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LAPLACE TRANSFORMS
1.1 INTRODUCTION
A transformation is a mathematical device which converts one function into another. For example,
d
when the differential operator D = operates on f ( x ) = sin x, it gives a new function
dx
g ( x ) = D f ( x ) = cos x.
Laplace transform or Laplace transformation is widely used by scientists and engineers. It is
particularly effective in solving linear differential equations – ordinary as well as partial.
1.2 DEFINITION
The Laplace transform of real valued function f (t ) for all t ≥ 0, is denoted by L f (t ) and is
defined by
∞
L f (t ) = ∫e
− st
f (t ) dt
0
provided that the integral exists. Here ‘s’ is a parameter which may be real or complex.
L f (t ) is clearly a function of s, and it can also be denoted as f ( s ).
∞
i.e., L f (t ) = ∫e
− st
f (t ) dt = f ( s )
0
If L f (t ) = f ( s ) , then f (t ) is called the inverse Laplace transform of f (t ) and is denoted
by L −1 f ( s ) = f (t ). Here L denotes the inverse Laplace transform.
−1
2 Transform Calculus, Fourier Series and Numerical Techniques
1.3 PROPERTIES OF LAPLACE TRANSFORM
1.3.1 Linearity Property
If c1 and c2 are constants and f and g are functions of t, then
L c1 f (t ) + c2 g (t ) = c1 L f (t ) + c2 L g (t )
∞
Proof: By definition, L f (t ) = e− st f (t ) dt
∫
0
∴ L c1 f (t ) + c2 g (t ) = ∫e
− st
c1 f (t ) + c2 g (t ) dt
0
∞ ∞
= c1 e f (t ) dt + c2 e g (t ) dt
∫ ∫
− st − st
0 0
= c1 L f (t ) + c2 L g (t )
1.3.2 First Shifting Property
If L f (t ) = f ( s ) then L e f (t ) = f ( s − a )
at
∞
Proof: By definition, L f (t ) = e − st f (t ) dt
∫
0
∞ ∞ ∞
∫ e − st eat f (t ) dt = e − st +at f (t ) dt = e ( ) f (t ) dt
∫ ∫
− s −a t
∴ L e f (t ) =
at
0 0 0
= ∫e
− pt
f (t ) dt where p = s − a
0
= f ( p ) = f (s − a )
1.3.3 Change of Scale Property
If L f (t ) = f ( s ) then L f ( at ) = f
1 s
a a
∞
Proof: By definition, L f (t ) = e − st f (t ) dt
∫
0
Laplace Transforms 3
∴ L f ( at ) = ∫e
− st
f ( at ) dt
0
Put at = u
Differentiate w.r.t 't'
du du
a (1) = ⇒ dt =
dt a
∞ su
− du
L f ( at ) = ∫ e a f (u ) .
0
a
∞
1 − λu s
= a e f (u ) du where λ =
∫
0
a
1
= L f (u )
a
1 1 s
= f (λ ) = f
a a a
1.4 LAPLACE TRANSFORMS OF SOME ELEMENTARY FUNCTIONS
a
1. L [a ] = , s > 0 where ' a ' is a constant
s
∞
Proof: By definition, L f (t ) = e f (t ) dt
∫
− st
∞ ∞ ∞
e − st e −∞ − e0 0 − 1 a
∴ L [a ] = e − st [a ] dt = a e − st dt = a
∫ ∫ = a =a = s
0 0 − s 0 − s − s
1
2. L e = , s>a
at
s−a
∞
Proof: By definition, L f (t ) = e f (t ) dt
∫
− st
0
4 Transform Calculus, Fourier Series and Numerical Techniques
∞
∞ ∞ ∞
− ( s − a )t
e−( s − a )t
∴ L e = e ∫ e dt = e
∫ ∫
− st − st + at
at
at
dt = e dt =
0 0 0 − ( s − a ) 0
e −∞ − e0 0 − 1 1
= = =
− ( s − a ) − ( s − a ) s − a
a
3. L [sinh at ] = ,s> a
s − a2
2
eat − e −at
Proof: By definition, sinh at =
2
e at − e − at 1
∴ L [sinh at ] = L
2 2
at
{− at 1 1
= L e − L e = −
1
2 s − a s + a
}
1 ( s + a ) − ( s − a ) a
= = 2
2 ( s − a )( s + a ) s − a 2
s
4. L [cosh at ] = ,s> a.
s − a2
2
e at + e − at
Proof: By definition, cosh at =
2
e at + e − at 1
∴ L [cosh at ] = L
2 2
at
{
− at 1 1
= L e + L e = +
1
2 s − a s + a
}
1 ( s + a ) + ( s − a ) s
= = 2
2 ( s − a )( s + a ) s − a 2
a
5. L [sin at ] = , s>0
s + a2
2
∞
Proof: By definition, L f (t ) = e − st f (t ) dt
∫ 0
∞
∞ e − st
∴ L [sin at ] = e ∫
− st
[sin at ] dt = 2 2 ( −s sin at − a cos at ) = 2 a 2
0 ( − s ) + a 0 s +a
Laplace Transforms 5
s
6. L [cos at ] = , s >0
s + a2
2
∞
Proof: By definition, L f (t ) = e − st f (t ) dt ∫
0
∞
∞ e − st s
∴ L [cos at ] = e − st [cos at ] dt =
∫ ( − s cos at + a sin at ) = 2
( − s ) + a 0 s + a
2 2 2
0
n!
7. L t = n +1 , where n is a positive integer.
n
s
∞
Proof: By definition, L f (t ) = e − st f (t ) dt ∫
0
∫
∴ L t = e t dt
n − st n
Put st = x
Differentiating w.r.t ' t '
dx dx
s (1) = ⇒ dt =
dt s
∞ ∞
x n dx 1
∫ ∫
∴ L t n = e − x . = n +1 e − x x n dx
0 s s s 0
1 Γ ( n + 1)
s n +1 {Γ (n + 1)} = s n +1
If n is a positive integer, Γ ( n + 1) = n!
n!
∴ L t n = .
s n +1
8. By applying First shifting property to the above elementary functions, we get the following
useful results:
n!
(1) L e at t n = n +1
, where n is a positive integer.
(s − a )
6 Transform Calculus, Fourier Series and Numerical Techniques
b
(2) L e at sinh bt =
(s − a )
2
− b2
s −a
(3) L e cosh bt =
at
.
(s − a )
2
− b2
b
(4) L e at sin bt =
(s − a )
2
+ b2
s−a
(5) L e at cos bt = .
(s − a )
2
+ b2
Illustrative Examples
1 1
1. L [1] = 2. L e =
2t
s s−2
1 3 3
3. L e = 4. L [sinh3t ] =
−3 t
= 2
s+3 s −322
s −9
2 2
6. L [sin2t ] =
s s
5. L [cosh4t ] = = 2 = 2
s −422
s − 16 s +2
2 2
s +4
s s 4 ! 24
7. L [cos3t ] = = 2 8. L t 4 = 4 +1 = 5
s +3
2 2
s +9 s s
1 1 1 1
Γ + 1 Γ π
2 2 2 = 2 π
9. L t = L t = 1/ 2 +1 = = 3/ 2
1/ 2
3/ 2 3/ 2
s s s 2s
2 2
10. L e −3t sinh2t = =
( s + 3) s + 6s + 5
2 2
−2 2
3 3
11. L e 2t sinh3t = =
(s − 2) s − 4s − 5
2 2
− 32
Laplace Transforms 7
s+2 s+2
12. L e −2t cosht = =
(s + 2 ) s + 4s + 3
2 2
−1 2
s−3 s−3
13. L e cosh2t = =
3t
( s − 3) s − 6s + 5
2 2
− 22
2 2
14. L e − sin2t = =
3t
( s + 3) s + 6s + 13
2 2
+2 2
3 3
15. L e 2t sin3t = =
(s − 2 ) s − 4s + 13
2 2
+3 2
s−3 s−3
16. L e 3t cos 2t = =
>s − 3C 2
+2 2 s − 6s + 13
2
s+2 s+2
17. L e −2t cost = =
(s + 2) s + 4s + 5
2 2
+12
3! 6
18. L e −2t t 3 = 3+1
=
( s + 2) (s + 2 )
4
4! 24
19. L e3t t 4 = =
( s − 3) 4 +1
( s − 3)5
1.5 SOME STANDARD RESULTS ON LAPLACE TRANSFORMS
Result - 1: MULTIPLICATION BY 't n'
n
If L f (t ) = f ( s ) then L t n f (t ) = ( −1)n d f ( s ) where n = 1, 2,3,...
ds n
In Particular, for n = 1,2,3
d
i) If L f (t ) = f ( s ) then L t f (t ) = − f ( s )
ds
d2
ii) If L f (t ) = f ( s ) then L t f (t ) = 2 f ( s )
2
ds
8 Transform Calculus, Fourier Series and Numerical Techniques
d3
iii) If L f (t ) = f ( s ) then L t f (t ) = − 3 f ( s )
3
ds
Result - 2: DIVISION BY 't'
f (t )
∞
If L f (t ) = f ( s ) then L
t
= ∫ f (s ) ds
s
Result - 3: LAPLACE TRANSFORMS OF INTEGRALS
t f (s )
If L f (t ) = f ( s ) then L f (u ) du = s
∫
0
Result - 4: LAPLACE TRANSFORMS OF DERIVATIVES
If L f (t ) = f ( s ) then L f (t ) = s f ( s ) − s − f ( 0 ) − s − f ' ( 0 ) − s − f '' ( 0 ) − ... − f − (0 )
n n n 1 n 2 n 3 n 1
In Particular, for n = 1,2,3, 4
i) If L f (t ) = f ( s ) then L f ' (t ) = s f ( s ) − f (0 )
ii) If L f (t ) = f ( s ) then L f '' (t ) = s 2 f ( s ) − s f (0 ) − f ' (0 )
iii) If L f (t ) = f ( s ) then L f ''' (t ) = s 3 f ( s ) − s 2 f (0 ) − s f ' (0 ) − f '' (0 )
iv) If L f (t ) = f ( s ) then L f (t ) = s f ( s ) − s f (0 ) − s f ' ( 0 ) − s f '' (0 ) − f ''' (0 )
iv 4 3 2
Laplace Transforms 9
List of Laplace Transform and Inverse Laplace Transform of Some Standard Functions
Sl.
Laplace Transform Inverse Laplace Transform
No
a
L [a ] = , s > 0 a
1 s L −1 = a
where ' a ' is a constant s
1 1
2 L [1] = L −1 = 1
s s
1 1 at
3 L eat = ,s>a L −1 =e
s−a s − a
(i ) L −1
a a 1 sinh at
4 L [sinh at ] = ,s> a 2
= sinh at , (ii ) L −1 2 2
=
s2 − a2 s 2
− a s − a a
s s
5 L [cosh at ] = ,s> a. L −1 2 2
= cosh at
s − a2
2
s −a
(i ) L −1
a a 1 sin at
6 L [sin at ] = , s>0 2
= sin at , ( ii ) L −1 2 2
=
s + a2
2
s + a
2
s + a a
s s
7 L [cos at ] = , s>0 L −1 2 2
= cos at
s + a2
2
s +a
n!
(i ) L t n = ,
s n +1
where n is a positive integer. −1 1 tn −1 1 t n −1
8 ( ) n+1
i L = , ( ) n
ii L =
Γ ( n + 1) s n! s ( n − 1)!
(ii ) L t n = n +1 ,
s
when n is a fraction.
n! 1 eat t n 1 eat t n −1
L eat t n = , (i ) L −1 = , ( ii ) L −1
=
( s − a ) (n − 1)!
n +1
9 (s − a) ( s − a )
n +1
n! n
where n is a positive integer.
b
(i ) L −1 = eat sinh bt ,
( s − a ) − b
2 2
b
10 L eat sinh bt =
(s − a )
2
− b2 eat sinh bt
1
( )
ii L −1
=
( s − a ) − b 2
2
b
10 Transform Calculus, Fourier Series and Numerical Techniques
s−a
L eat cosh bt = . s−a
(s − a )
2
11 − b2 L −1 = eat cosh bt
( s − a ) − b 2
2
b
(i ) L −1 = e at sin bt ,
( s − a ) + b
2 2
b
12 L eat sin bt =
( s − a )2 + b2 1 eat sin bt
(ii ) L −1
=
( s − a ) + b2
2
b
s −a s −a
13 L eat cos bt = . L = eat cos bt
(s − a )
2
+ b2 ( s − a ) + b2
2
d d
14 L t f (t ) = − f ( s ) L −1 f ( s ) = −t f (t )
ds ds
d2 d2
15 L t 2 f (t ) = 2 f ( s ) L −1 2 f ( s ) = t 2 f (t )
ds ds
d3 d3
16 L t 3 f (t ) = − 3 f ( s ) L −1 3 f ( s ) = − t 3 f (t )
ds ds
f (t ) f (t )
∞
∞
17 L = ∫ f ( s ) ds L −1
f ( s ) ds =
∫
t s s t
t f (s ) f (s ) t
18 L f (u ) du =
∫ L −1 = ∫ f (u ) du
0 s s 0
19 L f ' (t ) = s f ( s ) − f (0 )
20 L f '' (t ) = s 2 f ( s ) − s f (0 ) − f ' ( 0 )
21 L f ''' (t ) = s 3 f ( s ) − s 2 f (0 ) − s f ' (0 ) − f '' (0 )
22 L f iv (t ) = s 4 f ( s ) − s 3 f (0 ) − s 2 f ' (0 ) − s f '' (0 ) − f ''' (0 )
Laplace Transforms 11
WORKED EXAMPLES
Example 1.1 :
2, 0 < t < 3
If f ( t ) = then find L f ( t ) . ( VTU 2014 )
t, t>3
Solution:
∞
By definition, L f (t ) = ∫e
− st
f (t ) dt
0
3 ∞
= ∫ e ( 2 ) dt + ∫ e (t ) dt
− st − st
0 3
3 ∞
= 2 ∫ e dt + ∫ te dt
− st − st
0 3
3 ∞
e − st e − st e − st
= 2 s + t s − (1) s 2
− 0 − 3
e −3 s − 1 3e −3 s e −3 s
2
= + ( 0 − 0 ) − − 2
−s −s s
−2e −3 s 2 3e −3 s e −3 s
= + + + 2
s s s s
2 e −3 s e −3 s 2 −3 s 1 1
= + + 2 = +e + 2
s s s s s s
Example 1.2 :
e t , 0 < t < 5
If f ( t ) = then find L f (t ) .
