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Feedback Control Systems Overview

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100% found this document useful (1 vote)

13 views182 pages

Feedback Control Systems Overview

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Anilov Martin

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Feedback Control Systems 2/13/2023

Feedback and Control Systems

Fernando Victor V. de Vera, ECE, MT

[Link]@[Link]

FEEDBACK AND
CONTROL SYSTEMS

+fvictordevera 1
Feedback Control Systems 2/13/2023

Fernando Victor V. de Vera, ECE, [Link]

Electronics Engineering Department

Part 0 >>Feedback and Control Systems

CLASS ORIENTATION

Course Outline
1. Introduction to Feedback Control Systems.
2. Control system terminology.
3. Review of the Laplace transforms.
4. Introduction to system modeling and the transfer
function.
5. Introduction to LTI systems.
6. The concept of linearization.

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Feedback Control Systems 2/13/2023

Course Outline (cont’d)

7. Poles and zeros of transfer functions. The pole-zero
map.
8. Introduction to time response and different types of
test signals. First order LTI system transient response
analysis.
9. Second-order LTI system transient response analysis
[Link] diagram representation of systems and block
diagram algebra.

Course Outline (cont’d)

[Link] flow graphs.
[Link] theory.
[Link]-state errors.
[Link] and Disturbance rejection.
[Link] Locus.
[Link], Compensators, PID Controller
[Link] response analysis: Bode plot, Nyquist
diagram, and Nichols chart.

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Feedback Control Systems 2/13/2023

References
• Nise, N.S., “Control Systems Engineering”, 6th Edition,
John Wiley and Sons, Inc ©2011
• Dorf, R.C., “Modern Control Systems”, 12th Edition,
Pearson ©2010
• Shaum’s Outline on Feedback and Control Systems

Other References
• "Modern Control Engineering" by Ogata (2017)
• "Control Systems for Dummies" by John Paul Mueller (2019)
• "Feedback Control of Dynamic Systems" by Gene Franklin, J. Da Powell, and
Abbas Emami-Naeini (2017)
• "Control Systems Principles and Design" by M. Gopal (2015)
• "Linear Systems and Optimal Control: An Introduction" by Antonio familiar
Moreno (2018)
• "Control System Design Guide: Using Your Computer to Develop and Diagnose
Feedback Controllers" by George Ellis (2015)
• "Control Systems Engineering: A Guide for Students and Practitioners" by K.
Jairaj and B. Srinivasan (2017)
• "Automatic Control Systems" by Benjamin Kuo (2018)
• "Control Systems Engineering: An Introduction" by Richard C. Dorf and Robert H.
Bishop (2016)
• "Introduction to Control Systems Technology" by Brian Douglas and Stuart
Nicholas (2018)

+fvictordevera 4
Feedback Control Systems 2/13/2023

Fernando Victor V. de Vera, ECE, [Link]

Electronics Engineering Department

Part 1 >>Feedback and Control Systems

INTRODUCTION TO CONTROL SYSTEMS

Control System
• SYSTEM
 an arrangement, set, or collection of things connected or related
in such a manner as to form an entirety or whole.
 an arrangement of physical components connected or related in
such a manner as to form and/or act as an entire unit.
• CONTROL
 To regulate, direct or to command.
• CONTROL SYSTEM
 an arrangement of physical components connected or related in
such a manner as to command, direct, or regulate itself or another
system.

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Feedback Control Systems 2/13/2023

Practice Exercise No.__

A. What are the purpose, or advantages of a control
system? Explain and give examples on each.

Simplified Description of a Control System

• Input
 “stimulus”, “desired response”
• Output
 “actual response”
 Composed of the Transient Response and the Steady State
Response

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Output (Response)
• Transient Response
 System dependent
 Based on how the systems Acquires or Dissipates energy.
 Also the “Natural Response”
• Steady-State Response
 Input-dependent
 Also the “Forced Response”
• Steady-State Error
 The difference between the input and the steady-state
response

Input – Output Relations

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Input-Output Relations

Classifications of a Control System

• Open – Loop Control System

• Closed-Loop Control System

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Open – Loop Control System

• No problem with instability.

• Accuracy is dependent on calibration.
• No means of correcting errors.

Practice Exercise No.__

Give 3 examples of Open Loop systems.

A. Indicate the system.

B. Draw its block diagram.
C. Explain briefly why it is an open-loop
system.

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Feedback Control Systems 2/13/2023

Closed Loop System

• Feedback – the output is measured and

compared with the input for proper control.
• More accurate and can correct errors.
• Has a possibility of being unstable.
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

Feedback
• A property of a closed-loop system which permits the
output (or some other controlled variable) to be
compared with the input to the system (or an input to
some other internally situated component or
subsystem) so that the appropriate control action may
be formed as some function of the output and input.

