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Mechanical Engineering Science 8
Dr. Daniil Yurchenko
Laplace Transform
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Block Diagram
+

Y
Y
X
X
Closed-Loop
Open Loop
?
?
?
Here we consider systems described by ODEs
y a x a
dt
x d
a
dt
x d
a
n
n
n
n
n
n
= + + + +

0 1
1
1
1
.......
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Definition of the Laplace
Transform
For the given real f(t)
}

=
0
) ( ) ( dt e t f s F
st
F(s) Laplace transform of f(t)
Capital letters Laplace transform f(t)
)] ( [ ) ( t f L s F =
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Examples of Laplace Transform
Unit Step Function
f(t)
t

<
>
= =
0 t , 0
0 t , 1
) ( ) ( t u t f
s s
e
s
dt e s F
st st
1
)
1
( 0
1
1 ) (
0
0
= = = - =

}
s t u L / 1 )] ( [ =
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Examples of Laplace Transform
Exponential Function
0 , ) ( > = t t t f
2
0
2
0
0
0 0
1
0
1
1
) (
s s
e
dt e
s s
te
tde
s
dt te s F
st
st
st
st st
= = + =
= = =

}
} }
1
!
] [
+
=
n
n
s
n
t L
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Examples of Laplace Transform
Exponential Function
0 , ) ( > =

t e t f
at
a s a s
e
a s
dt e e s F
t s a st at
+
=
+
=
+
= =

+

}
1
)
1
( 0
1
) (
0
) (
0
a s
e L
at
+
=

1
] [
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Properties of L - Transform
Theorem 1
if k is a constant, then
) ( )] ( [ s kF t kf L =
) ( ) ( )] ( ) ( [ s G s F t g t f L =
Theorem 2
if F(s) and G(s) are L-transform of f(t) and g(t), then
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Properties of L - Transform
Theorem 3 (Initial Value of f(t))
) ( lim ) 0 ( ) ( lim
0
s sF f t f
s t
= =
Theorem 4 (Final Value of f(t))
) ( lim ) ( ) ( lim
0
s sF f t f
s t
= =
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Properties of L - Transform
Theorem 5 (L-transform of differentiation)
) 0 ( ) (
) (
f s sF
dt
t df
L =
(

For higher order derivatives

) 0 ( ' ) 0 ( ) (
) (
) 0 ( ) (
) (
2
0
2
2
2
f sf s F s
dt
t df
sf s F s
dt
t f d
L
t
= =
(

=
) 0 ( ... ) 0 ( ) 0 ( ) (
) (
) 1 ( ) 1 ( 2 1
=
(

n n n n
n
n
f f s f s s F s
dt
t f d
L
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Properties of L - Transform
Theorem 6 (L-transform of integration)
s
s F
d f L
t
) (
) (
0
=
(

}
t t
| | ) ( ) ( a s F t f e L
at
=
Theorem 7
Table of Laplace transform is attached
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Example
Vibration of a Single-Degree-of-Freedom System
b x a x
t y Kx x C x M
= =
= + +
) 0 ( , ) 0 (
), (

Y(s) X(s)
?
)] ( [ ] [ t y L Kx x C x M L = + +

) ( ) ( )] 0 ( ) ( [
)] 0 ( ) 0 ( ) ( [ ] [ ] [ ] [
2
s Y s KX x s sX C
x sx s X s M x KL x CL x ML
= +
+ = + +

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Example
) ( ) ( )} 0 ( ) ( { )} 0 ( ) 0 ( ) ( {
2
s Y s KX x s sX C x sx s X s M = + +

) ( ) ( } ) ( { } ) ( {
2
s Y s KX a s sX C b sa s X s M = + +
) ( } { ) ( } {
2
s Y b sa M Ca s X K Cs Ms = + + +
K Cs Ms s Y
s X
s Y s X K Cs Ms
when
+ +
=
= + +
= =
2
2
1
) (
) (
) ( ) ( } {
0, b a
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Example
K Cs Ms s Y
s X
+ +
=
2
1
) (
) (
Y(s) X(s)
By definition Transfer Function is the ratio
of the L-transform of the output variable to
the L-transform of the input variable (with
zero ICs)
K Cs Ms + +
2
1
How to find x(t) ? Use inverse L-transform
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Inverse Laplace Transform
const c ds e s F
i
t f
i c
i c
st
- , ) (
2
1
) (
}
+

