XMUT315 Control Systems Engineering

Example 2: Laplace Transforms

1. Find 𝑦(𝑡) in a system described by the Differential Equation (DE) as follows. [10 marks]

𝑦 ′′ (𝑡) + 4𝑦 ′ (𝑡) + 3𝑦(𝑡) = 0

With initial conditions:

𝑦(𝑜) = 3, 𝑦 ′ (0) = 1
Answer

We start by taking the Laplace transform of the entire differential equation.

Using the differentiation in time formula, we can write the transforms of each of the derivatives
of y.

ℒ{𝑦 ′ } = 𝑠𝑌(𝑠) − 𝑦(0)

= 𝑠𝑌(𝑠) − 3
And

ℒ{𝑦 ′′ } = 𝑠 2 𝑌(𝑠) − 𝑠𝑦(0) − 𝑦 ′ (0)

= 𝑠 2 𝑌(𝑠) − 3𝑠 − 1
We can therefore write the complete Laplace transform.

(𝑠 2 𝑌(𝑠) − 3𝑠 − 1) + 4(𝑠𝑌(𝑠) − 3) + 3𝑌(𝑠) = 0

Gather all coefficients of 𝑌(𝑠) to the left and the rest of other coefficients to the right:

(𝑠 2 + 4𝑠 + 3)𝑌(𝑠) = 3𝑠 + 13

Rearrange the equation and factorise the roots:

3𝑠 + 13 3𝑠 + 13
𝑌(𝑠) = =
(𝑠 2+ 4𝑠 + 3) (𝑠 + 1)(𝑠 + 3)
Apply partial fraction expansion to simplify the form of the equation:
5 −2
𝑌(𝑠) = +
(𝑠 + 1) (𝑠 + 3)

1
 We have solved our DE by Laplace transforming it, solving an algebraic equation.

Then, using inverse Laplace transform, transform the equation back to the time domain (see
table of Laplace transform).

𝑦(𝑡) = (5𝑒 −𝑡 − 2𝑒 −3𝑡 )𝑢(𝑡)

2. Find the transfer function equation for the following differential equation. [4 marks]

𝑦 ′′ (𝑡) + 4𝑦 ′ (𝑡) + 3𝑦(𝑡) = 𝑥(𝑡)

Answer

Take Laplace transform of the equation

𝑠 2 𝑌(𝑠) + 4𝑠𝑌(𝑠) + 3𝑌(𝑠) = 𝑋(𝑠)

Gather all coefficients of 𝑌(𝑠) to the left and the rest of other coefficients to the right.

(𝑠 2 + 4𝑠 + 3)𝑌(𝑠) = 𝑋(𝑠)
Form the equation of 𝑌(𝑠)/𝑋(𝑠):
𝑌(𝑠) 1
𝐺(𝑠) = = 2
𝑋(𝑠) 𝑠 + 4𝑠 + 3
This is the so-called transfer function (TF) and then it tells us what the system does to an
arbitrary 𝑋(𝑠).

3. Find the mode of the characteristic response of the system as given below. [4 marks]
1
𝐺(𝑠) =
𝑠2 + 4𝑠 + 3
Answer

For the given system, factorise its transfer function equation as shown below
1 1
𝐺(𝑠) = =
𝑠2 + 4𝑠 + 3 (𝑠 + 1)(𝑠 + 3)
With the given system, the poles at 𝑠 = −1 and 𝑠 = −3.

The mode of the system will be 𝑒 −𝑡 and 𝑒 −3𝑡 :

𝑔(𝑡) = [𝐴𝑒 −𝑡 + 𝐵𝑒 −3𝑡 ]𝑢(𝑡)

Where: 𝐴 and 𝐵 depend on the input and the initial conditions.