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Feedback Control Systems 2/13/2023

Characteristics of Feedback
1. Increased accuracy. For example, the ability to faithfully
reproduce the input.
2. Tendency toward oscillation or instability.
3. Reduced sensitivity of the ratio of output to input to
variations in system parameters and other characteristics.
4. Reduced effects of nonlinearities.
5. Reduced effects of external disturbances or noise.
6. Increased bandwidth. The bandwidth of a system is a
frequency response measure of how well the system
responds to (or filters) variations (or frequencies) in the
input signal.

Types of Feedback
• POSITIVE FEEDBACK
 A portion of the output is added to the input signal
 Can cause oscillation or instability

• NEGATIVE FEEDBACK
 A portion of the output is subtracted from the input signal
 Used in error-correction

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Feedback Control Systems 2/13/2023

Positive Feedback

• The gain increases

• The system may oscillate or maybe unstable
• Noise and distortion increases
• Bandwidth decreases
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

Negative Feedback

• Gain decreases
• System is stable
• Noise and Distortion decreases
• Bandwidth increases
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

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Feedback Control Systems 2/13/2023

Components of Feedback Control

• INPUT TRANSDUCER – device (or sensor) that translates the

input (or “set-point”, “reference”) to a signal that the
controller understands.
• SUMMING JUNCTION – also “Mixer” or “Comparator”, a
device that adds or subtracts the input and feedback
signals for proper control.
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

Components of Feedback Control

• PROCESS or PLANT – the device which delivers the

output or that subsystem that varies the output
parameter.
• OUTPUT TRANSDUCER – a sensor that measures the
output parameter.
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

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Feedback Control Systems 2/13/2023

Practice Exercise No.__

Describe typical sensors that can measure each of
the following:
A. Linear position
B. Velocity (or speed)
C. Nongravitational acceleration
D. Rotational position (or angle)
E. Rotational velocity
F. Temperature
G. Pressure
H. Liquid (or gas) flow rate
I. Torque
J. Force
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

Classifications of
Control Systems
BASED ON ITS APPLICATIONS
• PROCESS CONTROL
 Also “INSTRUMENTATION”
 Parameters: Temperature, Pressure, Flow Rate, Liquid Level,
Acidity, Viscosity, etc.
 Used in manufacturing systems and similar industries
• MOTION CONTROL
 Also “Servo Systems”
 Parameters: Position, Speed, Acceleration
 Used in mechatronic systems, robotic applications, vehicular
systems, etc.

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Feedback Control Systems 2/13/2023

Practice Exercise No.__

Give an example of a process control system.

A. Describe the system based on its

application and the parameter that is
being controlled.
B. Draw the control system block diagram.

Practice Exercise No.__

Give an example of a motion control system.

A. Describe the system based on its

application and the parameter that is
being controlled.
B. Draw the control system block diagram.

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Types of Control Systems

BASED ON ITS NATURE OR CONSTRUCTION
1. MAN-MADE
 All components are man made (does not occur naturally)
2. NATURAL including BIOLOGICAL
 No part is made nor intervened by humans.
3. BOTH MAN-MADE AND NATURAL
 There is a human intervention in the control.
 Or, a naturally occurring phenomenon is being controlled by
a man-made device.

Example No. ___

Man-Made Control Systems
• All components are man made (does not occur
naturally)
A. Automatic Air Conditioning system (Temperature Control)
B. Dam (Water Level Control)
C. Antenna Positioning System (Position Control)
D. AGC – Automatic Gain Control (Signal Level Control)
E. Power Supply Units (Voltage regulation)

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Feedback Control Systems 2/13/2023

Example No. ___

Natural (Including Biological) Control
Systems
• No part is made nor intervened by humans.

Example No. ___

Natural (Including Biological) Control Systems
• No part is made nor intervened by humans.

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Feedback Control Systems 2/13/2023

Example No. ___

Both Man-made and Natural (Hybrid) Control Systems
• Man riding a Bike

Desired
Speed and
Direction

Analog and Digital Control Systems

• ANALOG Control Systems
 Process only continuous time or continuous data signals
(analog).
• DIGITAL Control Systems
 Processes (at one or more points in the system) signals that
are discrete time, discrete data or sampled data.
 The signals are discrete in time and in amplitude.

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Feedback Control Systems 2/13/2023

Examples of Early Control Systems

Float Regulators
• The first applications of feedback control
appeared in the development of FLOAT
REGULATOR mechanisms in Greece in the period
300 to 1 B.C.
• The water clock of Ktesibios used a float
regulator.
• An oil lamp devised by Philon in approximately
250 B.C. used a float regulator in an oil lamp for
maintaining a constant level of fuel oil.
• Heron of Alexandria, who lived in the first
century A.D., published a book entitled
Pneumatics, which outlined several forms of
water-level mechanisms using float regulators.

