WEEK4 CHAPTER 1: Laplace transform MAT485/565

THE INVERSE LAPLACE TRANSFORM

Definition
If ℒ {(f(t)} = F(s), then f(t) = ℒ-1 {F(s) } is called the inverse Laplace transform
and ℒ-1 is called the inverse Laplace transform operator.
Eg:
1 1
a) ℒ {eat } = 𝑠−𝑎 ⟹ ℒ-1 { 𝑠−𝑎 } = eat

𝑎 𝑎
b) ℒ {sin at } = 𝑠2 +𝑎2 ⟹ ℒ-1 { 𝑠2 +𝑎2 } = sin at

𝑠 𝑠
c) ℒ {cosh 5t } = 𝑠2 −25 ⟹ ℒ-1 { 𝑠2 −25 } = cosh 5t
(Review: Completing the square – x2 + bx = (x + b/2)2 – b2/4)

PROPERTIES OF INVERSE LAPLACE TRANSFORM

1) For a constant α, if ℒ {α f(t) } = α ℒ {f(t) } = α F(s) then ℒ-1 {α F(s) } = αf(t)

2) If ℒ { eat f(t) } = F(s – a) , then ℒ-1 {F(s – a)} = eat ℒ-1 {F(s)} = eat f(t) (first
shifting)

Example
3 1
a) ℒ-1 { 𝑠 } = 3 ℒ-1{ 𝑠 } = 3

5𝑠 𝑠
b) ℒ-1 { 𝑠2 +16 } = 5 ℒ-1{𝑠2 +42 } = 5 𝑐𝑜𝑠 4𝑡

20 5
c) ℒ-1 { 𝑠2 −25 } = 4 ℒ-1{𝑠2 −52 } = 4 𝑠𝑖𝑛ℎ 5𝑡

1 1 √2 1
d) ℒ-1 { 𝑠2 +2 } = ℒ-1{ 2 }= 𝑠𝑖𝑛 √2𝑡
√2 𝑠2 +√2 √2

1 1 3! 1
e) ℒ-1 { 𝑠4 } = 3! ℒ −1 {𝑠4 } = (𝑡 3 )
6

1 1
f) ℒ-1 { (𝑠+2)2 } = 𝑒 −2𝑡 ℒ −1 {𝑠2 } = 𝑡𝑒 −2𝑡
3 3 3! 1
g) ℒ-1 { (𝑠−5)4 } = 𝑒 5𝑡 3! ℒ −1 {𝑠4 } = 𝑡 3 𝑒 5𝑡
2

2 2 2
h) ℒ-1 { 𝑠2 +6𝑠+13 } = ℒ −1 {(𝑠+3)2+4} = 𝑒 −3𝑡 ℒ −1 {𝑠2 +4} = 𝑒 −3𝑡 sin 2𝑡

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𝑠+7 (𝑠+1) + 6 𝑠+1 6

i) ℒ-1 { 𝑠2 +2𝑠+5 } = ℒ −1 {(𝑠+1)2+4} = ℒ −1 {(𝑠+1)2+4 + (𝑠+1)2 +4 }
𝑠 2
= 𝑒 −𝑡 ℒ −1 {𝑠2 +4 + 3 (𝑠2 +4)}
= 𝑒 −𝑡 [cos 2𝑡 + 3 sin 2𝑡]

3) Linearity property
If ℒ-1 { F(s) } = f(t) and ℒ-1 { G(s) } = g(t), then
ℒ-1 {α F(s) + β G(s) } = α f(t) + β g(t)

Example
6 5 6 1
a) ℒ-1 {𝑠4 + 𝑠−5} = ℒ −1 {𝑆4 } + 5ℒ −1 {𝑆−5} = 𝑡 3 + 5𝑒 5𝑡

4s 7s 𝑠 𝑠
b) ℒ-1 {s2 +3 + s2 −5} = 4ℒ −1 { 2 } + 7ℒ −1 { 2 }
𝑠2 + √3 𝑠2 − √5
= 4 cos √3𝑡 + 7 cosh √5𝑡

(REVIEW ON PARTIAL FRACTIONS)

Examples (involving partial fractions)
1 4
a) ℒ-1 {(s+3)(s−2)} b) ℒ-1 {(s−1)(s+1)2}

s+8 1
c) ℒ-1 {s2 +4s+4} d) ℒ-1 {s2 (s2+6)}

5s−7 s
e) ℒ-1 {(s+3)(s2+2)} f) ℒ-1 {(s−1)(s2+2s+2)}

2s2 +4s+9
g) ℒ-1 {(s+2)(s2+3s+3)}

Solution
1 A B
a) Let (s+3)(s−2)
= + s−2 ⇒ 1 = A(s − 2) + B(s + 3)
s+3

When s = -3 ⇒ 1 = -5A ⇒ A = -1/5

When s = 2 ⇒ 1 = 5B ⇒ B = 1/5
1 1
1 − 1 1 1 1
−1
ℒ { −1
}= ℒ { 5 + 5 } = − ℒ −1 { } + ℒ −1 { }
(s + 3)(s − 2) s+3 s−2 5 s+3 5 s−2
1 1
= − 5 𝑒 −3𝑡 + 5 𝑒 2𝑡

