1.

Find the Laplace transform of e–t

Solution
∞ ∞
−1 1
ℒ[𝑒 −𝑡 ] = ∫ 𝑒 −𝑡 𝑒 −𝑠𝑡 𝑑𝑡 = 𝑒 −(𝑠+1)𝑡 | =
0+ (𝑠 + 1) 0+
𝑠+1

2.Find the Laplace transform of 3𝑒 −𝑡 − 𝑒 −2𝑡

Solution
3 1 2𝑠 + 5
ℒ[3𝑒 −𝑡 − 𝑒 −2𝑡 ] = 3ℒ [𝑒 −𝑡 ] − ℒ [𝑒 −2𝑡 ] = − = 2
𝑠 + 1 𝑠 + 2 𝑠 + 3𝑠 + 2
𝐶(𝑠) 1
3.Find the Inverse laplace transform of = 𝑠
𝑅(𝑠) +1
3

Solution

4.Find the Laplace transform of 𝑒^(−2𝑡) 𝑐𝑜𝑠 𝑡

Solution
𝑠+2 𝑠+2
ℒ [𝑒 −2𝑡 cos 𝑡] = =
(𝑠 + 2)2 + 1 𝑠 2 + 4𝑠 + 5

5.The inverse Laplace transform of the function

Solution
1 1 1 1
ℒ −1 [ 2
] = ℒ −1 [− + 2
+ ]
(𝑠 + 1) (𝑠 + 2) 𝑠 + 1 (𝑠 + 1) 𝑠+2
1 1 1
= −ℒ −1 [ ] + ℒ −1 [ ] + ℒ −1
[ ] = −𝑒 −𝑡 + 𝑡𝑒 −𝑡 + 𝑒 −2𝑡
𝑠+1 (𝑠 + 1)2 𝑠+2

6.What is the transfer function of a system whose input and output are related by the
following differential equation? Find the step, ramp and impulse response of the
system.

𝑑2𝑦 𝑑𝑦 𝑑𝑢
2
+3 + 2𝑦 = 𝑢 +
𝑑𝑡 𝑑𝑡 𝑑𝑡
Solution
𝑑2𝑦 𝑑𝑦 𝑑𝑢
2
+3 + 2𝑦 = 𝑢 +
𝑑𝑡 𝑑𝑡 𝑑𝑡
Taking the Laplace transform of this equation, ignoring terms due to initial
conditions, we obtain

𝑠 2 𝑌(𝑠) + 3𝑠𝑌(𝑠) + 2𝑌(𝑠) = 𝑈(𝑠) + 𝑠𝑈(𝑠)

This equation can be written as

𝑠+1
𝑌(𝑠) = [ ] 𝑈(𝑠)
𝑠 2 + 3𝑠 + 2
The transfer function of this system is therefore given by

𝑌(𝑠) 𝑠+1
= 2
𝑅(𝑠) 𝑠 + 3𝑠 + 2
For step, ramp and Impulse response multiply Y(s) by R(s), where R(s) is the
step/ramp/impulse

7.An R-C network mechanization of a lead compensator is shown below. Find its transfer
function.

Solution
Assuming the circuit is not loaded, that is, no current flows through the output
terminals, Kirchhoffs current law for the output node yields

𝑑 1 1
𝐶 (𝑣𝑖 − 𝑣0 ) + (𝑣𝑖 − 𝑣0 ) = 𝑣
𝑑𝑡 𝑅1 𝑅2 0

The Laplace transform of this equation (with zero initial conditions) is

1 1
Cs[𝑉𝑖 (𝑠) − 𝑉0 (𝑠)] + [𝑉𝑖 (𝑠) − 𝑉0 (𝑠)] = 𝑉 (𝑠)
𝑅1 𝑅2 0

The transfer function is

 𝑉0 (𝑠) 𝐶𝑠 + 1/𝑅1 𝑠+𝑎
𝑃Lead = = =
𝑉𝑖 (𝑠) 𝐶𝑠 + 1/𝑅1 + 1/𝑅2 𝑠 + 𝑏

where 𝑎 = 1/𝑅1 𝐶 and 𝑏 = 1/𝑅1 𝐶 + 1/𝑅2 𝐶.