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Feedback Control Systems 2/13/2023

Water-Level Float Regulator

• The first historical
feedback system,
claimed by Russia, is
the WATER-LEVEL
FLOAT REGULATOR
said to have been
invented by
[Link] in 1765 .
The float detects the
water level and
controls the valve that
covers the water inlet
in the boiler.

First Automatic Feedback Controller

• The first automatic
feedback controller
used in an industrial
process is generally
agreed to be James
Watt's FLYBALL
GOVERNOR,
developed in 1769
for controlling the
speed of a steam
engine.

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Selected Historical Developments of

Control Systems

Selected Historical Developments of

Control Systems (Cont’d)

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Automatic Control Systems

• MANUAL CONTROL
 Control with human intervention.
• AUTOMATIC CONTROL
 A device or a process that work by itself.
 No human intervention or control.
• AUTOMATION
 The control of a process by automatic means.

Example No. ___

• An ELECTRIC SWITCH is a manufactured control system,
controlling the flow of electricity. By definition, the
apparatus or person flipping the switch is not a part of
this control system.
• Flipping the switch on or off may be considered as the
input. That is, the input can be in one of two states, on
or off.
• The output is the flow or non-flow (two states) of
electricity.

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Feedback Control Systems 2/13/2023

Example No. ___

• A simple control
system which
automatically turns
on a room lamp at
dusk, and turns it
off in daylight.
Draw the functional
block diagram.

Example No. ___

• A Human
being
reaching an
object.

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Feedback Control Systems 2/13/2023

Example No. ___

• Automobile steering control system

Example No. ___

• Aircraft’s attitude
varies in roll, pitch
and yaw.
• Roll stabilization
control system:

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Feedback Control Systems 2/13/2023

Example No. ___

• A temperature control system operates by sensing the
difference between the thermostat setting and the
actual temperature and then opening a fuel valve
proportional to this difference.

Example No. ___

• Rotating Disk Speed Control (Open-Loop)

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Feedback Control Systems 2/13/2023

Example No. ___

• Rotating Disk Speed Control (Closed-Loop)

Example No. ___

• A closed-loop automatic toaster. Draw the functional
block diagram.

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Feedback Control Systems 2/13/2023

The Design Process

The control system design process is itself a closed-loop
system.
1. Transform requirements to physical systems.
2. Draw a functional block diagram.
3. Create a schematic.
4. Develop a mathematical model (block diagram or a
signal flow graph).
5. Reduce the block diagram (or find the transfer
function).
6. Analyze and (Re)Design.

Example No. ___

• Antenna Azimuth position control system.

System Concept

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Feedback Control Systems 2/13/2023

Example No. ___

• Antenna Azimuth position control
system.

Detailed layout.
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

Example No. ___

• Antenna Azimuth position control system.

Schematic
diagram:

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Feedback Control Systems 2/13/2023

Example No. ___

• Antenna Azimuth position control system. (Continued)

Functional
Block Diagram:

Analysis and Design Objectives

• TRANSIENT RESPONSE
 The transient time should not be too fast or too slow. The
transient time objective depends on the application.
• STEADY-STATE RESPONSE
 The steady state error should be zero (ideal) for the designed
input type to the system.
• STABILITY
 The system should be stable, otherwise, it will not be useful.

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Feedback Control Systems 2/13/2023

Test Waveforms Used in

Control Systems Design

Test Waveforms Used in

Control Systems Design (cont’d)

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Feedback Control Systems 2/13/2023

Test Waveforms Used in

Control Systems Design (cont’d)

Design Methods
• Design by ANALYSIS
 Accomplished by modifying the characteristics of an existing
or standard system configuration.
• Design by SYNTHESIS
 Accomplished by defining the form of the system directly
from its specifications.

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Feedback Control Systems 2/13/2023

Practice Exercise No.__

Give an example of a natural (including biological)
system that employs
A. negative feedback and
B. positive feedback.

For each example, draw (and label) the block diagrams

and explain their operation.

Practice Exercise No.__

Give an example of a control system that you think does not
yet existed in home use. Or it is existing already but needs to
be redesigned.
A. Draw and explain the system.
B. Identify the input and output
parameter/variables.
C. Draw the open-loop control system block
diagram.
D. Remodel the system to make it a closed loop
system, and draw the control system block
diagram.
E. Explain why the system should be made (or
not) into a closed loop system.
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

+fvictordevera 32
Feedback Control Systems 2/13/2023

Practice Exercise No.__

Answer the following questions:
A pressurized tank must maintain a gas at 325 psi. A
pressure sensor is used to measure the condition of
the controlled variable. As the gas cools, the
pressure in the tank decreases. When it drops to 300
psi, a valve is opened, which allows steam to flow to
a heat exchanger inside the tank. The additional
steam heats the gas and causes the pressure to rise.
Identify:
A. The manipulated variable
B. The input signal
C. The controller
D. The process or plant
E. The feedback transducer
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

Practice Exercise No.__

A “sun tracking” automatic closed-loop mechatronic system
is to be used to position a solar panel so that the sun’s ray is
always normal to its surface.
A. What is the input signal?
B. What should be the input transducer? How should it work?
C. What should be the process/ plant? How can it provide the
actual response?
D. What is the input transducer?
E. How can the error signal be derived?

