Laplace Transformation

− A method of converting functions from time domain f(t) to complex variables domain F(s).
∞
− ℒ(𝑓(𝑡)) = 𝐹(𝑠) = ∫ 𝑒 −𝑠𝑡 𝑓(𝑡) 𝑑𝑡
0
∞ ∞ 1 ∞ 1
o ℒ (𝑒 −𝑎𝑡 ) = ∫0 𝑒 −𝑠𝑡 𝑒 −𝑎𝑡 𝑑𝑡 = ∫0 𝑒 −𝑡(𝑠+𝑎) 𝑑𝑡 = [− 𝑠+𝑎 𝑒 −𝑡(𝑠+𝑎) ] = 𝑠+𝑎
0
∞ 1 1 ∞ 1 1 ∞ 1
o ℒ (𝑡) = ∫0 𝑒 −𝑠𝑡 (𝑡) 𝑑𝑡 = [− 𝑠 𝑡𝑒 −𝑠𝑡 − ∫ − 𝑠 𝑒 −𝑠𝑡 𝑑𝑡] = [− 𝑠 𝑡𝑒 −𝑠𝑡 − 𝑠2 𝑒 −𝑠𝑡 ] = 𝑠2
0 0

Properties
− ℒ(𝐴𝑓(𝑡)) = 𝐴𝐹(𝑠) , A is a constant
− ℒ(𝑓1 (𝑡) + 𝑓2 (𝑡)) = 𝐹1 (𝑠) + 𝐹2 (𝑠)

𝑑
−ℒ( 𝑓(𝑡)) = 𝑠𝐹(𝑠) − 𝑓(0)
𝑑𝑡

− ℒ (𝑓̈(𝑡)) = 𝑠 2 𝐹(𝑠) − 𝑠𝑓(0) − 𝑓̇(0)

o 𝑦(0) = 1 , 𝑦̇ (0) = 3
⇒ ℒ(𝑦̇ ) = 𝑠𝑌(𝑠) − 𝑦(0) = 𝑠𝑌(𝑠) − 1
⇒ ℒ(𝑦̈ ) = 𝑠 2 𝑌(𝑠) − 𝑠𝑦(0) − 𝑦̇ (0) = 𝑠 2 𝑌(𝑠) − 𝑠 − 3

Laplace transformation by the table

1
− ℒ(𝑡𝑒 −8𝑡 ) =
(𝑠 + 8)2
𝑠−7 𝑠−7 𝑠−7
− ℒ(𝑒 7𝑡 cos(3𝑡)) = = =
(𝑠 − 7)2 + 9 (𝑠 2 − 14𝑠 + 49) + 9 𝑠 2 − 14𝑠 + 58

Inverse Laplace transformation by the table

−1
1 𝑡5 𝑡5
− ℒ ( 6) = =
𝑠 5! 120
3 3 7 3
− ℒ −1 ( 2 ) = ℒ −1 ( 2 ) = 𝑆7𝑡
𝑠 + 49 7 𝑠 + 49 7
𝑠+1 𝑠+1 𝑠+3−2
− ℒ −1 ( 2 ) = ℒ −1 ( 2
) = ℒ −1 ( )
𝑠 + 6𝑠 + 73 (𝑠 + 3) − 9 + 73 (𝑠 + 3)2 + 64
𝑠+3 2 8 1
= ℒ −1 ( 2
) − ℒ −1 ( 2
) = 𝑒 −3𝑡 𝐶8𝑡 − 𝑒 −3𝑡 𝑆8𝑡
(𝑠 + 3) + 64 8 (𝑠 + 3) + 64 4

Review-1
𝑥̈ + 2.5𝑥̇ + 39𝑥 = 4 , 𝑥(0) = 1 , 𝑥̇ (0) = −1 Homogenous solution is a transient
solution if damped system.
𝑥(𝑡) = ⏟𝑐 (𝑡)
𝑥 + ⏟𝑝 (𝑡)
𝑥
𝐶𝑜𝑚𝑝𝑙𝑒𝑚𝑒𝑛𝑡𝑎𝑟𝑦 𝑃𝑎𝑟𝑡𝑖𝑐𝑢𝑙𝑎𝑟
𝐻𝑜𝑚𝑜𝑔𝑒𝑛𝑒𝑜𝑢𝑠 𝑁𝑜𝑛−ℎ𝑜𝑚 𝑜𝑔𝑒𝑛𝑒𝑜𝑢𝑠 Non-homogenous solution is usually
a steady-state solution when damped
𝑥̈ 𝑝 + 2.5𝑥̇ 𝑝 + 39𝑥𝑝 = 4 ⇒ 𝑥𝑝 (𝑡) = 0.103 system.
𝑥̈ 𝑐 + 2.5𝑥̇ 𝑐 + 39𝑥𝑐 = 0 ⇒ 𝑥𝑐 (𝑡) = 𝑒 −1.25𝑡 (𝐴𝐶6.12𝑡 + 𝐵𝑆6.12𝑡 )
𝐼𝐶 ⇒ 𝑥𝑐 (𝑡) = 𝑒 −1.25𝑡 (0.897𝐶6.12𝑡 + 0.0199𝑆6.12𝑡 )

