Lect 1 Laplace Transform
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Zaidoon MohsinLect 1 Laplace Transform
Uploaded by
Zaidoon MohsinLaplace Transforms
1.1 Introduction
Laplace transform techniques provide powerful tools in numerous fields of
technology such as Process Dynamics and Control where knowledge of the system
transfer function is essential and where the Laplace transform comes into its own.
Definition
The Laplace transform of an expression f (t ) is denoted by L f (t ) and is defined as
the semi-infinite integral: L f (t ) f (t )e
st
dt .
t 0
The parameter s is assumed to be positive and large enough to ensure that the integral
converge. In more advanced applications s may be complex and in such cases the real
part of s must be positive and large enough to ensure convergence.
In determining the transform of an expression, you will appreciate that the limits of
the integral are substituted for t, so that the result will be an expression in s.
Therefore: L f (t ) f (t )e
st
dt F ( s)
t 0
In practice we do not usually need to integrate to find Laplace transforms, instead we
use a table, which allow us to read off most of the transforms we need.
Function Transform Valid for …
f (t ) F (s)
1
1 s0
s
a
a s0
s
1
t s0
s2
n! n = positive
tn
s n1 integer
a
sin at
s a2
2
s
cos at
s a2
2
a
sinh at
s a2
2
s
cosh at
s a2
2
1
e at
sa
Process Dynamics 1 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
1
te at
(s a) 2
n!
t n e at
( s a) n 1
w
e at sin wt
( s a) 2 w 2
sa
e at cos wt
( s a) 2 w 2
1.2 Special Laplace Transform Functions
1- Step function
0 t0 A
f (t )
A t0
.
A
f ( s) 0 Time
s
If A=1 the change is called unit step change
0 t0
f (t )
1 t0
1
f ( s)
s
Step function with Time Delay
0 ta
f (t )
A ta
A
A
f ( s ) e as
s
0 a Time
2. Pulse function
0 t0
f (t ) A 0 t a
A
0 ta
A A as
f ( s) e 0 a Time
s s
A
(1 e as )
s
a a
L f (t ) Ae
At A A
st
0e st
e st (e sa e s 0 ) (1 e sa )
0 a
s 0 s s
if A=1unit Pulse (Impulse)
Process Dynamics 2 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
3. Impulse function
0 t0 A Area=1
f (t ) A 0 t t
0 t t
Unit Impulse Time
f ( s ) area A t
This function is represented by δ(t). The unit impulse function is a special case of the
pulse function with zero width (tw →0) and unit pulse area (so a = 1/tw). Taking the
limit and applying L’Hopitals rule:
L (t ) lim
1 1
[1 e st w ] lim [ se st w ] 1
t w 0 t s t w 0 s
w
4. Ramp function
0 t0
f (t ) Slope=A
At t0
f(t)
A
f ( s) 2
s Time
A 1 st
LAt Ate st
At st A At
e e st dt e st e
0
s 0 s s 0 s s 0
A A A
(e 0e 0 ) 2 (e e 0 ) 2
s s s
Ramp function with time delay
0 ta
f (t ) Slope=A
At t a
A f(t)
f ( s ) 2 e as
s
a Time
5. Sine function A _______T_______
0 ta
f (t )
A sin wt ta
A
f ( s) 2
s 2
2f
-A
1
T
f
Process Dynamics 3 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Example: Find the Laplace transform for
Solution:
1. At t=0 the function looks like the very basic unit step function. But unit function
knows only about 0 and 1, here we have f(t)=2. That means we have to use 2u(t).
2. Then in time t=2 its value changes from 2 to −1 (i.e. 3 down at t=2) which means
we have to add −3u(t−2).
3. Finally the value at t=3 jumps 1 higher, which brings member u(t−3).
f(t)=2u(t)−3u(t−2)+u(t−3)
So far we collected unit step functions to express function from the graph.