3, t>5
Solution:
∞
By definition, L f (t ) = ∫e
− st
f (t ) dt
0
5 ∞
= ∫ e (e ) dt + ∫ e (3 ) dt
− st t − st
0 5
12 Transform Calculus, Fourier Series and Numerical Techniques
5 ∞
−( s −1)t
∫ e dt + 3∫ e dt
− st
=
0 5
5 ∞
e −(s −1)t e − st
= + 3
− ( s − 1) 0 −s 5
e −( s −1)5 − 1 e −5 s
+ 3 0 −
(
= − s −1
) − s
1 − e −(s −1)5 3e −5 s
+
=
( s − 1) s
Example 1.3 :
1, 0 < t ≤ 1
If f ( t ) = t , 1 < t ≤ 2 then find L f ( t ) .
0, t>2
Solution:
∞
By definition, L f (t ) = ∫e
− st
f (t ) dt
0
1 2 ∞
= ∫ e (1) dt + ∫ e (t ) dt + ∫ e (0 ) dt
− st − st − st
0 1 2
1 2
1 2
e − st e − st e − st
= ∫ e dt + ∫1
− st
t e dt + 0 = − st
s + t s − (1) s 2
0 − 0 − 1
e − s − 1 2e −2 s e −2 s e − s e − s
= + − 2 − −
− s − s s − s s 2
1 2e −2 s e −2 s e − s
= − − 2 + 2
s s s s
Example 1.4 :
Find the Laplace transform of cos 2 2t .
Solution:
1 + cos 4t 1 1 1 s
( )
L cos 2 2t = L
2 = L (1 + cos 4t ) = + 2
2 2 s s + 16
Laplace Transforms 13
Example 1.5 :
Find the Laplace transform of sin3 2t . ( VTU 2014 )
Solution:
3sin 2t − sin 6t 3sin θ − sin 3θ
L (sin 3 2t ) = L ∵ sin θ =
3
4 4
1
=
4
{3L [sin 2t ] − L [sin 6t ]}
1 2 6 3 1 1
= 3. 2 − 2 2
= 2 − 2
4 s +2 2
s + 6 2 s + 4 s + 36
Example 1.6 :
Find the Laplace transform of e 2 t cos2 t . ( VTU 2006 )
Solution:
2t 1 + cos 2t 1
L (e 2t cos 2 t ) = L e
2
2
{ }
= L e 2t + L e 2t cos 2t
1 1 s − 2
= 2 s −2 +
( s − 2 ) + 4
2
Example 1.7 :
Evaluate L [sin t sin 2 t sin 3 t ] . ( VTU 2013 )
Solution:
1
L [sin t sin 2t sin 3t ] = L sin t − (cos 5t − cos t )
2
1
= − L [cos5t sin t − sin t cos t ]
2
1 1 1
= − L {sin 6t − sin 4t} − {sin 2t}
2 2 2
1
= − L [sin 6t − sin 4t − sin 2t ]
4
1 6 4 2
= − 2 − 2 − 2
4 s + 36 s + 16 s + 4
14 Transform Calculus, Fourier Series and Numerical Techniques
Example 1.8 :
Evaluate L [cos t cos 2 t cos 3t ].
Solution:
1
L [cos t cos 2t cos 3t ] = L cos t (cos5t + cos t )
2
1
= L cos5t cos t + cos2 t
2
1 1 1 + cos 2t
= L {cos 6t + cos 4t} +
2 2 2
1
= L [cos 6t + cos 4t + 1 + cos 2t ]
4
1 s s 1 s
+ 2 + + 2
4 s + 36 s + 16 s s + 4
= 2
Example 1.9 :
Find L t 5 e 4 t cosh 3t ( VTU 2003, 2014 )
Solution:
e 3 t + e −3 t 1 1
L t 5 e 4 t cosh 3t = L t 5 e4 t = L t e e + t e e = L t e + t e
5 4 t 3t 5 4 t −3 t 5 7t 5 t
2 2 2
n!
We have, L e at t n = , where n is a positive integer.
(s − a ) +
n 1
1 1 5! 5! 5! 1 1
∴ 5 4t
L t 5 7t
e + t 5 t
e = + = + 6
L t e cosh 3t = 2 2 s 7 5 +1
( − ) ( s − 1) 2 ( s − 7 ) ( s − 1)
5 +1 6
1 1
= 60 + 6
( s − 7 ) ( s − 1)
6
Example 1.10 :
1
3
Find L t +
t
Laplace Transforms 15
Solution:
1
3
L t + = L t 3/ 2 + t −3/ 2 + 3t1/ 2 + 3t −1/ 2
t
= L t + L t + 3L t + 3L t
3/ 2 −3 / 2 1/ 2 −1/ 2
3 3 1 1
Γ + 1 Γ − + 1 Γ + 1 Γ − + 1
2 + 2 +3 2 +3 2
= 3 3 1 1
+1 − +1 +1 − +1
s2 s 2
s2 s 2
5 1 3 1
Γ Γ − Γ Γ 3 π π
2 + 2 + 3 2 + 3 2 = 4 + −2 π + 3 2 + 3 π
= 5 1 3 1 5 1 3 1
− −
s2 s 2 s2 s2 s2 s 2 s2 s2
3 3 3
= π 2 −2 s + +
4s s 2s s s
Example 1.11 :
Find L te 4 t ( VTU 2006 )
Solution:
1 3 π
Γ + 1 Γ
π
L t = L t1/ 2 = 1 = 3 = 23 = 3 = f ( s )
2 2
+1
s2 s2 s2 2s 2
By first shifting property, we have
L e at f (t ) = f ( s − a )
π
∴ L te 4t =
3
2 ( s − 4 )2
Example 1.12 :
Find L e −3 t (2cos5t − 3sin 5t )
Solution:
L e −3t ( 2cos5t − 3sin 5t ) = 2 L e −3t cos5t − 3L e −3t sin 5t
16 Transform Calculus, Fourier Series and Numerical Techniques
s+3 5
2
= − 3
( s + 3) + 25 ( s + 3) + 25
2 2
2s + 6 − 15 2s − 9
= = 2
s + 9 + 6s + 25 s + 6s + 34
2
Example 1.13 :
cos t
Find L
t
Solution:
θ2 θ4 θ6
We know that cos θ = 1 − + − + ...
2! 4! 6!
t t2 t3
∴ cos t = 1 − + − + ...
2! 4! 6!
cos t 1 t t2 t3
⇒ = − + − + ...
t t 2! t 4! t 6! t
−1/ 2 1 1/ 2 1 3/ 2 1 5/ 2
= t − t + t − t + ...
2! 4! 6!
cos t 1 1 1
∴ L = L t −1/ 2 − L t1/ 2 + L t 3/ 2 − L t 5/ 2 + ...
t 2! 4! 6!
1 1 1
= L t − L t + L t − L t + ...
−1/ 2 1/ 2 3/ 2 5/ 2
2! 4! 6!
1 1 3 5
Γ − + 1 Γ + 1 Γ + 1 Γ + 1
2 − 1 2 + 1 2 − 1 2 + ...
= 1 1 3 5
− +1 2! +1 4! +1 6! +1
s 2 s2 s2 s2
1 3 5 7
Γ Γ Γ Γ
2 − 1 2 + 1 2 − 1 2 + ...
= 1
2! 23 4! 52 6! 72
s2 s s s
π 3 π 15 π
π 1 2 1 4 1 8
= − + − + ...
s 2! s s 4! s 2 s 6! s3 s
Laplace Transforms 17
π 1 1 1 1 1 π −1/ 4 s
= 1 − + − + ...= e
s 4 s 2! ( 4 s ) 3! ( 4 s )
2 3
s
Example 1.14 :
1
3
Find L t −
t
Solution:
1
3
L t − = L t 3 / 2 − t −3 / 2 − 3t1/ 2 + 3t −1/ 2
t
= L t − L t − 3L t + 3L t
3/ 2 −3/ 2 1/ 2 −1/ 2
3 3 1 1
Γ + 1 Γ − + 1 Γ + 1 Γ − + 1
2 − 2 −3 2 +3 2
= 3 3 1 1
+1 − +1 +1 − +1
s2 s 2
s2 s 2
5 1 3 1
Γ Γ − Γ Γ 3 π π
2 − 2 − 3 2 + 3 2 = 4 − −2 π − 3 2 + 3 π
= 5 1 3 1 5 1 3 1
− −
s2 s 2 s2 s2 s2 s 2 s2 s2
3 3 3
= π 2 +2 s − +
4s s 2s s s
Example 1.15 :
Find L t 2 e2t ( VTU 2008 )
Solution:
n!
We have, L e at t n =
(s − a )
n +1
2! 2
∴ L t 2 e 2t = =
(s − 2) (s − 2)
2 +1 3
18 Transform Calculus, Fourier Series and Numerical Techniques
Example 1.16 :
Find L e − t sin6t + t cos 3t .
Solution:
L e − t sin 6t + t cos3t = L e − t sin 6t + L [t cos3t ]
6
∵ L (e at sin bt ) =
b
L e − t sin 6t =
( s + 1) ( s − a ) + b 2
2
+ 62
2
s
We have, L [cos at ] =
s + a2
2
s
∴ L [cos3t ] = = f (s)
s + 32
2
d
We have, L t f (t ) = − f ( s )
ds
( s 2 + 9 ) (1) − s (2 s )
d s = s −9
2
∴ L [t cos3t ] = − 2 = −
ds s + 32 ( s2 + 9 ) ( s 2 + 9 )2
2
6 s2 − 9
∴ L e − t sin 6t + t cos3t = +
( s + 1) (s + 9)
2 2
+ 36 2
Example 1.17 :
Find L e −3 t sin5t sin 3t ( VTU 2006 )
Solution:
L e −3t sin 5t sin 3t = L e −3t − ( cos8t − cos 2t ) = − L {e −3t cos8t − e −3t cos 2t}
1 1
2
2
1 s +3 s +3
= − −
2 ( s + 3) + 8 ( s + 3) + 2
2 2 2 2
Example 1.18 :
Find L 2t + t sin t ( VTU 2004 )
Solution:
L 2t + t sin t = L 2t + L [t sin t ]
Laplace Transforms 19
(log 2 )t 1
L 2t = L e =
s − log 2
Let f (t ) = sin t
⇒ L f (t ) = L [sin t ]
1
⇒ f (s ) =
s +1
2
d
We have, L t f (t ) = − f ( s )
ds
d 1
∴ L t f (t ) = − 2
ds s + 1
( s 2 + 1) ( 0 ) − ( 2 s )
= − = − 2s
(s 2 + 1) (s 2 + 1)
2 2
1 2s
L 2t + t sin t = s − log 2 − 2
∴ ( s + 1)
2
Example 1.19 :
(
Find L t sin 3 t − cos 3 t
) ( VTU 2005, 2011)
Solution:
3sin t − sin 3t cos3t + 3cos t
( )
L t sin 3 t − cos3 t = L t −
4 4
1
=
4
{t [3sin t − sin 3t − cos3t − 3cos t ]}
Let f (t ) = 3sin t − sin 3t − cos3t − 3cos t
⇒ L f (t ) = 3L [sin t ] − L [sin 3t ] − L [cos3t ] − 3L [cos t ]
1 3 s s
⇒ f (s ) = 3 2 − 2 − 2 − 3 2
s + 1 s + 9 s + 9 s + 1
3 − 3s 3 + s
= −
s2 + 1 s2 + 9
20 Transform Calculus, Fourier Series and Numerical Techniques
d
We have, L t f (t ) = − f ( s )
ds
d 3 − 3s 3 + s
∴ L t f (t ) = − −
ds s 2 + 1 s 2 + 9
( ) ( )
s 2 + 1 ( −3) − (3 − 3s )(2 s ) s 2 + 9 (1) − (3 + s )( 2s )
= − −
(s + 1) (s + 9)
2 2
2 2
2 2 2
−3s − 3 − 6s + 6s s + 9 − 6s − 2 s
2
= − −
( s2 + 1) ( )
2 2
s 2
+ 9
2
3s − 6 s − 3 s + 6s − 9
2
= − + 2
( s + 1) ( s2 + 9)
2
2
1 3s 2 − 6s − 3 s 2 + 6s − 9
( )
∴ L t sin 3 t − cos3 t = −
4 ( s 2 + 1)2
+ 2
( s2 + 9)
Example 1.20 :
Find L t 2 e −3 t sin 2t . ( VTU 2004 )
Solution:
Let f (t ) = sin 2t
⇒ L f (t ) = L [sin 2t ]
2 2
f (s ) = = 2
s +2
2 2
s +4
d2
We have, L t 2 f (t ) = 2 f ( s )
ds
d 2 2 d d 2 d −4s
∴ L t sin 2t = = =
2
ds 2 s 2 + 4 ds ds s 2 + 4 ds ( s 2 + 4 )2
(s 2
+ 4 ) ( −4 ) − ( −4s ) 2 ( s 2 + 4 ) ( 2s )
2
(s 2
+ 4 ) ( s 2 + 4 )( −4 ) − ( −4s )( 4s )
= =
(s + 4) (s + 4)
2 4 2 4
Laplace Transforms 21
−4 s 2 − 16 + 16 s 2 12 s 2 − 16 4 (3s 2 − 4 )
= =
=
(s + 4) (s + 4) (s + 4)
2 3 2 3 2 3
We have, L e at f (t ) = f ( s − a )
4 3 ( s + 3 ) − 4
2
∴ L t e
2 −3 t
sin 2t = 3
( s + 3 ) + 4
2
Example 1.21 :
Find L te 8 t cos 2t . ( VTU 2004)
Solution:
Let f (t ) = cos 2t
⇒ L f (t ) = L [ cos 2t ]
s s
f (s) = = 2
s +2
2 2
s +4
d
We have, L t f (t ) = f ( s )
ds
d s (
s 2 + 4 (1) − s ( 2s ) ) s2 − 4
∴ L [t cos 2t ] − = − =
ds s 2 + 4
=
( ) ( )
2 2
s2 + 4 s2 + 4
We have, L eat f (t ) = f (s − a)
( s − 8)2 − 4
∴ L t e cos 2t =
8t
2
( s − 8)2 + 4
Example 1.22 :
cos 2t − cos 3t
Find L
t .
