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O MÉTODO
DEFINIÇÃO
Esquematicamente:
F ( s) = L[ f ( t ) ] = ∫ f ( t )e − st dt
0
f ( t ) = L−1 [ f ( s) ]
PROPRIEDADES
L[ f 1 ( t ) + f 2 ( t ) ] = L[ f 1 ( t ) ] + L[ f 2 ( t )] = F1 ( s) + F2 ( s)
L[ af ( t )] = aL[ f ( t )] = aF ( s)
L[ f ( t − t 0 )] = e − t 0 s
F ( s)
∞ ∞
L[ f ( t − t 0 ) ] = ∫ f ( t − t 0 ) e − s( t − t0 )
d( t − t0 ) = e s t0
∫ f ( t)e −s t
dt
0 0
L[ f ( t − t 0 ) ] = e s t F ( s)
0
⎡ df ( t ) ⎤
L⎢ = sF ( s) − f ( 0) f ( 0) = f ( t = 0)
⎣ dt ⎥⎦
onde:
⎡ df ( t ) ⎤ ∞ df ( t ) ∞ ∞
L⎢
⎣ dt ⎦ 0
⎥= ∫
dt
e dt = ∫ f ( t ) e − s t dt + f ( t ) e − s t
−s t
= sL [ f ] − f ( 0)
0 0
⎡ df ( t ) ⎤
L⎢ ⎥ = sF ( s) − f ( 0)
⎣ dt ⎦
7
Transformadas de Laplace
⎡ d 2 f (t) ⎤ 2 df ( 0) d
L⎢ 2 ⎥ = s F ( s) − sf ( 0) − onde: f ( t = 0)
⎣ dt ⎦ dt dt
df
fazendo φ = ou φ ( s) = sF ( s) − f ( 0)
dt
L⎡⎣⎢d 2 f 2⎤
dt ⎥ = L [ dφ dt ] = sφ ( s) − φ ( 0)
⎦
substituindo
L( d 2 f dt
2
) = s[ sF ( s) − f ( 0)] − φ ( 0) = s F ( s) − sf ( 0) − f ' ( 0)
2
⎡ dn ⎤ n n −2 d d n −1
L⎢ f ( t ) ⎥ = s F ( s) − S n −1
f ( 0) − S f ( 0) −......− f ( 0)
⎣ dt ⎦
n
dt dt
⎡t ⎤ 1
L⎢ ∫ f ( t ) =
1
F ( s) ⎥ = F ( s)
⎣0 s ⎦ s
1. Função constante
f ( s) = a
∞ ∞
⎛ a⎞
f ( s) = L [ f ( t ) ] = ∫ ae
a
−s t
dt = − e − s t = 0 − ⎜− ⎟
0 s 0
⎝ s⎠
a
F ( s) =
s
8
Transformadas de Laplace
⎧0 p / t < 0
f ( t) = ⎨
⎩1 p / t ≥ 0
∞ ∞
⎛ 1⎞
F ( s) = L[ f ( t ) ] = ∫ 1. e
1
−s t
dt = − e − s t = 0 − ⎜− ⎟
0 s ⎝ s⎠
0
1
F ( s) =
s
3. Função Pulso
⎧0 t <0
⎪
⎪ A
f (t) = ⎨ 0 ≤ t < tw
⎪tw
⎪⎩0 t ≥ tw
∞ tw tw
F ( s) = L [ f ( t ) ] = ∫ f ( t )e dt = ∫ e − s t dt =
a a −s t a
−s t
e = (1 − e − s tw )
0 0 tw tws 0
tws
A
F ( s) = ( 1 − e − tws )
tws
⎧ A
⎪ f ( t ) = lim para 0 < t < t o
δ (t)⎨ t w →0 t w
⎪⎩ f ( t ) = 0 para t < 0 e t > t w
(1 − e− tws )
A
L[ f ( t ) ] = lim
tw →0 tw s
9
Transformadas de Laplace
[ A( 1 − e − t w s ) ]
d
dt As
L[ f ( t ) ] = lim w d = =A
tw →0
( t s)
dt w w
s
F ( s) = A
5. Função exponencial
F ( t ) = e − bt
∞
∞ ∞
L [ f (t )] = ∫ e − bt
e − st
dt = ∫e
− (b + s )t
dt =
1
b+s
[
− e − (b + s )t ] =
1
b+s
0 0 0
1
F ( s) =
b+s
6. Função trigonométrica
e jωt + e − jωt
F ( t ) = cosωt =
2
L [ f ( t ) ] = L [ e jωt ] + L [ e− jωt ] =
1 1 1 1 1 1
+
2 2 2 s − jω 2 s + jω
1⎛ 1 1 ⎞
F ( s) = ⎜ + ⎟
2 ⎝ s − jω s + jω ⎠
10
Transformadas de Laplace
f ( ∞) = lim f ( t ) = lim sF ( s)
t →∞ s →0
f ( 0+ ) = lim f ( t ) = lim sF ( s)
t →0 s →∞
Exemplo:
5s + 2
G ( s) =
s( 5s + 4)
5s + 2
G( 0 + ) = lim [ sG( s) ] = lim =1
s →∞ s →∞ 5s + 4
5s + 2 1
G( ∞) = lim [ sG( s) ] = lim =
s →0 s →0 5s + 4 2
11
Transformadas de Laplace
L−1[ F ( s)] = f ( t )
Um método conveniente para se obter as transformadas inversas de Laplace,
consiste em usar uma tabela de transformadas de Laplace. Neste caso, a
transformada de Laplace deve entrar em forma imediatamente reconhecível na
tabela.