𝑥̈ + 2.5𝑥̇ + 39𝑥 = 𝑆2𝑡 , 𝑥(0) = 1 , 𝑥̇ (0) = −1

𝑥̈ 𝑝 + 2.5𝑥̇ 𝑝 + 39𝑥𝑝 = 𝑆2𝑡 ⇒ 𝑥𝑝 (𝑡) = 0.028𝑆2𝑡 − 0.004𝐶2𝑡
𝑥̈ 𝑐 + 2.5𝑥̇ 𝑐 + 39𝑥𝑐 = 0 ⇒ 𝑥𝑐 (𝑡) = 𝑒 −1.25𝑡 (𝐶6.12𝑡 + 0.0325𝑆6.12𝑡 )

Review-2
Review-3
Review-4
 Equation and Reference of Motion

m = 4 kg , k = 145 N/m, c = 4 kg/s, P = 50 N

𝑥0 = 𝑥̇ 0 = 0
Determine equation of motion.

Solution by reference of motion is at initial position

𝐹𝑠 = 𝑘𝑥 , 𝐹𝑑 = 𝑐𝑥̇

∑ 𝐹 = 𝑚 𝑥̈

𝑊 + 𝑃 − 𝐹𝑠 − 𝐹𝑑 = 𝑚 𝑥̈ ⇒ 𝑊 + 𝑃 − 𝑘𝑥 − 𝑐𝑥̇ = 𝑚 𝑥̈
𝑚 𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑊 + 𝑃
4 𝑥̈ + 4𝑥̇ + 145𝑥 = 89.24

Solution by reference of motion is at equilibrium position

𝑊 39.24
𝑥𝑒𝑞 = = = 0.271 m
𝑘 145
∑ 𝐹 = 𝑚 𝑥̈

𝑃 − 𝐹𝑠 − 𝐹𝑑 = 𝑚 𝑥̈ ⇒ 𝑃 − 𝑘𝑥 − 𝑐𝑥̇ = 𝑚 𝑥̈
𝑚 𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑃
4 𝑥̈ + 4𝑥̇ + 145𝑥 = 50

Review-5
 Equations of Motion

Determine equation(s) of motion of the following systems.

(a) (b)

(c)

Review-6
a)
𝐹𝑘1 = 𝑘𝐿𝑆𝜃
𝐹𝑐1 = 𝑐𝐿𝜃̇𝐶𝜃
2
𝐹𝑘2 = 𝑘 (𝑥1 − 𝐿𝑆𝜃 )
3
𝐹𝑘3 = 2𝑘(𝑥2 − 𝑥1 )
𝐹𝑐3 = 2𝑐(𝑥̇ 2 − 𝑥̇ 1 )

𝐿 2
𝐼𝐴 𝜃̈ = 𝑊 ( 𝐶𝜃 ) + 𝐹𝑘2 ( 𝐿𝐶𝜃 ) − (𝐹𝑘1 + 𝐹𝑐1 )(𝐿𝐶𝜃 )
2 3
1 2 1 2 2
𝑚𝐿 𝜃̈ = 𝑊𝐿𝐶𝜃 + 𝑘𝐿𝐶𝜃 (𝑥1 − 𝐿𝑆𝜃 ) − 𝑘𝐿2 𝑆𝜃 𝐶𝜃 − 𝑐𝐿2 𝜃̇𝐶𝜃2
3 2 3 3
1
𝑚𝐿𝜃̈ + 𝑐𝐿𝜃̇ + 13 𝑘𝐿𝜃 − 2 𝑘𝑥1 = 1 𝑊 (Linearized Eqn. 1)
3 9 3 2

𝑚𝑥̈ 1 = 𝑊 + 𝐹𝑘3 + 𝐹𝑐3 − 𝐹𝑘2

2
𝑚𝑥̈ 1 = 𝑊 + 2𝑘(𝑥2 − 𝑥1 ) + 2𝑐(𝑥̇ 2 − 𝑥̇ 1 ) − 𝑘 (𝑥1 − 𝐿𝑆𝜃 )
3
2
𝑚𝑥̈ 1 + 2𝑐𝑥̇ 1 + 3𝑘𝑥1 − 2𝑐𝑥̇ 2 − 2𝑘𝑥2 − 3 𝑘𝐿𝜃 = 𝑊 (Linearized Eqn. 2)