( VTU 2004)
Solution:
Let f (t ) = cos 2t − cos 3t
⇒ L f (t ) = L [ cos 2t ] − L [ cos 3t ]
22 Transform Calculus, Fourier Series and Numerical Techniques
s s
⇒ f (s) = − 2
s +4 s +9
2
f (t )
∞
We have, L = ∫ f ( s) ds
t s
∞
cos 2t − cos 3t s s
∴ L = ∫ s 2
+ 4
− 2
s
ds
+ 9
t s
∞
1 s2 + 4
1
( ) ( )
∞
2
+ − 2
+ =
= 2 log s 4 log s 9 s 2 log s 2 + 9
s
4
1+
1 s2 + 4 s 2 + 4 1 2
s − log s 2
+ 4
= s →∞
Lt log s 2 + 9 − log =
s 2 + 9 2 s →∞
Lt log
2 1+
9
s 2
+ 9
s2
1 s2 + 4 1 s2 + 9
0 − log 2 = log
s + 9 2 s 2 + 4
=
2
Example 1.23 :
cos at − cos bt
Find L
t
+ t sin at .
( VTU 2010)
Solution:
cos at − cos bt cos at − cos bt
L
t
+ t sin at = L
t + L [t sin at ]
Let f (t ) = cos at − cos bt
⇒ L f (t ) = L [ cos at ] − L [ cos bt ]
s s
⇒ f (s) = − 2
s +a22
s + b2
f (t ) ∞
We have, L
t
= ∫ f ( s) ds
s
∞
cos at − cos bt s s
∴ L
t = ∫ s 2
+a 2
− 2 ds
s + b2
s
Laplace Transforms 23
∞
1 s2 + a2
1
( ) ( )
∞
= 2 log s + a − log s + b s = 2 log s 2 b 2
2 2 2 2
+ s
1 s2 + a2 s2 + a2
sLt log 2 − log s 2 + b 2
s + b2
=
2 →∞
a2
+
1 s + a
1 2 2
s2
= sLt log − log 2 2
2 →∞ 1+ b
2
s + b
s2
1 s2 + a2 1 s 2 + b2
0 − log 2 = log
s + b 2 2 s 2 + a 2
=
2
Let f ( t ) = sin at
⇒ L f (t ) = L [sin at ]
a
⇒ f ( s) =
s + a2
2
d
We have, L t f (t ) = − f ( s )
ds
d a
= −
(
s 2 + a 2 (0) − a ( 2s )
)
∴ L t f (t ) = − 2
ds s + a 2 s 2
+ a 2 2
( )
2as
= −
(s )
2
2
+ a2
cos at − cos bt 1 s 2 + b2 2as
∴ L + t sin at = log 2
−
s +a ( )
2 2
t 2 s2 + a2
Example 1.24 :
1 − cos 3t
Find L
t .
( VTU 2006)
24 Transform Calculus, Fourier Series and Numerical Techniques
Solution:
Let f (t ) = 1 − cos 3t
⇒ L f (t ) = L [1] − L [ cos 3t ]
1 s
⇒ f (s) = − 2
s s +9
f (t ) ∞
We have, L
t
= ∫ f ( s) ds
s
∞
1 − cos 3t 1 s
∴ L
t = ∫ s − s 2 ds
+ 9
s
∞
∞
s
1 2
(
= log s − 2 log s + 9 = log 2)
s s + 9 s
s s
= sLt log − log
→∞ s2 + 9 s 2 + 9
Lt log s s s
− log = −
= s→∞ 0 log
( ) s 2 + 9 s 2 + 9
s 1+ 9 / s
2
s2 + 9
= log
s
Example 1.25 :
e − at − e − bt
Find L
t
.
( VTU 2003)
Solution:
Let f ( t ) = e − at − e −bt
⇒ L f (t ) = L e− at − L e −bt
1 1
⇒ f (s) = −
s+a s+b
Laplace Transforms 25
f (t ) ∞
We have, L
t
= ∫ f ( s ) ds
s
∞
e − at − e − bt 1 1
∴ L
t =
∫ s + a − s + b ds
s
∞
∞ s + a
= log ( s + a ) − log ( s + b ) s = log s b
+ s
a
1+
s + a s + a s − log s + a
Lt log − log = Lt log
= s →∞ s + b s + b s →∞ b s b
+
1+
s
s + a s + b
= 0 − log = log
s+b s + a
Example 1.26 :
2 sin 3t
Find the Laplace transform of te 2 t −
t
( VTU 2005)
Solution:
2 sin 3t sin 3t
L te 2t − = L te − 2 L
2t
t t
L te 2t =
1
( )
∵ L t n e at =
n!
( s − 2 )2 ( s − a )n +1
Let f ( t ) = sin 3t
⇒ L f (t ) = L [sin 3t ]
3
⇒ f (s) =
s +92
f (t ) ∞
We have, L
t
= ∫ f ( s ) ds
s
∞ ∞ ∞
sin 3t 3 1 1 s
∴ L
t
= ∫ 2 ds = 3∫ 2
s + 9 s + 3 2
ds = 3 tan −1
3 3 s
s s
26 Transform Calculus, Fourier Series and Numerical Techniques
−1 s π −1 s −1 s
= tan (∞ ) − tan = − tan = cot
−1
3 2 3 3
2 sin 3t 1 s
∴ L te 2t − − 2 cot −1
t
=
( s − 2) 2
3
Example 1.27 :
sin 2 3t
Find L .
t
Solution:
sin 2 3t 1 − cos 6t 1 1 − cos 6t
L = L
= 2 L
t 2t t
Let f (t ) = 1 − cos 6t
⇒ L f (t ) = L [1] − L [ cos 6t ]
1 s
⇒ f (s) = − 2
s s + 62
f (t ) ∞
We have, L
t
= ∫ f ( s) ds
s
∞
1 − cos 6t 1 s
∴ L
t = ∫ s − s 2 ds
+ 36
s
∞
∞
=
log s −
1
2
log s(2
+ 36 )
= log
s
= sLt
s s + 36 s
2 →∞
log
s
s + 36
2
− log
s
s + 36
2
s s s s 2 + 36
Lt
= s →∞ log − log 2 = 0 − log 2 = log
s 1 + 36 / s 2 s + 36 s + 36 s
sin 2 3t 1 s 2 + 36
∴ L = 2 log
t s
Laplace Transforms 27
Example 1.28 :
t
Find L ∫ t e − t sin 2 3t dt ( VTU 2005)
0
Solution:
1 − cos 6t
f (t ) = sin 3t =
2
Let
2
1
∴ L f (t ) = L {1 − cos 6t}
2
1 1 s 1 s 2 + 36 − s 2 1 36 18
⇒ f (s) = 2 s s 2 + 36 = 2
− = 2 = 3
s s + 36
2
( )
2 s s + 36
( )
s + 36 s
d
We have, L t f (t ) = − f ( s )
ds
d 18 ( )
s 3 + 36 s ( 0) − 18 3s 2 + 36
( ) = 54 ( s + 12)
2
∴ L t sin 3t = − ds 3 36 = −
2
s + s ( ) ( s + 36 s )
2 2
s 3 + 36 s 3
We have, L e at f (t ) = f ( s − a )
54 ( s + 1) + 12
2
∴ L e − t t sin 2 3t = 2
( s + 1)3 + 36 ( s + 1)
L ∫ f (t ) dt = f ( s )
t
We have,
0 s
54 ( s + 1) + 12
2
t −t
∴ L ∫ t e sin 2 3t dt = 2
0 s ( s + 1) + 36 ( s + 1)
3
Example 1.29 :
t
Find L ∫ e − t sin 2t sin 3t dt ( VTU 2005)
0
28 Transform Calculus, Fourier Series and Numerical Techniques
Solution:
−t 1
f (t ) = e sin 2t sin 3t = e − [cos 5t − cos t ]
−t
Let
2
∴
1
2
−t −t
{
L f (t ) = − L e cos 5t − e cos t }
1 s +1 s + 1 1 s +1 s +1
⇒ f (s) = − − =− 2 − 2
2 ( s + 1) + 25 ( s + 1) + 1
2 2
2 s + 2 s + 26 s + 2 s + 2
(
1 ( s + 1) s + 2s + 2 − ( s + 1) s + 2s + 26
2 2
) ( )
= −
2
(
s 2 + 2 s + 26 s 2 + 2 s + 2 )( )
1 −24s − 24 12 ( s − 1)
= − 2 = 2
(
2 s + 2s + 26 s 2 + 2s + 2
)( ) ( )(
s + 2s + 26 s + 2s + 2
2
)
t f (s)
We have, L ∫ f (t ) dt =
0 s
t 12 ( s − 1)
∴ L ∫ e − t sin 2t sin 3t dt =
0 (
s s + 2 s + 26 s 2 + 2 s + 2
2
)( )
Example 1.30 :
∞
Find the value of ∫ t e −3 t sin t dt using Laplace transform. ( VTU 2007 )
0
Solution:
By definition of Laplace transform, we have
∞
L f (t ) = ∫e
− st
f (t ) dt
0
∴ ∫e
− st
t sin t dt = L [t sin t ]
0
Let f (t ) = sin t
L f (t ) = L [ sin t ]
Laplace Transforms 29
1
⇒ f (s) =
s +12
d
We have, L tf (t ) = − f ( s )
ds
d 1 2s
⇒ L [t sin t ] = − =
ds s + 1 s 2 + 1 2 ( )
2
∞
2s
∫e
− st
∴ t sin t dt =
(s )
2
0
2
+1
Put s = 3
∞ 2 ( 3) 3
=
∫ e 3t t sin t dt =
−
(3 )
2
2
+1 50
0
Example 1.31 :
∞
∫t e − t sin t dt using Laplace transform. ( VTU 2011, 2012)
3
Find the value of
0
Solution:
By definition of Laplace transform, we have
∞
L f (t ) = ∫e
− st
f (t ) dt
0
∫e
− st
∴ t 3 sin t dt = L t 3 sin t
0
Let f (t ) = sin t
L f (t ) = L [ sin t ]
1
⇒ f (s) =
s +12
d3
We have, L t 3 f (t ) = − 3 f ( s )
ds
d3 1 d2 d 1 d2 −2 s
⇒ L t sin t = − 3 2
3
=− 2 2 =− 2
ds s + 1 ds ds s + 1 ds s 2 + 1 2 ( )
30 Transform Calculus, Fourier Series and Numerical Techniques
d d
2s
d 2 − 6s 2
=
24s s 2 − 1
=
( )
=
( ) (
ds ds s 2 + 1 2 ds s 2 + 1 3 ) ( )
4
s2 + 1
∞ (
24s s 2 − 1 )
∫e
− st
∴ t 3 sin t dt =
(s )
4
0
2
+1
Put s = 1
∞
∫e
−t
t 3 sin t dt = 0
0
Example 1.32 :
∞
e − t sin t e − t sin t
Find L
t
and hence find
∫ t
dt . ( VTU 2009, 2013)
0
Solution:
1
L e −t sin t = = f ( s)
( s + 1)2 + 12
We have,
f (t ) ∞
L
t
= ∫ f ( s ) ds
s
∞
e − t sin t 1
L
∴ t = ∫ ( s + 1) 2
+ 12
ds
s
∞ π
= tan ( s + 1) s = tan (∞ ) − tan ( s + 1) = − tan ( s + 1)
−1 −1 −1 −1
2
e − t sin t
= cot ( s + 1)
−1
∴
L
t
By definition of Laplace transform, we have
∞
L f (t ) = ∫e
− st
f (t ) dt
0
∞
sin t sin t
∫e
− st
∴ t dt = L t
0
Laplace Transforms 31
Let f (t ) = sin t
1
L f (t ) = L [ sin t ] ⇒ f ( s) =
s +12
f (t ) ∞
We have, L = ∫ f ( s ) ds
t s
∞
sin t 1 ∞ π
∴ L ∫s ds = tan −1 s = tan −1 ( ∞) − tan −1 s = − tan −1 s
t
=
s
2
+1 s 2
∞
sin t
∫e
− st −1
∴ t dt = cot s
0
Put s = 1
∞
e − t sin t
∫ dt = cot −1 1 = π
0
t 4
Example 1.33 :
∞
∫ te
−2 t
Find the value of sin 3 t dt using Laplace transform. ( VTU 2008)
0
Solution:
By definition of Laplace transform, we have
∞
L f (t ) = ∫e
− st
f (t ) dt
0
∴ ∫e
− st
t sin 3t dt = L [ t sin 3t ]
0
Let f (t ) = sin 3t
L f (t ) = L [ sin 3t ]
3
⇒ f (s) =
s +92
d
We have, L t f (t ) = − f ( s )
ds
d 3 6s
⇒ L [ t sin 3t ] = − =
ds s + 9 s 2 + 9 ( )
2 2
32 Transform Calculus, Fourier Series and Numerical Techniques
∞
6s
∫e
− st
∴ t sin 3t dt =
(s )
2
0
2
+9
Put s = 2
∞
6 ( 2) 12
∫e
−2 t
t sin 3t dt = =
(2 )
2
0
2
+9 169
Exercise 1.1
Find the Laplace transform of the following
4, 0 < t ≤ 1 2, 0 < t < 1
1. f (t ) = 2. f (t ) =
3, t >1 2t , t ≥1
sin t , 0 < t < π t, 0 < t < 4
3. f (t ) = 4. f (t ) =
0, t>π 5, t>4
t2 , 0 < t ≤ 2
cos (t − 2π / 3) , t > 2π / 3
5. f (t ) = t − 1, 2 < t ≤ 3 6. f (t ) =
7, 0, t < 2π / 3
t>3
7. e 2t + 4t 3 − 2 sin 3t + 3cos 3t 8. 3cosh 5t − 4 sinh 5t
9. sin 2t cos 3t 10. cos 2t 3
(
11. e 2t 3t 5 − cos 4t )
2
12. e −3t sin 5t sin 3t 13. e− t sin 2 t 14. sinh 3t cos t
15. t 3 e −3t 16. t cos at 17. t 2 sin at
−t
18. te sin 3t 19. t 2 cos at 20. te −2t sin 4t
sin t eat − cos bt
21. t 2 e −3t sin 2t 22. 23.
