Common Laplace Transform Pairs

Time Domain Function Laplace Domain

Name Definition* Function
Unit Impulse δ (t ) 1
1
Unit Step u (t )
s
1
Unit Ramp t
s2
2
Parbola t2
s3
1
Exponential e − at
s+a
Asymptotic 1 1
(1 − e −at )
Exponential a s( s + a)

Dual Exponential
1
b−a
(
e −at − e −bt ) 1
( s + a )( s + b)
1 ⎡ ⎤
( be − at − ae− bt ) ⎥
Asymptotic Dual 1 1
⎢1+
Exponential ab ⎣ a − b ⎦ s ( s + a )( s + b)
Time multiplied 1
te − at
Exponential (s + a) 2
ω
Sine sin(ω0 t)
s + ω02
2

s
Cosine cos(ω0 t)
s + ω02
2

ω
Decaying Sine e− at sin(ω0 t)
(s + a) 2 + ω02
s+a
Decaying Cosine e− at cos(ω0 t)
(s + a) 2 + ω02
⎡ C − aB ⎤ Bs + C
Generic Oscillatory
e − at ⎢ Bcos ( ω0 t ) + sin ( ω0 t ) ⎥
(s + a ) + ω02
2
Decay
⎣ ω0 ⎦
Prototype Second
Order Lowpass,
underdamped
ω0
1− ζ 2 (
e −ζω0 t sin ω0 1 − ζ 2 t ) ω02
s 2 + 2ζω0s + ω02

Prototype Second
1−
1
1− ζ 2 (
e −ζω0 t sin ω0 1 − ζ 2 t + φ )
Order Lowpass, ω02
underdamped ⎛ 1− ζ2 ⎞
- φ = tan −1 ⎜ ⎟ s(s 2 + 2ζω0s + ω02 )
⎜ ζ ⎟
Step Response ⎝ ⎠

*All time domain functions are implicitly=0 for t<0 (i.e. they are multiplied by unit step).
 Common Laplace Transform Properties
Name Illustration
f (t) ←⎯L
→ F(s)
Definition of Transform ∞
F(s) = ∫ − f (t)e − st dt
0

Linearity Af1 (t ) + Bf 2 (t ) ←⎯→ L

AF1 ( s ) + BF2 ( s )
df (t ) L
First Derivative ←⎯→ sF ( s ) − f (0 − )
dt
2
d f (t ) L
Second Derivative
2
←⎯→ s 2 F ( s ) − sf (0 − ) − f (0 − )
dt
n n
d f (t ) L
nth Derivative
dt n
← ⎯→ s n
F ( s ) − ∑i =1
s n−i f (i −1) (0 − )

t 1
∫0 f (λ )dλ ←⎯→ s F (s)
L
Integral

dF ( s )
Time Multiplication tf (t ) ←⎯→ L
−
ds
Time Delay f (t − a)u (t − a) ←⎯→ e − as F(s)
L

Complex Shift f (t )e − at ←⎯→

L
F (s + a)
⎛t⎞ L
Scaling f ⎜ ⎟ ←⎯→ aF (as)
⎝a⎠
Convolution Property f1 (t ) * f 2 (t ) ←⎯→
L
F1 ( s) F2 ( s )
Initial Value lim+ f (t ) = lim sF ( s )
t →0 s →∞
Final Value lim f (t ) = lim sF ( s )
(if final value exists) t →∞ s →0