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CONTROL Y AUTOMATIZACIN
INTRODUCCIN A LAS
TRANSFORMADA DE LAPLACE
NOVIEMBRE 2014
Marcelo Romn V.
Contenidos
La importancia de la Transforma de la Laplace (TL).
Definicin y propiedades.
Principales propiedades de la TL.
La Transformada Inversa de Laplace (TIL).
Solucin de EDOs Lineales mediante TL.
Aplicaciones de la TL en la ingeniera.
La transformada de Laplace
Sea f(t) una funcin definida para t 0, su
transformada de Laplace se define como:
L{ f (t )} F ( s ) f (t ) e dt
st
s iw.
s t
Notacin:
f (t ) dt lim e
h
s t
f (t ) dt
L f (t ) F ( s ),
L y (t ) Y ( s ),
L x (t ) X ( s ), etc.
L{ f (t )} F ( s ) f (t ) e st dt
0
| f (t ) | Me , t [0, )
at
b tq lim | f (t )e bt | 0
t
Entonces:
L{f(t)} = F(s) existe s > a.
9
1 st
L 1 F ( s ) 1e dt e
0
s
st
( a ib )t
st
at ibt
e e
a 0 , Re s 0
1
f ( t ) 1 F ( s ) , Re s 0.
s
Nota: Obviamente L{a} = a/s y L{0} = 0.
10
L t n F ( s)
st
n st
ne
t e dt t
s
st
e
nt n 1
dt
s
n n 1 st
n
t e dt L t n 1
s 0
s
n
L t L t n 1
s
1
0
L t
s
n
n
n!
L t n 1
s
n!
f (t ) t F (s) n1 Re s 0
s
n
11
F (s)
Le
1 s 1t
e
s 1
e e dt e
t st
s 1t
dt
s 1
1
Re s 1
f (t ) e F (s)
s 1
t
12
s a t
L Ae F ( s) Ae e dt Ae
at
at st
A s a t
e
( s a)
dt
, sa
sa
A
f ( t ) Ae F ( s )
, Re{ s } a
sa
at
13
cos(at )
s
s
a2
a2
1 2 I 2 ;
s
s
st
e
sen(at )e dt sen(at )
s
st
e st
a
a
a sen(at ) dt 2 2
s s
s
e st
a cos(at )
dt
s
sen (at )e st dt
a
I 2
s a2
f (t ) sen (at )
a
F ( s) 2
s a2
Re s 0
e iat e iat
sen h( at )
2i
L senh ( at ) F ( s )
1
2i
s ia t
s ia t
s ia t
s ia e
e iat e iat st
e dt
2i
e s ia t dt
1 e
e
2i s ia s ia
1
2i s 2 a 2
1
2i s 2 a 2
s ia t
s ia t
s ia t
1 e
e
2i s ia
s ia
s ia e
s ia t
2ia
a
s ia s ia
2
2
2
2i s a
s a2
15
F (s)
L e
iat
1
s ia t
e
s ia
e e dt e
iat st
s ia t
dt
1 s ia s ia
2
s ia s ia s a
s
a
L
cos(
at
)
iL
sen
(
at
)
2
2
2
2
s a
s a
16
0 if t c
u (t c )
1 if t c
1
L u (t c ) e
s t
lim s1 e
h
s t h
c
cc
u (t c )dt lim e
lim s1 (e
h
s h
s c
s t
dt
)e
s c
s
17
f (t )
rea = 1
1/
a a
1 e
e
as 1 e
L f (t )
s
s
s
s
e
se
as
as
as
lim 0 L f (t ) e lim 0
e
lim
e
0
s
s
18
L (t a ) e
L (t ) 1
as
(t )
(t a)
19
Funciones peridicas
Supongamos que f (t) es una funcin peridica de periodo T.
Entonces:
1
F ( s) L f (t )
F1 ( s)
sT
1 e
donde F1(s) es la transformada de Laplace de la funcin f(t)
sobre el primer periodo y cero fuera.
T
F1 ( s) e
st
f (t )dt
T
t
20
Demostracin
F ( s ) e st f (t )dt
0
T
e st f (t )dt e st f (t )dt
e st f (t )dt e s ( T ) f ( T )d ,
T
t T
e st f (t )dt e sT e s f ( )d
T
e st f (t )dt e sT F ( s )
0
21
1
F ( s)
F ( s)
2 as 1
1 e
a
2a
2a
F1 ( s) e
0
st
1 as 2 as
f (t )dt e dt e e
s
a
2a
st
e as e 2 as
1
F ( s)
2 as
s (1 e ) s (1 e as )
22
1
1
s
1
s2
n!