8.Determine the transfer function of the R-C network mechanization of the lag compensator
shown below

Solution
Kirchhoff's voltage law for the loop yields the equation

1 𝑡
𝑖𝑅1 + ∫ 𝑖𝑑𝑡 + 𝑖𝑅2 = 𝑣𝑖
𝐶 0

whose Laplace transform is

1
(𝑅1 + 𝑅2 + ) 𝐼(𝑠) = 𝑉𝑖 (𝑠)
𝐶𝑠
The output voltage is given by

1
𝑉0 (𝑠) = (𝑅2 + ) 𝐼(𝑠)
𝐶𝑠
The transfer function of the lag network is therefore

𝑉0 (𝑠) 𝑅2 + 1/𝐶𝑠 𝑎(𝑠 + 𝑏) 1 1

𝑃Lag = = = where 𝑎 = 𝑏=
𝑉𝑖 (𝑠) 𝑅1 + 𝑅2 + 1/𝐶𝑠 𝑏(𝑠 + 𝑎) (𝑅1 + 𝑅2 )𝐶 𝑅2 𝐶

9.Derive the transfer function of the R-C network mechanization of the lag-lead compensator
shown below
Solution
Equating currents at the output node A yields

1 𝑑
(𝑣𝑖 − 𝑣0 ) + 𝐶1 (𝑣𝑖 − 𝑣0 ) = 𝑖
𝑅1 𝑑𝑡

The voltage 𝑣0 and the current 𝑖 are related by

1 𝑡
∫ 𝑖𝑑𝑡 + 𝑖𝑅2 = 𝑣0
𝐶2 0

Taking the Laplace transform of these two equations (with zero initial conditions)
and eliminating 𝐼(𝑠) results in the equation

1 𝑉0 (𝑠)
( + 𝐶1 𝑠) [𝑉𝑖 (𝑠) − 𝑉0 (𝑠)] =
𝑅1 1/𝑠𝐶2 + 𝑅2

The transfer function of the network is therefore

1 1
𝑉0 (𝑠) (𝑠 + 𝑅 𝐶 ) (𝑠 + 𝑅 𝐶 ) (𝑠 + 𝑎1 )(𝑠 + 𝑏2 )
1 1 2 2
𝑃LL = = =
𝑉𝑖 (𝑠) 𝑠 2 + ( 1 + 1 + 1 ) 𝑠 + 1 (𝑠 + 𝑏1 )(𝑠 + 𝑎2 )
𝑅2 𝐶2 𝑅2 𝐶1 𝑅1 𝐶1 𝑅1 𝐶1 𝑅2 𝐶2

where

1 1 1
𝑎1 = 𝑏1 𝑎2 = 𝑎1 𝑏2 𝑏1 + 𝑎2 = 𝑎1 + 𝑏2 + 𝑏2 =
𝑅1 𝐶1 𝑅2 𝐶1 𝑅2 𝐶2

10.Determine the transfer function of two simple lag networks connected in series as shown

Solutions
The two loop equations are
 1 𝑡
𝑅1 𝑖1 + ∫ (𝑖1 − 𝑖2 )𝑑𝑡 = 𝑣𝑖
𝐶1 0
𝑡
1 1 𝑡
𝑅2 𝑖2 + ∫ 𝑖2 𝑑𝑡 + ∫ (𝑖2 − 𝑖1 )𝑑𝑡 = 0
𝐶2 0 𝐶1 0

Using the Laplace transformation and solving the two loop equations for 𝐼2 (𝑠), we
obtain

𝐶2 𝑠𝑉𝑖 (𝑠)
𝐼2 (𝑠) =
𝑅1 𝑅2 𝐶1 𝐶2 𝑠 2 + (𝑅1 𝐶1 + 𝑅1 𝐶2 + 𝑅2 𝐶2 )𝑠 + 1
𝑡
The output voltage is given by 𝑣0 = (1/𝐶2 )∫0 𝑖2 𝑑𝑡. Thus

𝑉0 (𝑠) 1
= 2
𝑉𝑖 (𝑠) 𝑅1 𝑅2 𝐶1 𝐶2 𝑠 + (𝑅1 𝐶1 + 𝑅1 𝐶2 + 𝑅2 𝐶2 )𝑠 + 1

11. A simple mechanical accelerometer is shown in below. The position y of the

mass M with respect to the accelerometer case is proportional to the acceleration of
the case. What is the transfer function between the input acceleration A (a = d2x/dt2)
and the output Y?

Solution
Equating the sum of the forces acting on the mass 𝑀 to its inertial acceleration, we
obtain

𝑑𝑦 𝑑2
−𝐵 − 𝐾𝑦 = 𝑀 2 (𝑦 − 𝑥)
𝑑𝑡 𝑑𝑡
or

𝑑2𝑦 𝑑𝑦 𝑑2 𝑥
𝑀 + 𝐵 + 𝐾𝑦 = 𝑀 = 𝑀𝑎
𝑑𝑡 2 𝑑𝑡 𝑑𝑡 2
where 𝑎 is the input acceleration. The zero-initial condition transformed equation is

(𝑀𝑠 2 + 𝐵𝑠 + 𝐾 )𝑌 = 𝑀𝐴
The transfer function of the accelerometer is therefore

𝑌 1
= 2
𝐴 𝑠 + (𝐵/𝑀)𝑠 + 𝐾/𝑀