L 1 X (s )  1  e t cos 2 2t  sin 2 2t 
 2 2 
Applied Mathematics in Applied Mathematics in
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 25-Sep-23

Definition of Laplace transforms Definition of Laplace transforms

Properties of the Laplace transform Properties of the Laplace transform
Inverse Laplace transforms Inverse Laplace transforms
Solving the Differential Equation 1. Applications of inverse Laplace Solving the Differential Equation 1. Applications of inverse Laplace

APPLICATION of LAPLACE TRANSFORMS APPLICATION of LAPLACE TRANSFORMS

Application to Mass – Spring – Damper system x (t ) Application to Pendulum
Ex.1.Given a pendulum system as shown in Figure. Initial condition of the system (0)=  6 rad ,  (0)=0
b) L x   2x   9x   9 L  f (t ) , where f (t )  (t )
f (t ) Let determine a moving equation (t) of the mass m=1kg, L=2m.
 s 2X (s )  sx (0)  x (0)  2 sX (s )  x (0)  9X (s )  9
 
9 9 2 2 Solution:
 X (s)  
s 2  2s  9 2 2 s  (1) 2  2 2 2
 

  Newton s 2nd law for moment:
dt 2
,  O  I   I
d 2 

e t
sin 2 2t  
9   : torque 
x (t )  L 1 X (s )  e t sin 2 2t 
where  : angle


2 2   mg sin 
I : inertial moment, I  mL2  
 
mg cos 
Torque at O due to force: mg sin  only  O  mgL sin 

Applied Mathematics in Applied Mathematics in

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Mechanical Engineering Mechanical Engineering

Definition of Laplace transforms Ordinary Differential Equation 1. Homogeneous ODEs Notes:

Properties of the Laplace transform First-Order ODEs 2. Nonhomogeneous ODEs
Inverse Laplace transforms Second-Order Linear ODEs 3. Exercises
Solving the Differential Equation 1. Applications of inverse Laplace Applied Differential Equation to Mechanical Engineering

APPLICATION of LAPLACE TRANSFORMS APPLIED DIFFERENTIAL EQUATION to MECHANICAL ENGINEERING

Application to Pendulum RLC problem
g d 2 d 2
 mgL sin   mL  2
 sin   0
L
* 
Given: R  10[Ohm ], C  0.01[F ], L  1[H ], e(t )  (t )[V ]
dt 2 dt 2  Let determine total charge q[coulombs] on the capacitor at time t.
 2
 dq(t )
In the case of small oscillations sin    knowing the relation between charge q and i: i 
dt
g 9.8 g Solution:
*    2  0, L

2

 4.9, T  2  2
L mg sin  by Kirchhoff's law: vL  vR  vC  e(t )
 find (t ), with (0)   6,   0  0
 di(t ) 1
mg cos  L  Ri(t )  q (t )  e(t )

 
dt C
L   2   0  s 2(s )  s (0)   (0)  2(s )  0 2
d q(t ) dq (t ) 1 1
L R  q(t )  e(t )  Lq (t )  Rq (t )  q(t )  e(t )

 
  s dt 2 dt C C
 (s ) s 2  2  s  (s )  Given
  q (t )  10q (t )  100q (t )  e(t )  L q (t )  10q (t )  100q (t )  L e(t )
6  2 2
 
6
s  4.9  q (0)q (0)0
 s 2Q(s )  10sQ(s )  100Q(s )  1

 
1 1 5 3
  Q(s )  
 (t )  L (s )  cos 4.9t  0.52 cos 4.9t
1
s 2  10s  100
 
2
6  
5 3 s 5 2  5 3

1
 q(t )  L 1 Q(s )  e 5t sin 5 3t
5 3
Applied Mathematics in Applied Mathematics in
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 25-Sep-23

Ordinary Differential Equation 1. Homogeneous ODEs Ordinary Differential Equation 1. Homogeneous ODEs
Notes: Notes:
First-Order ODEs 2. Nonhomogeneous ODEs First-Order ODEs 2. Nonhomogeneous ODEs
Second-Order Linear ODEs 3. Exercises Second-Order Linear ODEs 3. Exercises
Applied Differential Equation to Mechanical Engineering Applied Differential Equation to Mechanical Engineering

APPLIED DIFFERENTIAL EQUATION to MECHANICAL ENGINEERING APPLIED DIFFERENTIAL EQUATION to MECHANICAL ENGINEERING

Application of second order ODEs Application of second order ODEs

Substituting number

  2 0.115  0.25mL2   Tm  9.8
2
mL sin 
Ex.1. (A Robot-Arm Link ) Ex.1. (A Robot-Arm Link )  
2 

 0.23  0.5mL   Tm  4.9mL due to  is small, sin    
Solution: Solution:  0.68  14.7  0.5

Remember in Newton's second rule for rotational motion:  Isystem 1  ?  L 0.68  14.7  L 0.5
T2 T1  14.7 
   I , where I is inertial moment. Kinetic Energy :  s 2 
  (s ) 
0.68 
0.5 1
0.68 s
 Isystem 1   O 1 1 1 1 1
KE1  KE2  KEL  I112  I 2 22  I L 22
1
KE  0.74 A Bs  C A  B s  Cs  21.62A
2
  O  Tm  T1 (*) 2 2 2 2 2 2  (s)    
O 1
 1