t t
e − t sin t 1 − cos 3t e − at − e −bt
24. 25. 26.
t t t
t t t
sin t et sin t
27. ∫ t dt 28. ∫ t dt 29. ∫e −t
cos t dt
0 0 0
Laplace Transforms 33
t
sin 2 t
∫e
−t
30. 31. sin 2t sin 3t dt 32. sin t
t 0
∞
33. Find the value of ∫ t e −3t cos 2t dt using Laplace transform .
0
34. Find the value of ∫ t e −2 t sin 4t dt using Laplace transform.
0
Answers
4 e− s 2 e−s
− 1 +
s s
1. 2.
s s
1 + e −π s 1 + e −4 s ( s − 1)
3. 4.
s2 + 1 s2
2 e −2 s e −3 s
( )
s
5. 3 − 2 + 3 s + 3 s 2
+ (5s − 1) 6. e
−2 π s /3
s s3 s2 s +1
2
1 24 3 ( s − 2 ) 3s − 20
7. + 4 + 4 8.
s−2 s s +9 s 2 − 25
(
2 s2 − 5 ) (
s s 2 + 28 )
9.
(s 2
)(
+ 1 s + 25 2
) 10.
(s 2
)(
+ 4 s + 36 2
)
60 s−2 30 ( s + 3)
− 2
11.
s − 2 s − 4 s + 20
12.
(s 2
)(
+ 6 s + 13 s 2 + 6 s + 73 )
2 3 1 s 2 − 13
+
( s + 1) ( s 2 + 2s + 5)
13. 14. 2 s − 9 s − 10 s + 169
2 4 2
6 s2 − a2
15. 16.
( s + 3)4 (s )
2
2
+ a2
(
2a 3s 2 − a 2 ) 6 ( s + 1)
17. 18.
(s ) (s )
2
2 3
2
+a
2
+ 2s + 10
34 Transform Calculus, Fourier Series and Numerical Techniques
2 s3 − 6 a 2 s 8 ( s + 2)
19. 20.
(s 2
+a )
2 3
s + 4 s + 20
2
(
2 s 3 + 6s 2 + 9s + 2 )
21. 22. cot −1 s
( )
3
s 2 + 4s + 5
1 s 2 + b2
23. 2 log 2 24. cot −1 ( s + 1)
(s − a)
1 s2 + 9 s + b
25. 2 log s 2 26. log
s + a
1 −1 1
27. cot s 28. cot −1 ( s − 1)
s s
s +1 1 s2 + 4
log
29.
(
s s + 2s + 2
2
) 30. 2 s
12 ( s + 1) 1 π −1/4 s
31. e
( )( )
32.
s s + 2s + 2 s + 2s + 26
2 2
2s s
5 1
33. 34.
169 25
1.6 INVERSE LAPLACE TRANSFORM
If L f (t ) = f ( s ) , then f (t ) is called the inverse Laplace transform of f ( s ) and is denoted by
L −1 f ( s ) = f (t ) . Here L −1 denotes the inverse Laplace transform.
In this section, we determine the inverse Laplace transform of the given function by applying
any one of following suitable method :
1. Inverse Laplace transform by completing the square
To find the inverse Laplace transforms, we first express the given f ( s ) in completing the square
form and then write its inverse by using standard results (Refer table in Page 377 and 378).
2. Inverse Laplace transform by the method of Partial fractions
To find the inverse Laplace transforms, we first express the given f ( s ) into partial fractions and
then write its inverse by using standard results (Refer table in Page 377 and 378).
Laplace Transforms 35
3. Inverse Laplace transform of logarithmic functions and inverse functions
. In the case of logarithmic functions we apply the properties of logarithms and then differentiate
w.r.t. 's' to obtain f ' ( s ) . We then multiply both sides by 1 and then take Laplace inverse. For
L.H.S use the result L− − f ' ( s ) = t f (t ) and for R.H.S use the standard results.
1
(Refer table in Page 9 and 10).
. In the cases of inverse trigonometric functions we simply differentiate the given f ( s ) and
use the result L− − f ' ( s ) = t f (t ) and standard results to obtain f (t ) .
1
WORKED EXAMPLES
Example 1.34 :
s+1
Find the inverse Laplace transform of ( VTU 2005)
( s − 1) ( s + 2 )
2
Solution:
s +1 A B C
L−1 L−1
+ +
( s − 1) ( s − 1) ( s + 2)
=
( s − 1) ( s + 2 )
2 2
Now, s + 1 = A ( s − 1)( s + 2) + B ( s + 2) + C ( s − 1)
2
2
Put s = 1⇒ 2 = B (3) ⇒ B =
3
1
Put s = −2 ⇒ − 1 = C ( 9) ⇒C=−
9
1
Put s = 0 ⇒ 1 = −2 A + 2 B + C ⇒ A =
9
s +1 1/ 9 2/3 −1 / 9
∴ L−1 = L−1 + +
( s − 1) ( s + 2) ( s − 1) ( s − 1) ( s + 2)
2 2
1 −1 1 2 −1 1 1 −1 1
= 9 L s −1 + 3 L − L
( ) ( s − 1) 9 ( s + 2)
2
36 Transform Calculus, Fourier Series and Numerical Techniques
1 t 2 t 1 −2 t
= e + te − e
9 3 9
Example 1.35 :
1
Find the inverse Laplace transform of
s ( s + 1)
2 ( VTU 2005)
Solution:
1
−1 A B C
L−1 2 = L + 2 +
s ( s + 1) s s ( s + 1)
Now, 1 = As ( s + 1) + B ( s + 1) + C s 2
Put s = 0 ⇒ 1 = B (1) ⇒ B = 1
Put s = −1⇒ 1 = C (1) ⇒ C =1
Put s = 1⇒ 1 = 2 A + 2 B + C ⇒ A = −1
1
−1 −1 1 1
L−1 2 = L + 2 +
∴
s ( s + 1) s s ( s + 1)
−1 1 −1 1 −1
1
= −L + L 2 + L
s s ( s + 1)
= −1 + t + e−t
Example 1.36 :
s−2
Find the inverse Laplace transform of
s + 7 s + 12
2
Solution:
s−2 s−2 A B
L−1 2 = L−
1
= L−1 +
s + 7 s + 12 ( s + 3)( s + 4) ( s + 3) ( s + 4)
Now, s − 2 = A ( s + 4) + B ( s + 3)
Put s = −3 ⇒ − 5 = A (1) ⇒ A = −5
Put s = −4 ⇒ − 6 = B ( −1) ⇒ B=6
s−2 −1
−5 6
∴ L−1 2 L +
s + 7 s + 12 ( s + 3) ( s + 4)
=
Laplace Transforms 37
−1 1 1
= −5 L + 6 L−1
s + 3 s + 4
= −5e−3t + 6e−4t
Example 1.37 :
3s + 7
Find the inverse Laplace transform of
s − 2s − 3
2 ( VTU 2004)
Solution:
3s + 7 −1 3s + 7
L−1 2 = L 2
s − 2s − 3 s − 2s + 1 − 1 − 3
−1
3s + 7 −1
3 ( s − 1 + 1) + 7 −1
3 ( s − 1) + 10
= L = L = L
( s − 1) − 4 ( s − 1) − 4 ( s − 1) − 4
2 2 2
−1
( s − 1) −1
1
= 3L + 10 L
( s − 1) − 4 ( s − 1) − 4
2 2
et sinh 2t
= 3 e cosh 2t + 10
t
2
= 3 et cosh 2t + 5et sinh 2t
Example 1.38 :
7s + 4
Find the inverse Laplace transform of
4s + 4s + 9
2 ( VTU 2003)
Solution:
7s + 4 7s + 4 1 7s + 4
L−1 2 = L−1
= L−1 2
4s + 4s + 9 (
4 s + s + 9 / 4
2
) 4 s + s + 9 / 4
1 −1 7s + 4 1 −1 7s + 4
= L = L 2
4 s2 + s + 1 − 1 + 9 4
+
1
+ 2
4 4 4 s
2
38 Transform Calculus, Fourier Series and Numerical Techniques
1 1 1 7
7 s + − + 4 7 s + − + 4
1 −1 2 2 = 1 L−1 2 2
= L
4 1
2
2 4 1
2
2
s + + 2 s + + 2
2 2
1 1
7s + +
1 −1 2 2
= L
4 1
2
2
s + + 2
2
1
s+
1 −1 2 1 −1 1
= 7 L + L
4 1
2
2 2 1
2
2
s + + 2 s + + 2
2 2
1 −(1/2)t 1 e −(1/2)t sin 2t
= 4 7 e cos 2t +
2 2
−t/2 7 1
= e 4 cos 2t + sin 2t
8 2
Example 1.39 :
5s + 3
Find the inverse Laplace transform of
( s − 1) ( s 2 + 2 s + 5 ) ( VTU 2005, 2011, 2012)
Solution:
5s + 3 A Bs + C
L−1 = L−1 + 2
(
( s − 1) s 2 + 2 s + 5 ) (
s − 1 s + 2s + 5 )
( )
Now, 5s + 3 = A s 2 + 2s + 5 + ( Bs + C )( s − 1)
Put s = 1 ⇒ 8 = A (8) ⇒ A = 1
Put s = 0 ⇒ 3 = 5 A − C ⇒ C = 2
Put s = 2 ⇒ 13 = 13 A + 2B + C ⇒ B = −1
Laplace Transforms 39
5s + 3 1 −s + 2
L−1 = L−1 + 2
∴
(
( s − 1) s 2 + 2 s + 5 ) (
s − 1 s + 2 s + 5 )
s−2
−1 1 −1
L − L 2
= s − 1
(
s + 2s + 5 )
s−2
−1 1 −1
L − L 2
= s − 1
(
s + 2s + 1 − 1 + 5 )
−1 1 −1
s−2
= L s − 1 − L
( s + 1) + 4
2
−1 1 −1
s +1−3
= L s − 1 − L
( s + 1) + 22
2
−1 1 −1
s +1 1
= L s − 1 − L + 3L−1
( s + 1) + 22 ( s + 1) + 22
2 2
−t e − t cos 2t
= e t
− e cos 2 t + 3
2
Example 1.40 :
2s − 1
Find the inverse Laplace transform of
s + 2 s + 17
2 ( VTU 2006, 2013)
Solution:
2s − 1 −1 2s − 1
L−1 2 = L 2
s + 2 s + 17 s + 2 s + 1 − 1 + 17
2s − 1 2 ( s + 1 − 1) − 1
= L− = −1
1
L
( s + 1) + 16 ( s + 1) + 42
2 2
−1
2 ( s + 1) − 3
= L
( s + 1) + 4
2 2
40 Transform Calculus, Fourier Series and Numerical Techniques
−1
( s + 1) −1
1
= 2 L − 3 L
( s + 1) + 4 ( s + 1) + 4
2 2 2 2
−t e − t sin 4t
= 2e cos 4t − 3
4
Example 1.41 :
s2 + 1
Find the inverse Laplace transform of log ( VTU 2004, 2008, 2009 )
s ( s + 1)
Solution:
s2 + 1
Let f ( s ) = log
s ( s + 1)
⇒ ( )
f ( s ) = log s + 1 − log s − log ( s + 1)
2
Differentiate w.r.t.'s'
1 1 1
f ' ( s) = ( 2s ) − −
(s 2
+1 ) s ( s + 1)
Multiply both side by ' − '
2s 1 1
− f ' (s) = − + +
(s 2
+1 ) s ( s + 1)
Taking inverse Laplace transform on both sides
−1 s 1 1
L−1 − f ' ( s ) = −2 L 2 + L−1 + L−1
s + 1 s s + 1
⇒ t f (t ) = −2 cos t + 1 + e −t
−2 cos t + 1 + e − t
⇒ f (t ) =
t
Example 1.42 :
Find the inverse Laplace transform of cot −1
s
( VTU 2004)
a
Solution:
−1 s
Let f ( s ) = cot
a
Laplace Transforms 41
Differentiate w.r.t.'s'
1 1
f ' (s) = −
1 + ( s / a)
2
a
Multiply both side by ' − '
a
− f ' ( s) =
s + a2 2
Taking inverse Laplace transform on both sides
−1 a
L−1 − f ' ( s ) = L 2
s + a
2
⇒ t f (t ) = sin at
sin at
⇒ f (t ) =
t
Example 1.43 :
s +1
Find the inverse Laplace transform of log ( VTU 2013)
s −1
Solution:
s + 1
f ( s ) = log
Let s − 1
⇒ f ( s ) = log ( s + 1) − log ( s − 1)
Differentiate w.r.t.'s'
1 1
f ' ( s) = −
s +1 s −1
Multiply both side by ' − '
1 1
− f ' (s) = − +