Expressão:
z (s )
G (s ) = pi ( i = 1:n ) raízes distintas
(s + p 1 )(s + p 2 )... (s + p n )
Frações Parciais:
G (s ) =
A B N
+ + .... +
s + p1 s + p 2 s + pn
A = lim [(s + p1 )G (s )]
s → p1
B = lim [(s + p 2 )G (s )]
s → p2
N = lim [(s + p n )G (s )]
s → pn
12
Transformadas de Laplace
Exemplo 1
1 1
G ( s) = =
s( s + 6s + 11s + 6) s( s + 1)( s + 2)( s + 3)
3 2
A B C D
G ( s) = + + +
s ( s + 1) ( s + 2) ( s + 3)
⎡ 1 ⎤ 1
A = lim⎢( s + 0) =
s → 0⎣ s( s + 1)( s + 2)( s + 3) ⎥⎦ 6
⎡ 1 ⎤ 1
B = lim⎢( s + 1) ⎥ =−
s →−1⎣ s( s + 1)( s + 2)( s + 3) ⎦ 2
⎡ 1 ⎤ 1
C = lim ⎢( s + 2) =
s →−2⎣ s( s + 1)( s + 2)( s + 3) ⎥⎦ 2
⎡ 1 ⎤ 1
D = lim⎢( s + 3) ⎥ =−
s →−3⎣ s( s + 1)( s + 2)( s + 3) ⎦ 6
1 1 1 1
G ( s) = − + −
6s 2( s + 1) 2( s + 2) 6( s + 3)
Expressão:
z (s )
G (s ) =
(s + p1 ) (s +
k
p 2 )....(s + p n )
Frações Parciais:
A1 A2 Ak B N
G (s) = + + ... + + + .... +
s − p1 ( s − p1 ) ( s − p1 ) ( s − p2 ) ( s − pn )
2 k
[
Ak = lim (s + p1 ) G(s )
s → p1
k
]
13
Transformadas de Laplace
⎧d
[ ⎫
Ak − 1 = lim ⎨ (s + p1 ) G (s ) ⎬
s → p1 ⎩ ds
k
⎭
]
⎧ d (k − 1)
s → p2 ds
[ k ⎫
A1 = lim ⎨ (k − 1) (s + p1 ) G (s ) ⎬ ]
⎩ ⎭
B = lim [(s + p 2 )G (s )]
s → p2
N = lim [(s + p n )G (s )]
s → pn
Exemplo 2
s +1 s +1
G ( s) = =
s( s + 4 s + 4) s( s + 2)
2 2
A B C
G ( s) = + +
s ( s + 2) ( s + 2) 2
⎡ s +1 ⎤ 1
A = lim⎢( s + 0) 2 ⎥=
s →0⎣ s( s + 2) ⎦ 4
⎧d ⎡ s + 1 ⎤⎫ ⎧ d ⎡ s + 1 ⎤⎫ ⎛1⎞ 1
B = lim ⎨ ⎢( s + 2) 2 ⎥⎬ = lim ⎨ ⎬ = lim ⎜ 2 ⎟ = −
2
s →−2 ⎩ ds ⎣ ⎢ ⎥
s( s + 2) ⎦⎭ s →−2⎩ ds ⎣ s ⎦⎭ s →−2⎝ s ⎠ 4
⎧⎡ s + 1 ⎤⎫ ⎧⎡ s + 1 ⎤⎫ 1
C = lim ⎨⎢( s + 2) 2 ⎥⎬ = lim ⎨⎢ ⎬=
2
s →−2 ⎩⎣ s( s + 2) ⎦⎭ s →−2⎩⎣ s ⎥⎦⎭ 2
1 1 1
G ( s) = − +
4 s 4( s + 2) 2( s + 2) 2
14
Transformadas de Laplace
Expressão:
N (s) K1 K s + K3
F ( s) = = + 22 +L
(s + p1 )(s + as + b) L
2
(s + p1 ) (s + as + b)
Exemplo 3
G (s ) =
3
(
s s + 2s + 5
2
)
K1 K + K3
G(s) = + 2 2s
s s + 2s + 5
K1 pode ser obtido pelo procedimento habitual e vale 3/5. K2 e K3, podem ser
determinados simplificando a equação anterior e comparando os polinômios:
3 3 K + K3
= + 2 2s
(
s s + 2s + 5
2
) 5s s + 2 s + 5
⎛3 ⎞ ⎛ 6⎞
3 = ⎜ + K 2 ⎟s 2 + ⎜ K 3 + ⎟s + 3