4. Given the transfer function equation of a system, is it possible to simplify it further? [4 marks]

• System 1:

2
 1
+1 𝑠
𝑌1 (𝑠) =
(𝑠 + 2)(𝑠 + 3)
• System 2:

𝑠2
𝑌2 (𝑠) =
(𝑠 + 2)(𝑠 + 3)
Answer

If the transfer function of the system is not a rational polynomial, perform modal decomposition
of the equation as shown below:
1
𝑠
+1
𝑌(𝑠) =
(𝑠 + 2)(𝑠 + 3)

𝑠 (1𝑠 + 1)
=( )
𝑠 (𝑠 + 2)(𝑠 + 3)
(𝑠 + 1)
=
𝑠(𝑠 + 2)(𝑠 + 3)
If the transfer function of the system is not strictly proper, we can simplify the equation as
below:

𝑠2
𝑌(𝑠) =
(𝑠 + 2)(𝑠 + 3)
𝑠 2 + 5𝑠 + 6 5𝑠 + 6 5𝑠 + 6
= 2
− 2 =1−
𝑠 + 5𝑠 + 6 𝑠 + 5𝑠 + 6 (𝑠 + 2)(𝑠 + 3)

5. Find the time domain equation of a system described as the transfer function equation below
using ordinary partial fraction expansion method. [8 marks]
𝑠+1
𝑌(𝑠) =
𝑠 3 + 𝑠 2 − 6𝑠
Solution

For the given system, factorise the transfer function equation and perform partial fraction
expansion.
𝑠+1
𝑌(𝑠) =
𝑠 3 + 𝑠 2 − 6𝑠
𝑠+1
=
𝑠(𝑠 2 + 𝑠 − 6)
𝑠+1
=
𝑠(𝑠 − 2)(𝑠 + 3)
𝐴 𝐵 𝐶
= + +
𝑠 𝑠−2 𝑠+3

3
 For this system, that partial fraction method that we will use is multiplying out the new form of
the equation and equating it with the original form.
𝑠+1 𝐴 𝐵 𝐶
= + +
𝑠3 2
+ 𝑠 − 6𝑠 𝑠 𝑠 − 2 𝑠 + 3
𝐴(𝑠 − 2)(𝑠 + 3) + 𝐵𝑠(𝑠 + 3) + 𝐶𝑠(𝑠 − 2)
=
𝑠 3 + 𝑠 2 − 6𝑠
(𝐴 + 𝐵 + 𝐶)𝑠 2 + (𝐴 + 3𝐵 − 2𝐶)𝑠 − 6𝐴
=
𝑠 3 + 𝑠 2 − 6𝑠
The denominators of these expressions are identical, so the numerators must be equivalent. We
therefore equate coefficients of the various powers of s in the numerator polynomials of the two
sides.

𝑠2: 0 = 𝐴 + 𝐵 + 𝐶

𝑠1 : 1 = 𝐴 + 3𝐵 − 2𝐶

𝑠 0 : 1 = −6𝐴
1
From the last of these equations, we know that 𝐴 = − 6

Substituting into the other two equations, we find:

1 7
𝐵+𝐶 = and 3𝐵 − 2𝐶 =
6 6
Solving these two equations simultaneously, we find:
3 2
𝐵= , 𝐶=−
10 15
Entering the values of the coefficient back into the equation.
𝑠+1
𝑌(𝑠) =
𝑠(𝑠 2 + 𝑠 − 6)
1 1 3 1 2 1
= − ( )+ ( )− ( )
6 𝑠 10 𝑠 − 2 15 𝑠 + 3
Taking the inverse Laplace transform (from the table), we therefore find:
1 3 2
𝑦(𝑡) = [− + 𝑒 2𝑡 − 𝑒 −3𝑡 ] 𝑢(𝑡)
6 10 15

6. Find the time domain equation of a control system given as the following transfer function
equation using the cover-up method. [5 marks]
𝑠+1
𝑌(𝑠) =
𝑠3 + 𝑠 2 − 6𝑠
Solution

