ECE 2221 : Signals and Systems (Analysis) Sem.

II (03/04)

Applications of the Laplace Transform

Department of
Electrical and Computer Engineering
International Islamic University Malaysia

Lecture Chapter 6
http://eng.iiu.edu.my/~khaizuran
 Topic covered
• Analysis of Electrical Networks
• Concept of Transfer function
• Stability via Routh Test

2
 Analysis of Electrical Networks :
Passive Circuit Elements
• Laplace transforms • Inductor +
with zero-valued vt   L
di v(t)
initial conditions dt
–
V s   L s I s 
• Capacitor +
V s 
H s   Ls
it   C I s 
dv v(t)
dt – • Resistor
I  s   C s V s  +
vt   R i t  v(t)
V s   I s 
1
Cs V s   R I s  –
V s  1 V s 

H s    H s   R
I s  C s I s 
3
 Ex: First-Order RC Lowpass Filter
R X ( s)
I ( s) 
1
+ + R
Cs
x(t) C y(t) 1
i(t) Y ( s)  I ( s)
Cs
Time domain 1
R Y ( s)  C s X (s)
1
+ + R
1 Cs
X(s) Cs
Y(s) 1
I(s) Y ( s)
 RC
Laplace domain X ( s) s  1
RC
4
 Passive Circuit Elements

• Laplace transforms • Inductor

with non-zero initial V t   L
di
conditions dt

• Capacitor
  
V s   L s I s   i 0 
 L s I s   L i 0  

i t   C
dv
 i 0 

 L s I s  
dt
 

I s   C s V s   v 0  

 s 

v0 
V s   I s  
1
Cs s
• Resistor ??

1
Cs

I s   C v 0   
5
 Initial and Final Values
• Values of f(t) as t  0 and t   may be
computed from its Laplace transform F(s)
• Initial value theorem
If f(t) and its derivative df/dt have Laplace transforms,
then f 0   lim sF s  provided that the limit on the right-
s 
hand side of the equation exists.
• Final value theorem
If both f(t) and df/dt have Laplace transforms, then
lim f t   lim sF s  provided that s F(s) has no poles in the
t  s 0

RHP or on the imaginary axis.

6
Final and Initial Values Example
• Transfer function  
y 0   lim sY s 
s 
Poles at s = 0, s = -1  j2
 102s  3 
 lim  2
Zero at s = -3/2 s  s  2 s  5 
 
102s  3  2 3 
Y s     s  s2  

s s 2  2s  5   lim 10  
lim y t   lim sY s 
s 
 1 2  5 
t  s 0  s s 2 
 102s  3 
 lim  2 0
s 0 s  2 s  5 
 
30

5
6
7
 Transfer Function
• Provides a complete behaviors of a specified LTI
system.
Y s 
H s  
X s  all initialconditionzero

• T.F. is independent of the particular input and is a

property of the circuit only.
• T.F. is obtained for the case of zero initial conditions.
• T.F. for LTI circuit is a rational function of s
• Frequency response is H(s) and let s = jw
8
 Component of response
The Laplace transform of differential equation with
initial condition is given:

an [ s nY s   s n 1 y 0    s n  2 y 0      y n 1 0  ]
 an 1[ s n 1Y s   s n 2 y 0    s3 y 0      y n 2  0  ]
 ....
 a1[ sY s   y 0  ]  a0Y s 
 [bm s m  bm 1s m 1  .....  b0 ] X s 

9
 Component of response
Ds Y s   C s   N s X s 
C s  N  s 
Y s    X s 
D  s  D s 
C s 
Y s    H s  X  s 
D s 
C s  terms come from initial conditions
 C s  
y zero input responset   L 
1
 and
 D s  
y zero state responset   L1 H s X s 

10
Example

11
Solution

 Vs s   I s    I s R  0
1 V0
sC s

Vs s  
V0
I s   s
1
R
sC

Y s   I s R

 
Vs s   s
V0

Y s   R  
1
 R 
 sC 

The 1st term is due to the input: ZSR

Y s   Vs s  
s V0 s
1 s s 1
s The 2nd term is due to the initial
RC RC
condition: ZIR
 V 
Y s   H s Vs s   0 
 s
12
Continue..
Substituting the given values and do the Laplace transform, yields

