MATHEMATICAL MODELLING

MECA 202

Spring 2021

Instructor:
İbrahim Başar Aka

1
 Reminder:
Laplace Transform Methods

•The Laplace transform was developed by the French

mathematician by the same name (1749-1827) and was widely
adapted to engineering problems in the last century. Its utility lies in
the ability to convert differential equations to algebraic forms that
are more easily solved. The notation has become very common in
certain areas as a form of engineering “language” for dealing with
systems.

2
 Reminder:
Differential Equation
Laplace Transform Methods

Transform differential
equation to
algebraic equation.

Solve equation
by algebra.

Determine
inverse
transform.

Solution

Steps involved in using the Laplace transform 3

 Laplace Transformation

L[ f (t )] F ( s )
1
L [ F ( s )]  f (t )

F ( s )  f (t )e dt
 st
0

4
 Basic Theorems of Linearity

L[ Kf (t )] KL[ f (t )] KF ( s )
L[ f1 (t )  f 2 (t )] L[ f1 (t )]  L[ f 2 (t )]
F1 ( s )  F2 ( s )
•The Laplace transform of a product is not
the product of the transforms.

L[ f1 (t ) f 2 (t )]  F1 ( s ) F2 ( s )
5
Basic Theorems of Linearity

6
 Illustration of the unit step
function.

u (t )

0 t

7
 Derive the Laplace transform of the
unit step function.


F ( s )  (1)e dt st
0

 st  0
e  e  1
F ( s)   0   
s 0  s s

8
 Common transform pairs

f (t ) F ( s )  L [ f ( t )]
1 or u ( t ) 1 T-1
s
e t 1 T-2
s 
sin  t  T-3
s  2
2

cos  t s T-4
s2   2
e   t sin  t  T-5*
(s   )2   2
e   t cos  t s  T-6*
(s   )2   2
t 1 T-7
s2
tn n! T-8
s n 1
e tt n n! T-9

( s   ) n 1
 (t ) 1 T-10

*Use when roots are complex.

9
10
11
A force in newtons (N) is given below. Determine the
Laplace transform.

f (t ) 50u (t )
50
F (s) 
s

12
A voltage in volts (V) starting at t = 0 is given below.
Determine the Laplace transform.

 2t
v(t ) 5e sin 4t
4
V ( s ) L[v(t )] 5  2 2
( s  2)  (4)
20 20
 2  2
s  4s  4  16 s  4s  20
13
Shifting along s-axis

14
A pressure in pascals (p) starting at t = 0 is given
below. Determine the Laplace transform.

 4t
p (t ) 5cos 2t  3e
s 1
P ( s ) L[ p (t )] 5  2 2
 3
s  (2) s4
5s 3
 2 
s 4 s4
15
Determine the Laplace transform of y(t).

16
 Inverse Laplace Transforms
by Identification

•When a differential equation is solved by Laplace transforms, the

solution is obtained as a function of the variable s. The inverse
transform must be formed in order to determine the time response.
The simplest forms are those that can be recognized within the
tables and a few of those will now be considered.

17
Determine the inverse transform of the function
below.

5 12 8
F ( s)   2 
s s s 3

 3t
f (t ) 5  12t  8e

18
Determine the inverse transform of the function
below.

200
V ( s)  2
s  100
 10 
V ( s ) 20  2 2 
 s  (10) 

v(t ) 20sin10t

19
 Example

2 𝑠+12
𝐹 ( 𝑠) =
𝑠 2 +2 𝑠 +5

𝑠1 , 2=−1 ± 𝑗 2

2 2 2
𝑠 +2 𝑠+5=( 𝑠+1 ) + 2

2 𝑠+12 10+2 (𝑠 +1)