4
 The “Cover” the term in the denominator for which you are trying to find the coefficient and
then calculate the value of the remaining fraction at the value that would cause the covered
term to be zero.
𝑠+1 𝑠+1 𝐴 𝐵 𝐶
= = + +
𝑠3 2
+ 𝑠 − 6𝑠 𝑠(𝑠 − 2)(𝑠 + 3) 𝑠 𝑠 − 2 𝑠 + 3
The coefficients 𝐴, 𝐵, and 𝐶 in the equation above are calculated from:
𝑠+1 1
𝐴= | =−
(𝑠 − 2)(𝑠 + 3) 𝑠=0 6

𝑠+1 3 3
𝐵= | = =
𝑠 (𝑠 + 3) 𝑠=2 2 × 5 10

𝑠+1 −2 2
𝐶= | = =−
𝑠(𝑠 − 2) 𝑠=−3 −3 × −5 15

Thus
𝑠+1 1 3 2
= − + −
𝑠 3 + 𝑠 2 − 6𝑠 6𝑠 10(𝑠 − 2) 15(𝑠 + 3)

7. For a given system described as the following transfer function equation with a pair of complex
factors, find its time-domain equation. [8 marks]
1
𝑌(𝑠) =
𝑠(𝑠 2 + 𝑠 + 1)
Answer

The coefficients of complex factors must be found by the cross-multiplication method. Find the
residuals of other factors first.
1
𝑌(𝑠) =
𝑠(𝑠 2 + 𝑠 + 1)
1 𝐴2 𝑠 + 𝐴3
= +
𝑠 𝑠2 + 𝑠 + 1
(𝑠 2 + 𝑠 + 1) + 𝐴2 𝑠 2 + 𝐴3 𝑠
=
𝑠(𝑠 2 + 𝑠 + 1)
(𝐴2 + 1)𝑠 2 + (𝐴3 + 1)𝑠 + 1
=
𝑠(𝑠 2 + 𝑠 + 1)
We equate the coefficients of the powers of s in the numerators of the two sides.

𝑠 2 : 0 = 𝐴2 + 1 ⟹ 𝐴2 = −1

𝑠1 : 0 = 𝐴3 + 1 ⟹ 𝐴3 = −1

𝑠0: 1 = 1
Entering the values of the coefficient back into the equation.

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 1 1
1 (𝑠 + 2) + 2
𝑌(𝑠) = −
𝑠 1 2 3
(𝑠 + 2) + 4

1 1
1 𝑠+2 2
= − −
𝑠 1 2 3 1 2 3
(𝑠 + ) + (𝑠 + ) +
2 4 2 4

1 1 √3
1 𝑠+2 √3 2
= − 2 −
𝑠 1 3 1 2 3
(𝑠 + 2) + 4 (𝑠 + 2) + 4

Thus, taking inverse transform of the equation given above

𝑡 √3 1 −𝑡 √3
𝑦(𝑡) = [1 − 𝑒 −2 cos ( 𝑡) − 𝑒 2 sin ( 𝑡)] 𝑢(𝑡)
2 √3 2

8. Find the time domain equation of a system expressed as the following transfer function
equation with a pair of repeated poles. [5 marks]
3𝑠 + 8
𝑌(𝑠) =
(𝑠 + 2)2
Solution

With the given transfer function equation, factorise and perform partial fraction expansion.
3𝑠 + 8 𝐴2 𝐴1
𝑌(𝑠) = 2
= 2
+
(𝑠 + 2) (𝑠 + 2) 𝑠+2
The coefficients 𝐴1 and 𝐴2 are found from:

(𝑠 + 2)2 (3𝑠 + 8)
𝐴2 = lim = 3𝑠 + 8|𝑠→−2 = 2
𝑠→−2 (𝑠 + 2)2
(Just the Heaviside technique)

1 𝑑 (𝑠 + 2)2 (3𝑠 + 8) 𝑑
𝐴1 = lim = lim (3𝑠 + 8) = (3)|𝑠→−2 = 3
(2 − 1)! 𝑠→−2 𝑑𝑠 (𝑠 + 2)2 𝑠→0 𝑑𝑠