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Feedback Control Systems 2/13/2023

Practice Exercise No.__

A “sun tracking” automatic closed-loop mechatronic
system is to be used to position a solar panel so that the
sun’s ray is always normal to its surface.
A. Transform requirements to physical systems.
B. Draw a functional block diagram.

Practice Exercise No.__

Consider the input signal for a position control system.
Give an example (and explain each) of an object, a system
or anything that gives a signal considered as:
A. Step
B. Ramp
C. Parabolic

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Feedback Control Systems 2/13/2023

Practice Exercise No.__

An autofocus camera will adjust the distance of the lens
from the film by using a beam of infrared or ultrasound to
determine the distance to the subject.
A. Sketch a block diagram of this open-loop control
system, and briefly explain its operation.

Practice Exercise No.__

Land-based public utility transportation system in the
future can be “intelligent”. Every PUV such as taxis,
jeepneys, and buses operating in Mega Manila can be
equipped with a device that automatically measure its
present location, traffic condition, road condition
(flood, roadblocks, etc), passenger info (current load,
passenger waiting queue on stations, etc) and local
weather situation. Data from these measurements will
be uploaded periodically towards a network of data
hubs which collects, analyze and gives information
back to individual PUVs for proper routing and
guidance to where they should be deployed to pick-up
passengers, and generally to ease-out the traffic. Draw
the functional block diagram of this control system.
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

+fvictordevera 35
Feedback Control Systems 2/13/2023

Practice Exercise No.__

A common example of a two-input control system is a
home shower with separate valves for hot and cold
water. The objective is to obtain a desired temperature of
the shower water and a desired flow of water. Sketch a
block diagram of the closed-loop control system.

Practice Exercise No.__

Control systems are aiding humans in maintaining their
homes. The robotic vacuum cleaner is an example of a
mechatronic system under active control that relies on
infrared sensors and microchip technology to navigate
around furniture. Describe a closed-loop feedback
control system that guides the robotic vacuum cleaner to
avoid collisions with obstacles.

+fvictordevera 36
Feedback Control Systems 2/13/2023

End of Part 1

Introduction to Control Systems

17 Examples
15 Practice Exercises

Fernando Victor V. de Vera, ECE, [Link]

Electronics Engineering Department

Part 2 >>Feedback and Control Systems

REVIEW OF LAPLACE TRANSFORM

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Pierre-Simon, marquis de Laplace

23 March 1749 – 5 March 1827
• A French mathematician and
astronomer whose work was
pivotal to the development
of mathematical astronomy
and statistics.
• He summarized and
extended the work of his
predecessors in his five-
volume Mécanique Céleste
(Celestial Mechanics) (1799–
1825).
• This work translated the
geometric study of classical
mechanics to one based on
calculus, opening up a
broader range of problems.

Laplace Transform
• Used to solve linear, constant-coefficient, integro-
differential equations.
• Relates time function to frequency-dependent function of a
complex variable.
• In TIME-DOMAIN ANALYSIS, we break input x(t) into
impulsive component, and sum the system response to all
these components.
• In FREQUENCY-DOMAIN ANALYSIS, we break the input x(t)
into exponentials components of the form est
 where s is the complex frequency: 𝑠 = 𝛼 + 𝑗𝜔

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Laplace Transform
• Laplace transform is the tool to map signals and system
behavior from the time-domain into the frequency
domain.

Definition
• For a TWO-SIDED (bilateral) Laplace Transform:
• Let f(t) = real function

ℒ𝑓 𝑡 =𝐹 𝑠 = 𝑓 𝑡 𝑒 𝑑𝑡
 Where:
o 𝑡 = time variable
o 𝑠 = 𝛼 + 𝑗𝜔 = complex variable

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Definition
• For a ONE-SIDED (unilateral) Laplace Transform:
• Let f(t) = real function at t>=0
ℒ𝑓 𝑡 =𝐹 𝑠 = 𝑓 𝑡 𝑒 𝑑𝑡
 Where:
o 𝑡 = time variable
o 𝑠 = 𝛼 + 𝑗𝜔 = complex variable