 I m  I S  IG 1  I S  IG 2  mL2 22
2 2
 1
 
s s 2  21.62 s s 2  21.62

s s 2  21.62 
2 1 1 2 2 2 2 
A  B  0
 Let T1 are torque on gear 1 produced by T2 ,T1 can be obtained by: 
r 1 1  0.034 s
Given: we have : r11  r2 2  2  1 2  1  1, thus C  0  (s )   0.034
T1  r1Fgear  T2
 
r N 1 r2 N 2 
 s 2
  2  2  N  T1  T2 A  0.034 s 2  21.62
I m  0.05[kg.m2 ] 

T2  r2Fgear  T
 1
r1 N1
 Torque T2 generated by M: T2  mgL sin 
N
IG  0.025[kg.m2 ], I S  0.01[kg.m2 ]
1
 1

KE  I m  I S  IG 12  I S  IG 12  mL2 12
2 1 1 8 2 2
 1
8
  L 1 (s )  0.034  0.034 cos 4.65t

1 
 
1 
2  2
1  I m  I S  IG  I S  IG  mL  1
1 1

  O  Tm  mgL sin  (**) 2

IG  0.1[kg.m ], I S  0.02[kg.m ]2
2  1 1 4 2 2 
N 2 2 
 Isystem 1  ? Tm  0.5N.m, m  10kg, L  0.3m I system


N  N 2 N 1  2, N 1 :number gear1, N 2 : number gear 2   I system  I m  I S  IG 
1
4 S2
1 1 2

I  IG  mL2  0.115  0.25mL2 
Find the quation of (t) 1
We also have : 1  N 2  N   I system N   Tm  mgL sin 
 (*),(**)
N
Applied Mathematics in Applied Mathematics in
Ph.D. Ha Le Nhu Ngoc Thanh 49 Ph.D. Ha Le Nhu Ngoc Thanh 50
Mechanical Engineering Mechanical Engineering

Mechanical Actuation System Mechanical Actuation System

2. Gears 2. Gears
Let 𝑛 be a gear reduction ratio (If 𝑟 and 𝑟 are
radius of the two gears, the gear reduction
ratio is 𝑛 = 𝑟 ⁄𝑟 ). Motor
Load

N is the number of teeth in each gear

 25-Sep-23

Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative Definition of Laplace transforms 1. Improper integral 5. Laplace of Derivative
Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace Properties of the Laplace transform 2. Laplace transform definition 6. Differentiation of Laplace
Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function Inverse Laplace transforms 3. Linearity Laplace transform 7. Heaviside function
Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function Solving the Differential Equation 4. s-Shifting: Replacing s by in the Transform. 8. Dirac’s delta function

LAPLACE SUMMARIZATION & Remember formula LAPLACE SUMMARIZATION & Remember formula
Table of Laplace transform and its Inverse 1
L 1  , s  0,
s
L eat    1
s  as
, s a Partial Decomposition
F (s )  L  f (t ) 
 st 
0 e f (t )dt L sin t   , L cos t  
2 2
s  s  2
2

L c1 f1(t )    cn fn (t )  c1 L  f1 (t )    cn  fn (t ) 
L eat cos t   s a

, L eat sin t   
P (x )

P (x )
  s  a   2
2 2 2
s  a  
  Q(x )
x    ... ax 2  bx  c  
m
   
k
L eat f (t )  F s  a   L  f (t ) L tn 
n!
, L t neat 
n!
...
s s a 
s n 1 s 2 a  2
n 1

A1 A2 Ak
L  f (t )  sF (s )  f (0) Demonimator: x    
k
2as s a
L t sin at   , L t cos at    
s  s  x   x    x   
2 2 2 k
2
 a2 2
 a2
L  f (t )  s L  f (t )  f (0)  s 2F (s )  sf (0)  f (0) 
0,
L  f (t )  s L  f (t )  f (0)  s 3F (s)  s 2 f (0)  sf (0)  f (0)
t a 1
H (t  a )  1, L H (t  a )  eas , s  0 A1x  B1 A2x  B2 Am x  Bm
 
t a , m

  n n   s
L t n f (t )  1 F s  Demonimator: ax 2  bx  c   
ax 2  bx  c
   
0 2 m
for t  a
H t  a  g t   g (t ) for t  a ax 2  bx  c ax 2  bx  c
L H (t  a )f (t  a )  e as L  f (t )  e as F (s )

 t
  1

L   L  f (t )
  f ( )d  
0, for t  a
   

L  t  a   eas   L  t   1 H (t  a )  H (t  b)  1,  0  s
a 0
for a  t  b 
 

0, for t  b


Euler's formula for complex number:

ei  cos   i sin 
e x  ex e x  ex e x  ex ex  ex
Sin hyperbolic: sinh x  , Cos hyperbolic: cosh x  , Tan hyperbolic: tanh x  , Costan hyperbolic : coth x 
2 2 ex  e x e x  ex

Applied Mathematics in Applied Mathematics in

Ph.D. Ha Le Nhu Ngoc Thanh 53 Ph.D. Ha Le Nhu Ngoc Thanh 54
Mechanical Engineering Mechanical Engineering