EE138

Feedback Control Systems

❑ Laplace Transform of
Derivatives
❑ Simultaneous Differential
WMSU Equations

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Laplace Transform of Derivatives
if 𝑦 = 𝑓 𝑡 then,

ℒ 𝒚𝒏
= 𝒔𝒏 ℒ 𝒚 − 𝒔𝒏−𝟏 𝒚 𝟎 − 𝒔𝒏−𝟐 𝒚′ 𝟎 … − 𝒔𝒚 𝒏−𝟐 𝟎
− 𝒚𝒏−𝟏 𝟎

Where:
𝑦 0 , 𝑦 ′ 0 , 𝑦 ′′ 0 , … . , 𝑦 𝑛−1 0 are the initial conditions
of derivatives at 𝑡 = 0.

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Laplace Transform of Derivatives
Example:
Laplace transform of;
3rd Derivative:
ℒ 𝑦 ′′′ = 𝑠 3 ℒ 𝑦 − 𝑠 2 𝑦 0 − 𝑠𝑦 ′ 0 − 𝑦′′(0)

2nd Derivative:
ℒ 𝑦 ′′ = 𝑠 2 ℒ 𝑦 − 𝑠𝑦 0 − 𝑦′(0)

1st Derivative:
ℒ 𝑦 ′ = sℒ 𝑦 − 𝑦 0

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Example 1
Solve the initial value problem:
𝑑𝑦
+ 2𝑦 = 6𝑠𝑖𝑛2𝑡, 𝑦 0 = 1
𝑑𝑡
This is the same as
𝑦 ′ + 2𝑦 = 6 sin 2𝑡
Taking the Laplace transform of each of the terms in the
equation,
ℒ 𝑦 ′ + 2𝑦 = 6 sin 2𝑡
We obtain
ℒ 𝑦 ′ + ℒ 2𝑦 = ℒ 6 sin 2𝑡
From
1st Derivative:
ℒ 𝑦 ′ = sℒ 𝑦 − 𝑦 0

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Example 1
ℒ 𝑦 ′ + ℒ 2𝑦 = ℒ 6 sin 2𝑡
sℒ 𝑦 − 𝑦 0 + 2ℒ 𝑦 = 6ℒ sin 2𝑡
Where y(0) = 1. so,
2
sℒ 𝑦 − 1 + 2ℒ 𝑦 = 6 2
𝑠 +4
12 12 + 𝑠 2 + 4
sℒ 𝑦 + 2ℒ 𝑦 = 2 +1=
𝑠 +4 𝑠2 + 4
Factoring out the common term ℒ 𝑦 , yields
𝑠 2 +16
ℒ 𝑦 𝑠+2 =
𝑠 2 +4
𝑠 2 + 16
ℒ 𝑦 =𝑌 𝑠 = 2
𝑠 +4 𝑠+2

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Example 1
To solve for the function of y, we take the inverse
Laplace transform of ℒ 𝑦 .
𝑠 2 + 16
ℒ −1 𝑦 = 𝑦 𝑡 = 2
𝑠 +4 𝑠+2
2
−1
𝑠 + 16 −1
𝐴 𝐵𝑠 + 𝐶
ℒ 2
=ℒ + 2
𝑠 +4 𝑠+2 𝑠+2 𝑠 +4
Solving for the constants A, B, and C:
𝑠 2 + 16
𝐴= 2
ȁ𝑠 = −2
𝑠 +4
5
𝐴=
2
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Example 1
To solve for the function of y, we take the inverse Laplace
transform of ℒ 𝑦 .
𝑠 2 + 16
ℒ −1 𝑦 = 𝑦 𝑡 = ℒ −1
𝑠2 + 4 𝑠 + 2
2
−1
𝑠 + 16 −1
𝐴 𝐵𝑠 + 𝐶
ℒ 2
=ℒ + 2
𝑠 +4 𝑠+2 𝑠+2 𝑠 +4
Solving for the constants A, B, and C:
𝑠 2 + 16
𝐵𝑠 + 𝐶 = ȁ𝑠 = 2𝑖
𝑠+2
2𝐵𝑖 + 𝐶 = 3 − 3𝑖
3
𝐵 = − 𝑎𝑛𝑑 𝐶 = 3
2