Example No. ___

• Use the definition of the Laplace Transform to find F(s)
of the following:
A. f(t) = 1
B. f(t) = e±at (where a is a constant)
C. f(t) = tn
D. f(t) = sin(at)

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Practice Exercise No.__

Derive the Laplace transform of the ff:
A. 𝑓 𝑡 =𝑡
B. 𝑓 𝑡 = 𝑡𝑒 ±
C. 𝑓 𝑡 = cos 𝑎𝑡
D. 𝑓 𝑡 = 𝑡 sin 𝑎𝑡

Laplace Transform Table

𝒇(𝒕) 𝑭(𝒔)
𝛿 𝑡 1
1
1
𝑠
𝑛!
𝑡
𝑠
1
𝑒±
𝑠∓𝑎
𝑎
sin(𝑎𝑡)
𝑠 +𝑎
𝑠
cos(𝑎𝑡)
𝑠 +𝑎
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

+fvictordevera 41
Feedback Control Systems 2/13/2023

Example No. ___

• Determine the Laplace Transform of the following:
A. f(t) = 2/5t
B. f(t) = 3e^(-4t)
C. f(t) = 5t^5
D. f(t) = -7 sin(4t)
E. f(t) = 2 cos(πt/2)

Practice Exercise No.__

Find F(s) using the Laplace transform Table:

A. 𝑓 𝑡 = 5 sin 2𝑡
B. 𝑓 𝑡 = 2𝑡
C. 𝑓 𝑡 = 10𝑒
D. 𝑓 𝑡 = 6 sin 9𝑡
E. 𝑓 𝑡 = 8 cos 7𝑡

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Properties of Laplace Transform

1. Linearity and Superposition
2. Translation in Frequency Domain
3. Translation in Time Domain
4. Initial and Final Value Theorem
5. Laplace Transform of Derivative
6. Laplace Transform of Integral
7. Scaling
8. Power
9. Laplace of Product of Two Functions (Convolution)
[Link] Laplace of Product of Two Functions

Linearity and Superposition

ℒ 𝑎𝑓 𝑡 ± 𝑏𝑓 𝑡 = 𝑎𝐹 𝑠 ± 𝑏𝐹 𝑠

Example No. ___

• Determine F(s) if f(t)=2t^4 + 3e^(-2t)

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Feedback Control Systems 2/13/2023

Translation in Frequency Domain

ℒ 𝑒± 𝑓 𝑡 =𝐹 𝑠∓𝑎

Example No. ___

Find Y(s)
A. y(t) = 2 e^(4t) t^3
B. y(t) = 5 e^(-2t) cos(6t)

Practice Exercise No.__

Evaluate the Laplace Transform of the following:

Express your answers in a single fraction.

A. 𝑓 𝑡 = 3𝑒 1 − 3𝑡 + 2𝑡

B. 𝑓 𝑡 =

C. 𝑓 𝑡 = 𝑒 1 + sin 4𝑡 − cos 4𝑡

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Feedback Control Systems 2/13/2023

Translation in Time Domain

ℒ 𝑓 𝑡±𝑎 = 𝑒± 𝐹 𝑠

Example No. ___

Find Y(s) Find Y(s)
a) y(t) = (t+2)^2 d) y(t) = 2(t-3) cos(t-3)
b) y(t) = (3t-4)^300 e) y(t) = (t+1) sin(t+2)
c) y(t) = 2t sin(t+3) f) y(t) = 2(t+3) e^-(t+5)
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

Practice Exercise No.__

Evaluate the Laplace Transform of the following:

Express your answers in a single fraction.

A. 𝑓 𝑡 = 2 𝑡 − 3 show two different
methods.
B. 𝑓 𝑡 = 𝑒 3𝑡 + 5
C. 𝑓 𝑡 = 𝑡 + 2 sin 𝑡 − 4
D. 𝑓 𝑡 = 𝑒 3𝑡 − 4 cos 5𝑡 + 6

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Initial and Final Value Theorem

• INITIAL Value, f(0)

𝑓 0 = lim 𝑓(𝑡) = lim 𝑠 𝐹(𝑠)

→ →

• FINAL Value, f(∞)

𝑓 ∞ = lim 𝑓(𝑡) = lim 𝑠 𝐹(𝑠)

→ →

Example No. ___

Find the initial and final values of the following functions:
A. x(t) = 2 – 3e^(-0.5t)
B. y(t) = 4 e^(-2t) cos(10t)

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Practice Exercise No.__

Find the initial and final values of the ff:
A. Use 2 methods: 𝑓 𝑡 = 4𝑒 cos 3𝑡

B. Use 2 methods: 𝑓 𝑡 = 𝑒 3𝑡 − 4 cos 5𝑡 + 6

Practice Exercise No.__

Find the initial and final values of the ff:
A. 𝐹 𝑠 =

B. 𝐹 𝑠 =

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Laplace Transform of Derivative

