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Lecture2C_LaplaceTransformTransferFunction

This lecture covers the Laplace Transform and Transfer Functions, which are essential tools for analyzing linear systems modeled by ordinary differential equations (ODEs) with constant coefficients. It explains the relationship between the time domain and frequency domain, emphasizing the use of one-sided Laplace transforms for causal systems. Key concepts include the definition of the transfer function and examples demonstrating the application of Laplace transforms to various functions.

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Siddhesh Pawar 1433
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1 views

Lecture2C_LaplaceTransformTransferFunction

This lecture covers the Laplace Transform and Transfer Functions, which are essential tools for analyzing linear systems modeled by ordinary differential equations (ODEs) with constant coefficients. It explains the relationship between the time domain and frequency domain, emphasizing the use of one-sided Laplace transforms for causal systems. Key concepts include the definition of the transfer function and examples demonstrating the application of Laplace transforms to various functions.

Uploaded by

Siddhesh Pawar 1433
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ECE 486: Control Systems

Lecture 2C: Laplace Transform & Transfer Function


Key Takeaways
Frequency domain tools can be used to characterize
systems modeled by linear ODEs with constant
coefficients.

This lecture introduces:


• Laplace Transform
• Transfer functions

2
Laplace Transforms and the Transfer Function
Reminder : the two-sided Laplace transform of a function f (t) is
Z ∞
F (s) = f (τ )e−sτ dτ, s∈C
−∞

time domain frequency domain


u(t) U (s)
h(t) H(s)
y(t) Y (s)
convolution in time domain ←→ multiplication in frequency domain
y(t) = h(t) ? u(t) ←→ Y (s) = H(s)U (s)
The Laplace transform of the impulse response
Z ∞
H(s) = h(τ )e−sτ dτ
−∞

is called the transfer function of the system.


Laplace Transforms and the Transfer Function

Z ∞
Y (s) = H(s)U (s), where H(s) = h(τ )e−sτ dτ
−∞

Limits of integration:
I We only deal with causal systems — output at time t is
not affected by inputs at future times t0 > t
I If the system is causal, then h(t) = 0 for t < 0 — h(t) is
the response at time t to a unit impulse at time 0
I We will take all other possible inputs (not just impulses) to
be 0 for t < 0, and work with one-sided Laplace transforms:
Z ∞
y(t) = u(τ )h(t − τ )dτ
0
Z ∞
H(s) = h(τ )e−sτ dτ
0
Laplace Transforms
(see FPE, Appendix A)

One-sided (or unilateral) Laplace transform:


Z ∞
L {f (t)} ≡ F (s) = f (t)e−st dt (really, from 0− )
0

— for simple functions f , can compute L f by hand.


Example: unit step
(
1, t ≥ 0
f (t) = 1(t) =
0, t < 0
Z ∞ ∞
1 1
L {1(t)} = e−st dt = − e−st = (pole at s = 0)
0 s 0 s
t→+∞
— this is valid provided Re(s) > 0, so that e−st −−−−→ 0.
Laplace Transforms
Example: f (t) = cos t
 
1 jt 1 −jt
L {cos t} = L e + e (Euler’s formula)
2 2
1 1
= L {ejt } + L {e−jt } (linearity)
2 2
Z ∞ Z ∞
jt −st 1 (j−s)t ∞
L {e } =
jt
e e dt = e(j−s)t dt = e
0 0 j−s 0
1
=− (pole at s = j)
j−s
Z ∞ Z ∞ ∞
−jt −jt −st 1 −(j+s)t
L {e }= e e dt = e−(j+s)t dt = − e
0 0 j+s 0
1
= (pole at s = −j)
j+s
— in both cases, require Re(s) > 0, i.e., s must lie in the right
half-plane (RHP)
Laplace Transforms

Example: f (t) = cos t


1 1
L {cos t} = L {ejt } + L {e−jt }
2 2 
1 1 1
= − +
2 j−s j+s
 
1 −j − s + j − s
=
2 (j − s)(j + s)
 
1 −2s
=
2 −1 + js − js − s2
s
= 2 (poles at s = ±j)
s +1
for Re(s) > 0
Transfer Function
Convolution: L {f ? g} = L {f }L {g}
(useful because Y (s) = H(s)U (s))

Example: ẏ = −y + u y(0) = 0

Compute the response for u(t) = cos t


R∞ R∞ ∞ R∞
L {ẏ} = 0 ẏe−st dt = 0 e−st dy = ye−st − 0 yde−st
0
The first term is 0 since y(0) =R 0 and the real part of s is
∞
positive. The second term is s 0 ye−st dt, which is sY (s).
We have L {ẏ} = −L {y} + L {u} which leads to
1
sY (s) = −Y (s) + U (s) =⇒ Y (s) = U (s)
s+1
s
We already know U (s) = s2 +1
s
=⇒ Y (s) = H(s)U (s) =
(s + 1)(s2 + 1)
y(t) = L −1 {Y }
Linear ODEs with Constant Coefficients
• An nth order linear ODE with constant coefficients

• Proper if m≤n and strictly proper if m<n


• Linear models often arise by approximating a nonlinear
model. This step is called linearization and will be
covered later in the course.
• Transfer function representation:

4
Example
ODE: TF:

Matlab:

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