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4 A B C
b) Let (s−1)(s+1)2
= + s+1 + (s+1)2 ⇒ 4 = A(s + 1)2 + B(s − 1)(s + 1)
s−1
+C(s − 1)

When s = 1 ⇒ 4 = 4A ⇒ A = 1
When s = -1 ⇒ 4 = -2C ⇒ C = -2
When s = 0 ⇒ 4 = A – B – C ⇒ B = -1

4 1 1 2
ℒ-1 {(s−1)(s+1)2 } = ℒ −1 {s−1 − s+1 − (s+1)2 } = et − e−t − 2te−t

s+8 s+8 A B
c) = = + (s+2)2 ⇒ s + 8 = A(s + 2) + B
s2 +4s+4 (s+2)2 (s+2)

When s = -2 ⇒ 6 = B
When s = 0 ⇒ 8 = 2A + B ⇒ A = 1

s+8 1 6
ℒ-1 {s2+4s+4} = ℒ −1 {(s+2) + (s+2)2 } = 𝑒 −2𝑡 + 6𝑡𝑒 −2𝑡

1 A B Cs+D
d) = + s2 + ⇒ 1 = As(s2 + 6) + B(s2 + 6) + (Cs + D)s 2
s2 (s2 +6) s s2 +6
When s = 0 ⇒ 1 = 6B ⇒ B = 1/6
Coeff of s : 0 = 6A ⇒ A = 0
Coeff of s2 : 0 = B + D ⇒ D = -1/6
Coeff of s3 : 0 = A + C ⇒ C = 0

1 1
1 − 1 1 1 √6
ℒ-1{s2(s2 +6)} = ℒ −1 { s62 + s2+6
6
}= ℒ −1 {s2 } − ℒ −1 {s2 +6}
6 6√6

1 1
= t− sin √6t
6 6√6

5s−7 A Bs + C
e) (s+3)(s2+2) = + ⇒ 5s − 7 = A(s 2 + 2) + (Bs + C)(s + 3)
s+3 s2 +2

When s = -3 ⇒ - 22 = 11A ⇒ A = -2
Coeff of s0 : -7 = 2A + 3C ⇒ C = -1
Coeff of s1 : 5 = 3B + C ⇒ B = 2

5s−7 −2 2s 1 1
ℒ-1 {(s+3)(s2+2)} = ℒ −1 {s+3 + s2+2 − s2+2} = −2e−3t + 2 cos √2t − sin √2t
√2

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WEEK4 CHAPTER 1: Laplace transform MAT485/565

s A Bs+C
f) (s−1)(s2+2s+2) = + ⇒ s = A(s2 + 2s + 2) + (Bs + C)(s − 1)
s−1 s2 + 2s+2

when s = 1 ⇒ 1 = 5A⇒ A = 1/5

coeff of s2 : 0 = A + B ⇒ B = - 1/5
coeff of s0 : 0 = 2A – C ⇒ C = 2/5

1 1 2 1 1 1 3
s − s+ − s−
ℒ-1 {(s−1)(s2+2s+2)} = ℒ −1 { s−1
5
+ 5
} = ℒ −1 { s−1
5 5 5
+ (s+1) 5
+ 5
}
s2 + 2s+2 2+ 1 (s+1)2 + 1
1 1 3
= 5 𝑒 𝑡 − 5 𝑒 −𝑡 cos 𝑡 + 𝑒 −𝑡 sin 𝑡
5
2s2 +4s+9 A Bs+𝐶
g) (s+2)(s2 +3s+3)
= + ⇒ 2s2 + 4s + 9 = A(s 2 + 3s + 3)
s+2 s2 +3s+3
+ (Bs + C)(s + 2)
when s = -2 ⇒ 9 = A
coeff of s2 : 2 = A + B ⇒ B = -7
coeff of s0 : 9 = 3A + 2C ⇒ C = -9

2s2 +4s+9 9 7s+9

ℒ-1 {(s+2)(s2+3s+3)} = ℒ −1 {s+2 − }
s2 +3s+3

9 7s + 9
= ℒ −1 { − }
s + 2 (s + 3)2 + 3
2 4
3 3
9 7(s+ )−
−1 2 2
=ℒ {s+2 − 3 3 }
(s+ )2 +
2 4
3
√3 √3
= 9𝑒 −2𝑡 − 𝑒 −2𝑡 [7 cos 𝑡 − √3 sin 𝑡]
2 2

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