1. This document discusses using the Laplace transform to solve ordinary differential equations (ODEs). It provides examples of using the Laplace transform to solve ODEs with distinct roots, repeated roots, and complex roots.
2. The procedure involves taking the Laplace transform of the ODE, performing a partial fraction expansion, and taking the inverse Laplace transform to find the solution in the time domain.
3. An example of using this technique to model the response of a mechanical accelerometer to an applied force is presented.
1. This document discusses using the Laplace transform to solve ordinary differential equations (ODEs). It provides examples of using the Laplace transform to solve ODEs with distinct roots, repeated roots, and complex roots.
2. The procedure involves taking the Laplace transform of the ODE, performing a partial fraction expansion, and taking the inverse Laplace transform to find the solution in the time domain.
3. An example of using this technique to model the response of a mechanical accelerometer to an applied force is presented.
1. This document discusses using the Laplace transform to solve ordinary differential equations (ODEs). It provides examples of using the Laplace transform to solve ODEs with distinct roots, repeated roots, and complex roots.
2. The procedure involves taking the Laplace transform of the ODE, performing a partial fraction expansion, and taking the inverse Laplace transform to find the solution in the time domain.
3. An example of using this technique to model the response of a mechanical accelerometer to an applied force is presented.
MECH466: Automatic Control MECH466: Automatic Control Dr. Ryozo Nagamune Dr. Ryozo Nagamune Department of Mechanical Engineering Department of Mechanical Engineering University of British Columbia University of British Columbia Lecture 3 Lecture 3 Solution to Solution to ODEs ODEs via Laplace transform via Laplace transform 2008/09 MECH466 : Automatic Control 2 About laboratory About laboratory Each Lab group consists of about 4 students. Each Lab group consists of about 4 students. By Jan. 12 (Mon) By Jan. 12 (Mon): The instructor will decide the : The instructor will decide the groups, and post tentative groups on Vista. groups, and post tentative groups on Vista. By Jan. 13 (Tue): By Jan. 13 (Tue): Contact the instructor in case of Contact the instructor in case of inconvenience. inconvenience. By Jan. 16 (Fri): By Jan. 16 (Fri): Lab groups will be finalized and Lab groups will be finalized and posted on Vista. posted on Vista. Lab groups can be modified during this week. Lab groups can be modified during this week. Please check it regularly. Please check it regularly. Jan. 19 (Mon): Jan. 19 (Mon): Lab starts. See the files Lab starts. See the files MECH466_LabInfo_0809.pdf MECH466_LabInfo_0809.pdf MECH466_LabSchedule_0809.pdf MECH466_LabSchedule_0809.pdf 2008/09 MECH466 : Automatic Control 3 Course roadmap Course roadmap Laplace transform Laplace transform Transfer function Transfer function Models for systems Models for systems electrical electrical mechanical mechanical electromechanical electromechanical Linearization Linearization Modeling Modeling Analysis Analysis Design Design Time response Time response Transient Transient Steady state Steady state Frequency response Frequency response Bode plot Bode plot Stability Stability Routh Routh- -Hurwitz Hurwitz Nyquist Nyquist Design specs Design specs Root locus Root locus Frequency domain Frequency domain PID & Lead PID & Lead- -lag lag Design examples Design examples Matlab Matlab simulations & laboratories simulations & laboratories 2008/09 MECH466 : Automatic Control 4 Laplace transform (review) Laplace transform (review) One of most important math tools in the course! One of most important math tools in the course! Definition: For a function Definition: For a function f(t f(t) ( ) (f(t f(t)=0 for t<0), )=0 for t<0), We denote Laplace transform of We denote Laplace transform of f(t f(t) by ) by F(s F(s). ). f(t f(t ) ) t t 0 0 F(s F(s) ) (s: complex variable) 2 2008/09 MECH466 : Automatic Control 5 Laplace transform table (review) Laplace transform table (review) Inverse Laplace Inverse Laplace Transform Transform ( (u(t u(t) is often omitted.) ) is often omitted.) 2008/09 MECH466 : Automatic Control 6 Advantages of s Advantages of s- -domain (review) domain (review) We can transform an ordinary differential We can transform an ordinary differential equation into an algebraic equation which is equation into an algebraic equation which is easy to solve. easy to solve. (This lecture) (This lecture) It is easy to analyze and design interconnected It is easy to analyze and design interconnected (series, feedback etc.) systems. (Throughout the (series, feedback etc.) systems. (Throughout the course) course) Frequency domain information of signals can be Frequency domain information of signals can be dealt with. (Lectures for frequency responses: dealt with. (Lectures for frequency responses: after midterm) after midterm) 2008/09 MECH466 : Automatic Control 7 An advantage of Laplace transform An advantage of Laplace transform We can transform an ordinary differential We can transform an ordinary differential equation (ODE) into an algebraic equation (AE). equation (ODE) into an algebraic equation (AE). ODE ODE AE AE Partial fraction Partial fraction expansion expansion Solution to ODE Solution to ODE t t- -domain domain s s- -domain domain 1 1 2 2 3 3 2008/09 MECH466 : Automatic Control 8 Example 1 (distinct roots) Example 1 (distinct roots) ODE with initial conditions (ICs) ODE with initial conditions (ICs) 1. 