Chapter 4

Laplace Transforms
Overall Course Objectives
Develop the skills necessary to function as an
industrial process control engineer.
Skills
Tuning loops
Control loop design
Control loop troubleshooting
Command of the terminology
Fundamental understanding
Process dynamics
Feedback control
Laplace Transforms
Provide valuable insight into process
dynamics and the dynamics of feedback
systems.
Provide a major portion of the terminology
of the process control profession.
Laplace Transforms
| |
}

= =
0
) ( ) ( ) ( s F dt e t f t f
st
L
Useful for solving linear differential equations.
Approach is to apply Laplace transform to
differential equation. Then algebraically solve for
Y(s). Finally, apply inverse Laplace transform to
directly determine y(t).
Tables of Laplace transforms are available.
Method for Solving Linear
ODEs using Laplace Transforms
Laplace Domain
Time Domain
dy/dt = f(t,y)
sY(s) - y(0) =
F(s,Y)
Y(s) = H(s)
y(t) = h(t)
Some Commonly Used Laplace
Transforms
2 2 2 2
2
2
2
1
) (
) sin( ) sin(
) 0 ( ) 0 ( ) (
) ( 1
) 0 ( ) (
) ( !
) ( ) ( / 1
e
e
e
e
e
e
u
u
+ +

'

+

a s
t e
s
t
f f s s F s
dt
t f d
a s
e
f s F s
dt
t f d
s
n
t
e s F t f s Step Unit
at
at
n
n
s
Final Value Theorem
| | | | ) ( lim ) ( lim
0
s F s t f
s t
=
Allows one to use the
Laplace transform of a
function to determine
the steady-state resting
value of the function.
A good consistency
check.
Initial-Value Theorem
| | | | ) ( lim ) ( lim
0
s F s t f
s t
=
Allows one to use the
Laplace transform of a
function to determine
the initial conditions
of the function.
A good consistency
check

Apply Initial- and Final-Value
Theorems to this Example
Laplace
transform of the
function.

Apply final-value
theorem

Apply initial-
value theorem

) 4 ( ) 2 (
2
) (
+ +
=
s s s
s Y
| |
4
1
) 4 0 ( ) 2 0 ( ) 0 (
) 0 ( 2
) ( lim =
+ +
=

t f
t
| | 0
) 4 ( ) 2 ( ) (
) ( 2
) ( lim
0
=
+ +

=

t f
t
Partial Fraction Expansions
3 2 ) 3 ( ) 2 (
1
+
+
+
=
+ +
+
s
B
s
A
s s
s
Expand into a term for
each factor in the
denominator.
Recombine RHS

Equate terms in s and
constant terms. Solve.
Each term is in a form so
that inverse Laplace
transforms can be applied.

( )
) 3 ( ) 2 (
2 ) 3 (
) 3 ( ) 2 (
1
+ +
+ + +
=
+ +
+
s s
s B s A
s s
s
3
2
2
1
) 3 ( ) 2 (
1
+
+
+

=
+ +
+
s s s s
s
1 = +B A 1 2 3 = + B A
Heaviside Method
Individual Poles
1 2
1 2
1 2
( ) ( )
( )
( ) ( )( ) ( )
( )
Equation 4.4.2:
( ) /( )
i
n
n
n
i
i
s a
N s N s
Y s
D s s a s a s a
C C C
s a s a s a
N s
C
D s s a
=
= = =
+ + +
+ + +
+ + +
=
+
Heaviside Method
Individual Poles
1 2
1 2
1 2
3
( )
( 1)( 2) 1 2
( )
Equation 4.4.2:
( ) /( )
3 3
2; 1
2 1
3 2 1
( )
( 1)( 2) 1 2
i
i
i
s a
s s
s C C
Y s
s s s s
N s
C
D s s a
s s
C C
s s
s
Y s
s s s s
=
= =
+
== = +
+ + + +
=
+
+ +
= = = =
+ +
+
= =
+ + + +
Heaviside Method
Repeated Poles
1 2
2
( ) ( )
( )
( ) ( )
( ) ( )
1 ( ) ( )
Equation 4.4.2:
( )
i
n
n
n
i n
i
i
s a
N s N s
Y s
D s s a
C C C
s a s a s a
d s a N s
C
i ds D s
=
= = =
+
+ + +
+ + +
(
+
=
(

Heaviside Method
Example with Repeated Poles
3 1 2
2 2
2 3
2
1
2
1
2
1
1
2
( ) 3
( )
( ) ( 1) ( 2) 1 ( 1) 2
3 3
2; 1
2 ( 1)
1 ( ) ( )
Equation 4.5.3:
( )
1 3 1 3
1
1 2 2 ( 2)
3
( )
( 1) (
i
s
s
i n
i
i
s a
s
s
C N s s C C
Y s
D s s s s s s
s s
C C
s s
d s a N s
C
i ds D s
d s s
C
ds s s s
s
Y s
s
=
=
=
=
=
+
= = = + +
+ + + + +
+ +
= = = =
+ +
(
+
=
(

( + +
(
= = =
(
(
+ + +


+
=
+
2
1 2 1
2) 1 ( 1) 2 s s s s

= + +
+ + + +
Example of Solution of an ODE
0 ) 0 ( ' ) 0 ( 2 8 6
2
2
= = = + + y y y
dt
dy
dt
y d
ODE w/initial conditions

Apply Laplace transform
to each term
Solve for Y(s)

Apply partial fraction
expansions w/Heaviside
Apply inverse Laplace
transform to each term


s s Y s Y s s Y s / 2 ) ( 8 ) ( 6 ) (
2
= + +
) 4 ( ) 2 (
2
) (
+ +
=
s s s
s Y
) 4 ( 4
1
) 2 ( 2
1
4
1
) (
+
+
+

+ =
s s s
s Y
4 2 4
1
) (
4 2 t t
e e
t y

+ =
Overview
Laplace transforms are an effective way to
solve linear ODEs.