1
t
tn
e
at
n 1
1
sa
sen t
cos t
e at sen t
e at cos t
t n e at
s2 2
s
s2 2
2
s
a
2
sa
s a 2
2
n!
s a
n 1
23
1 i
st
L {F ( s)} f (t )
F ( s)e ds, t 0
2i i
1
24
Im(s)
1 i
st
L {F ( s)} f (t )
F
(
s
)
e
ds, t 0
2i i
determina un contorno vertical
(1) lim F ( s) 0
s
(2) lim sF ( s)
s
25
1
2
(s 1)
i
C ( s 1)
2
i
2
i
R
C1
1 iR e st
1
e st
ds
2
2
=0
-1
Re(s) 2i iR ( s 1)
2i C1 ( s 1)
-R
Haciendo R y utilizando
teora de residuos:
0 por la desigualdad ML
cuando R con t0.
e st
2i
d st
1
t
1
Res
lim e te L
2
2
s
1
s
1
2i
ds
( s 1)
( s 1)
26
m
| F ( s) | k
s
Entonces si t > 0:
L {F ( s)} Rese
1
k 1
s sk
st
F (s)
Propiedades
1. Linealidad: Si c1 y c2 son constantes, f1(x) y
f2(x) son funciones cuyas transformadas de
Laplace son F1(x) y F2(x), respectivamente;
entonces:
28
Demostracin:
L c1 f1 (t ) c2 f 2 (t )
c
f
(
t
)
c
f
(
t
)
e
1
1
2
2
0
st
dt
c1 f1 (t )e dt c2 f 2 (t )e dt
0
st
st
c1 L f1 (t ) c2 L f 2 (t )
29
2. Desplazamiento temporal
st
F ( s ) e f (t )dt
f (t t0 ), t t0
g (t ) f (t )u (t t0 )
, t t0
0
st
X ( s ) e f (t t0 )u (t t0 )dt
0
l t t0
st
f (t t0 )dt
t0
L{ f (t )} F (s)
L{ f (t )u(t t0 )} e
st 0
F ( s)
e st0 e sl f (l )dl
0
st 0
F (s)
30
Ejemplo:
3 s
1 e
L 3
s
2
L t 3
s
2
L (t 3) u (t 3) e
2
3 s
2
s3
3 s
1
e
1
2
L 3 (t 3) u (t 3)
s 2
t
31
3. Desplazamiento en frecuencias
L{ f (t )} F (s)
F ( s) e st f (t )dt
L{e at f (t )} F (s a)
X ( s) e e
st at
f (t )dt e
( s a )t
f (t )dt
F ( s a)
Ejemplo:
1
L t 2
s
L te
at
2
( s a)
32
F (s) e
st
f (t )dt
X ( s ) e st f (at )dt
L{ f (t )} F ( s)
1 s
L{ f (at )} F
a a
1 ( s / a ) l
e
f (l )dl
a0
l at
(1 / a) F ( s / a)
33
F (s) e
st
f (t )dt
d
d st
F ( s ) e f (t )dt
ds
ds
st
F ( s ) L{ f (t )}
F ( s ) L tf (t )
tf (t )dt
L tf (t )
34
L{ f ' (t )} sF ( s ) f (0)
donde f(0) es el valor de f(t) en t = 0.
La transformada de Laplace de la segunda derivada
de una funcin est dada por:
35
L a 2 f (t ) s 2 F ( s ) s 1 0
a 2 L f (t ) a 2 F ( s ) s 2 F ( s ) s
s
F (s) 2
s a2
36
37
38
(n)
e d
n t
Ln (t )
(t e ), n 0,1,2...
n
n! dt
Respuesta.
1
Le
g ( s), Re( s) 1
s 1
n
(
1
)
n!
n!
n t
n (n)
n
L t e (1) g ( s) (1)
n 1
( s 1)
( s 1) n 1
t
39
f (t ) t e
n
n
L n f (t ) s L f (t )
dt
n 1
n2
( n 1)
s f (0) s f (0) ... f
( 0)
(n)
(n)
d
n t
(t e )
0,
n
dt
t 0
n 0,1,2...
40
d
n! s
n t
L n (t e )
h
(
s
)
n 1
dt
( s 1)
e t d ( n ) n t 1
L
(t e ) h( s 1)
n
n! dt
n!