𝐹 ( 𝑠) = =
𝑠 2 +2 𝑠 +5 2
( 𝑠 +1 ) +22

2 𝑠+1
¿5 +2
( 𝑠 +1 )2 +22 ( 𝑠+ 1 )2+ 22

−𝑡 −𝑡
f (𝑡 )=5 𝑒 𝑠𝑖𝑛2 𝑡+2 𝑒 𝑐𝑜𝑠 2𝑡

20
 Forms for CCLODE Transforms

N (s)
F (s) 
D( s)
n n 1
N ( s ) an s  an  1s  ...  a1s  a0
m m 1
D( s ) bm s  bm 1s  ...  b1s  b0
N (s)
F (s) 
bm ( s  p1 )( s  p2 )....( s  pm )
21
 The roots of D(s) are called poles and they may be
classified in four ways.
• 1. Real poles of first order.
• 2. Complex poles of first order (including purely imaginary
poles)
• 3. Real poles of multiple order
• 4. Complex poles of multiple order (including purely imaginary
poles)

22
 Partial Fraction Expansion
Real Poles of First Order

A1 A2 Ar
F ( s)    ....   R( s)
s  p1 s  p2 s  pr

Ak ( s  pk ) F ( s ) s p
k

p1t p2t pr t
f1 (t )  A1e  A2e  .... Ar e

23
 Determine inverse transform of function below.

s 6 s 6
F ( s)  2 
s  3s  2 ( s  1)( s  2)

s 6 A1 A2
F ( s)   
( s  1)( s  2) s  1 s  2

s 6  1 6
A1 ( s  1) F ( s )  s  1   5
s  2  s  1  1  2
24
 Continuation.

s 6  26
A2 ( s  2) F ( s )  s  2    4
s  1  s  2  2  1

5 4
F ( s)  
s 1 s  2
t  2t
f (t ) 5e  4e
25
Determine inverse transform of function below.
32
𝑌 ( 𝑠 )= 2
𝑠 ( 𝑠 +12 𝑠+32)

32 𝐾1 𝐾2 𝐾3
𝑌 ( 𝑠 )= = + +
2
𝑠 ( 𝑠 +12 𝑠+32) 𝑠 𝑠 +4 𝑠+ 8

𝐾 1= 2
32
𝑠
𝑠 (𝑠 +12 𝑠 +32) 𝑠=0
=1
|
𝐾 2= 2
32
𝑠 ( 𝑠 +12 𝑠 +32) |
(𝑠 + 4)
𝑠=− 4
=−2

𝐾 3= 2
32
𝑠 ( 𝑠 +12 𝑠+32)
( 𝑠+8)
𝑠 =−8
|=1

26
Determine inverse transform of function below.

1 2 1
𝑌 ( 𝑠 )= − +
𝑠 𝑠+ 4 𝑠 +8

𝑦 ( 𝑡 ) = ( 1 (𝑡 )− 2 𝑒− 4 𝑡 +𝑒 − 8 𝑡 )

27
28
29
 Partial Fraction Expansion for
First-Order Complex Poles

( s  bs  c)  p1,2   i
2

As  B
F ( s)  2  R( s)
s  bs  c

30
Partial Fraction Expansion for
First-Order Complex Poles

31
Partial Fraction Expansion for
First-Order Complex Poles

32
Example.

33
 Second-Order Real Poles

•Assume that F(s) contains a denominator factor of the form (s+)2.

The expansion will take the form shown below.

C1 C2
F ( s)    R( s)
(s   ) s  
2

C1 ( s   ) F ( s ) 
2
s  

 t  t  t
f1 (t ) C1te  C 2e (C1t  C 2 )e
34
Determine inverse transform of function below.

60
F (s)  2
s ( s  2)
60 A C1 C2
F ( s)  2
  2

s ( s  2) s ( s  2) ( s  2)
60  60
A sF ( s )  s 0  2
 2
15
( s  2)  s 0 (0  2)
60  60
C1 ( s  2) F ( s ) 
2
    30
s  2 s  s  2  2
35
 Continuation.