s +1 s −1
Taking inverse Laplace transform on both sides
−1 1 1
L−1 − f ' ( s ) = − L + L−1
s + 1 s − 1
t f (t ) = − e + e
−t t
⇒
et − e − t
⇒ f (t ) =
t
42 Transform Calculus, Fourier Series and Numerical Techniques
Example 1.44 :
Find the inverse Laplace transform of cot −1 ( s ) ( VTU 2005 )
Solution:
Let f ( s ) = cot −1 ( s )
Differentiate w.r.t.'s'
1
f ' ( s) = −
1 + s2
Multiply both side by ' − '
1
− f ' (s) =
s +1 2
Taking inverse Laplace transform on both sides
−1 1
L−1 − f ' ( s ) = L 2
s + 1
⇒ t f (t ) = sin t
sin t
⇒ f (t ) =
t
Example 1.45 :
2
Find the inverse Laplace transform of tan−1 2 (VTU 2011)
s
Solution:
−1 2
Let f ( s ) = tan 2
s
Differentiate w.r.t.'s'
1 4 −4 s
f ' (s) = − 3 = 4
(
1+ 2 / s )
2 2 s s +4
Multiply both side by ' − '
4s
− f ' (s) =
s +4 4
Taking inverse Laplace transform on both sides
Laplace Transforms 43
−1 4 s
L−1 − f ' ( s ) = L 4
s + 4
−1 4s = L−1 4s
⇒ t f (t ) L
=
( )
s 2 + 2 2 − 4s 2
(
s 2 + 2 2 − ( 2s )2
)
−1
4s ( ) (
s 2 + 2 + 2 s − s 2 + 2 − 2s
= L−1 2
)
t f (t ) = L 2 2 2
⇒
( )(
s + + s s 2 + 2 − 2s ) ( )(
s + 2 + 2s s 2 + 2 − 2s )
1 1
−1
t f (t ) L 2 − 2
⇒ =
(
s + 2 − 2s ) (
s + 2 + 2s )
1 1
−1
L 2 − 2
=
(
s − 2s + 1 − 1 + 2 ) (
s + 2s + 1 − 1 + 2 )
−1
1 1
= L −
( s − 1) + 1 ( s + 1) + 1
2 2
(
= et sin t − e − t sin t = sin t et − e − t )
Example 1.46 :
1
Find the inverse Laplace transform of
( s + 1)( s + 2)
2
Solution:
L−1
1
= L−1 A + B + C
( s + 1)( s + 2 ) s + 1 ( s + 2) ( s + 2)
2 2
1 = A ( s + 2) + B ( s + 1)( s + 2) + C ( s + 1)
2
Put s = −1 ⇒ 1 = A (1) ⇒ A = 1
Put s = −2 ⇒ 1 = C ( −1) ⇒ C = −1
Put s = 0 ⇒ 1 = 4 A + 2 B + C ⇒ B = −1
1 1 −1 −1
∴ L−1 L−1
+ +
s + 1 ( s + 2) ( s + 2)
=
( s + 1)( s + 2)
2 2
44 Transform Calculus, Fourier Series and Numerical Techniques
−1 1 −1
1 −1
1
L s + 1 − L − L
( s + 2)
=
( s + 2 )
2
−t −2 t −2 t
= e − e − te
Example 1.47 :
1
Find the inverse Laplace transform of
(s 2
)
+ 1 ( s − 1) ( s + 3)
Solution:
As B D
= L−1 2 + +
1 C
L−1 2 +
( )
s + 1 ( s − 1)( s + 3) s + 1 ( s − 1) ( s + 3)
( ) (
1 = ( As + B)( s − 1)( s + 3) + C s 2 + 1 ( s + 3) + D s 2 + 1 ( s − 1) )
1
Put s = 1 ⇒ 1 = C ( 2)( 4) ⇒ C =
8
1
Put s = −3 ⇒ 1 = D (10)( −4) ⇒D= −
40
1
Put s = 0 ⇒ 1 = −3B + 3C − D ⇒ B = −
5
1
Put s = −1⇒ 1 = 4 A − 4B + 4C − 4 D ⇒ A = −
5
1 ( −1 / 5) s + ( −1 / 5) 1/ 8 −1 / 40
∴ L−1 2 = L−1 + +
( )
s + 1 ( s − 1)( s + 3) s +1
2
( s − 1) ( s + 3)
1 −1 s 1 −1 1 1 −1 1 1 −1 1
= − L 2 − L 2 + L − L
s + 3
5 s + 1 5 s + 1 8 s − 1 40
1 1 1 t 1 −3t
= − cos t − sin t + e − e
5 5 8 40
Example 1.48 :
2s 2 − 6s + 5
Find the inverse Laplace transform of ( VTU 2013)
s 3 − 6 s 2 + 11s − 6
Laplace Transforms 45
Solution:
2s 2 − 6s + 5 −1 2s 2 − 6s + 5 A B C
L−1 3 = L
−1
=L + +
s − 6s + 11s − 6 ( s − 1)( s − 2)( s − 3) ( s − 1) ( s − 2) ( s − 3)
2
2s 2 − 6s + 5 = A ( s − 2)( s − 3) + B ( s − 1)( s − 3) + C ( s − 1)( s − 2)
1
Put s = 1 ⇒ 1 = A ( −1)( −2) ⇒ A =
2
Put s = 2 ⇒ 1 = B (1)( −1) ⇒ B = −1
5
Put s = 3 ⇒ 5 = C ( 2)(1) ⇒ C =
2
2s 2 − 6s + 5 −1
1/ 2 −1 5/2
∴ L−1 3 = L + +
s − 6 s + 11s − 6 ( s − 1) ( s − 2 ) ( s − 3)
2
1 −1 1 1 5 −1 1
L − L−1 + L
=
2 s − 1 s − 2 2 s − 3
1 t 5
= e − e2 t + e3t
2 2
Example 1.49 :
s3 − 2s2 + 4s − 2
Find the inverse Laplace transform of
s ( s − 1)( s − 2 )
2
Solution:
s 3 − 2s 2 + 4s − 2 A B C D
L−1 = L−1 + + +
s ( s − 1)( s − 2) s ( s − 1) ( s − 2) ( s − 2)
2 2
s 3 − 2s 2 + 4s − 2 = A ( s − 1)( s − 2) + Bs ( s − 2) + Cs ( s − 1)( s − 2) + D s ( s − 1)
2 2
1
Put s = 0 ⇒ −2 = A ( −1)( 4) ⇒ A =
2
Put s = 1⇒ 1 = B (1)(1) ⇒B =1
Put s = 2 ⇒ 6 = D ( 2)(1) ⇒ D = 3
5
Put s = −1⇒ − 9 = −18 A − 9 B − 6C + 2 D ⇒ C =
2
46 Transform Calculus, Fourier Series and Numerical Techniques
s 3 − 2s 2 + 4s − 2
−1 1 / 2 1 5/ 2 3
∴ L−1 L + + +
s ( s − 1)( s − 2 )
2 =
s ( s − 1) ( s − 2) ( s − 2)2
1 −1 1 −1 1 5 −1 1 −1
1
= 2 L + L + L + 3 L 2
s s − 1 2 s − 2 ( s − 2)
=
1
2
(
5
1) + et + e 2t + 3 te 2t
2
( )
1 5
= + e t + e 2 t + 3te 2 t
2 2
Example 1.50 :
s2 + 4
Find the inverse Laplace transform of ( VTU 2014 )
s ( s + 4 )( s − 4 )
Solution:
s2 + 4
−1 A B C
L−1 = L + +
s ( s + 4)( s − 4) s ( s + 4) ( s − 4)
s 2 + 4 = A ( s + 4)( s − 4) + Bs ( s − 4) + Cs ( s + 4)
1
Put s = 0 ⇒ 4 = A ( 4)( −4) ⇒ A = −
4
5
Put s = −4 ⇒ 20 = B ( −4)( −8) ⇒B=
8
5
Put s = 4 ⇒ 20 = C ( 4)(8) ⇒ C =
8
s2 + 4
−1 −1 / 4 5/8 5/8
L−1 = L + +
∴
s ( s + 4)( s − 4) s ( s + 4) ( s − 4)
1 −1 1 5 −1 1 5 −1 1
= − L + L
s 8
+ L
s + 4 8 s − 4
4
1 5 5
= −
4
(1) + e −4 t + e 4 t
8 8
1 5 −4t 5 4t
= − + e + e
4 8 8
Laplace Transforms 47
Example 1.51 :
24
Find the inverse Laplace transform of
( s + 3)
5
Solution:
24 1 4
−3 t t
L−1 = 24 L−1
= 24e = e −3t t 4
( + ) ( + )
5 5
s 3 s 3 4!
Example 1.52 :
s+2
Find the inverse Laplace transform of ( VTU 2003)
s ( s + 1)( s − 2)
2
Solution:
s+2
−1 A B C D
L−1 2 = L + 2 + +
s ( s + 1)( s − 2 ) s s ( s + 1) ( s − 2)
s + 2 = As ( s + 1)( s − 2 ) + B ( s + 1)( s − 2) + Cs 2 ( s − 2) + D s 2 ( s + 1)
Put s = 0 ⇒ 2 = B (1)( −2) ⇒ B = −1
1
Put s = −1⇒ 1 = C ( −1) ( −3) ⇒ C = −
2
3
1
Put s = 2 ⇒ 4 = D ( 4)(3) ⇒ D =
3
Put s = 1⇒ 3 = − A − 2B − C + 2 D ⇒ A = 0
s+2
−1 0 −1 −1 / 3 1/ 3
L−1 2 = L + 2 + +
∴
s ( s + 1)( s − 2 ) s s ( s + 1) ( s − 2)
−1 1 1 −1 1 1 −1 1
= − L 2 − L + L
s 3 s + 1 3 s − 2
1 −t 1 2t
= −t − e + e
3 3
Example 1.53 :
s+2
Find the inverse Laplace transform of ( VTU 2009)
( )
2
s2 + 4 s + 5
48 Transform Calculus, Fourier Series and Numerical Techniques
Solution:
1 −1 1 −1
1
L−1 2 = L s 2 + 4 s + 4 − 4 + 5 = L = e −2t sin t
( + ) +
2
s + s +
4 5 s 2 1
d
We have, L −1 f ( s ) = −t f (t )
ds
d 1
∴ L −1 2 = −t e sin t
ds s + 4 s + 5
−2 t
( )
−1
( )
s 2 + 4 s + 5 ( 0 ) − 1( 2 s + 4 )
⇒ L = −te −2 t sin t
( )
2
s + 4s + 5
2
− ( 2 s + 4)
⇒ L −1 2 = − te
−2 t
sin t
(
s + 4 s + 5
2
)
s+2 te −2 t sin t
⇒ L −1 2 =
(
s + 4 s + 5
2
) 2
Exercise 1.2
Find the inverse Laplace transform of the following
s+2 4s + 5 s
( VTU 2010)
1.
s − 4s + 13
2 2.
( s − 1) ( s + 2)
2 3.
( − )( 3s − 1)
2 s 1
1 3s + 2 s 2 − 10s + 13
4. 2 ( VTU 2008) 5. 2 ( VTU 2010) 6.
(
( s − 7 ) s 2 − 5s + 6 )
s − 5s + 6 s −s−2
s s 2s − 3
7.
(s 2
−1 )
2 8.
( s + 1) 2
(s 2
)
+1
9.
s + 4s + 13
2
s2 s+3 2
10. 11. 12. tan −1
( s − 2) 3
s − 4s + 13
2 s
Laplace Transforms 49
a2 s2 + 1
13. log 1 − 2 14. log
s ( s − 1)
2
Answers
4 2t 1 t 1
1. e cos 3t +
2t
e sin 3t 2. e + 3tet − e −2 t 3. 3et / 2 + 2 et /3
3 3 3
4. e3t − e2t 5.
3
(
1 2t
8e − e − t ) 3t 3 2t 2 7t
6. 2e − e − e
5 5
7.
1
2
t sinh t 8.
1
2
(
sin t − te − t ) 9.
1 −2 t
3
e (6 cos 3t − 7 sin 3t )
5 2t sin 2t
11. e cos 3t + e sin 3t
2t
10. e 2t + 4e 2t t + 2e 2t t 2 12.
3 t
13.
2
t
(1 − cosh at ) 14.
t
(
2 t
e − cos t )
1.7 PERIODIC FUNCTION
A function f (t ) is said to be periodic function of period T if f (t + nT ) = f (t )
1.7.1 LAPLACE TRANSFORM OF PERIODIC FUNCTION
T
1
If f (t ) is a periodic function with period T then L f (t ) = − sT ∫e
− st
f (t ) dt
1 −e 0
* Proof: By definition, we have L f (t ) = e − f (t ) dt ∫
st
T 2T 3T
⇒ L f (t ) = ∫ e − st f (t ) dt + ∫ e − st f (t ) dt + ∫e
− st
f (t ) dt + ... ---- (1)
0 T 2T
Putting t = u + T in the second integral
Differentiate w.r.t. 't '
du
1 = dt + 0 ⇒ dt = du
* Proof is beyond the scope of the syllabus
50 Transform Calculus, Fourier Series and Numerical Techniques
when t = T, u = 0
t = 2T , u = T
2T T T T
− s(u + T )
∴ ∫e
− st
f (t ) dt = ∫e f (u + T ) du = e − sT
∫e − su
f (u ) du = e − sT
∫e − st
f (t ) dt
T 0 0 0
Putting t = u + 2T in the third integral
Differentiate w.r.t. 't '
du
1 = dt + 0 ⇒ dt = du
when t = 2T , u = 0
t = 3T , u = T
3T T T T
∴ ∫ e − st f (t ) dt = ∫ e − s(u + 2T ) f (u + 2T ) du = e −2 sT e − su f (u ) du = e −2 sT e − st f (t ) dt
∫ ∫
2T 0 0 0
and so on.