(n)
e d
( s 1)
n t
L
(t e ) n1 ,
n
s
n! dt
(n)
Re( s) 1
41
y " 3 y ' 4 y t u (t 1)
y (0) 1, y '(0) 2
Resolver para
y(t)
Resolver para
Y(s)
Ec. Diferencial
Transformada de
Laplace
Ec. Algebraica
( s 1) ( s e 1) e
Y (s)
2
2
s ( s 3s 4)
2
Ec. Algebraica
Inversa de la
Transformada
de Laplace
Solucin de la
Ec. Diferencial
( s 1) ( s e 1) e
Y (s)
2
2
s ( s 3s 4)
2
y (t ) u (t 1)( e +
3e4
80
2
5e
t 4
(e ) 14 t 163 )
t 4
u (t )( e (e ) )
2
5
es
3
5
De modo que:
y (t ) u (t 1)( e +
3e4
80
2
5e
t 4
(e ) 14 t 163 )
t 4
u (t )( e (e ) )
2
5
3
5
y " 3 y ' 4 y t u (t 1)
y (0) 1, y '(0) 2
L cf (t ) g (t ) = c L f (t ) + L g (t ) ,
1
cF ( s ) G ( s ) = c L F ( s )+ L G ( s )
1
-1
etc...
f ' (t ) 2 f (t ) e 3t
(t 0 y f (0) 4)
f ' (t ) 2 f (t ) e 3t 0 ; L{ f ' (t ) 2 f (t ) e 3t } 0
L{ f ' (t )} 2 L{ f (t )} L{e 3t } 0
1
( sF ( s ) f (0)) 2 F ( s )
0
s3
1
sF ( s ) 4 2 F ( s )
0
s3
5
1
F (s)
f (t ) 5e 2t e 3t
s2 s3
Ejemplo
sin t 0 t
,
Resolver y y
t
0
y(0) y(0) 0
s Y ( s ) Y ( s ) L sin t u (t ) sin t
L sin t u (t ) sin(t )
2
1
e s
2
2
s 1 s 1
1
e s
Y (s) 2
2
2
( s 1)
( s 1) 2
y (t )
2 cost
51
Ejemplo:
Resolver y 3 y 2 y (t 1), y(0) y(0) 0
s 2Y ( s) 3sY ( s) 2Y ( s) e s
1
1
s 1
Y ( s) e 2
e
s 3s 2
s
1
s
y (t ) u (t 1) e ( t 1) e 2(t 1)
52
F (s) e
st
f (t )dt
1
F ( s)
f (u )du L{ f (t )}
s
s
X ( s ) e f ( )d dt
0
0
st
1 st
1 st
f ( )d e e f (t )dt
0
s
0 s 0
t
1
F (s)
s
53
Respuesta.
g (u )du
0
1
L f Lg
s
54
6t
6 t
8t
8t
e
e
e
e
3
3
g (t ) t cosh(6t ) sinh(8t ) t
2
2
1 14t
g (t ) e e 2t e 2t e 14t
4
n zt
Lt e
n!
, Re( s ) Re( z )
n 1
(s z)
1
3!
3!
3!
3!
Lg
4
4
4
4
4 ( s 14)
( s 2)
( s 2)
( s 14)
3
1
1
1
1
L f
4
4
4
4
2s ( s 14)
( s 2)
( s 2)
( s 14)
55
F ( s)
f (u )du
s
f (t )
L
s F (u )du
t
con F ( s) L f (t )
56
Lsin t F ( s )
1
e st
cost
s
s
sin t
f (t )
t
st
e
st
(sin t )e dt sin t
s
e st
cost
dt
s
e st 1 1
sin t
dt 2 2 sin t e st dt
0
s s s
1
1
1
1
1 2 I 2 ; I
F (s)
2
2
s
s
1
s
1
f (t )
Ahora, empleando : L
s F (u )du
t
sin t 1
L
du arctan u s arctan s
s
2
1 u
2
t
57
9. TF de f(t)cos(at) y f(t)sen(at)
Si g (t ) f (t ) cos(at )
Si g (t ) f (t ) sen(at )
Ejemplo:
1
g (t ) sen(at )
t
F ( s ia) F ( s ia)
G( s)
2
con a
iF ( s ia) F ( s ia)
G( s)
2
con a
a
a
i
( s ia) 2 a 2 ( s ia) 2 a 2
sen(at ) st
G( s)
e dt
t
2
0
a
a
i 2
2
2
2
a
s
i
2
a
s
i
2
a
2
s 4 4a 2
58
limt f (t ) lim s0 sF ( s)
11. Teorema del valor inicial
El valor inicial f(0) de la funcin f(t) cuya
transformada de Laplace es F(s), es:
Recordemos que
la operacin
f1 ( ) f 2 (t )d se conoce
como la convolucin de f1 (t ) y
denota como f1 (t ) * f 2 (t ).
