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Laplace Transform Figure 10-1.

Differential Equation

Steps involved
The Laplace transform was developed by in using the
Transform differential
equation to

the French mathematician by the same

algebraic equation.

Laplace
name (1749-1827) and was widely transform.
adapted to engineering problems in the
last century. Solve equation
by algebra.

Its utility lies in the ability to convert

differential equations to algebraic forms Determine

that are more easily solved. The notation inverse

transform.

has become very common in certain

areas as a form of engineering “language” Solution
for dealing with systems. 1 2

Laplace Transformation Basic Theorems of Linearity

L[ Kf (t )]  KL[ f (t )]  KF (s)
L[ f (t )]  F (s) L[ f1 (t )  f 2 (t )]  L[ f1 (t )]  L[ f 2 (t )]
1
L [ F (s)]  f (t )  F1 ( s)  F2 ( s)

The Laplace transform of a product is
F ( s)   f (t )e st dt not the product of the transforms.
0
L[ f1 (t ) f 2 (t )]  F1 (s) F2 (s)
3 4

Figure 10-2. Illustration of the unit Example 10-1. Derive the Laplace
step function. transform of the unit step function.
u (t ) 
F ( s)   (1)e st dt
0
1


e st   e0  1
F ( s)     
 s  0
0
  s  s
0 t

5 6

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Table 10-1. Common transform pairs.

Example 10-2. Derive the Laplace
transform of the exponential function f (t )
1 or u (t )
F ( s )  L[ f (t )]
1 T-1
s
 t
f (t )  e e  t

sin  t
1
s 

T-2

T-3

  cos  t s 2
2

F ( s )   e e dt   e
 t  st  (  s ) t
dt e  t sin  t
s
s2   2
T-4

0 0  T-5*
(s   )2   2
 ( s  ) t  e  t cos  t
 0 s  T-6*
e e (s   )2   2
  0
t


( s   )  0 ( s   ) tn
1
s2
T-7

n! T-8
s n 1
e  t t n
n!
1 T-9


( s   ) n 1
 (t )

s 
1 T-10

*Use when roots are complex.

7 8

Example 10-3. A force in newtons (N) Example 10-4. A voltage in volts (V)
is given below. Determine the Laplace starting at t = 0 is given below.
transform. Determine the Laplace transform.

f (t )  50u(t ) v(t )  5e2t sin 4t

4
50 V ( s)  L[v(t )]  5 
F ( s)  ( s  2) 2  (4) 2
s 20 20
 2  2
s  4s  4  16 s  4 s  20
9 10

Example 10-5. A pressure in pascals Example 10-5. A pressure in pascals

(p) starting at t = 0 is given below. (p) starting at t = 0 is given below.
Determine the Laplace transform. Determine the Laplace transform.

p(t )  5cos 2t  3e4t p(t )  5cos 2t  3e4t

s 1
P( s)  L[ p(t )]  5   3
s  (2)
2 2
s4
5s 3
 
s 4 s4
2

11 12

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Inverse Laplace Transforms Example 10-6. Determine the inverse

by Identification transform of the function below.
When a differential equation is solved by
5 12 8
Laplace transforms, the solution is F ( s)   2 
obtained as a function of the variable s. s s s3
The inverse transform must be formed in
order to determine the time response. f (t )  5  12t  8e3t
The simplest forms are those that can be
recognized within the tables and a few of
those will now be considered.
13 14

Example 10-7. Determine the inverse Example 10-8. Determine the inverse
transform of the function below. transform of the function below.
8s  4
200 V ( s) 
V ( s)  2 s  6s  13
2
s  100
When the denominator contains a
 10  quadratic, check the roots. If they are
V ( s)  20  2 2  real, a partial fraction expansion will be
 s  (10)  required. If they are complex, the table
may be used. In this case, the roots are
v(t )  20sin10t
s1,2  3  2i
15 16

Example 10-8. Continuation. Example 10-8. Continuation.

v(t )  8e3t cos 2t  10e3t sin 2t

17 18

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Forms for Constant Coefficient