𝑑
ℒ 𝑓 𝑡
𝑑𝑡
=𝑠 𝐹 𝑠 −𝑠 𝑓 0 −𝑠 𝑓 (0) − 𝑠 𝑓 (0) − ⋯ − 𝑠 𝑓 0

Example No. ___

Find Y(s)
A. 3dy/dt – 2d2y/dt2 = 1; y(0)=1; y’(0)=-2
B. 2d3x/dt3 = y(t)+t+2; x(t)=2e^(-t)

Laplace Transform of Integral

• ℒ ∫ 𝑓 𝑡 𝑑𝑡 = 𝐹 𝑠

Example No. ___

Example: Evaluate Y(s)
A. y(t) = ∫xdt; x=2sin(3t)

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Practice Exercise No.__

Evaluate Y(s):
A. Assume zero initial values: 5 = 2𝑦 𝑡 + 0.5 + 4 ∫ 𝑦 𝑑𝑡
B. Assume zero initial values: 10 sin 120𝑡 = 50 𝑦 𝑡 +

×
∫ 𝑦 𝑑𝑡 + 5 × 10
C. 0 = 3 −2 +4 − 5 + 6 ∫ 𝑦𝑑𝑡 with 𝑦 0 = −3,
𝑦′ 0 = 2, 𝑦′′ 0 = 1

Scaling
• ℒ 𝑓 = 𝑎𝐹 𝑎𝑠 ; ℒ 𝑓 𝑏𝑡 = 𝐹

Example No. ___

Example: Evaluate the Laplace Transform:
A. x(t) = 2 sin(3t)
B. y(t) = 3 (t/4) e^(-t/5)

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Practice Exercise No.__

Apply scaling to find F(s):
A. 𝑓 𝑡 = 𝑒 cos
B. 𝑓 𝑡 = 2t + sin 6𝑡 − 2 cos 8𝑡
C. 𝑓 𝑡 = 2𝑒 1 − 3𝑡

Power
𝑑
ℒ𝑡 𝑓 𝑡 = −1 𝐹 𝑠
𝑑𝑠

Example No. ___

Evaluate the Laplace Transform:
A. x(t) = 4 t^3 e^(-t/2)
B. y(t) = 2(t-3) cos(t-3)

100

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Practice Exercise No.__

Use the property for power:
A. 𝑓 𝑡 = 𝑡𝑒 cos 3𝑡
B. 𝑓 𝑡 = 𝑡 sin(𝑡 + 1)
C. 𝑓 𝑡 = 𝑡 − 2 sin 3𝑡

101

Laplace of Product of Two

Functions (Convolution)
1
ℒ𝑓 𝑡 𝑓 𝑡 = 𝐹 𝑤 𝐹 𝑠 − 𝑤 𝑑𝑤
2𝜋𝑗

Inverse Laplace of Product of

Two Functions
ℒ 𝐹 𝑠 𝐹 𝑠 = 𝑓 𝑇 𝑓 𝑡 − 𝑇 𝑑𝑇

102

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Practice Exercise No.__

Find the Laplace Transform of the ff:
A. 𝑥 𝑡 = 2𝑒 cos(2𝑡 − 3)
B. 𝑥(𝑡) = 3𝑡𝑒 sin(4𝑡)
C. 𝑦(𝑡) = sin 2𝑡 cos 3𝑡

103

Inverse Laplace Transform

ℒ 𝐹 𝑠 =𝑓 𝑡

1
𝑓 𝑡 = 𝐹 𝑠 𝑒 𝑑𝑠
2𝜋𝑗

Where:
c = a constant chosen to ensure the convergence of
the integral

104

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Inverse Laplace Transform Table

𝑭 𝒔 𝒇 𝒕
1 𝑡
𝑠 𝑚−1 !
1
𝑒∓
𝑠±𝑎
1 1
𝑠𝑖𝑛 𝑎𝑡
𝑠 +𝑎 𝑎
𝑠
cos(𝑎𝑡)
𝑠 +𝑎

105

Example No. ___

Evaluate the inverse Laplace Transform using the
transform pairs:
A. 𝐹 𝑠 =
B. 𝐹(𝑠) =
C. 𝐹(𝑠) =
( )
D. 𝐹(𝑠) =
E. 𝐹(𝑠) =

106

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Practice Exercise No.__

Find the time functions by evaluating the inverse
Laplace transform:
a) 𝑌 𝑠 = d) 𝑇 𝑠 =
. . .
b) X 𝑠 = e) W 𝑠 =

c) F 𝑠 =

107

Using Partial Fraction

Expansion
Let:
𝑃 𝑠
𝐹 𝑠 =
𝑄 𝑠

• CASE 1 Roots of Q(s) are real and distinct

• CASE 2 Roots of Q(s) are real and repeated
• CASE 3 Q(s) in the form (s2+a2)
• CASE 4 Q(s) is in the form (s2+as+b)

