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Module 4 Laplace and Z-Transforms

The document discusses the use of Laplace and Z-Transforms in analyzing mechatronic systems, simplifying complex differential and difference equations into algebraic forms. It provides definitions, common transforms, and application examples for both continuous-time (Laplace) and discrete-time (Z-Transform) systems. Additionally, it includes tutorial exam questions and solutions to reinforce the concepts presented.

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emmanuelafolabi654
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10 views4 pages

Module 4 Laplace and Z-Transforms

The document discusses the use of Laplace and Z-Transforms in analyzing mechatronic systems, simplifying complex differential and difference equations into algebraic forms. It provides definitions, common transforms, and application examples for both continuous-time (Laplace) and discrete-time (Z-Transform) systems. Additionally, it includes tutorial exam questions and solutions to reinforce the concepts presented.

Uploaded by

emmanuelafolabi654
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Course Title

Signal and Systems (MCT 307)


Module 4
Laplace and Z-Transforms

Author: Col (Prof) AS Imam


4 Module 4: Laplace and Z-Transforms
4.1 Introduction
Mechatronics systems, such as electric motors, robotic arms, and sensor-actuator systems,
are often modeled using differential equations (for continuous-time systems) and difference
equations (for discrete-time systems). Analytical solutions to these equations can be complex.
To simplify the analysis and control design, engineers use:
• Laplace Transform for continuous-time systems

• Z-Transform for discrete-time systems


These transforms convert complex differential and difference equations into simpler algebraic
equations, facilitating system analysis, simulation, and controller design.

4.2 Laplace Transform (for Continuous-Time Systems)


4.2.1 Definition
Z ∞
L{f (t)} = F (s) = f (t)e−st dt (4.1)
0
where s = σ + jω is the complex frequency.

4.2.2 Common Laplace Transforms


Time Domain f (t) Laplace Domain F (s)
1
1 s
1
t s2
1
eat s−a
ω
sin(ωt) s2 +ω 2
s
cos(ωt) s2 +ω 2

4.2.3 Application Example: DC Motor


A simple DC motor model is given by:
di(t)
L + Ri(t) = V (t) (4.2)
dt
Applying Laplace Transform:
L(sI(s) − i(0)) + RI(s) = V (s) (4.3)
Solving for I(s), we get:
V (s) + Li(0)
I(s) = (4.4)
Ls + R

7
4 Module 4: Laplace and Z-Transforms

4.3 Z-Transform (for Discrete-Time Systems)


4.3.1 Definition
∞
X
Z{x[k]} = X(z) = x[k]z −k (4.5)
k=0

4.3.2 Common Z-Transforms


Time Domain x[k] Z Domain X(z)
1
1 1−z −1
1
ak 1−az −1
−1
z
k (1−z −1 )2

4.3.3 Application Example: Digital Temperature Control


A first-order difference equation:

y[k] = 0.5y[k − 1] + 2x[k] (4.6)

Taking the Z-Transform:


Y (z) = 0.5z −1 Y (z) + 2X(z) (4.7)
Solving for Y (z):
2X(z)
Y (z) = (4.8)
1 − 0.5z −1

4.4 Tutorial Exam Questions and Solutions


Question 1
Find the Laplace transform of f (t) = 5t2 .
Solution:
n! 2! 10
L{tn } = n+1 , so L{5t2 } = 5 · 3 = 3 (4.9)
s s s

Question 2
Solve the differential equation using Laplace:

dy
+ 2y = 4, y(0) = 1 (4.10)
dt
Solution: Taking Laplace Transform:

4 4
sY (s) − y(0) + 2Y (s) = ⇒ (s + 2)Y (s) = + 1 (4.11)
s s
4 1
Y (s) = + (4.12)
s(s + 2) s + 2
Use partial fractions to find y(t).

8
4 Module 4: Laplace and Z-Transforms

Question 3
Find the Z-transform of x[k] = 3k .
Solution:
1 1
Z{ak } = −1
, so X(z) = (4.13)
1 − az 1 − 3z −1

Question 4
Solve the difference equation:

y[k] − 0.8y[k − 1] = x[k], y[−1] = 0 (4.14)

Solution: Take Z-transform:


X(z)
Y (z) − 0.8z −1 Y (z) = X(z) ⇒ Y (z) = (4.15)
1 − 0.8z −1

Question 5
10
A system has transfer function H(s) = s+5 . Find the time-domain output for a unit step input.
1 10
Solution: Input R(s) = s , so output C(s) = H(s)R(s) = s(s+5)
Using partial fractions:
10 2 2
= − (4.16)
s(s + 5) s s+5
c(t) = 2 − 2e−5t (4.17)

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