=
t
)] ( [ ) ( t f L s F = )] ( [ ) (
1
s F L t f

=
Instead of using this formula, we
will use Partial-Fraction expansion
or the table of L-transform
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Example: Response to a unit step
K Cs Ms
s Y
s X
+ +
=
2
) (
) (
Y(s) X(s)
K Cs Ms + +
2
1
s
s Y t U t y
1
) ( ), ( ) ( = =
2 3
, 2 , 3 , 1
2 2
+ + = + +
= = =
s s K Cs Ms
K C M Let
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Example: Response to a unit step
0 2 3
2
= + + s s
To find the roots of this quadratic equation we equate
it to zero
Roots of a quadratic equation
0
2
= + + c bs as
are found as:
a
ac b b
s
a
ac b b
s
2
4
;
2
4
2
2
2
1

=
+
=
In our case a=1,b=3,c=2, thus
2
2
8 3 3
; 1
2
8 3 3
2
2
2
1
=

= =
+
= s s
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Example: Response to a unit step
s s s
s X
1
) 1 )( 2 (
1
) (
+ +
=
Look in the table of L-transform
| | | |
t t
e e
s s s
L t x s X L

+ =
(

+ +
= = 2 1
2
1
) 1 )( 2 (
1
) ( ) (
2 1 1
The response of the system to a unit step excitation
0 ) 0 ( , 0 ) 0 (
), ( 2 3
= =
= + +
x x
t u x x x

| |
t t
e e t x

+ = 2 1
2
1
) (
2
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Partial-Fraction Expansion
) 1 )( 2 (
1
) (
+ +
=
s s s
s X
What to do if we do not have L-transform tables?
m m
m m
n n
n n
m
n
b s b s b s b
a s a s a s a
s B
s A
s F
+ + + +
+ + + +
= =

1
1
1 0
1
1
1 0
...
...
) (
) (
) (
In general, if:
We consider the case n<m, otherwise divide the
numerator by the denominator
Roots of the numerator z1,z2, z3,,zn -zeros
Roots of the denominator p1,p2, p3,,pn -poles
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Partial-Fraction Expansion
If F(s) involves distinct real poles
m
m
p s
q
p s
q
p s
q
s F
+
+
+
+
+
= ... ) (
2
2
1
1
Then
There are two ways of calculating unknown coefficients
( )( ) ( )
m
n n
n n
m m
m m
n n
n n
p s p s p s
a s a s a s a
b s b s b s b
a s a s a s a
+ + +
+ + + +
=
+ + + +
+ + + +

...
...
...
...
2 1
1
1
1 0
1
1
1 0
1
1
1 0
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Partial-Fraction Expansion
1) Get F(s) to the common denominator
( )( ) ) ...(
... ) )...( ( ) )...( (
) (
2 1
1 2 2 1
m
m m
p s p s p s
p s p s q p s p s q
s F
+ + +
+ + + + + +
=
And compare the numerator to the original one, so
that
Equating the coefficients with the same power we obtain a
set of linear equations with respect to q1,q2, q3,,qm
n n
n n
m m
a s a s a s a
p s p s q p s p s q
+ + + + =
= + + + + + +

1
1
1 0
1 2 2 1
...
... ) )...( ( ) )...( (
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Partial-Fraction Expansion
) 1 )( 2 (
1
) (
+ +
=
s s s
s X
If
) 1 )( 2 (
) 2 ( ) 1 ( ) 1 )( 2 (
1 2 ) 1 )( 2 (
1
3 2 1
3 2 1
+ +
+ + + + + +
=
=
+
+
+
+ =
+ +
s s s
s s q s s q s s q
s
q
s
q
s
q
s s s
Then
1 2 :
0 2 3 :
0 :
1
0
3 2 1
1
3 2 1
2
=
= + +
= + +
q s
q q q s
q q q s
1
2 / 1
, 2 / 1
3
2
1
=
=
=
q
q
q
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Partial-Fraction Expansion
1
1
2
2 / 1
2
1
) 1 )( 2 (
1
) (
+

