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Control I Lecture 2

The document covers the Laplace Transform, including its definition, application in control systems, and the process for finding both the Laplace transform and its inverse. It introduces key concepts such as open and closed loop control systems, and provides tables for transforming functions. Additionally, it explains partial-fraction expansion as a method for simplifying complex functions for inverse transformation.

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5 views15 pages

Control I Lecture 2

The document covers the Laplace Transform, including its definition, application in control systems, and the process for finding both the Laplace transform and its inverse. It introduces key concepts such as open and closed loop control systems, and provides tables for transforming functions. Additionally, it explains partial-fraction expansion as a method for simplifying complex functions for inverse transformation.

Uploaded by

alialshkri41
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Control 1

Lecture 1:- Laplace Transform


Instructor : Dr. Eltaib Said Elmubarak
Quick Recap
• Definitions
• Some example of control system
• Open Loop and Closed Loop Control Systems
Learning Objectives
After completing this chapter, the student will
be able to:
▪ Find the Laplace transform of time functions
and the inverse Laplace transform
▪ Use of Laplace transform in electrical system
• Let us define
• 𝑓 𝑡 − 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡𝑖𝑚𝑒 𝑡 𝑠𝑢𝑐ℎ 𝑡ℎ𝑎𝑡
• 𝑓 𝑡 = 0 𝑓𝑜𝑟 𝑡 < 0
• s – a complex variable
• an operational symbol indicating that the
quantity that it prefixes is to be transformed
∞ −𝑠𝑡
by the Laplace integral ‫׬‬0 𝑒 𝑑𝑡
• F(s) – Laplace transform of f(t)
• Then the Laplace transform of f(t) is given by

• (2.1)

• where s =σ+ jω, a complex variable.


• Thus, knowing f(t) and that the integral in the
above equation exists, we can find a function,
F(s), that is called the Laplace transform of f(t)
• The reverse process of finding the time
function f(t) from the Laplace transform F(s) is
called the inverse Laplace transformation.

(2.2)
• Where C is real constant and chosen larger
than the real part of all singular point of F(s).
•
• Using Eq. (2.1), it is possible to derive a table
relating f(t) to F(s) for specific cases.
• Table 2.1 shows the results for a
representative sample of functions.
• If we use the tables, we do not have to use
Eq. (2.2), which requires complex integration,
to find f(t) given F(s).
Table 2.1 Laplace Transform
• In addition to the Laplace transform table,
Table 2.1, we can use Laplace transform
• theorems, listed in Table 2.2, to assist in
transforming between f(t) and F(s).
Table 2.2 Some Laplace transform Theory
• Table 2.3 Test waveforms used in control systems
Partial-Fraction Expansion
• To find the inverse Laplace transform of a
complicated function , we can convert the
function to a sum of simpler terms for which
we know the Laplace transform of each term.
• The result is called a partial-fraction expansion
• If F1(s) = N(s)/D(s), where the order of N(s) is
less than order of D(s), then a partial-fraction
• expansion can be made. If the order of N(s) is
greater than or equal to the order of D(s),
then N(s) must be divided by D(s) successively
until the result has a remainder whose
numerator is of order less than its
denominator.
• For example, if
• Taking the inverse Laplace transform

• Using partial-fraction expansion, we will be


able to expand functions like s2+ s +5 into a
sum of terms and then find the inverse
Laplace transform for each term.
• To find K1, we first multiply equation by
• (s+ 1)(s +2)
• 2 = 𝐾1 𝑠 + 2 + 𝑘2 (𝑠 + 1)
• When s = -1, k1 = 2
• When s = -2, k2 = -2
• 𝑓 𝑡 = 2𝑒 −𝑡 − 2𝑒 −𝑡

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