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CASE 1
Roots of Q(s) are real and
distinct
𝑃 𝑠 𝐴 𝐵 𝐶
= + +
𝑠−𝑎 𝑠−𝑏 𝑠−𝑐 𝑠−𝑎 𝑠−𝑏 𝑠−𝑐

Example No. ___

Find the inverse Laplace transform:
A. 𝐹(𝑠) =
B. 𝐹(𝑠) =
( )( )

109

CASE 2
Roots of Q(s) are Real and
Repeated
𝑃 𝑠 𝐴 𝐵 𝐶 𝐷
= + + + ⋯+
𝑠−𝑎 (𝑠 − 𝑎) 𝑠−𝑎 𝑠−𝑎 𝑠−𝑎

Example No. ___

Find the inverse Laplace transform:
A. 𝐹 𝑠 = ( )
B. 𝐹(𝑠) = ( )( )

110

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CASE 3
Q(s) in the form 2 2

• Complex Roots
𝑃 𝑠 𝐴𝑠 𝐵
= +
(𝑠 + 𝑎 ) (𝑠 + 𝑎 ) (𝑠 + 𝑎 )

Example No. ___

Find the inverse Laplace transform:
3𝑠 − 1 𝑠 − 2𝑠 + 7
𝑎) 𝐹(𝑠) = 𝑏) 𝐹(𝑠) =
𝑠(𝑠 + 4) 𝑠(𝑠 + 16)
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

111

CASE 4
Q(s) is in the form 2

• Complex Roots (Use Completing the

Square)
• Recall:
𝑎
ℒ 𝑒 ± sin(𝑎𝑡) =
𝑠∓𝑏 +𝑎

𝑠∓𝑏
ℒ 𝑒 ± cos(𝑎𝑡) =
𝑠∓𝑏 +𝑎

112

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Example No. ___

Find the inverse Laplace transform:
a) 𝐹 𝑠 =

b) 𝐹(𝑠) = ( )

113

Practice Exercise No.__

Find the inverse Laplace transform:
A. 𝑋 𝑠 =
B. 𝑋(𝑠) =
C. 𝑋(𝑠) =
D. 𝑋(𝑠) =
( )( )

114

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Practice Exercise No.__

Expand into partial fractions:
A. 𝑅 𝑠 =
B. 𝑊 𝑠 =
C. 𝑋 𝑠 =
D. 𝑌 𝑠 =
E. 𝑍 𝑠 =

115

Practice Exercise No.__

Find the inverse transform:
A. 𝑅 𝑠 =
B. 𝑊 𝑠 =
C. 𝑋 𝑠 =
D. 𝑌 𝑠 =

E. 𝑍 𝑠 =

116

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Additional Transform Pairs

𝑭 𝒔 𝒇 𝒕
1 1
𝑠𝑖𝑛 𝑎𝑡 − 𝑎𝑡 𝑐𝑜𝑠 𝑎𝑡
𝑠 +𝑎 2𝑎
𝑠 1
𝑠 +𝑎 𝑡 𝑠𝑖𝑛 𝑎𝑡
2𝑎
𝑠 1
𝑠𝑖𝑛 𝑎𝑡 + 𝑎𝑡 𝑐𝑜𝑠 𝑎𝑡
𝑠 +𝑎 2𝑎
𝑠 1
𝑐𝑜𝑠 𝑎𝑡 − 𝑎𝑡 𝑠𝑖𝑛 𝑎𝑡
𝑠 +𝑎 2
𝑠 −𝑎
𝑡 𝑐𝑜𝑠 𝑎𝑡
𝑠 +𝑎

117

Practice Exercise No.__

Find f(t)
A. 𝐹 𝑠 =
B. 𝐹 𝑠 =

C. 𝐹 𝑠 =
D. 𝐹 𝑠 =

118

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End of Part 2

Review of Laplace Transform

15 Examples
15 Practice Exercises

119

Fernando Victor V. de Vera, ECE, [Link]

Electronics Engineering Department

Part 3 >>Feedback and Control Systems

APPLICATIONS OF LAPLACE TRANSFORM:
DEVELOPING THE MATHEMATICAL MODEL

120

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Mathematical Modeling
• Mathematical Modeling
 The process of representing the behavior of a physical system
through set of mathematical equations.
• Mathematical models of physical systems are key
elements in the design and analysis of control systems.
• The dynamic behavior is generally described by
ordinary differential equations.

121

Block Diagram Representation

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Transfer Function
• The ratio between the output and the input functions in
frequency domain of a control system.