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Example 1
5 3
𝑠2 + 16 𝑠 3
ℒ −1 =ℒ −1 2 − 22 + 2
2
𝑠 +4 𝑠+2 𝑠+2 𝑠 +4 𝑠 +4
5 −2𝑡 3 3 −1 2
= 𝑒 − cos 2𝑡 + ℒ
2 2 2 𝑠2 + 4
5 −2𝑡 3 3
= 𝑒 − cos 2𝑡 + sin 2𝑡
2 2 2
Hence,
𝟓 −𝟐𝒕 𝟑 𝟑
𝒚 𝒕 = 𝒆 − 𝒄𝒐𝒔 𝟐𝒕 + 𝒔𝒊𝒏 𝟐𝒕 → 𝒂𝒏𝒔𝒘𝒆𝒓
𝟐 𝟐 𝟐

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Simultaneous Differential Equations
We shall consider solving a pair of differential equations
involving an independent variable t and two dependent
variables x and y. To solve these equations simultaneously,
take the Laplace transform of each equation obtaining two
simultaneous algebraic equations from which the
functions of y and x can be obtained as ℒ −1 𝐹1 𝑠 =
𝑓1 𝑡 and ℒ −1 𝐹2 𝑠 = 𝑓2 𝑡 , respectively.

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Example 2
𝑑𝑦
+𝑥 =𝑡
𝑑𝑡
Solve simultaneously the system ൞𝑑𝑥
+ 4𝑦 = 0
𝑑𝑡

Given that 𝑥 = −1 and 𝑦 = 1 when 𝑡 = 0.

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Example 2
ℒ 𝑥′ + 4𝑦 = 0
0
sℒ 𝑥 − 𝑥 0 + 4ℒ 𝑦 = = 0; 𝑥 0 = −1
𝑠
sℒ 𝑥 + 4ℒ 𝑦 = −1 → 𝑒𝑞2
From equation 1,
𝑠2 + 1
ℒ 𝑥 = − sℒ 𝑦
𝑠2
Substituting this value to eq2,
𝑠2 + 1
s 2
− sℒ 𝑦 + 4ℒ 𝑦 = −1
𝑠
𝑠2 + 1
− 𝑠 2 ℒ 𝑦 + 4ℒ 𝑦 = −1
𝑠
𝑠 2+1 𝑠 2+𝑠+1
𝑠 2 ℒ 𝑦 − 4ℒ 𝑦 = +1=
𝑠 𝑠
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Example 2
2
2
𝑠 +𝑠+1
𝑠 ℒ 𝑦 − 4ℒ 𝑦 =
𝑠
𝑠2 + 𝑠 + 1 𝑠2 + 𝑠 + 1
ℒ 𝑦 = 2 = =𝑌 𝑠
𝑠 −4 𝑠 𝑠 𝑠+2 𝑠−2
Taking the inverse Laplace to solve for the function of y,
2+𝑠+1
𝑠
ℒ −1 𝑦 = 𝑦 𝑡 = ℒ −1
𝑠 𝑠+2 𝑠−2
𝑠 2+𝑠+1 𝐴 𝐵 𝐶
−1 −1
ℒ =ℒ + +
𝑠 𝑠+2 𝑠−2 𝑠 𝑠+2 𝑠−2

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Example 2
Solving for constants A, B, and C:
𝑠2 + 𝑠 + 1
𝐴= ȁ𝑠 = 0
𝑠+2 𝑠−2
𝟏
𝑨=−
𝟒
𝑠2 + 𝑠 + 1
𝐵= ȁ𝑠 = −2
𝑠 𝑠−2
𝟑
𝑩=
𝟖
2
𝑠 +𝑠+1
𝐶= ȁ𝑠 = 2
𝑠 𝑠+2
𝟕
𝑪=
𝟖
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Example 2
Hence,
1 3 7
𝐴 𝐵 𝐶 −
ℒ −1
+ + = ℒ −1 4 + ℒ −1 8 + ℒ −1 8
𝑠 𝑠+2 𝑠−2 𝑠 𝑠+2 𝑠−2