Using these in equation (1), we get
T T T
L f (t ) = ∫e
− st
f (t ) dt + e − sT
∫e
− st
f (t ) dt + e −2 sT
∫e
− st
f (t ) dt + ...
0 0 0
T − st
= e f (t ) dt 1 + e + e
0
∫
− sT −2 sT
+ ...( )
T − st
( )
−1
= e f ( t ) dt 1 − e
∫ − sT
0
T
1
= ∫e
− st
f (t ) dt.
1 − e − sT 0
T
1
∴ L f (t ) = ∫e
− st
f (t ) dt
1 − e − sT 0
Laplace Transforms 51
WORKED EXAMPLES
Example 1.54 :
t, if 0≤ t ≤ a
If a periodic function of period 2a is defined by f ( t ) = then
2a − t , if a ≤ t ≤ 2a
1 as
show that L f ( t ) = 2 tanh . (VTU 2003, 2008, 2011)
s 2
Solution:
Given, T = 2a
T
1
We have, L f (t ) = ∫e
− st
f (t ) dt
1 − e − sT 0
2a
1
= ∫e
− st
f (t ) dt
1 − e − s (2 a ) 0
1 a − st 2a
= −2 sa ∫
te dt + ∫ ( 2a − t ) e− st dt
1− e 0 a
1 e − st e − st
a
e − st e − st
2a
= t − (1) 2 + ( 2a − t ) − ( −1) 2
1 − e −2 sa − s s 0 −s s a
1 ae − as e − as 1 e −2 as ae − as e − as
= − − 0 − + 0 + − + 2
1 − e −2 sa − s s 2 s 2 s 2 − s s
1 − ae − as e − as 1 e −2 as ae − as e − as
= − + + 2 + − 2
1 − e −2 sa s s2 s2 s s s
1 e −2 as e − as 1 e − as
= − + − 2
1 − e −2 sa s 2 s2 s2 s
1 e −2 as + 1 − 2e − as
1 − e −2 sa
=
s2
( )
12 + e − as 2 − 2e − as (
1 − e − as )
2
1 = 1
=
( )
12 − e − sa
2
s 2
(
1+ e − sa
)(
1 − e − sa )
s2
52 Transform Calculus, Fourier Series and Numerical Techniques
1 1− e (− sa
)
( )
= 2
s 1 + e − sa
−θ
1 as θ 1− e
tanh ∵ tanh =
2 1 + e −θ
=
s 2
2
Example 1.55 :
E , if 0 < t < a / 2
If a periodic function of period a is defined by f ( t ) = then
− E , if a / 2 < t < a
E as
show that L f ( t ) = tanh . ( VTU 2006, 2011)
s 4
Solution:
Given, T =a
T
1
We have, L f (t ) = ∫e
− st
f (t ) dt
1 − e − sT 0
a
1
= ∫e − st
f (t ) dt
1 − e − s( a) 0
1 a / 2 − st a
= − sa ∫
e ( )
E dt + ∫ e − st ( − E ) dt
1− e 0 a/2
E a / 2 − st a
− sa ∫ ∫
= e dt − e − st dt
1− e 0 a/2
E e − st a / 2 e − st a
=
1 − e − sa
− − s
− s 0 a/2
E e − s (a /2) − e 0 e − as − e − s (a /2 )
=
1 − e − sa
−s − −s
E e − s (a / 2) − 1 − e − as + e − s (a / 2 )
=
1 − e − sa −s
E 1 + e − as − 2e − s (a / 2 )
=
1 − e − sa s
Laplace Transforms 53
12 + (e − as / 2 )2 − 2e − s (a / 2)
E
=
12 − (e − sa / 2 )
2
s
(1 − e − as / 2 )2
E
=
(1 + e− sa / 2 )(1 − e− sa / 2 ) s
E 1− e (
− sa / 2
)
= s
(
1 + e − sa / 2 )
−θ
E as θ 1− e
= tanh ∵ tanh =
s 4 2 1 + e −θ
Example 1.56 :
2π E sin ω t , if 0 < t < π / ω
If a periodic function of period is defined by f ( t ) =
ω 0, if π / ω < t < 2π / ω
Eω
where E and ω are constants, then show that L f ( t ) =
(s 2
+ω 2
)(1 − e − πs/ ω
)
( VTU 2004, 2005, 2013 )
Solution:
2π
Given, T = ω
We have,
T
1
L f (t ) = ∫e
− st
f (t ) dt
1 − e − sT 0
2π / ω
1
= − s ( 2π / ω ) ∫ e − st f (t ) dt
1− e 0
1 π / ω − st 2π / ω
∫ e ( E sin ω t ) dt + ∫ e ( 0) dt
− st
=
1 − e − s ( 2π / ω ) 0 π /ω
1 π /ω − st
= E ∫ e sin ω t dt + 0
1 − e − s ( 2π / ω ) 0
54 Transform Calculus, Fourier Series and Numerical Techniques
π /ω
E
= ∫ e − st sin ω t dt
1− e ( )
−π s / ω 2
0
π /ω
E e − st
= ( − s sin ω t − ω cos ω t )
( ) ( − s ) + ω
2 2
1 − e −π s /ω 0
2
E 1 − s ωπ π π
− s sin ω − ω cos ω − e ( − s sin 0 − ω cos 0 )
0
= . e
( ) s2 + ω 2 ω ω
2
1 − e−π s /ω
E − s ωπ
1
= . 2
e ( − s sin π − ω cos π ) − 1 ( − s sin 0 − ω cos 0 )
( ) s +ω
2 2
1 − e−π s /ω
E − s ωπ
1
= . 2
e ( 0 − ω ( −1)) − 1 (0 − ω (1))
( ) s +ω
2 2
1 − e−π s /ω
E 1 − s ωπ Eω e − π s / ω + 1 ( )
. 2 e ω + ω =
( )( )( )
=
1 − e
2
( − π s /ω 2
) s + ω2 1− e
−π s /ω
1 + e − π s /ω s 2 + ω 2
Eω
=
(s 2
+ω 2
)(1 − e − π s /ω
)
Example 1.57 :
Find the Laplace transform of the full wave rectifier f ( t ) = E sin ω t , 0 < t < π / ω
π
having period .
ω
Solution:
π
Given, T =
ω
We have,
T
1
L f (t ) = ∫e
− st
f (t ) dt
1 − e − sT 0
π /ω
1
= − s (π / ω ) ∫ e − st f (t ) dt
1− e 0
Laplace Transforms 55
1 π / ω − st E π /ω
= ∫ e ( E sin ω t ) dt = ∫ e − st sin ω t dt
1 − e − s (π / ω )
−π s /ω
0 1− e 0
π /ω
E e − st
= ( − s sin ω t − ω cos ω t )
1 − e − π s / ω ( − s )2 + ω 2 0
E 1 − s ωπ π π
= . 2
e − s sin ω − ω cos ω − e0 ( − s sin 0 − ω cos 0)
1− e −π s / ω
s +ω
2
ω ω
E 1 − s ωπ
.
= 1 e −π s /ω s 2 2
e ( − s sin π − ω cos π ) − 1( − s sin 0 − ω cos 0 )
− +ω
E 1 − s ωπ
= 1 e −π s /ω . s 2 e (0 − ω ( −1)) − 1(0 − ω (1))
− + ω2
E
.
1 − s ωπ
e ω + ω
=
Eω 1 + e ( −π s / ω
)
= 1 − e −π s /ω s 2 + ω 2
s +ω 1− e
2 2
( − π s /ω
)( )
−θ
Eω πs θ 1+ e
coth ∵ coth =
(s ) 2ω 2
1 − e −θ
= 2
+ ω2
Example 1.58 :
Find the Laplace transform of the function f ( t ) = E sin ( πt / ω ) , 0 < t < ω given
that f ( t + ω ) = f ( t ) .
Solution:
Given, T = ω
We have,
T
1
L f (t ) = ∫e
− st
f (t ) dt
1 − e − sT 0
ω
1
= ∫e
− st
E sin (π t / ω ) dt
1 − e − sω 0
ω
E
= ∫e
− st
sin (π t / ω ) dt
1 − e − sω 0
56 Transform Calculus, Fourier Series and Numerical Techniques
ω
E e − st
2 (
= 1 − e − sω − s sin (π t / ω ) − (π / ω ) cos (π t / ω ))
( − s ) + (π / ω )
2
0
E ω2 − sω πω πω
e − s sin ω − (π / ω ) cos ω − e ( − s sin 0 − (π / ω ) cos 0 )
0
= .
1 − e − sω ω 2 s 2 + π 2
E ω2
= − sω
. e − sω ( − s sin π − (π / ω ) cos π ) − 1 ( − s sin 0 − (π / ω ) cos 0)
2
1− e ω s +π
2 2
E ω2
= − sω
. e − sω (0 − (π / ω )( −1)) − 1 (0 − (π / ω )(1))
2
1− e ω s +π
2 2
E
.
ω 2 (π / ω ) − sω Eπω 1 + e− sω
e + 1 = 2 2
( )
=
1 − e − sω ω 2 s 2 + π 2 ω s + π 2 1 − e − sω ( )( )
−θ
E πω ωs θ 1+ e
coth ∵ coth 2 =
(ω ) 1 − e −θ
= 2
2
s2 + π 2
Example 1.59 :
t, if 0 < t < π
If a periodic function of period 2π is defined by f ( t ) = then
π − t, if π < t < 2π
find its Laplace transform. (VTU 2012)
Solution:
Given, T = 2π
T
1
We have, L f (t ) = ∫e
− st
f (t ) dt
1 − e − sT 0
2π
1
= − s ( 2π ) ∫e
− st
f (t ) dt
1− e 0
1 π − st 2π
= −2 sπ ∫
te dt + ∫ (π − t ) e − st dt
1− e 0 π
1 e − st e − st
π
e − st e − st
2π
= t − (1) 2 + (π − t ) − ( −1) 2
1 − e −2 sπ − s s 0 −s s π
Laplace Transforms 57
1 π e− π s e− π s 1 e −2 π s π e − π s e − π s
− − 0 − + 0 + − + 2
s 2 s 2 s 2 − s
=
1 − e −2 sπ − s s
1 −π e − π s e − π s 1 e −2 π s π e − π s e − π s
= − + + 2 + − 2
1 − e −2 sπ s s2 s2 s s s
1 e −2π s e −π s 1 e −π s
− + − 2
1 − e −2 sπ s 2
=
s2 s2 s
1 e − 2 π s + 1 − 2e − π s
1 − e −2 sπ
=
s2
( )
12 + e − π s 2 − 2e − π s (
1 − e−π s )
2
1 = 1
=
(
12 − e − sπ )
2
s 2
1+ e
− sπ
(
1 − e − sπ )( )
s2
1 1− e(− sπ
1 )
πs θ 1− e
−θ
= 2 = 2 tanh ∵ tanh 2 = 1 e −θ
s 1+ e(− sπ
s )
2 +
Example 1.60 :
kt
Find the Laplace transform of the periodic function defined by f ( t ) = , 0<t<T
T
given that f ( t + T ) = f ( t ) . (VTU 2007)
Solution:
Given, T = T
T
1
We have, L f (t ) = ∫e
− st
f (t ) dt
1 − e − sT 0
T
1 kt
∫e
− st
= T dt
1 − e − sT 0
T
k
)∫
− st
te dt
(
= − sT
T 1− e 0
T
k e − st e − st
=
t − (1) s 2
(
T 1 − e − sT ) −s 0
58 Transform Calculus, Fourier Series and Numerical Techniques
k Te − sT e − sT e0
− − 0 −
( ) s 2 s 2
=
T 1 − e − sT − s
k −Te − sT e− sT 1
s − 2 + 2
=
(
T 1 − e − sT ) s s
k −Te − sT 1 − e − sT − ke − sT k
s + s2 = + 2
( ) ( )
=
T 1 − e − sT s 1− e
− sT
sT
Exercise 1.3
E, if 0 < t < a
1. If a periodic function of period a is defined by f (t ) = then
− E, if a < t < 2a
E as
show that L f (t ) = tanh . ( VTU 2011)
s 2
2. Find the Laplace transform of the saw - toothed wave of period T , given by
t
f (t ) = , 0 < t < T . ( VTU 2007 )
T
−e − sT 1
Ans : + 2
(
s 1− e − sT
)sT
2π
3. If a periodic function of period is defined by
ω
sin ω t , if 0<t<π /ω ω
f (t ) = then show that L f (t ) = 2
0, if π / ω < t < 2π / ω ( s + ω 2 )(1 − e −π s /ω )
2π
4. If a periodic function of period is defined by
ω
cos ω t , if 0<t <π /ω s
f (t ) = then show that L f (t ) = 2
0, if π / ω < t < 2π / ω (
s + ω 1 − e −π s / ω
2
)( )
Laplace Transforms 59
5. If f (t ) = t 2 , 0 < t < 2 and f ( t + 2) = f ( t ) for t > 2, find L f ( t )
Ans :
2
(
1 − e −2 s 2 s2 + 2s + 1 )
(
s 1− e
3 −2 s
)
1.8 UNIT STEP FUNCTION
Definition: The unit step function or Heaviside’s unit function is denoted by u (t − a ) or H (t − a )
0, for t < a
and is defined as u (t − a ) or H (t − a ) =
1, for t ≥ a
Graph:
u(t – a)
O a t
1.8.1 Laplace Transform of Unit Step Function
∞
By definition, we have L f (t ) = e − f (t ) dt
∫
st
∫ e u (t − a) dt
− st
∴ L u (t − a ) =
0
a ∞
= ∫ e − st ( 0) dt + e − st (1) dt
∫
0 a
∞ ∞
e − st e −∞ − e − as e − as
∫
− st
= 0+ e dt = = =