+
+ =
+ +
=
s s s s s s
s X
Thus
Then
| |
| |
t t t t
e e e e
s s s
L s X L t x


+ = + =
=
(

+
+ = =
2 1
2
1
2
1
2
1
1
1
2
2 / 1
2
1
) ( ) (
2 2
1 1
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Partial-Fraction Expansion
2) To multiply the original F(s)
| | ) )( ( lim
k
p s
k
p s s F q
k
+ =

In our case of
1
) 2 (
1
lim ) 1 (
) 1 )( 2 (
1
lim
,
2
1
) 1 (
1
lim ) 2 (
) 1 )( 2 (
1
lim
,
2
1
) 1 )( 2 (
1
lim
) 1 )( 2 (
1
lim
1 1
3
2 2
2
0 0
1
=
+
= +
+ +
=
=
+
= +
+ +
=
=
+ +
=
+ +
=



s s
s
s s s
q
s s
s
s s s
q
s s
s
s s s
q
s s
s s
s s
1 2 ) 1 )( 2 (
1
) (
3 2 1
+
+
+
+ =
+ +
=
s
q
s
q
s
q
s s s
s X
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Partial-Fraction Expansion
If the second order polynomial has two complex
roots, we DO NOT EXPAND it. LEAVE it as is.
1 ) 1 (
1
) (
2
3 2 1
2
+ +
+
+ =
+ +
=
s s
q s q
s
q
s s s
s X
The polynomial in the numerator has to be of the
first order. CLASS! GET UNKNOWN COEFFICIENTS
If the denominators roots are multiple, the process of
finding the coefficients is slightly more complicated.
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Partial-Fraction Expansion for
multiple poles
n
a s
s X
) (
1
) (
+
=
If
( ) ( ) ( )
n
n
n
a s
q
a s
q
a s
q
a s
q
a s
+
+ +
+
+
+
+
+
=
+
...
) (
1
3
3
2
2 1
Then
For instance
3
2
) 1 (
3 2
) (
+
+ +
=
s
s s
s X
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Partial-Fraction Expansion for
multiple poles
Then
3 :
2 2 :
1 :
3 2 1
0
2 1
1
1
2
= + +
= +
=
q q q s
q q s
q s
Thus
( ) ( )
3
3
2
2 1
3
2
1 1
1 ) 1 (
3 2
) (
+
+
+
+
+
=
+
+ +
=
s
q
s
q
s
q
s
s s
s X
( )
( )
3
3 2
2
1
3
2
1
) 1 ( 1
) 1 (
3 2
+
+ + + +
=
+
+ +
s
q s q s q
s
s s
2
0
1
3
2
1
=
=
=
q
q
q
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Partial-Fraction Expansion for
multiple poles
( ) ( )
n
n n
n
b as s
p s q
b as s
p s q
b as s
p s q
b as s
+ +
+
+ +
+ +
+
+
+ +
+
=
+ +
2
2
2
2 2
2
1 1
2
...
) (
1
Then
n
b as s
s X
) (
1
) (
2
+ +
=
If
and
0
2
= + + b as s
has complex-conjugate roots
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Partial-Fraction Expansion Guide
Y
X
b s b s b s b
a s a s a s a
s B
s A
s F
m m
m m
n n
n n
m
n
=
+ + + +
+ + + +
= =

1
1
1 0
1
1
1 0
...
...
) (
) (
) (
1. Equate the denominator to zero and find roots of
the equation.
2. You will write your denominator as multiplication
of first and second order terms.

3. If the second order polynomial has two complex
roots, we DO NOT EXPAND it! LEAVE it as is!
0 ...
1
1
1 0
= + + + +

m m
m m
b s b s b s b
( ) ) ...( ) (
2 2
2
2 1 k
c s c s b s a c s + + + +
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Partial-Fraction Expansion Guide
has
4. Use the Laplace transform table or partial
fraction expansion to get inverse Laplace transform
To recover the system response ) (t x
0 4
2
< ac b
0
2 2
2
2
= + + c s b s a
This happens when