f 2 (t ),
y se
L{ f1 (t ) * f 2 (t )} F1 ( s) F2 (s)
L{ f1 (t ) * f 2 (t )} L{ f1 (t )} L{ f 2 (t )}
60
t f ( ) g (t )d , t 0
f (t ) * g (t ) 0
0,
t0
As que para estas funciones podemos definirla convolucin
como:
t
f (t ) * g (t ) f ( ) g (t )d ,
0
(t 0)
61
1
1
1 1
t
L 2
s s 1
s ( s 1)
1
e d e t 1
t
62
L{ f1 (t ) * f 2 (t )} L{ f1 (t )} L{ f 2 (t )}
Ejemplo: Verificar que funciona para f(t) = t y g(t) = e-2t
con valores 0 para t < 0.
f (t ) * g (t ) f ( ) g (t )d e 2(t ) d
2t
t
1
e
e 2t e 2 d
0
2 4
4
t
1
1
2t
L{t} 2 ; L{e }
s
( s 2)
1 1
1
2
2
s ( s 2) s ( s 2)
t 1 e 2t
L
4
2 4
1
1
1
L{t} L{1} L{e 2t }
2
4
4
1 1 11 1 1
2
2s
4 s 4 ( s 2)
1
s 2 ( s 2)63
y y sin t
y (0) 1
y(0) 0
Respuesta.
L y Y ( s);
1
Lsin t
2
1 s
2
2
Ly s L y sy (0) y (0) s Y ( s ) s
64
Transformada de la ecuacin:
1
L y y Lsin t Y ( s 1) s
2
1 s
2
s
1
s 1 1
1
Y ( s) 2
y (t ) L 2 L
2
2
2
2
s 1 s 1
s 1
s 1
s
L 2 cost
s 1
1
1
1
1 1
L
L 2
sin
t
sin
t
2
2
2
s
1
s
s 1
1
65
1 t
1
t
(cos(2u t ) cos t )du sin t cos t
2 0
2
2
1
t
y(t ) cost sin t cost
2
2
66
t
d
3( t u )
x
(
t
)
e
x
(
u
)
du
(
t
3
)
dt
x(0) 0
Respuesta.
d
3( t u )
x(u )du (t 3)
x(t ) 0 e
dt
h (t )
67
3t
1
Lh(t ) L f (t ) Lx(t )
X ( s)
s 3
3 s
3 s
L (t 3) e L (t ) e
68
3 s
X (s)s
e ,
s 3
( s 3)e 3 s
X (s)
s ( s 4)
1
3
3 s
X (s) e 4 4
s 4
s
3 s
3 s
3 1 e
1 1 e
1
L X ( s ) L
L
4
s 4
s 4
3
1 4 ( t 3)
x(t ) H (t 3) e
4
4
69
2u e t sen(2t ) 3 t
dt 2 dt
u (0) 0;
u(0) 2
Lu u 2u L e sen(2t ) 3 t
2
Lu Lu 2 Lu L e sen (2t ) 3L t
2
s
2
2
s 2 Lu 2 sLu 2 Lu
3
e
2
s 1 4
s
2
s 2 s 2 Lu 2
3e 2
2
s 1 4
s
2
s 2 s 1Lu 2
3e 2
2
s 1 4
70
s
2
2
3
2
Lu
2
s 2s 1 s 1 4 s 2s 1 s 2s 1
28 1
5 1
1
2
3
s
Lu
2
2
39 s 2 6 s 1 13 s 1 4 26 s 1 4
1 2s
1 2s
e
e
s2
s 1
2 t
t
28 2t 5 t 1 t
3 t
2
u (t ) e e e sen (2t ) e cos(2t ) e
e 2
39
6
13
26
71
2
2
1 3 8t
L t e e 2 t e 2 t e 8 t
4
1
L t 3 e 8 t L t 3 e 2 t L t 3 e 2 t L t 3 e 8 t
4
3!
L t 3 e t
s a 4
1 3!
3!
3!
3!
L f (t )
4
4
4
4
4 s 8 s 2 s 2 s 8
3 1
1
1
1
4
4
4
2 s 8 s 2 s 2 s 84
72