60 15 30 C2
F ( s)  2
  2

s ( s  2) s ( s  2) s  2

60 15 30 C2
2
  2
 C2  15
(1)(1  2) 1 (1  2) (1  2)

60 15 30 15
F (s)  2
  2

s ( s  2) s ( s  2) s  2

f (t ) 15  30te  2t  15e  2t 15  15e  2t (1  2t )

36
Repeated roots case

37
Example 2
𝑠 +2 𝑠 +3
𝐹 ( 𝑠) =
( 𝑠 +1 )3

[ ]
2
𝑠 + 2 𝑠+ 3
3
𝑏 3= ( 𝑠 +1 ) =2
( 𝑠+ 1 )3 𝑠 =−1

[ ]
2
𝑑 3 𝑠 +2 𝑠 +3
𝑏 2={ ( 𝑠+1 ) } =0
𝑑𝑠 ( 𝑠+1 )3 𝑠=−1

[ ]
2 2
1 𝑑 3 𝑠 +2 𝑠+3
𝑏1 = { 2
( 𝑠 +1 ) 3
} =1
2! 𝑑 𝑠 ( 𝑠+ 1 ) 𝑠=− 1

f 38
39
40
 Laplace Transform Operations

f (t ) F (s)
f '(t ) sF ( s )  f (0) O-1
t
F (s) O-2
 f (t )dt
0
s
e   t f (t ) F (s   ) O-3

f (t  T )u (t  T ) e  sT F ( s) O-4
f (0) lim sF ( s) O-5
s 

lim f (t ) lim sF ( s)* O-6

t  s 0

*Poles of sF ( s) must have negative real parts.

41
 Significant Operations for Solving Differential
Equations

L[ f '(t )] sF ( s )  f (0)

2
L[ f "(t )] s F ( s )  sf (0)  f '(0)
 t
 F ( s)
L  f (t )dt 
 0  s

42
 Procedure for Solving DEs

d2y dy
b2 2  b1  b0 y  f (t )
dt dt
 d2y dy 
L  b2 2  b1  b0 y  L  f (t ) 
 dt dt 

b2  s 2Y ( s )  sy (0)  y '(0) 
b1  sY ( s )  y (0)   b0Y ( s ) F ( s )

F (s) sb2 y (0)  b2 y '(0)  b1 y (0)

Y (s)  2 
b2 s  b1s  b0 b2 s 2  b1s  b0
43
 Solve DE shown below.

dy
 2 y 12 y (0) 10
dt
 dy 
L    2 L  y  L 12 
 dt 
12
sY ( s )  10  2Y ( s ) 
s
12
s  2 Y ( s) 10 
s
10 12
Y (s)  
s  2 s ( s  2)
44
 Continuation.

12 A1 A2
 
s ( s  2) s s  2
 12   12 
A1 s     6
 s ( s  2)  s 0  s  2  s 0
 12   12 
A2 ( s  2)      6
 s ( s  2)  s  2  s  s  2

10 6 6 6 4
Y (s)     
s2 s s2 s s2
 2t
y (t ) 6  4e
45
 Solve DE shown below.

dy y (0) 10
 2 y 12sin 4t
dt
12(4)
sY ( s )  10  2Y ( s )  2
s  16

10 48
Y (s)   2
s  2 ( s  2)( s  16)
48 A B1s  B2
2
  2
( s  2)( s  16) s  2 s  16

46
 Continuation.
48 A B1s  B2
2
  2
( s  2)( s  16) s  2 s  16

48  48
A 2   2.4
s  16  s  2 20
48 2.4 B1s  B2
2
  2
( s  2)( s  16) s  2 s  16
48 2.4 B2
  B2 4.8
(2)(16) 2 16

48 2.4  B1  B2 B1  2.4
 
(1)(17) 1 17
47
 Continuation.

10 2.4 2.4 s 4.8

Y (s)    2  2
s  2 s  2 s  16 s  16

 2t
y (t ) 12.4e  2.4 cos 4t  1.2sin 4t

48
 Solve DE shown below

d2y dy
2
 3  2 y 24
dt dt
y (0) 10 and y '(0) 0
24
s Y ( s )  10 s  0  3  sY ( s )  10  2Y ( s) 
2

s
24 10 s  30
Y (s)  2  2
s ( s  3s  2) s  3s  2
24 10 s  30
 
s ( s  1)( s  2) ( s  1)( s  2)
49
 Continuation.