L f (t ) L2u(t) - 3u(t - 2) u(t - 3) L2u(t) - 3Lu(t - 2) + Lu(t - 3) =
2 3 - 2s 1 -3s
- e + e
s s s
Example: Determine the Laplace transform of the function
0 t 1
1 1 t 3
f (t ) 3 3 t 5
2 5 t 6
0 t6
Solution:
f (t ) 0u(t 0) 1u(t 1) 2u(t 3) 1u(t 5) 2u(t 6)
1 2 1 2 1
F ( s) e s e 3s e 5 s e 6 s (e s 2e 3s e 5 s 2e 6 s )
s s s s s
Example:
0.5
0 0.5 1.5 2 3 3.5
-.5
Solution:
f (t ) 0.5 1u (t 0.5) 0.5u (t 1.5) 0.5u (t 2) 1u (t 3) 0.5u (t 3.5)
0.5 1 0.5 s 0.5 1.5 s 0.5 2 s 1 3s 0.5 3.5 s
f ( s) e e e e e
s s s s s s
Process Dynamics 4 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Example: Find F(s) for
0 t0
t 0 t 1
f (t )
2 t 1 t 2
0 t2
Solution:
f (t ) tU (t ) t (t 1)U (t 1) (t 1)U (t 1) (t 2)U (t 2)
tU (t ) 2(t 1)U (t 1) (t 2)U (t 2)
L f (t ) LtU (t ) 2(t 1)U (t 1) (t 2)U (t 2)
LtU (t ) L2(t 1)U (t 1) L(t 2)U (t 2)
1 2 1
2 2 e s 2 e 2 s
s s s
Example: Determine the Laplace transform of the function
Solution:
f (t ) 5tu(t ) 5(t 1)u(t 1) 5(t 3)u(t 3) 5(t 4)u(t 4)
5 5 5 5 5
F ( s) 2 2 e s 2 e 3s 2 e 4 s 2 (1 e s e 3s e 4 s )
s s s s s
Example: Find the Laplace transform of f(t) shown in Fig.
2t 0 t 1
2 1 t 4
2t 4t 5 2
Slope=2
f (t ) 0 5t 6
2t 6t 7
0 1 4 5 6 7 8
2t 7t 8
0 t 8 -2
Solution:
f (t ) 2tu(t ) 2(t 1)u (t 1) 2(t 4)u (t 4) 2(t 5)u (t 5) 2(t 6)u (t 6)
2 2(t 7)u (t 7) 2(t 8)u (t 8)
2 2 2 2 2 4 2
f ( s ) 2 2 e s 2 e 4 s 2 e 5 s 2 e 6 s 2 e 7 s 2 e 8 s
s s s s s s s
Process Dynamics 5 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Example:
1
0 1 3 4 5
T
Solution:
f (t ) tu(t ) (t 1)u (t 1) 2(t 3)u (t 3) 2(t 4)u (t 4) (t 5)u (t 5)
1 1 2 2 1
f ( s) 2 2 e s 2 e3s 2 e 4 s 2 e5 s
s s s s s
1.3 Inverse Laplace Transforms
The Laplace transform is an expression in the variable s which denoted by F (s) . It is
said that f (t ) and F (s) L f (t ) form a transform pair. This means that if F (s) is the
Laplace transform of f (t ) then f (t ) is the inverse Laplace transform of F (s) . We
write as: f (t ) L1F (s) or L1F (s) f (t )
1
The operator L is known as the operatorfor inverse Laplace transform. There is no
simple integral definition of the inverse transform so you have to find it by working
backwords. Here we have the reverse process, i.e. given a Laplace transform, we
have to find the function of t to which it belongs. We use the following table:
Table of inverse transforms
F (s) f (t )
a
a
s
1
e at
sa
n!
tn
s n 1
1 t n 1
sn (n 1)!
a
sin at
s2 a2
s
cos at
s a2
2
a
sinh at
s2 a2
s
cosh at
s a2
2
Process Dynamics 6 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