⎝5 ⎠ ⎝ 5⎠
3
F ( s) = 5 − 3 ⎛⎜ (s + 1) + (0,5)(2) ⎞⎟
s 5 ⎜⎝ (s + 1) 2 + 2 2 ⎟⎠
15
Transformadas de Laplace
3 3 −t ⎛ 1 ⎞
f (t ) = − e ⎜ cos 2t + sen2t ⎟
5 5 ⎝ 2 ⎠
Esquematicamente:
16
Transformadas de Laplace
Exemplo
d 3 y( t ) d 2 y( t ) dy( t )
3 + 6 2 + 11 + 6 y( t ) = u( t )
dt dt dt
d 2 y( 0) dy( 0)
2 = 0, = 0, y( 0) = 0
dt dt
u(t) = 1
⎡ 3 ⎤ ⎡ 2 ⎤
⎢ d y( t ) ⎥ ⎢ d y( t ) ⎥
⎡ dy( t ) ⎤
L⎢
3 ⎥
+ 6L
⎢ 2 ⎥ + 11L⎢ ⎥ + 6L [ y( t )] = L[ u( t )]
dt dt ⎣ dt ⎦
⎣ ⎦ ⎣ ⎦
⎡ 3 dy( 0) d 2 y( 0) ⎤ ⎡ 2 dy( 0) ⎤
⎢ s y( s) − s y( 0) − s dt − dt 2 ⎥ + 6⎢⎣ s y( s) − sy( 0) − dt ⎥⎦ +
2
⎣ ⎦
+11[ sy( s) − y( 0) ] + 6 y( s) = u( s)
s 3 y( s) + 6s 2 y( s) + 11sy( s) + 6 y( s) = u( s)
1
y ( s) = u( s)
s + 6s + 11s + 6
3 2
1
L[ u( t ) ] = u( s) =
s
1 1
y ( s) = ×
s + 6s + 11s + 6 s
3 2
1
y( s) =
s( s + 6s + 11s + 6)
3 2
17
Transformadas de Laplace
1
y( s) =
s( s + 1)( s + 2)( s + 3)
A B C D
y( s) = + + +
s ( s + 1) ( s + 2) ( s + 3)
⎡ 1 ⎤ 1
A = lim⎢( s + 0) =
s → 0⎣ s( s + 1)( s + 2)( s + 3) ⎥⎦ 6
⎡ 1 ⎤ 1
B = lim⎢( s + 1) ⎥ =−
s →−1⎣ s( s + 1)( s + 2)( s + 3) ⎦ 2
⎡ 1 ⎤ 1
C = lim ⎢( s + 2) =
s →−2⎣ s( s + 1)( s + 2)( s + 3) ⎥⎦ 2
⎡ 1 ⎤ 1
D = lim⎢( s + 3) ⎥ =−
s →−3⎣ ( )( )( )
s s +1 s + 2 s + 3 ⎦ 6
1 1 1 1
y( s) = − + −
6s 2( s + 1) 2( s + 2) 6( s + 3)
⎡ 1 ⎤ 1 - 1⎡ 1 ⎤ 1 - 1⎡ 1 ⎤ 1 - 1⎡ 1 ⎤
L- 1[ y( s) ] = L- 1⎢⎣
1
− L ⎢ + L ⎢ − L ⎢
6 s ⎥⎦ 2 ⎣ ( s + 1) ⎥⎦ 2 ⎣ ( s + 2) ⎥⎦ 6 ⎣ ( s + 3) ⎥⎦
1 1 − t 1 −2 t 1 −3t
y( t ) = − e + e − e
6 2 2 6
18
Transformadas de Laplace
Função Transformada
f(t) F(S)
1 Impulso unitário 1
δ(t)
2 Degrau unitário 1
1(t) s
3 Rampa Unitária 1
t s2
n n!
4 t (n = 1,2,3,...)
s n+1
5 e − at 1
s+a
6 te − at 1
( s + a) 2
7 t n e − at (n = 1,2,3,...) n!
( s + a ) n+1
1 1
8
( 1 − e − at )
a s( s + a )
2 (1 − e − ate − at )
9 1 − at 1
s( s + a )
2
a
( e − at − e −bt )
10 1 1
b−a ( s + a )( s + b)
1 s
11
( be−bt − ae− at ) ( s + a )( s + b)
b−a
12 sen ωt ω
s +ω2
2
13 cosωt s
s +ω2
2
14 Senóide Amortecida ω
e − at sen ωt ( s + a) 2 + ω 2
15 Cossenóide Amortecida s+a
e − at cosωt ( s + a) 2 + ω 2
16 ωn ωn 2
e − ζω t sen ω n 1 − ζ 2 t
n
1− ζ 2
s2 + 2ζωn s + ωn 2
19