Thus, the overall transfer function equation of the system is:

2 3
𝑌(𝑠) = 2
+
(𝑠 + 2) 𝑠+2
Taking inverse Laplace transform of the transfer function, the equation in the time domain is:

𝑦(𝑡) = (2𝑡𝑒 −2𝑡 +3𝑒 −2𝑡 )𝑢(𝑡)

9. For each of the given control systems below, determine the location of poles and/or zeros in the
s-plane and predict its transient response. [9 marks]

6
a. System 1
𝑠 + 20
𝑌1 (𝑠) =
𝑠2 + 101𝑠 + 100
b. System 2
0.5𝑠 + 2.5
𝑌2 (𝑠) =
𝑠2+ 2𝑠 + 10
c. System 3
5𝑠 − 500
𝑌3 (𝑠) =
𝑠 3 − 3𝑠 − 2

Answer

a. System 1
(𝑠 + 20)
𝑌1 (𝑠) =
(𝑠 + 1)(𝑠 + 100)

The s-plane diagram of the system is as shown in the figure below.

Since all the poles and zero are located at the left-hand side of the diagram, the system is
stable. As the poles are all real, then the transient response of the system is overdamped.

b. System 2
0.5(𝑠 + 5)
𝑌2 (𝑠) =
𝑠2+ 2𝑠 + 10

The s-plane diagram of the system is as shown in the figure below.

7
 Since all the poles are a pair of complex poles at the left-hand side of the diagram, the
system is stable. Because of these complex poles, the transient response of the system is
underdamped.

c. System 3
5(𝑠 − 100)
𝑌3 (𝑠) =
(𝑠 − 2)(𝑠 + 1)2

The s-plane diagram of the system is as shown in the figure below.

Since there is a pole at the right-hand side of the diagram, the system is found to be
unstable.

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10. Determine the steady-state characteristics of the following control systems given as the
following transfer function equations. [6 marks]

a. System 1 when it is subjected to a step input (1/𝑠):

𝑠(𝑠 + 10)
𝐹1 (𝑠) =
(𝑠 + 2)(𝑠 + 50)

b. System 2 when it is subjected to a ramp input (1/𝑠 2 ):

10(𝑠 + 5)
𝐹2 (𝑠) =
𝑠(𝑠 2 + 𝑠 + 10)

c. System 3 when it is subjected to a parabolic input (1/𝑠 3 ):

𝑠 2 (𝑠 + 2)
𝐹3 (𝑠) =
(𝑠 + 15)(𝑠 + 100)

Answer

The steady-state characteristics of the following control systems are as outlined below.

a. System 1
1
lim 𝑓1 (𝑡) = lim 𝑠𝐹1 (𝑠) ( )
𝑡→∞ 𝑠→0 𝑠
𝑠(𝑠 + 10) 1
= lim 𝑠 [ ]( ) = 0
𝑠→0 (𝑠 + 2)(𝑠 + 50) 𝑠

It looks like that the system settles down to 0 at steady-state condition.

b. System 2
1
lim 𝑓2 (𝑡) = lim 𝑠𝐹2 (𝑠) ( 2 )
𝑡→∞ 𝑠→0 𝑠
10(𝑠 + 5) 1
= lim 𝑠 [ 2 ]( ) = ∞
𝑠→0 𝑠(𝑠 + 𝑠 + 10) 𝑠 2

It seems that the system becoming unstable at steady-state condition. This shows that the
type of input has significant effect on the steady-state condition of the system.

c. System 3
1
lim 𝑓3 (𝑡) = lim 𝑠𝐹3 (𝑠) ( 3 )
𝑡→∞] 𝑠→0 𝑠
𝑠 2 (𝑠 + 2) 1 2 1
= lim 𝑠 [ ] ( 3) = =
𝑠→0 (𝑠 + 15)(𝑠 + 100) 𝑠 (15)(100) 750

The system settles down to a constant e.g. 1/750 at the steady-state condition.