𝟏 𝟑 −𝟐𝒕 𝟕 𝟐𝒕
𝒚 𝒕 =− + 𝒆 + 𝒆 → 𝒂𝒏𝒔𝒘𝒆𝒓
𝟒 𝟖 𝟖

From equation 2,
−1 − sℒ 𝑥
ℒ 𝑦 =
4
Substituting this value to eq1,
−1 − sℒ 𝑥 𝑠2 + 1
s +ℒ 𝑥 =
4 𝑠2

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Example 2
−1 − sℒ 𝑥 𝑠2 + 1
s +ℒ 𝑥 =
4 𝑠2
4 𝑠 2+1
−𝑠 − 𝑠 2 ℒ 𝑥 + 4ℒ 𝑥 =
𝑠2
2 3 2
2
4 𝑠 + 1 𝑠 + 4𝑠 +4
ℒ 𝑥 4−𝑠 = 2
+𝑠 =
𝑠 𝑠2

𝑠 3 + 4𝑠 2 + 4 − 𝑠 3 + 4𝑠 2 + 4 − 𝑠 3 + 4𝑠 2 + 4
ℒ 𝑥 = 2 = = 2 =𝑋 𝑠
𝑠 − 𝑠2 − 4 𝑠2 𝑠2 − 4 𝑠 𝑠+2 𝑠−2

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Example 2
𝑠 3 + 4𝑠 2 + 4 − 𝑠 3 + 4𝑠 2 + 4 − 𝑠 3 + 4𝑠 2 + 4
ℒ 𝑥 = 2 = = 2 =𝑋 𝑠
𝑠 − 𝑠2 − 4 𝑠2 𝑠2 − 4 𝑠 𝑠+2 𝑠−2
Taking the inverse Laplace to solve for the function of y,
3 2
−1 −1
− 𝑠 + 4𝑠 +4
ℒ 𝑥 =𝑥 𝑡 =ℒ
𝑠2 𝑠 + 2 𝑠 − 2
− 𝑠 3 + 4𝑠 2 + 4 𝐴 𝐵 𝐶 𝐷
ℒ −1 =ℒ −1
+ + +
𝑠2 𝑠 + 2 𝑠 − 2 𝑠 𝑠2 𝑠 + 2 𝑠 − 2
Solving for the constants A, B, C, and D:
𝑑 − 𝑠 3 + 4𝑠 2 + 4
𝐴= ȁ𝑠 = 0
𝑑𝑠 𝑠 + 2 𝑠 − 2
𝑨=𝟎

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Example 2
− 𝑠 3 + 4𝑠 2 + 4
𝐵= ȁ𝑠 = 0
𝑠+2 𝑠−2
𝑩=𝟏
− 𝑠 3 + 4𝑠 2 + 4
𝐶= 2
ȁ𝑠 = −2
𝑠 𝑠−2
𝟑
𝑪=
𝟒
3 2
− 𝑠 + 4𝑠 + 4
𝐷= 2
ȁ𝑠 = 2
𝑠 𝑠+2
𝟕
𝑫=−
𝟒

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Example 2
Hence,
𝐴 𝐵 𝐶 𝐷 1 3 1 7 1
ℒ −1 + 2+ + = ℒ −1 2 + ℒ −1 − ℒ −1
𝑠 𝑠 𝑠+2 𝑠−2 𝑠 4 𝑠+2 4 𝑠−2

𝟑 −𝟐𝒕 𝟕 𝟐𝒕
𝒙 𝒕 =𝒕+ 𝒆 − 𝒆 → 𝒂𝒏𝒔𝒘𝒆𝒓
𝟒 𝟒

𝑑𝑦
+𝑥 =𝑡
𝑑𝑡
∴The solutions to the system of ODEs ൞𝑑𝑥 , given that
+ 4𝑦 = 0
𝑑𝑡
𝑥 = −1 and 𝑦 = 1 when 𝑡 = 0 are :
𝟏 𝟑 −𝟐𝒕 𝟕 𝟐𝒕
𝒚 𝒕 =− + 𝒆 + 𝒆
𝟒 𝟖 𝟖
𝟑 −𝟐𝒕 𝟕 𝟐𝒕
𝒙 𝒕 =𝒕+ 𝒆 − 𝒆
𝟒 𝟒
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