a −s a −s s
60 Transform Calculus, Fourier Series and Numerical Techniques
e − as
∴ L u (t − a ) =
s
1
In particular, L u (t ) =
s
Example:
e−s e −2 s e −π s
(1) L u (t − 1) = (2) L u (t − 2 ) = (3) L u (t − π ) =
s s s
Inverse Laplace Transform of Unit Step Function
e − as e − as
If L u (t − a ) = then L−1 = u (t − a )
s s
Second Shifting Property
If L f (t ) = f ( s ) then L f ( t − a ) u (t − a ) = e − as f ( s )
Proof: By definition, we have L f (t ) = e f (t ) dt ∫
− st
L f (t − a ) u (t − a ) = ∫e
− st
f (t − a) u ( t − a ) dt
0
a ∞
= ∫ e f (t − a )( 0 ) dt + ∫ e f (t − a )(1) dt
− st − st
0 a
= 0 + ∫ e f (t − a ) dt
− st
Put t − a = v
Diff w.r.t ' t '
dv
1− 0 = ⇒ dt = dv
dt
When t = a, v = 0
t = ∞, v = ∞
∞ ∞
∴ L f (t − a ) u (t − a ) = ∫e
− s (a + v )
f (v ) dv = e − as ∫ e − sv f (v ) dv = e − as f ( s )
0 0
Laplace Transforms 61
∴ L f (t − a ) u (t − a ) = e − as f ( s )
In particular, L f (t ) u (t ) = f ( s ) = L f (t )
Corollary:
If L f (t − a ) u ( t − a ) = e − as f ( s ) then L−1 e − as f ( s ) = f (t − a ) u (t − a )
Remarks:
f1 (t ) if t ≤ a
1. If f (t ) = then f (t ) in terms of unit step function is
f 2 (t ) if t > a
f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a )
f1 (t ) if t≤a
2. If f (t ) = f 2 (t ) if a<t ≤b then f ( t ) in terms of unit step function is
f (t ) if t >b
3
f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a ) + f3 (t ) − f 2 (t ) u (t − b)
WORKED EXAMPLES
Example 1.61 :
Find the Laplace transforms of the following functions
(i ) ( t − 1) u ( t − 1) (ii )sin t u ( t − π ) (iii ) e −3 t u ( t − 2 )
2
Solution:
f (t − a ) u (t − a ) = ( t − 1) u (t − 1)
2
(i ) Let
Here, a = 1 and f (t − a ) = ( t − 1)
2
f (t − 1) = ( t − 1)
2
⇒
f (t ) = (t + 1 − 1) = t 2
2
⇒
62 Transform Calculus, Fourier Series and Numerical Techniques
L f (t ) = L t 2
2
⇒ f (s) =
s3
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−s 2 2e − s
∴ {
L (t − 1) u (t − 1)
2
} = e 3 = 3
s s
(ii) Let f (t − a ) u (t − a ) = sin t u (t − π )
Here, a = π and f (t − a ) = sin t
⇒ f (t − π ) = sin t
⇒ f (t ) = sin (t + π ) = − sin t
L f (t ) = L [ − sin t ]
1
⇒ f (s) = −
s +1
2
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−π s 1 e −π s
∴ L {sin t u (t − π )} = e − = −
s 2 + 1 s2 + 1
(iii ) Let f (t − a ) u (t − a ) = e −3t u (t − 2)
Here, a = 2 and f (t − a ) = e −3t
⇒ f (t − 2) = e −3t
⇒ f (t ) = e −3(t + 2) = e −6 e −3t
L f (t ) = L e −6 e −3t = e −6 L e −3t
−6 1
⇒ f ( s ) = e
s + 3
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−6 1 e −2 s −6 e −2(s +3)
∴ {
L e u (t − 2)
−3 t
} = e
−2 s
e s + 3 = s + 3 = s + 3
Laplace Transforms 63
Example 1.62 :
Find the inverse Laplace transform of the following
e −2 s e −2 s se − as e − s − 3e − 3 s se − s / 2 + π e − s
(i ) (ii ) (VTU 2006) ( iii ) ( iv ) ( v ) (VTU 2000)
s−3 ( s − 3) 2 s2 − w2 s2 s2 + π 2
Solution:
(i ) By second shifting property, we have
L−1 e − as f ( s ) = f (t − a ) u (t − a )
1
Let f ( s) = then f (t ) = e3t
s −3
e −2 s
= L e f ( s ) = f (t − 2) u (t − 2) = e u ( t − 2)
L−1 −1 −2 s 3( t − 2)
∴
s − 3
(ii ) By second shifting property, we have
L−1 e − as f ( s ) = f (t − a ) u (t − a )
1
Let f (s) = then f (t ) = t e3t
( s − 3) 2
e −2 s
∴ L−1 = L−1 e −2 s f ( s ) = f (t − 2) u (t − 2) = (t − 2 ) e3(t − 2) u (t − 2 )
( − )
2
s 3
(iii) By second shifting property, we have
L−1 e − as f ( s ) = f (t − a ) u (t − a )
s
Let f (s) = then f (t ) = cosh wt
s − w2
2
se − as
∴ L−1 2 2 = L
−1
e − as f ( s ) = f (t − a ) u (t − a ) = cosh w (t − a ) . u (t − 2 ) a
s − w
(iv ) By second shifting property, we have
L−1 e − as f ( s ) = f (t − a ) u (t − a )
1
Since L−1 2 = t
s
64 Transform Calculus, Fourier Series and Numerical Techniques
e − s − 3e −3 s −1 e
−s
−1 e
−3 s
∴ L−1 2 = L 2
− 3 L 2
s s s
= ( t − 1) u ( t − 1) − 3 ( t − 3) u ( t − 3)
(v) By second shifting property, we have
L−1 e − as f ( s ) = f (t − a ) u (t − a )
s π
L−1 2 cos π t and L−1 2 = sin π t
Since s + π 2 = s + π 2
se − s / 2 + π e − s −1 se
−s/2
−1 π e
−s
∴ L−1 = L 2
+ L 2
s +π2 2
s +π
2
s + π
2
1 1
= cos π t − u t − + sin π (t − 1) u (t − 1)
2 2
π 1
= cos π t − u t − + sin (tπ − π ) u (t − 1)
2 2
1
= sin π t.u t − − sin π t. u (t − 1)
2
1
= sin π t. u t − − u (t − 1)
2
Example 1.63 :
2t if 0 < t < π
Express the function f ( t ) =
1 if t>π
in terms of unit step function and hence find its Laplace transform. (VTU 2013)
Solution:
Let f1 (t ) = 2t , f 2 (t ) = 1
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a )
⇒ f (t ) = 2t + [1 − 2t ] u (t − π )
Its Laplace transform is
L f (t ) = 2 L (t ) + L (1 − 2t ) u (t − π ) ---- (1)
Laplace Transforms 65
1
L (t ) = ---- (2)
s2
Consider, L (1 − 2t ) u (t − π )
It is in the form L f (t − a ) u (t − a )
Here, a = π and f (t − a ) = (1 − 2t )
⇒ f (t − π ) = 1 − 2t
⇒ f (t ) = 1 − 2 (t + π ) = 1 − 2t − 2π
L f (t ) = L [1 − 2t − 2π ]
1 2 2π
⇒ f (s) = − −
s s2 s
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−π s 1 2 2π
∴ L (1 − 2t ) u (t − π ) = e − 2 − ---- (3)
s s s
Substituting (2) and (3) in (1), we get
2 1 2 2π
L f (t ) = + e− π s − 2 −
s 2
s s s
Example 1.64 :
t2 if 1 < t < 2
Express the function f ( t ) = in terms of unit step function and hence
4t if t>2
find its Laplace transform. (VTU 2004, 2005)
Solution:
Let f1 (t ) = t 2 , f 2 (t ) = 4t
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a )
⇒ f (t ) = t 2 + 4t − t 2 u (t − 2)
Its Laplace transform is
L f (t ) = L (t 2 ) + L ( 4t − t 2 ) u (t − 2) ---- (1)
2
( )
L t2 =
s3
---- (2)
66 Transform Calculus, Fourier Series and Numerical Techniques
( )
Consider, L 4t − t 2 u (t − 2)
It is in the form L f (t − a ) u (t − a )
Here, a = 2 and f (t − a ) = 4t − t 2 ( )
⇒ f (t − 2) = 4t − t 2
f (t ) = 4 (t + 2) − (t + 2) = 4t + 8 − t 2 − 4 − 4t = 4 − t 2
2
⇒
L f (t ) = L 4 − t 2
4 2
⇒ f ( s) = −
s s3
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−2 s 4 2
∴ ( )
L 4t − t 2 u (t − 2) = e − 3
s s ---- (3)
Substituting (2) and (3) in (1), we get
2 4 2
L f (t ) = 3
+ e −2 s − 3
s s
s
Example 1.65 :
π − t if 0 < t ≤ π
Express the function f ( t ) = in terms of unit step function and
sin t if t>π
hence find its Laplace transform. (VTU 2006)
Solution:
Let f1 (t ) = π − t , f 2 (t ) = sin t
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a )
⇒ f (t ) = (π − t ) + sin t − (π − t ) u (t − π )
Its Laplace transform is
L f (t ) = L (π − t ) + L (sin t − π + t ) u (t − π ) ---- (1)
π 1
L (π − t ) = − ---- (2)
s s2
Consider, L (sin t − π + t ) u (t − π )
Laplace Transforms 67
It is in the form L f (t − a ) u ( t − a )
Here, a = π and f (t − a ) = ( sin t − π + t )
⇒ f (t − π ) = sin t − π + t
⇒ f (t ) = sin (t + π ) − π + (t + π ) = − sin t + t
L f (t ) = L [ − sin t + t ]
1 1
⇒ f ( s ) = − 2 + 2
s +1 s
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−π s 1 1
∴ ( )
L 4t − t 2 u (t − π ) = e −
+ 2
s +1 s
2 ---- (3)
Substituting (2) and (3) in (1), we get
π 1 −πs 1 1
L f (t ) = − 2 + e 2 − 2
s s s s + 1
Example 1.66 :
cos t if 0 < t ≤ π
Express the function f ( t ) = in terms of unit step function and
sin t if t>π
hence find its Laplace transform.
Solution:
Let f1 (t ) = cos t , f2 ( t ) = sin t
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a )
⇒ f (t ) = cos t + [sin t − cos t ] u ( t − π )
Its Laplace transform is
L f (t ) = L ( cos t ) + L ( sin t − cos t ) u (t − π ) ---- (1)
s
L (cos t ) = ---- (2)
s +1
2
Consider, L (sin t − cos t ) u (t − π )
It is in the form L f (t − a ) u ( t − a )
68 Transform Calculus, Fourier Series and Numerical Techniques
Here, a = π and f (t − a ) = (sin t − cos t )
⇒ f (t − π ) = sin t − cos t
⇒ f (t ) = sin (t + π ) − cos t (t + π ) = − sin t + cos t
L f (t ) = L [ − sin t + cos t ]
1 s s −1
⇒ f ( s ) = − 2 + 2 =
s + 1 s + 1 s 2 + 1
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−π s s − 1
∴ L (sin t − cos t ) u (t − π ) = e 2 ---- (3)
s + 1
Substituting (2) and (3) in (1), we get
s s −1
L f (t ) = 2 + e −π s 2
s +1 s + 1
Example 1.67 :
sin t if 0 < t ≤ π / 2
Express the function f ( t ) = in terms of unit step function and
cos t if t>π/2
hence find its Laplace transform.