123

Applications of Laplace Transform

• Electrical Networks
 RLC Circuits
o Series/ Parallel
 Other components (transistors, OP-AMPS)

• Mechanical Networks
 Mass, Spring, Damper Systems
o Translational/ Rotational

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Electrical Networks
Component Voltage as a Current as a Voltage as a
function of the function of the function of the
Current Voltage Charge

125

Electrical Networks
Component Impedance Admittance
V(s)/I(s) I(s)/V(s)

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Series RLC

127

Parallel RLC

128

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Example No. ___

a) Find the transfer
function of the RLC
circuit network
shown Vc(s)/V(s):
b) If v(t)=12v,
R=200ohms, C=1uF
and L=0.5H,
determine i(t) and
c) vc(t)
d) What is the voltage
across the capacitor
at t=1us? t=1ms?

129

Series RLC Network

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Series-Parallel RLC Network

131

Example No. ___

For the circuit shown,
Find:
a) The transfer
function
Vo(s)/Is(s).
b) If the input
is(t)=2A, R1=5Ω,
R2=10Ω, R3=2Ω,
L=0.5H and
C=20uF, find the
output vo(t) at
t=0.5ms

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Example No. ___

• Switch A is at x at t=0;
After 1ms, it was switched
to y. Find the current
through the inductor after
0.5ms after switching to y.
Consider the following
values:
𝑣 (𝑡) = 9𝑣
𝑣 (𝑡) = 5𝑣
𝑅1 = 2Ω, 𝑅2 = 10Ω, 𝑅𝑠 = 20Ω
𝐿 = 0.2𝑚𝐻
𝐶 = 5𝑢𝐹
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

133

Practice Exercise No.__

Mathematical Modeling
A 9-volt dc supplies voltage to series arrangement of the
following components: R1=50 ohms, C=22uF, L=20mH
and R2=100 ohms.
a) Find the transfer function Vo(s)/Vi(s) where Vo is taken
across the series L and R2.
b) Find the time it takes for the voltage at Vo to reach
half the supply voltage.

134

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Practice Exercise No.__

Mathematical Modeling
A. Consider the electrical network shown:

a) Find the transfer function I2(s)/Vi(s).

b) Find the transfer function Vo(s)/Vi(s) if the
output voltage is taken across L2.
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

135

Practice Exercise No.__

Mathematical Modeling
For the electrical circuit shown:

a) Find the ratio Vc(s)/Ii(s).

b) Find Vc at t=250us
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

136

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Practice Exercise No.__

Mathematical Modeling
Considering the circuit where
V1=10v, R1=5Ω, V2=5V, R2=25Ω,
Rs=15Ω, L=2H, and C=0.01F :
a) When switched at A, find
Vo(s)/V1(s)
b) If switched at B, find
Vo(s)/V2(s)
c) Find the current at Rs at t=1ms
when switched at A.
d) Given that the circuit is
switched at A for 1ms then
switched to B, find the current
through L after another 1ms.

137

Practice Exercise No.__

Mathematical Modeling
a) Draw the schematic of an electrical motor showing the
electrical and mechanical components.
b) Since an electrical motor converts an input voltage (V)
into an angular displacement (θ), derive its transfer
function θ(s)/V(s).

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Mechanical Networks
• TRANSLATIONAL MECHANICAL
 The movements are linear.
• ROTATIONAL MECHANICAL
 Motion is rotational.
 May include gears.

139

Translational Mechanical System

Components

140

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Mass, Spring and Damper System:

Schematic Diagram and FBD

141

Mass, Spring and Damper System:

FBD and Transfer Function

142

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Example No. ___

• Determine the Transfer Function: X2(s)/F(s)

143

Example No. ___

• Write the force equations of the 3DOF system shown.

144

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Rotational Mechanical System

Components

145

Example No. ___

• Determine the Transfer Function

146

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Gear System

147

Rotational System Driven by Gears

a) Rotational system driven by

gears;
b) Equivalent system at the
output after reflection of
input torque;
c) Equivalent system at the
input after reflection of
impedances
© FERNANDO VICTOR V. DE VERA. Do NOT copy or redistribute. For inquiries, please contact +639228211379 of mailto: fvdevera@[Link]

148

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Electrical – Mechanical Equivalences

149

Practice Exercise No.__

Mechanical Systems
A. For the system
shown:
a) Write the
equations for ∑Fx
and ∑Fy.
b) Solve for the
transfer functions D2
Xx(s)/Fx(s) and
Xy(s)/Fy(s)

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Practice Exercise No.__

Mechanical Systems

A. Determine the transfer function

θ(s)/T(s), where θ is the angular
displacement at J1.

151

Practice Exercise No.__

Mechanical Systems
A. Find X3(s)/F(s):

152

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