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Linear systems
a1 f1 (t)+ a1 x1 (t)+
f1 (t) x1 (t) f2 (t) x2 (t) a2 f2 (t) a2 x2 (t)
K M x + fv x + Kx = f T (t)
T(t)
(t)
(t) D
J + D + K = T
M f(t) J
K
fv
Figures by MIT OpenCourseWare.
t/ T0 t/
T0
(t) = 0 e + 1e () =
b b
J
where time constant. steady state.
b
to an algebraic equation
Benefits:
Simplifies solution
s-domain offers additional insights
particularly useful in control
s = + j,
where , are real numbers with units of frequency (i.e. sec1 Hz).
where a > 0 (note the presence of the step function in the above formula.)
f(t) F(s)
Ramp
(t) 1 function
1
u(t)
s
1
tu(t)
s2
n!
t n u(t) +1
sn
1
e -at u(t) s+a
sin tu(t) Quadratic
s + 2
2
s function
cos tu(t)
s2 + 2
n=2
Figure by MIT OpenCourseWare.
f(t) F(s)
(t) 1
1
u(t)
s
1
tu(t)
s2
n!
t n u(t) +1
sn
1
e -at u(t) s+a
sin tu(t)
s2 + 2
s
cos tu(t)
s + 2
2
(t) 1
1
u(t)
s
1
(t)
tu(t)
s2
t n u(t)
sn
n!
+1
t
1 t=0
e -at u(t) s+a It represents a pulse of
sin tu(t) infinitessimally small duration; and
s2 + 2
s finite energy.
cos tu(t)
s2 + 2
Integration
Z t
F (s)
L f ()d = .
0 s
A more complete set of Laplace transform properties
is in Nise Table 2.2.
Well learn most of these properties in later lectures.
2 K1 K2
F (s) = = + . (2)
(s + 3)(s + 5) s+3 s+5
This is done as follows: first multiply both sides of (2) by (s + 3). We find
2 K2 (s + 3) s=3 2
= K1 + = K1 = = 1.
s+5 s+5 3 + 5
Similarly, we find K2 = 1.
From the table of Laplace transforms (Nise Table 2.1) we know that
1
L1 = e3t u(t) and
s+3
1
L1 = e5t u(t).
s+5
We have found
T0 1 1
(s) = .
b s s + (1/ )
Using the linearity property and the table of Laplace transforms we obtain
1 T0 t/
(t) = L [(s)] = 1e ,
b
in agreement with the timedomain solution of Lecture 2.
Ts (s) (s) 1
(s) = = .
Js + b Ts (s) Js + b
1
We refer to the (TF) of a single element as the Impedance Z(s).
2.004 Fall 07 Lecture 03 Monday, Sept. 10
Transfer Functions in block diagrams
J
Ts (s) (s) (s) 1 .
TF(s) := =
Ts (s) Js + b
b
K
F(s) 1 X(s)
M f(t) Ms2 + fvs + K
fv
P P
Impedances X(s) = Forces .
x(t) x(t)
Kx(t) KX(s)
dx f(t) f(t)
fv
dt
M fvsX(s) M
d2x Ms2X(s)
M
dt2
Laplace transform
Z +
L [f (t)] F (s) = f (t)est dt. h i
0 L f(t) = sF (s) f (0).
1 Z t
L [u(t)] U (s) = . F (s)
s L f ()d = .
1 0 s
L eat = .
s+a
L (s) 1
J (t) + b(t) = Ts (t) = (Js + b) (s) = Ts (s) TF(s) = .
Ts (s) Js + b
X(s) 1
M x(t) + fv x(t) + Kx(t) = f (t) TF(s) = .
F (s) M s2 + fv s + K