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Several techniques used in solving engineering problems are based on the replacement of functions of a real variable (usually time or distance) by certain frequencydependent representations, or by functions of a complex variable dependent upon frequency. Laplace and Z transform are very important technique for linear control system analysis. LAPLACE TRANSFORM relates time functions to frequency dependent functions of a complex variable.
Z-TRANSFORM - relates time sequences to a different but related, type of frequency function.
LAPLACE TRANSFORM
Definition
Let f(t) be a real function of a real variable t defined for t>0. Then
Definition If f(t) is defined and single valued for t>0 and F() is absolutely convergent for some real number 0 that is, 0 |f(t)|e- t dt = lim t |f(t)| e- t dt <+
0 0
Example 1
The Laplace transform of e-t is
Let F(s) be the Laplace transform of a function f(t), t>0. The contour integral
L - [F(s)] = f(t) = 1/(2j) c-jc+j F(s)est ds Where j=-1 and c>0 is called the inverse Laplace transform of F(s).
Time Function
Laplace Transform
Unit Impulse
unit step unit ramp Polynomial Exponential
(t)
1(t) t tn e-at
1
1/s 1/s n! / sn+1 1 / (s+a)
Sine Wave
Cosine Wave
sin wt
cos wt
w / (s+w)
s / (s+w) w / (s+a) + w (s+a) / (s+a) + w
Damped Sine Wave e-at sin wt Damped Cosine Wave e-at cos wt
Property # 1
The Laplace transform is a linear transformation between functions defined in t-domain and functions defined in the s-domain. That is, if F1(s) and F2(s) are the Laplace transforms of f1(t) and f2(t), respectively, then, a1F1(s) + a2F2(s) is the Laplace transform of a1f1(t) + a2f2(t), where a1 and a2 are arbitrary constants. Example:
L [3e-t e-2t]
Property # 2
The inverse Laplace transform is a linear transformation between functions defined in the s-domain and functions defined in the t-domain. That is if f1(t) and f2(t) are the inverse Laplace transforms of F1(s) and F2(s), respectively, then b1f1(t) + b2f2(t) is the inverse Laplace transform of b1F1(s) + b2F2(s), where b1 and b2 are arbitrary constants. Example:
L 1 [2/(s+1) - 4/(s+3)] =
Property # 3
The Laplace transform of the derivative df/dt of a function f(t) whose Laplace transform is F(s) is
Example:
L [d/dt (e-t)] =
Property # 4
The Laplace transform of the integral 0t f()d of a function f(t) whose Laplace transform is F(s) is
Example:
L [0t e- d ] =
Property # 5
The initial value f(0+) of the function f(t) whose Laplace transform is F(s) is
t>0
Property # 6
The final value f() of the function f(t) whose Laplace transform is F(s) is
Property # 7
The Laplace transform of a function f(t/a) (Time Scaling) is
L [f(t/a)] = aF(as)
where F(s) = L [f(t)] Example :
Property # 8
The inverse Laplace transform of a function f(s/a) (Frequency Scaling) is
L -[f(s/a)] = aF(at)
where L - [f(t)] = F(s) Example: L [1/ 9(1/3)s + 1)] =
Property 9
The Laplace transform of the function f(t-T) (Time Delay), where T>0 and f(t-T) = 0 for t<=T, is L [f(t-T)] = e-st F(s) Where F(s) = L [f(t)].
Property # 10
The Laplace Transform of the function e-at f(t) is given by L[e-at f(t) ] = F (s+a) Where F(s) = L [f(t)] (Complex Translation)
Property # 11
The Laplace transform of the product of two functions f1(t) and f2(t)is given by the complex convolution integral
Property # 12
The inverse Laplace transform of the product of the two transforms F1(s) and F2(s) is given by the convolution integrals
L -[F1(s) F2(s) ]=t0+ f1 () f2 (t - )d = t0+ f2 () f1 (t - )d