Teknik Fisika ITB, 2016

Dinamika Sistem & Simulasi

Differential Equation
& Transfer Function

Eko M. Budi
Estiyanti Ekawati

S1 Teknik Fisika ITB

2016
Teknik
Fisika

Outline
Motivating Example
Electrical Circuit
Differential Equation
Building a model
Utilization of first principles
Analytical solution of differential equation
Laplace transformation

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Electrical Circuit
Kirchoffs Law
Current Law
The sum of currents entering a
node is equal to the sum of
currents leaving the same node
Voltage law
The sum of the voltage drops is
equal to the sum of the voltage
rises around a loop
Input: ei
Output : i V e V
i R VL 0
Parameters : di
Resistance R ei Ri L
dt
Inductance L
di
e0 V L L
dt
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Electrical Circuit: Analytical Solution

Homogeneus Solution Specific Solution
No External Force With External Force
di di
0 Ri L ei Ri L , ei 1
dt dt
Assume di
di 1 L
i Ae kt , kAe kt i dt
dt R
Therefore Assume Initial Condition
0 RAe kt LkAe kt i0 0
R R
k R L0
1 L Ae
L L 1
0 1 1 RA A
R R
Rt
1 1 L
i t e
R R Dinamika Sistem & Simulasi / 4
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Laplace Transforms
Laplace Laplace Multiplication
Transform of Transform of Laplace Solution
Input Signal U(s) System G(s)

Inverse
Laplace Transform
Laplace Transform

Input Signal System Model:

u(t) Differential System Response to
Equation Input Signal
dx/dt=g(x,t) Convolution f(t,u)

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Laplace Transforms of Common Signals

f (t ) F ( s)
0 t 0, t 0 t

1 (t ) lim 1 0 t t 1
0
t0 0 t 0
0 t 0 1
2 u (t )
1 t 0 s
0 t 0 1
3 t
t t 0 s2
t n 1 1 n!
4 t n (n 1,2,3, )
n 1! sn s n 1
1 1
5 e at te at
sa s a 2
1 1 n!
6 t n 1e at t n e at (n 1,2,3,)
n 1! s a n s a n 1

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Laplace Transform of Common Signals

f (t ) F ( s)
s
7 sin t cos t
s2 2 s2 2
s
8 sinh t cosh t
s2 2 s2 2
9 e at sin t e at cos t
s a
s a 2 2 s a 2 2
n 2
10 e t sin n 1 2 t
n n

1 2 s 2 n s 2
2
n

1
e t sin n 1 2 t
n

1 2
s
11
1 2 s 2 2 n s 2
n
1
tan

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Laplace Transform Properties

1 L Af (t ) AF ( s )

2 L f1 (t ) f 2 (t ) F1 ( s ) F2 ( s )

n
dn n nk
k 1
3 L n f (t ) s F ( s )
dt k 1
s f (0 ),

k 1 d k 1
f (0 ) k 1
f (t )
dt

4 L f (t)dt F s(s) 1s f (t)dt t 0

t F ( s)
5 L f (t )dt

0 s

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Laplace Transform Properties

6
L e at f (t ) F ( s a )

7 L f (t )1(t ) e s F ( s ) 0

dn
8
L t f (t ) 1
n n
ds n
F (s) n 1,2,3,

1 1
9 L f (t )
t
0
F ( s )ds bila lim
t 0 t
f (t ) ada

t
10 L f aF ( as )
a
t
11 L f1 (t ) f 2 ( ) d F1 ( s ) F2 ( s )

0

c j
1
12 L f (t ) g (t ) F ( p )G ( s p )dp
2j
c j Dinamika Sistem & Simulasi / 9
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Laplace Transform
Laplace transforms of differential functions
n
dn n nk
k 1
L n f (t ) s F ( s )
dt

k 1
s f (0),

Assume zero initial condition

dn
L n f (t ) s n F ( s )
dt

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Inverse Laplace Transform:

Partial Fraction Expansion, Simple Poles
Expansion B ( s ) K ( s z1 )( s z 2 ) ( s z m )
F (s) , mn
A( s ) ( s p1 )( s p 2 ) ( s p n )
a1 a2 an

( s p1 ) ( s p 2 ) ( s pn )
a k residue at s p k
B( s) 1 a1 pk t
Residue a k ( s p k ) L a k e
A( s ) s p ( s p )
1
k

Response Function
f (t ) a1e p1t a 2 e p2t a3e p3t a n e pn t , t 0

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Inverse Laplace Transform:

Partial Fraction Expansion, Multiple Poles
Expansion B ( s ) K ( s z1 )( s z 2 ) ( s z m )
F (s) j
, mn
A( s ) ( s p1 )
b1 b2 bj

( s p1 ) ( s p1 ) 2
(s pn ) j

1 d j k j B( s)
bk j k ( s p)
j k ! ds A( s )
s p
Residue
1 bk 1 k 1 pt
L k
bk t e
( s p ) k 1!
Response Function
pt pt 1 2 pt 1
f (t ) b1e b2te b3t e b j t j 1e pt , t 0
2! j 1!
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Complex Function: Euler Theorem

e j cos j sin e j cos j sin

e j e j e j e j
cos sin
2 2j

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Electrical Circuit : Laplace Transform

Differential Equation Laplace Transform: Input Signal

di 1
ei Ri L E s
dt s

Laplace Transform: Model Laplace Function of Response

Signal
Ei s RI s LsI s
1 1
Transfer Function
I s
s R Ls
I s 1

Ei s R Ls

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Electrical Circuit : Laplace Transform

Partial Fraction Expansion Laplace Solution
1 1 1R L R
I s I s
s R Ls s R Ls
A B 1R 1 R
I s I s
s R Ls s R Ls
AR ALs Bs Inverse Laplace Transform
I s
s R Ls
Rt
1 1 1 L
AR 1 A i t e
R R R
L
AL B 0 B
R

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Electrical Circuit : Response Graph

1
R

1
63%
R

L
konstanta waktu
R
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RLC Circuit

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RLC Circuit: Simulation Using LTSpice

Input : Square Wave, T = 2 ms

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RLC Circuit: Simulation Using LTSpice

Input : Impulse Train, T = 2 ms

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RLC Circuit: Differential Equation

Using KVL:
V1 VL V2 Second Order
dI L
V1 L
dt
V2 Differential
v1 L
d I C I R
v2
Equation
dt
dI C dI
v1 L L R v2
dt dt
d dv L dv2
v1 L C 2 v2
dt dt R dt
d 2 v2 L dv2
v1 LC v2
dt 2 R dt

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RLC Circuit: Laplace Transform

Differential Equation Laplace Transform:
Impulse Input Signal
d 2V2 L dV2
V1 LC V2
dt 2 R dt V1 t t V1 S 1

Laplace Transform: Model

L Laplace Function of
V1 s LCs V2 s sV2 s V2 s
2
Response Signal
R
Transfer Function 1
V1 s 1
L
V2 s 1 LCs 2 s 1
R
V1 s LCs 2 L s 1
R

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RLC Circuit: Laplace Transform

Case 1: LC = 0 Case 2: L/R = 0
Partial Fraction Expansion Partial Fraction Expansion
1 1
V1 s V1 s
L
s 1 LCs 2 1
R 1 t
R v1 t sin
R Lt LC LC
v1 t e
L
Undamped
Unoscillatory oscillatory
response response

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RLC Circuit: Laplace Transform

Case 3: LC = 1, RC = 0.5 Case 4: LC = 0.5, RC = 0.333
Partial Fraction Expansion Partial Fraction Expansion
1 1
V1 s V1 s
L L
LCs 2 s 1 LCs 2 s 1
R R
1 1
V1 s LC LC
V1 s
1 1 1 1
s2 s s2 s
RC LC RC LC
1 1 1 1
V1 s 2
V1 s 2
s 2 s 1 s 12 s 3s 2 s 2s 1
v1 t te t 1 1
Unoscillatory V1 s
response
s 1 s 2
v1 t e t e 2t
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RLC Circuit: Laplace Transform

Case 5: LC = 0.1, RC = 0.5
Partial Fraction Expansion
1
V1 s
L
LCs 2 s 1
R
1
V1 s LC
1 1
s2 s
RC LC
1 1
V1 s 2
s 2s 10 s 12 9
e t sin 3t
v1 t Damped
3 oscillatory
response
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RLC Circuit: Response Graphs

Case 3: critically
damped
response

Case 4:
overdamped
response

Case 5:
damped
oscillatory
response

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Laplace Transfer Function:

Characteristic Roots
Consider the General Transfer Function
Y s
K
s z1 s z 2 s z n
U s s p1 s p2 s pn
-p1, -p2, ,-pn : poles, characteristic roots
-z1, -z2, ,-zn : zeroes

Poles determine the dynmic characteristic

of system responses
Zeroes determine the final value of system responses

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Laplace Transfer Function:

Roots Map

Y s s 1

U s s 2 s 5 u t t

Y s
s 1
S-plane j
s 2s 5
4/3 1/ 3

s 5 s 2
4 1
-2 -1
y t e 5t e 2t
-5 3 3

Unoscillatory
response

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Laplace Transfer Function:

Roots Map
Y s s 3
2

U s s 4
u t t
S-plane j
Y s 2
s 3
j2
s 4
3
y t cos 2t sin 2t
2
-3

-j2 Undamped
oscillatory
response

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Laplace Transfer Function:

Roots Map

Y s s 5

U s s 12 4

S-plane j u t t
2j
Y s
s 5 s 1 4
s 12 4 s 12 4

y t e t cos 2t 2e t sin 2t
-5 -1

-2j
Damped
oscillatory
response

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Laplace Transform Exercises

Find the Laplace Transforms of the following functions

f1 (t ) 2u t 5e 2t 2 5 7s 4
F1 ( s ) 2
s s 2 s 2s

8 3 11s 20
f 2 (t ) 8e 4t 3e t F2 ( s ) 2
s 4 s 1 s 5s 4

1 2 5
f 3 (t ) e 2t
2e 3t
5e 5t F3 ( s )
s2 s3 s5
8s 2 47 s 65

s 3 10 s 2 31s 30

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Inverse Laplace Transform Exercises :

Simple Poles
Find the Inverse Laplace Transforms of the following
functions
3s 1
F4 ( s )
s 2 8s

6s 9
F5 ( s )
s 2 10s 24

5
F6 ( s )
s 3 16 s 2 81s 126

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Inverse Laplace Transform Exercises :

Simple Poles
Sample Solution
3s 1 1 23
F4 ( s ) F4 ( s ) 8 8
s 2 8s s s 8
A B 1 23
F4 ( s ) f 4 (t ) u t e 8t
s s 8 8 8
3s 1 1
A s
s s 8 s 0 8
3s 1 23
B s 8
s s 8 s 8 8

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Euler Theorem Exercises

e jt e jt e j t e j t
f 7 t cos t f 8 t sin t
2 2j
e j t e j t e j t e j t
F7 s L F8 s L
2 2 j
1
1

L e j t L e jt
2

2j

L e j t L e j t
1 1 1 1 1 1

2 s j s j 2 j s j s j
1 2s 1 2 j
2 2
2
2 s 2
2 j s
s
2 2
s 2 s 2
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Laplace Transform Property

Find the Laplace Transform of the following functions:

L e at f (t ) F ( s a)

8s 2 8s 16
f 9 t e 2t
cos 8t F9 s
s 2
2
64 s 2 4 s 68

f10 t e t sin 2t 2 2
F10 s
s 1 4
2
s 2 2s 5

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Laplace Transform Property

Find the Inverse Laplace Transform of the following
functions
5s f11 t 5 cos 2t
F11 s
s2 4
6
6 F12 s f12 t 2e 3t sin 3t
F12 s s 32 9
s 2 6 s 18

s4
s4 F13 s
F13 s s 62 4
s 2 12 s 40
s62
f13 t e 6t cos 2t sin 2t
s 62 4
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Inverse Laplace Transform Exercises :

Multiple Poles
Find the Inverse Laplace Transforms of the following
functions

3s 3
F14 ( s )
s 24

F15 ( s )
s 7
s 5s 43

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Inverse Laplace Transform Exercises :

Multiple Poles
Sample Solution

F15 ( s )
s 7
s 5s 43
A B C D
F15 ( s )
s 5 s 4 s 4 s 43
2

A s 5
s 7

s 7
2
3 3
s 5s 4 s 5 s 4 s 5

D s 4 3 s 7 s 7
3
3
s 5s 4 s 4 s 5 s 4

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Inverse Laplace Transform Exercises :

Multiple Poles
Solution

B
d
s 4 3 s 7

d s 7
3
ds s 5s 4 s 4 ds s 5 s 4
s 5 s 7 2
2 2
2
s 5 s 4 s 5 s 4
1 d2 3 s 7 1 d 2
A s 4 3
2
2! ds 2 s 5s 4 s 4 2 ds s 5 s 4
2s 5 2
4
3
2
s 5 s 4 s 5 s 4

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Inverse Laplace Transform Exercises :

Multiple Poles
Solution
2 2 2 3
F15 ( s )
s 5 s 4 s 42 s 43
f15 (t ) 2e 5t 2e 4t 2te 4t 3t 2 e 4t

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