2𝑚𝑥̈ 2 = 2𝑊 + 𝐹(𝑡) − 𝐹𝑘3 − 𝐹𝑐3

2𝑚𝑥̈ 2 = 2𝑊 + 𝐹(𝑡) − 2𝑘(𝑥2 − 𝑥1 ) − 2𝑐(𝑥̇ 2 − 𝑥̇ 1 )
1
𝑚𝑥̈ 2 + 𝑐𝑥̇ 2 + 𝑘𝑥2 − 𝑐𝑥̇ 1 − 𝑘𝑥1 = 𝑊 + 2 𝐹(𝑡) (Linearized Eqn. 3)

Review-7
b)
𝐹𝑘1 = 𝑘(𝑥 − 𝑟𝜃1 )
𝐹𝑘2 = 2𝑘(𝑟𝜃1 − 𝑟𝜃2 )

𝑚𝑥̈ = 𝑊 − 𝐹𝑘1
𝑚𝑥̈ + 𝑘𝑥 − 𝑘𝑟𝜃1 = 𝑊 (Eqn. 1)

𝐼𝜃1̈ = 𝐹𝑘1 𝑟 − 𝐹𝑘2 𝑟

𝐼𝜃1̈ = 𝑘(𝑥 − 𝑟𝜃1 )𝑟 − 2𝑘(𝑟𝜃1 − 𝑟𝜃2 )𝑟
𝐼𝜃1̈ + 3𝑘𝑟 2 𝜃1 − 2𝑘𝑟 2 𝜃2 − 𝑘𝑥𝑟 = 0 (Eqn. 2)

𝑟 𝑟
2𝐼𝜃̈2 + 2𝑚𝑦̈ ( ) = 𝐹𝑘2 𝑟 − 2𝑊 ( )
2 2
𝑟 2
2𝐼𝜃̈2 + 2𝑚 ( ) 𝜃̈2 = 2𝑘(𝜃1 − 𝜃2 )𝑟 2 − 𝑊𝑟
2
1
(2𝐼 + 2 𝑚𝑟 2 ) 𝜃̈2 + 2𝑘𝑟 2 𝜃2 − 2𝑘𝑟 2 𝜃1 = −𝑊𝑟 (Eqn. 3)

Review-8
c)
Assuming small 𝜃.
𝐹𝑘1 = 𝑘1 𝑥
𝐹𝑘2 = 𝑘2 𝑥𝑠
𝑥 𝑥̈
𝑥 = 𝑙1 𝜃 → 𝜃 = → 𝜃̈ =
𝑙1 𝑙1
𝑙2 𝑙2
𝑥𝑠 = 𝑙2 𝜃 = 𝑥 → 𝑥̈ 𝑠 = 𝑥̈
𝑙1 𝑙1

∑ 𝑀𝑂 ⇒ 𝐽𝑂 𝜃̈ + 𝑚𝑥̈ 𝑙1 = −(𝑊 + 𝐹𝑘1 )𝑙1 − 𝑃𝑙2

⇒ 𝑃 = −(𝐽𝑂 𝜃̈ + 𝑚𝑥̈ 𝑙1 + (𝑊 + 𝐹𝑘1 )𝑙1 )⁄𝑙2

∑ 𝑀𝐴 ⇒ 𝐼𝑠 𝜙̈ + 𝑚𝑠 𝑥̈ 𝑠 𝑟𝑠 = (𝑃 − 𝐹𝑘2 )𝑟𝑠

𝑥̈ 𝑠 𝑥̈ 𝑠
𝜙̈ = → 𝐼𝑠 + 𝑚𝑠 𝑥̈ 𝑠 𝑟𝑠 = −((𝐽𝑂 𝜃̈ + 𝑚𝑥̈ 𝑙1 + (𝑊 + 𝐹𝑘1 )𝑙1 )⁄𝑙2 + 𝑘2 𝑥𝑠 )𝑟𝑠
𝑟𝑠 𝑟𝑠
𝑙22 2
(𝐼𝑠 2 + 𝑚𝑠 𝑙22 + 𝐽𝑂 + 𝑚𝑙12 ) 𝑥̈ + (𝑘1 𝑙12 + 𝑘2 𝑙22 )𝑥 = −𝑊𝑙12 , 𝐼𝑠 = 𝑚 𝑟2
𝑟𝑠 5 𝑠𝑠
7
(5 𝑚𝑠 𝑙22 + 𝐽𝑂 + 𝑚𝑙12 ) 𝑥̈ + (𝑘1 𝑙12 + 𝑘2 𝑙22 )𝑥 = −𝑊𝑙12 (Linearized Eqn.)

Review-9