5s 2
Y s  
V0

 
s  1 s 2  4 s  1

 s 
Y s  
1 1 2 V0
 4 2  
 
s  1  s  4 2 s 2  4   s  1


  
y t   e t  4 cos 2t  sin 2t  u t   V0 e t u t 
1
  2 

yZIR  V0 e t u t 
  
yZSR  e t  4cos 2t  sin 2t  u t 
1
  2 
13
 System Stability
For systems which can be described by differential equations
of the form D
dk N
dk
 ak k  yt    bk k xt ,
k 0 dt k 0 dt
the transfer function is of the form
N

Y s  k
b s k
bN s N  bN 1s N 1  ...  b1s  b0
H s    k 0
 D
X s  D
aD s  aD1s D1  ...  a1s  a0
k
a s
k 0
k

The denominator can always be factored (in principle at least),

so the transfer function can also be written in the form,
Y s  bN s N  bN 1s N 1  ...  b1s  b0
H s   
X s  s  p1 s  p2 ...s  pD  14
Continue…
If N < D and none of the poles is repeated, then the transfer
function can be expressed in partial-fraction form as

H s  
K1 K2 KD
  ... 
s  p1 s  p2 s  pD

And the impulse response is then of the form

ht   K1e p1t  K 2e p2t  ...  K D e pDt ,
Where p1,p2,…,pD are the poles of the transfer function

A CT system is stable if its impulse response is absolutely

integrable. The impulse response of a causal system is
absolutely integrable if it decays exponentially as time
increases.
15
 For h(t) to be absolutely integrable, the real part of
each of the p’s must be negative; therefore all the poles
of the T.F. must lie in the open left half-plane (LHP)

Conditions for system stability, marginal stability and instability

STABILITY MARGINAL INSTABILITY

STABILITY
All poles in One or more simple poles One or more
the open LHP on the jω axis, but no poles in the open
multiple poles on the jω RHP ,or, one or
axis and no poles in the more poles on the
open RHP jω axis

16
The Routh-Hurwitz Stability Test
• Let the transfer function be

Y s 
H s  
X s 
and let the denominator X(s) be of the form

X s   an s n  an 1s n 1  an  2 s n  2    a1s  a0

The first step is to construct the Routh array

as shown in the next slide

17
 • The Routh array is formed as following,
sn an an  2 an  4 an 6 .
s n 1 an 1 an 3 an 5 an 7 .
b3 .
s n2 b1 b2 .
c1 c2 c3 . .
. . . . .
0 . . . . .
s
an1an2  an an3 an1an4  an an5 an1an6  an an7
b1  , b2  , b3 
an1 an1 an1
18
Continue…
b1an 3  b2 an 1 b a b a b a b a
c1  , c2  1 n 5 3 n 1 , c3  1 n 7 4 n 1
b1 b1 b1
Example:
Find the number of right half plane (r.h.p) of
s 3  6 s 2  3s  2
3
s 1 3 0
2
s 6 2 0
s 8/3 0
There are no sign changes in
s 0
2 2 the left column, so there are
no r.h.p. The system is stable
19
• Example:
Find the number of right half plane (r.h.p) of

s  5s  s  10s  1
4 3 2

s4 1 1 1
s3 5 10
s2 1 1
s 15 0 Since there are two
sign changes, there are
s0 1 two r.h.p roots. The
system is unstable.

20
Example:

Find the range of K for which s  3s  3s  (1  K )  0

3 2

is stable.

Solution :
The routh array is
3 1 3
s
2
3 1 K
s 8 K
For the polynomial to be stable
s 3 (no r.h.p roots), no sign change
s0 1 K in the 1st column
21
continue

Then,

8 K
> 0 1 K > 0
3
K < 8 K > -1
Thus ,
-1 < K < 8

22