Laplace Transformation Linear Ordinary Differential Equation
(CCLODE) Transforms
L[ f (t )]  F (s) N (s)
F (s) 
D( s )
L1[ F (s)]  f (t ) N (s)  an s n  an1s n1  ...  a1s  a0

F ( s)   f (t )e st dt D(s)  bm s m  bm1s m1  ...  b1s  b0
0
N ( s)
F ( s) 
19
bm ( s  p1 )( s  p2 )....( s  pm ) 20

The roots of D(s) are called poles and Partial Fraction Expansion
they may be classified in four ways. Real Poles of First Order
1. Real poles of first order. A1 A2 Ar
2. Complex poles of first order (including F ( s)    ....   R( s )
purely imaginary poles)
s  p1 s  p2 s  pr
3. Real poles of multiple order Ak  ( s  pk ) F (s)s  p
4. Complex poles of multiple order k

(including purely imaginary poles)

f1 (t )  A1e p1t  A2e p2t  .... Ar e pr t

21 22

Example 10-9. Determine inverse

Example 10-9. Continuation.
transform of function below.
s6 s6 s  6 2  6
F ( s)   A2  ( s  2) F ( s)s 2    4
s 2  3s  2 ( s  1)( s  2) s  1  s 2 2  1
s6 A A 5 4
F (s)   1  2 F ( s)  
( s  1)( s  2) s  1 s  2 s 1 s  2
s  6 1  6
A1  ( s  1) F ( s)s 1    5 f (t )  5et  4e2t
s  2  s 1 1  2
23 24

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Example 10-10. Determine

exponential portion of inverse Example 10-10. Continuation.
transform of function below.
50( s  3)  (50)(2)
50( s  3) A1     25
F ( s)  ( s  2)( s  2s  5)  s 1 (1)(4)
2

( s  1)( s  2)( s 2  2s  5)
50( s  3)  (50)(1)
A2    10
A1 A ( s  1)( s 2  2s  5)  s 2 (1)(5)
F1 ( s)   2
s 1 s  2
f1 (t )  25et  10e2t
25 26

Example 10-11. Complete the

Partial Fraction Expansion for
inverse transform of Example 10-10.
First-Order Complex Poles
50( s  3) 25 10 As  B
  
( s  1)( s  2)( s 2  2s  5) s  1 s  2 s 2  2s  5
(s 2  bs  c)  p1,2    i
50(3)

25 10 B
  B  25
As  B (1)(2)(5) 1 2 5
F ( s)   R( s ) 25 10 A  B
s  bs  c
2 50(4)
   A  15
(2)(3)(8) 2 3 8
25 10 15s  25
F ( s)    2
27
s  1 s  2 s  2s  5 28

Example 10-11. Continuation. Second-Order Real Poles

15s  25
F2 ( s)  2 Assume that F(s) contains a denominator
s  2s  5
factor of the form (s+)2. The expansion
s  2s  5  s  2s  1  5  1  (s  1)  (2)
2 2 2 2
will take the form shown below.
15s  25 15( s  1) 5(2)
F2 ( s)    F ( s) 
C1 C
 2  R( s )
( s  1)2  (2)2 ( s  1)2  (2)2 ( s  1) 2  (2)2 ( s   )2 s  

f (t )  f1 (t )  f 2 (t ) C1  (s   )2 F (s) 
s 

 25et  10e2t  15et cos 2t  5et sin 2t f1 (t )  C1te  t

 C2e  t
 (C1t  C2 )et
29 30

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Example 10-12. Determine inverse

Example 10-12. Continuation.
transform of function below.
60 60 15 30 C
F ( s)  F ( s)     2
s( s  2)2 s( s  2) 2
s ( s  2) s  2
2

60 A C1 C2
F ( s)     60 15
 
30

C2 C2  15
s( s  2)2 s (s  2)2 ( s  2) (1)(1  2)2 1 (1  2)2 (1  2)
60  60
A  sF ( s)s 0    15 60 15 30 15
( s  2)2  s 0 (0  2)2 F ( s)    
s( s  2)2 s ( s  2)2 s  2
60  60
C1  ( s  2)2 F ( s)     30 f (t )  15  30te2t  15e2t  15  15e2t (1  2t )
s 2 s  s 2 2
31 32

