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Feedback Lesson 2

The document provides an overview of the Laplace transform and its properties. The Laplace transform is used to study the complete response characteristics of feedback systems, including the transient response. It defines the Laplace transform of a function f(t) and discusses properties such as superposition, time delay, time scaling, shift in frequency, differentiation, integration, convolution, time product, and Parseval's theorem.

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Neo Bataclan
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25 views2 pages

Feedback Lesson 2

The document provides an overview of the Laplace transform and its properties. The Laplace transform is used to study the complete response characteristics of feedback systems, including the transient response. It defines the Laplace transform of a function f(t) and discusses properties such as superposition, time delay, time scaling, shift in frequency, differentiation, integration, convolution, time product, and Parseval's theorem.

Uploaded by

Neo Bataclan
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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Feedback Control System

Lesson 2: A review of
Laplace Transform
THE LAPLACE TRANSFORM (𝓛) 2. Time Delay
• Used to study the complete response Suppose a function 𝑓(𝑡) is delayed by 𝜆 >
characteristics of feedback system, 0 units of time, 𝑓1 (𝑡) = 𝑓(𝑡 − 𝜆). Its Laplace
including the transient response. transform is:
• Define the Laplace transform of 𝑓(𝑡),
denoted by ℒ[𝑓(𝑥)] = 𝐹(𝑠), as a 𝑓1 (𝑡) = 𝑓(𝑡 − 𝜆)
function of the complex variable 𝑠 = 𝐹1 (𝑠) = 𝑒 −𝑠𝜆 𝐹(𝑠)
𝜎1 + 𝑗𝜔, where:
∞
A time delay of λ corresponds to
𝐹(𝑠) = ∫ 𝑓(𝑡)𝑒 −𝑠𝑡 𝑑𝑡 multiplication of the transform by 𝑒 −𝑠𝜆 .
0−
3. Time Scaling
which uses 0− (that is, a value just
before t = 0) as the lower limit of It is sometimes useful to time-scale
integration. equations of motion.
• f(t) is usually denoted as the time For example, in the control system of a disk
domain, while F(s) is usually denoted as drive, it is meaningful to measure time in
the frequency domain. milliseconds. If the time t is scaled by a
• A function f(t) will have a Laplace factor a, 𝑓1 (𝑡) = 𝑓(𝑎𝑡), then the Laplace
transform if it is of exponential order, transform of the time-scaled signal is:
which means that there exists a real
number σ1 such that: 𝑓1 (𝑡) = 𝑓(𝑎𝑡)

lim |𝑓(𝑡)𝑒 −𝜎1𝑡 | = 0 1 𝑠


𝑛→∞ 𝐹1 (𝑠) = 𝐹( )
|𝑎| 𝑎
4. Shift in Frequency
Multiplication (modulation) of 𝑓(𝑡) by an
LAPLACE TRANSFORMS PROPERTIES exponential expression in the time domain,
𝑓1 (𝑡) = 𝑒 −𝑎𝑡 𝑓(𝑡), corresponds to a shift in
1. Superposition the frequency domain:
One of the most important properties of the 𝑓1 (𝑡) = 𝑒 −𝑎𝑡 𝑓(𝑡)
Laplace transform is that it is linear, which
means that the principle of superposition 𝐹1 (𝑠) = 𝐹(𝑠 − 𝑎)
applies:
5. Differentiation
ℒ[𝑓(𝑥) ± 𝑔(𝑥)] = ℒ[𝑓(𝑥)] ± ℒ[𝑔(𝑥)]

1|Feedback Control
System
The transform of the derivative of a signal Mentioned quantities can be computed
is related to its Laplace transform and its either in the time domain or in the frequency
initial condition as follows: domain.
𝑑𝑓 ∞ ∞
ℒ { } = −𝑓(0− ) + 𝑠𝐹(𝑠) ∫ |𝑦(𝑡)|2 𝑑𝑡 < 1, ∫ |𝑢(𝑡)|2 𝑑𝑡 < 1
𝑑𝑡 0 0
For multiple derivatives: ∞ ∞
∫ 𝑦(𝑡)𝑢(𝑡) 𝑑𝑡 = ∫ 𝑈(𝑗𝜔)𝑌(−𝑗𝜔) 𝑑𝜔
ℒ{𝑓 𝑛 (𝑥)} = 𝑠 𝑛 𝐹(𝑠) − 𝑠 𝑛−1 𝑓(0− ) 0 −∞
− 𝑠 𝑛−2 𝑓 2 (0− ) − ⋯ − 𝑓 𝑛 (0− ) 10. Multiplication by Time
Where n is the number of times an equation
Multiplication by time 𝑓1 (𝑡) = 𝑡𝑓(𝑡)
is differentiated.
corresponds to differentiation in the
6. Integration frequency domain:
The Laplace transform of the signal of a 𝑓1 (𝑡) = 𝑡𝑓(𝑡)
𝑡
time function 𝑓1 (𝑡) = ∫0 𝑓(𝜉)𝑑𝜉 , is given by, 𝑑
𝐹1 (𝑠) = − (𝐹(𝑠))
𝑡 𝑑𝑠
𝑓1 (𝑡) = ∫ 𝑓(𝜉)𝑑𝜉
0 Inverse Laplace
1 The inverse Laplace transform, which
𝐹1 (𝑠) = 𝐹(𝑠) allows us to find f(t) given F(s),
𝑠
7. Convolution
Convolution in the time domain
corresponds to multiplication in the
frequency domain. Assume that ℒ[𝑓1 (𝑡)] =
𝐹1 (𝑠) and ℒ[(𝑓2 𝑡)] = 𝐹2 (𝑠): Where σc is a selected value to the right of
all the singularities of F(s) in the s-plane.
𝑡
ℒ[𝑓1 (𝑡) ∗ 𝑓2 (𝑡)] = ∫ 𝑓1 (𝜏)𝑓2 (𝑡 − 𝜏)𝑑𝜏
0

ℒ[𝑓1 (𝑡) ∗ 𝑓2 (𝑡)] = 𝐹1 (𝑠)𝐹2 (𝑠)


8. Time Product
Multiplication in the time domain
corresponds to convolution in the frequency
domain:
1
ℒ[𝑓1 (𝑡)𝑓2 (𝑡)] = [𝐹 (𝑠) ∗ 𝐹2 (𝑠)]
2𝜋𝑗 1
9. Parseval’s Theorem
Parseval’s famous theorem is used to
compute the “energy” in a signal or
“correlation” between two signals.

2|Feedback Control
System

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