1. Laplace transform Laplace transform distinct roots distinct roots 3 2008/09 MECH466 : Automatic Control 9 Properties of Laplace transform Properties of Laplace transform Differentiation (review) Differentiation (review) t t- -domain domain s s- -domain domain 2008/09 MECH466 : Automatic Control 10 2. 2. Partial fraction expansion Partial fraction expansion Multiply both sides by s & let s go to zero: Multiply both sides by s & let s go to zero: Similarly, Similarly, unknowns unknowns Example 1 (cont Example 1 (cont d) d) 2008/09 MECH466 : Automatic Control 11 3. 3. Inverse Laplace transform Inverse Laplace transform Example 1 (cont Example 1 (cont d) d) If we are interested in only the final value of If we are interested in only the final value of y(t y(t), apply ), apply Final Value Theorem: Final Value Theorem: 2008/09 MECH466 : Automatic Control 12 Example 2 (repeated roots) Example 2 (repeated roots) ODE with initial conditions (ICs) ODE with initial conditions (ICs) 1. 1. Laplace transform Laplace transform Repeated roots Repeated roots 4 2008/09 MECH466 : Automatic Control 13 2. 2. Partial fraction expansion Partial fraction expansion To obtain A: To obtain A: To obtain B: To obtain B: unknowns unknowns Example 2 (cont Example 2 (cont d) d) 2008/09 MECH466 : Automatic Control 14 2. 2. Partial fraction expansion Partial fraction expansion To obtain C: To obtain C: unknowns unknowns Example 2 (cont Example 2 (cont d) d) Take derivative Take derivative Let s go to Let s go to - -2. 2. 2008/09 MECH466 : Automatic Control 15 3. 3. Inverse Laplace transform Inverse Laplace transform Example 2 (cont Example 2 (cont d) d) If we are interested in only the final value of If we are interested in only the final value of y(t y(t), apply ), apply Final Value Theorem: Final Value Theorem: 2008/09 MECH466 : Automatic Control 16 Properties of Laplace transform Properties of Laplace transform 8. 8. Frequency shift theorem (review) Frequency shift theorem (review) Ex. Ex. Proof. Proof. t t- -domain domain s s- -domain domain 5 2008/09 MECH466 : Automatic Control 17 Example 3 (complex roots) Example 3 (complex roots) ODE with zero initial conditions (ICs) ODE with zero initial conditions (ICs) 1. 1. Laplace transform Laplace transform Complex roots Complex roots 2008/09 MECH466 : Automatic Control 18 2. 2. Partial fraction expansion Partial fraction expansion To obtain A, B & C: To obtain A, B & C: unknowns unknowns Example 3 (cont Example 3 (cont d) d) 2008/09 MECH466 : Automatic Control 19 3. 3. Inverse Laplace transform Inverse Laplace transform Example 3 (cont Example 3 (cont d) d) 2008/09 MECH466 : Automatic Control 20 Example: Newton Example: Newton s law s law We want to know the trajectory of We want to know the trajectory of x(t x(t). By Laplace transform, ). By Laplace transform, M M (Total response) (Total response) = = (Forced response) (Forced response) + + (Initial condition response) (Initial condition response) 6 2008/09 MECH466 : Automatic Control 21 Ex: Mechanical accelerometer Ex: Mechanical accelerometer Taken from Taken from Dorf Dorf & Bishop book & Bishop book 2008/09 MECH466 : Automatic Control 22 Ex: Accelerometer (cont Ex: Accelerometer (cont d) d) We would like to know how We would like to know how y(t y(t) moves ) moves when unit when unit step step f(t f(t) is applied with zero ICs. ) is applied with zero ICs. By Newton By Newton s law s law 2008/09 MECH466 : Automatic Control 23 Ex: Mechanical accelerometer (cont Ex: Mechanical accelerometer (cont d) d) Suppose that b/M=3, k/M=2 and Ms=1. Suppose that b/M=3, k/M=2 and Ms=1. Partial fraction expansion Partial fraction expansion Inverse Laplace transform Inverse Laplace transform 0 2 4 6 8 10 -0.5 -0.4 -0.3 -0.2 -0.1 0 Time[sec] A m p l i t u d e 2008/09 MECH466 : Automatic Control 24 Summary & Exercises Summary & Exercises Solution procedure to Solution procedure to ODEs ODEs 1. 1. Laplace transform Laplace transform 2. 2. Partial fraction expansion Partial fraction expansion 3. 3. Inverse Laplace transform Inverse Laplace transform Next, modeling of physical systems using Next, modeling of physical systems using Laplace transform Laplace transform Exercises Exercises Read Sections 2 Read Sections 2- -2 up to page 42. 2 up to page 42. Solve Problems 3 & 4 in page 94 (or page 28). Solve Problems 3 & 4 in page 94 (or page 28).