Significant Operations for Solving Procedure for Solving DEs

Differential Equations d2y dy
b2 2  b1  b0 y  f (t )
dt dt
L[ f '(t )]  sF (s)  f (0)  d2y dy 
L b2 2  b1  b0 y   L  f (t )
 dt dt 

L[ f "(t )]  s 2 F (s)  sf (0)  f '(0) b2  s 2Y ( s )  sy (0)  y '(0) 

b1  sY ( s)  y (0)  b0Y ( s)  F ( s)
L   f (t )dt  
t F ( s)
sb y(0)  b2 y '(0)  b1 y(0)
 0 
F ( s)
s Y ( s)   2
b2 s 2  b1s  b0 b2 s 2  b1s  b0
33 34

Example 10-13. Solve DE shown below. Example 10-13. Continuation.

dy 12 A A
 2 y  12 y(0)  10  1 2
dt s( s  2) s s  2
 dy 
L    2 L  y   L 12  12 
A1  s 
 12 
 dt     6
 s( s  2)  s 0  s  2  s 0
12
sY ( s)  10  2Y ( s)   12 
A2  ( s  2) 
12 
   6
s 
 s( s  2)  s 2  s  s 2
12
 s  2  Y (s)  10  10 6 6 6 4
s Y ( s)     
10 12 s2 s s2 s s2
Y ( s)  
s  2 s( s  2)
y(t )  6  4e2t
35 36

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Example 10-14. Solve DE shown below. Example 10-14. Continuation.

dy
 2 y  12sin 4t y(0)  10 A
48 

48
 2.4
dt s 2  16  s 2 20
12(4)
sY ( s)  10  2Y ( s)  48 2.4 B1s  B2
s 2  16  
( s  2)( s 2  16) s  2 s 2  16
10 48
Y ( s)  
s  2 ( s  2)( s 2  16) 48 2.4 B2
  B2  4.8
(2)(16) 2 16
48 A B s  B2
  12
( s  2)( s  16) s  2 s  16
2 48 2.4  B1  B2 B1  2.4
 
(1)(17) 1 17
37 38

Example 10-14. Continuation. Example 10-15. Solve DE shown below.

d2y dy
 3  2 y  24
dt 2 dt
10 2.4 2.4s 4.8 y(0)  10 and y '(0)  0
Y ( s)    2  2
s  2 s  2 s  16 s  16 24
s 2Y (s)  10s  0  3 sY (s)  10  2Y (s) 
s
24 10s  30
y(t )  12.4e2t  2.4cos 4t  1.2sin 4t Y ( s)  
s( s 2  3s  2) s 2  3s  2
24 10s  30
 
s( s  1)( s  2) ( s  1)( s  2)
39 40

Example 10-15. Continuation. Example 10-16. Solve DE shown below.

24 12 24 12 d2y
   dy
 2  5 y  20
s( s  1)( s  2) s s  1 s  2 dt 2
dt
10s  30 20 10 y(0)  0 and y '(0)  10
 
( s  1)( s  2) s  1 s  2 20
s 2Y (s)  0  10  2  sY ( s)  0  5Y ( s) 
12 4 2 s
F ( s)   
s s 1 s  2 20 10
Y ( s)   2
s( s  2s  5) s  2s  5
2

f (t )  12  4et  2e2t
41 42

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Example 10-16. Continuation. Example 10-16. Continuation.

20 4 As  B 4 4s  8 10 4 4s  2
  Y ( s)     
s( s 2  2s  5) s ( s 2  2s  5) s s 2  2s  5 s 2  2s  5 s s 2  2s  5
20 4 A B s 2  2s  5  s 2  2s  1  5  1  (s  1)2  (2)2
 
(1)(1  2  5) 1 (1  2  5)
4 4( s  1) 3(2)
20 4 A  B Y ( s)   
  s ( s  1)2  (2)2 ( s  1)2  (2)2
(1)(1  2  5) 1 (1  2  5)
y(t )  4  4et cos 2t  3et sin 2t
A  4 B  8
43 44