24 12 24 12
  
s ( s  1)( s  2) s s  1 s  2
10 s  30 20 10
 
( s  1)( s  2) s  1 s  2

12 4 2
F ( s)   
s s 1 s  2
t  2t
f (t ) 12  4e  2e
50
 Solve DE shown below.

2
d y dy
2
 2  5 y 20
dt dt

y (0) 0 and y '(0) 10

20
s Y ( s )  0  10  2  sY ( s )  0   5Y ( s) 
2

s
20 10
Y (s)  2  2
s ( s  2s  5) s  2s  5

51
 Continuation.

20 4 As  B
2
  2
s ( s  2 s  5) s ( s  2 s  5)

20 4 AB
 
(1)(1  2  5) 1 (1  2  5)

20 4  A B
 
( 1)(1  2  5)  1 (1  2  5)

A  4 B  8
52
 Continuation.

4  4s  8 10 4  4s  2
Y (s)   2  2   2
s s  2s  5 s  2s  5 s s  2s  5

2 2 2 2
s  2s  5 s  2s  1  5  1 ( s  1)  (2)

4  4( s  1) 3(2)
Y (s)   
s ( s  1)  (2) ( s  1) 2  (2) 2
2 2

t t
y (t ) 4  4e cos 2t  3e sin 2t

53
Why is a differentiator like multiplying by s?

Assume that the signal x(t) has zero initial condition. Then the result becomes so that
a derivative operating on a signal can be represented as multiplying the signal
Laplace transform by s.

How do we represent an integrator using Laplace transforms?

{ }
𝑡
1
ℒ ∫ 𝑥(𝜏)𝑑 𝜏 = X ( s )
0 s
Thus the effect of an integrator operating on a signal is equivalent to operating on or
Multiplying the signal Laplace transform by 1/s.

54
 Initial Value Theorem

𝑥 ¿

Example
7 𝑠+2
𝑋 ( 𝑠 )=
𝑠 ( 𝑠+6 )

𝑥 ¿
55
 Final Value Theorem

We are often interested to know the final value or steady state value of a signal, x (t),
as time approaches infinity. The final value is firstly assumed to exist and be finite.

𝑥 (∞ )=lim 𝑥 ( 𝑡 ) =¿ lim [ 𝑠𝑋 ( 𝑠 ) ] ¿
𝑡 →∞ 𝑠 →0

7
𝑋 ( 𝑠 )=
( 𝑠 + 4 )2 + 49

56
57
 k=100N/m, m=10kg, c=10 Ns/m,F0=1N

˙ 0
𝑥 0=1 𝑐𝑚 , 𝑥=

𝑚 𝑥+𝑐
¨ 𝑥˙ +𝑘𝑥=𝐹 ( 𝑠)

2
𝑚( 𝑠 𝑋 ( 𝑠 ) − 𝑠𝑥 ( 0 ) − 𝑥
˙ (0))+𝑐 (𝑠𝑋 ( 𝑠 ) − 𝑥 ( 0 ))+ 𝑘𝑋 ( 𝑠)=0

( 10 𝑠 2+ 10 𝑠 +100 ) 𝑋 ( 𝑠 ) − 0 − 0.01=0

58
 k=100N/m, m=10kg, c=10 Ns/m,F0=1N

𝑚 𝑥+𝑐
¨ 𝑥˙ +𝑘𝑥=𝐹 ( 𝑠)

2
𝑚( 𝑠 𝑋 ( 𝑠 ) − 𝑠𝑥 ( 0 ) − 𝑥
˙ (0))+𝑐 (𝑠𝑋 ( 𝑠 ) − 𝑥 ( 0 ))+ 𝑘𝑋 ( 𝑠)=𝐹 (𝑠)

( 10 𝑠 2+ 10 𝑠 +100 ) 𝑋 ( 𝑠 ) = 𝐹 ( 𝑠)

59