Dr.

Khalid Hasan Masoud

Control Systems [ELE0334]

Inverse Laplace Transform Partial Fraction Method

 Control Systems Dr. Khalid Hasan Masoud

Inverse Laplace Transform: Partial Fraction Method

B(s)
F(s) = A(s) and B(s) are polynomials in s domain
A(s)
 If F(s) is broken into: F(s) = F1(s) + F2(s) + F3(s) + … + Fn(s)
Then: L−1 F s = L−1 F1 s + L−1 F2 s + L−1 F3 s + … + L−1 Fn s
∴ f(t) = f1(t) + f2(t) + f3(t) + … + fn(t)
k s+z1 s+z2 … (s+z m)
Rewrite F(s) in fractional form: F(s) = for m < n
s+p1 s+p2 … (s+p n)
B(s) a1 a2 an
So F(s) = = + +…+ ak is the residue of the pole at s = - pk
A(s) s+p1 s+p2 s+pn
B(s)
ak is found as follows: ak = (s + pk)
A(s) 𝐬 = −pk
= ak e−pkt t > 0
ak
∴ L−1
s+pk

Then: f(t) = a1 𝐞−p1t + a2 𝐞−p2t + … + an 𝐞−pnt = 𝐋−𝟏 𝐅 𝐬

 Control Systems Dr. Khalid Hasan Masoud

Inverse Laplace Transform: Partial Fraction Method

s+3
Example 1: F(s) = Find L−1 F s using partial fraction method.
s+1 (s+2)

s+3 a1 a2
Answer: F(s) = = +
s+1 (s+2) s+1 (s+2)

s+3 s+3
a1 = =2 a2 = = -1
(s+2) 𝑠 = −1 (s+1) 𝑠 = −2

2 −1
∴ F(s) = +
s+1 (s+2)

= 2𝐞−t − 𝐞−2t = f(t)

2 −1
L−1 F s = L−1 + t>0
s+1 (s+2)
 Control Systems Dr. Khalid Hasan Masoud

Inverse Laplace Transform: Partial Fraction Method

5s+3
Example 2: F(s) = Find L−1 F s using partial fraction method.
s+1 (s+2)(s+3)
5s+3 a1 a2 a
Answer: F(s) = = + + 3
s+1 (s+2)(s+3) s+1 (s+2) (s+3)
5s+3 −5+3 5s+3 −7
a1 = = = -1 ; a2 = = = 7
(s+2)(s+3) 𝑠 = −1 (1)(2) (s+1)(s+3) 𝑠 = −2 (−1)(1)

5s+3 −12
a3 = = = -6
(s+1)(s+2) 𝑠 = −3 (−2)(−1)
−1 7 −6
∴ F(s) = + +
s+1 (s+2) (s+3)

= −𝐞−t + 7𝐞−2t − 𝟔𝐞−3t = f(t)

−1 7 −6
L−1 F s = L−1 + + t>0
s+1 (s+2) (s+3)
 Control Systems Dr. Khalid Hasan Masoud

Partial Fraction Expansion when poles of F(s) of multiple order.

B(s) B(s)
If F(s) = =
A(s) s+p1 s+p2 s+pn s+p3 2
k1 k2 k3 a1 a2
Then F(s) = + + + +
s+p1 s+p2 s+pn s+p3 s+p3 2
1 d
a1 = [ s + p3 2 F(s)] s = −p3
1! ds

a2 = [ s + p3 2 F(s)] s = −p3
k1 = [ s + p1 F(s)] s = −p1
k2 = [ s + p2 F(s)] s = −p2
k3 = [ s + pn F(s)] s = −pn
 Control Systems Dr. Khalid Hasan Masoud

Partial Fraction Expansion when poles of F(s) of multiple order.

1
Example 3: F(s) = find L−1 F s = f (t)
s(s+2)(s+1)²

Answer: Find partial fraction of F(s)

k1 k2 a1 a2
F(s) = + + + 2
s s+2 s+1 s+1
1 1
k1 = ] =½ ; k2 = ] = -½
(s+2)(s+1)² s = 0 𝑠 (s+1)² s = −2
d d 1 0−1(2s+2)
a1 = [(s + 1)²F(s)] s = −1 = [ ] s = −1 = ] =0
ds ds s(s+2) s²(s+2)² s = −1
1 1
a2 = [(s + 1)²F(s)] s = −1 = [ ] s = −1 = ]= −1
s(s+2) −1 (1)
½ −½ 0 −1
∴ F(s) = + + +
s s+2 s+1 s+1 2
∴ L−1 F s = f(t) = ½ 𝐮 𝐭 − ½𝐞−2t − t𝐞−t t>0
 Control Systems Dr. Khalid Hasan Masoud

Partial Fraction Expansion when poles of F(s) of multiple order.

1
Example 4: F(s) = find L−1 F s = f (t)
s(s+1)(s+2)²

Answer: Find partial fraction of F(s)

k k a a2
F(s) = 1 + 2 + 1 + 2
s s+1 s+2 s+2
1 1
k1 = ] =¼ ; k2 = ] =−1
(s+1)(s+2)² s = 0 𝑠 (s+2)² s = −1
d d 1 0−1(2s+1) 3
a1 = [(s + 2)²F(s)] s = −1 = [ ] s = −2 = ] s = −2 =
ds ds s(s+1) s²(s+1)² 4
1 1
a2 = [(s + 2)²F(s)] s = −2 = [ ] s = −2 =
s(s+1) 2
¼ −1 ¾ ½
∴ F(s) = + + +
s s+1 s+2 s+2 2
∴ L−1 F s = f(t) = ¼ 𝐮 𝐭 − 𝐞−t + ¾𝐞−2t + ½t𝐞−2t t>0
 Control Systems Dr. Khalid Hasan Masoud

Review: Transfer function, Block diagram and Signal flow graph.