Solution:
Let f1 (t ) = sin t , f 2 (t ) = cos t
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a )
⇒ f (t ) = sin t + [cos t − sin t ] u (t − π / 2)
Its Laplace transform is
L f (t ) = L (sin t ) + L ( cos t − sin t ) u (t − π / 2) ---- (1)
1
L (sin t ) = ---- (2)
s +1
2
Consider, L ( cos t − sin t ) u (t − π / 2)
It is in the form L f (t − a ) u (t − a )
Here, a = π / 2 and f (t − a ) = ( cos t − sin t )
Laplace Transforms 69
⇒ f (t − π / 2) = cos t − sin t
⇒ f (t ) = cos t (t + π / 2) − sin ( t + π / 2) = − sin t − cos t
L f (t ) = − L [sin t + cos t ]
1 s s +1
⇒ f ( s ) = − 2 + 2 = − 2
s +1 s +1 s +1
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−(π /2) s s +1
∴ L ( cos t − sin t ) u (t − π / 2) = − e 2 ---- (3)
s + 1
Substituting (2) and (3) in (1), we get
1 s +1
− e ( /2) s 2
−π
L f (t ) = 2 s + 1
s +1
Example 1.68 :
cos t if 0< t < π
Express the function f ( t ) = cos 2t if π < t < 2π in terms of unit step function and
cos 3t if t > 2π
hence find its Laplace transform. (VTU 2003)
Solution:
Let f1 (t ) = cos t , f 2 (t ) = cos 2t , f 3 (t ) = cos 3t
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a ) + f3 (t ) − f 2 (t ) u (t − b )
⇒ f (t ) = cos t + [ cos 2t − cos t ] u (t − π ) + [ cos 3t − cos 2t ] u (t − 2π )
Its Laplace transform is
L f (t ) = L [ cos t ] + L {[ cos 2t − cos t ] u (t − π )} + L {[ cos 3t − cos 2t ] u (t − 2π )} ---- (1)
s
L [ cos t ] = ---- (2)
s +1
2
Consider, L {[ cos 2t − cos t ] u (t − π )}
It is in the form L f (t − a ) u ( t − a )
Here, a = π and f (t − a ) = [cos 2t − cos t ]
70 Transform Calculus, Fourier Series and Numerical Techniques
⇒ f (t − π ) = [ cos 2t − cos t ]
⇒ f (t ) = cos 2 (t + π ) − cos (t + π ) = cos ( 2t + 2π ) − cos (t + π )
⇒ f (t ) = cos 2t + cos t
L f (t ) = L [ cos 2t + cos t ]
s s
⇒ f (s) = + 2
s + 4 s +1
2
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−π s s s
∴ L {[ cos 2t − cos t ] u (t − π )} = e s 2 + 4 + s 2 + 1 ---- (3)
Consider, L {[ cos 3t − cos 2t ] u (t − 2π )}
It is in the form L f ( t − a ) u (t − a )
Here, a = 2π and f (t − a ) = [ cos 3t − cos 2t ]
⇒ f (t − 2π ) = [ cos 3t − cos 2t ]
⇒ f (t ) = cos 3 (t + 2π ) − cos 2 (t + 2π ) = cos ( 3t + 3 × 2π ) − cos ( 2t + 2 × 2π )
⇒ f (t ) = cos 3t − cos 2t
L f (t ) = L [ cos 3t − cos 2t ]
s s
⇒ f (s) = − 2
s +9 s +4
2
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−2π s s s
∴ L {[cos 3t − cos 2t ] u (t − 2π )} = e − 2 ---- (4)
s + 9 s + 4
2
Substituting (2), (3) and (4) in (1), we get
s s s −2 π s s s
L f (t ) = 2 + e −π s 2 + 2 + e 2 − 2
s +1 s + 4 s +1 s + 9 s + 4
Laplace Transforms 71
Example 1.69 :
sin t if 0<t <π
Express the function f ( t ) = sin 2t if π < t < 2π in terms of unit step function and
sin 3t if t > 2π
hence find its Laplace transform. (VTU 2004)
Solution:
Let f1 (t ) = sin t , f 2 (t ) = sin 2t , f 3 (t ) = sin 3t
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a ) + f3 (t ) − f 2 (t ) u (t − b )
⇒ f (t ) = sin t + [sin 2t − sin t ] u (t − π ) + [sin 3t − sin 2t ] u (t − 2π )
Its Laplace transform is
L f (t ) = L [ sin t ] + L {[sin 2t − sin t ] u (t − π )} + L {[ sin 3t − sin 2t ] u (t − 2π )} ---- (1)
1
L [sin t ] = ---- (2)
s +1
2
Consider, L {[sin 2t − sin t ] u (t − π )}
It is in the form L f (t − a ) u ( t − a )
Here, a = π and f (t − a ) = [sin 2t − sin t ]
⇒ f (t − π ) = [sin 2t − sin t ]
⇒ f (t ) = sin 2 (t + π ) − sin (t + π ) = sin ( 2t + 2π ) − sin (t + π )
⇒ f (t ) = sin 2t + sin t
L f (t ) = L [sin 2t + sin t ]
2 1
⇒ f (s) = + 2
s + 4 s +1
2
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−π s 2 1
∴ L {[sin 2t − sin t ] u (t − π )} = e + 2 ---- (3)
s + 4 s + 1
2
Consider, L {[sin 3t − sin 2t ] u ( t − 2π )}
It is in the form L f ( t − a ) u (t − a )
72 Transform Calculus, Fourier Series and Numerical Techniques
Here, a = 2π and f (t − a ) = [sin 3t − sin 2t ]
⇒ f (t − 2π ) = [sin 3t − sin 2t ]
⇒ f (t ) = sin 3 (t + 2π ) − sin 2 (t + 2π ) = sin (3t + 3 × 2π ) − sin ( 2t + 2 × 2π )
⇒ f (t ) = sin 3t − sin 2t
L f (t ) = L [ sin 3t − sin 2t ]
3 2
⇒ f (s) = − 2
s +9 s +4
2
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−2 π s 3 2
∴ L {[sin 3t − sin 2t ] u (t − 2π )} = e 2 − 2
s + 9 s + 4
---- (4)
Substituting (2), (3) and (4) in (1), we get
1 2 1 3 2
L f (t ) = 2 + e −π s 2 + 2 + e −2π s 2 − 2
s +1 s + 4 s + 1 s + 9 s + 4
Example 1.70 :
cos t if 0< t < π
Express the function f ( t ) = 1 if π < t < 2π in terms of unit step function and
sin t if t > 2π
hence find its Laplace transform. (VTU 2007)
Solution:
Let f1 (t ) = cos t , f2 ( t ) = 1, f3 ( t ) = sin t
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a ) + f3 (t ) − f 2 (t ) u (t − b )
⇒ f (t ) = cos t + [1 − cos t ] u (t − π ) + [sin t − 1] u ( t − 2π )
Its Laplace transform is
L f (t ) = L [ cos t ] + L {[1 − cos t ] u (t − π )} + L {[ sin t − 1] u (t − 2π )} ---- (1)
s
L [ cos t ] = ---- (2)
s +1
2
Consider, L {[1 − cos t ] u (t − π )}
Laplace Transforms 73
It is in the form L f (t − a ) u ( t − a )
Here, a = π and f (t − a) = [1 − cos t ]
⇒ f (t − π ) = 1 − cos t
⇒ f (t ) = 1 − cos (t + π )
⇒ f (t ) = 1 + cos t
L f (t ) = L [1 + cos t ]
1 s
⇒ f (s) = + 2
s s +1
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−π s 1 s
∴ L {[1 − cos t ] u (t − π )} = e + 2 ---- (3)
s s + 1
Consider, L {[sin t − 1] u (t − 2π )}
It is in the form L f ( t − a ) u (t − a )
Here, a = 2π and f (t − a ) = [ sin t − 1]
⇒ f (t − 2π ) = sin t − 1
⇒ f (t ) = sin (t + 2π ) − 1
⇒ f (t ) = sin t − 1
L f (t ) = L [sin t − 1]
1 1
⇒ f (s) = −
s +1 s
2
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−2 π s 1 1
∴ L {[sin t − 1] u (t − 2π )} = e − ---- (4)
s +1 s
2
Substituting (2), (3) and (4) in (1), we get
s 1 s 1 1
L f (t ) = 2 + e− π s + 2
s s + 1
+ e −2 π s 2 −
s + 1 s
s +1
74 Transform Calculus, Fourier Series and Numerical Techniques
Example 1.71 :
1 if 0< t < 3
Express the function f ( t ) = t if 3 < t < 6 in terms of unit step function and hence
t2 if t>6
find its Laplace transform. (VTU 2003)
Solution:
Let f1 (t ) = 1, f 2 (t ) = t , f3 (t ) = t 2
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a ) + f3 (t ) − f 2 (t ) u (t − b )
⇒ f (t ) = 1 + [t − 1] u ( t − 3) + t 2 − t u (t − 6)
Its Laplace transform is
( )
L f (t ) = L [1] + L (t − 1) u (t − 3) + L t 2 − t u (t − 6) ---- (1)
1
L [1] = ---- (2)
s
Consider, L (t − 1) u (t − 3)
It is in the form L f (t − a ) u (t − a )
Here, a = 3 and f (t − a ) = (t − 1)
⇒ f (t − 3) = t − 1
⇒ f (t ) = (t + 3) − 1 = t + 2
L f (t ) = L [t + 2]
1 2
⇒ f ( s) = +
s2 s
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−3 s 1 2
∴ L (t − 1) u (t − 3) = e 2 + ---- (3)
s s
( )
Consider, L t 2 − t u (t − 6)
It is in the form L f ( t − a ) u (t − a )
Here, a = 6 and f (t − a ) = t − t
2
( )
Laplace Transforms 75
⇒ f (t − 6) = t 2 − t
f (t ) = (t + 6) − (t + 6) = t 2 + 36 + 12t − t − 6
2
⇒
⇒ f (t ) = t 2 + 11t + 30
L f (t ) = L t 2 + 11t + 30
2 11 30
⇒ f (s) = + +
s3 s 2 s
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−6 s 2 11 30
∴ ( )
L t 2 − t u (t − 6 ) = e 3 + 2 +
s s s
---- (4)
Substituting (2), (3) and (4) in (1), we get
1 −3 s 1 2 −6 s 2 11 30
L f (t ) = + e 2 + + e 3 + 2 +
s s s s s s
Example 1.72 :
1 if 0< t <1
Express the function f ( t ) = t if 1 < t < 2 in terms of unit step function and hence
t 2 if t>2
find its Laplace transform. (VTU 2011)
Solution:
Let f1 (t ) = 1, f 2 (t ) = t , f3 (t ) = t 2
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a ) + f3 (t ) − f 2 (t ) u (t − b )
⇒ f (t ) = 1 + [t − 1] u (t − 1) + t 2 − t u (t − 2)
Its Laplace transform is
( )
L f (t ) = L [1] + L (t − 1) u (t − 1) + L t 2 − t u (t − 2) ---- (1)
1
L [1] = ---- (2)
s
Consider, L (t − 1) u (t − 1)
It is in the form L f (t − a ) u ( t − a )
76 Transform Calculus, Fourier Series and Numerical Techniques
Here, a = 1 and f (t − a ) = (t − 1)
⇒ f (t − 1) = t − 1
⇒ f (t ) = (t + 1) − 1 = t
L f (t ) = L [t ]
1
⇒ f (s) =
s2
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−s 1
∴ L (t − 1) u (t − 1) = e 2 ---- (3)
s
( )
Consider, L t 2 − t u (t − 2)
It is in the form L f ( t − a ) u (t − a )
Here, a = 2 and f (t − a ) = t − t
2
( )
⇒ f (t − 2) = t 2 − t
f (t ) = (t + 2) − (t + 2) = t 2 + 4 + 4t − t − 2
2
⇒
⇒ f (t ) = t 2 + 3t + 2
L f (t ) = L t 2 + 3t + 2
2 3 2
⇒ f (s) = 3
+ 2 +
s s s
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−2 s 2 3 2
∴ ( )
L t 2 − t u (t − 2 ) = e 3 + 2 +
s s s
---- (4)
Substituting (2), (3) and (4) in (1), we get
1 −s 1 −2 s 2 3 2
L f (t ) = + e 2 + e 3 + 2 +
s s s s s
Laplace Transforms 77
Example 1.73 :
t 2 if 0< t < 2
Express the function f ( t ) = 4t if 2 < t < 4 in terms of unit step function and
8 if t>4
hence find its Laplace transform. (VTU 2011, 2014)
Solution:
Let f1 (t ) = t 2 , f 2 (t ) = 4t , f 3 (t ) = 8
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a ) + f3 (t ) − f 2 (t ) u (t − b )
⇒ f (t ) = t 2 + 4t − t 2 u (t − 2) + [8 − 4t ] u (t − 4)
Its Laplace transform is
L f (t ) = L (t 2 ) + L ( 4t − t 2 ) u (t − 2) + L (8 − 4t ) u (t − 4) ---- (1)
2
( )
L t2 =
s3
---- (2)
( )
Consider, L 4t − t 2 u (t − 2)
It is in the form L f (t − a ) u ( t − a )
Here, a = 2 and f (t − a ) = 4t − t
2
( )
⇒ f (t − 2) = 4t − t 2
f (t ) = 4 (t + 2) − (t + 2) = 4t + 8 − t 2 − 4 − 4t = 4 − t 2
2
⇒
L f (t ) = L 4 − t 2
4 2
⇒ f (s) = −
s s3
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−2 s 4 2
∴ ( )
L 4t − t 2 u (t − 2 ) = e − 3
s s ---- (3)
Consider, L (8 − 4t ) u (t − 4)
It is in the form L f ( t − a ) u (t − a )
78 Transform Calculus, Fourier Series and Numerical Techniques
Here, a = 4 and f ( t − a ) = (8 − 4t )
⇒ f (t − 4) = 8 − 4t
⇒ f (t ) = 8 − 4 (t + 4) = 8 − 4t − 16
⇒ f (t ) = −4t − 8
L f (t ) = −4 L [t ] − L (8)
1 8 −4 8
⇒ f ( s ) = −4 2 − = 2 −
s s s s
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−4 s −4 8
∴ L (8 − 4t ) u (t − 4) = e 2 − ---- (4)
s s
Substituting (2), (3) and (4) in (1), we get
2 −2 s 4 2 −4 s −4 8
L f (t ) = 3 + e − 3 + e 2 −
s s s s s
Example 1.74 :
t −1 if 1< t < 2
Express the function f ( t ) = − t − 3 if 2 < t < 3 in terms of unit step function
0 otherwise
and hence find its Laplace transform. (VTU 2013)
Solution:
Let f1 (t ) = t − 1, f 2 (t ) = −t − 3, f 3 (t ) = 0
We have, f (t ) = f1 (t ) + f 2 (t ) − f1 (t ) u (t − a ) + f3 (t ) − f 2 (t ) u (t − b )
⇒ f (t ) = ( t − 1) + ( −t − 3) − ( t − 1) u (t − 2) + 0 − ( −t − 3) u ( t − 3)
⇒ f (t ) = (t − 1) + [ −2t − 2] u (t − 2) + [t + 3] u (t − 3)
⇒ f (t ) = ( t − 1) − 2 ( t + 1) u ( t − 2) + ( t + 3) u ( t − 3)
Its Laplace transform is
L f (t ) = L (t − 1) − 2 L (t + 1) u (t − 2) + L (t + 3) u (t − 3) ---- (1)
1 1
L (t − 1) = − ---- (2)
s2 s
Laplace Transforms 79
Consider, L (t + 1) u (t − 2)
It is in the form L f (t − a ) u ( t − a )
Here, a = 2 and f (t − a ) = ( t + 1)
⇒ f (t − 2) = t + 1
⇒ f (t ) = (t + 2) + 1 = t + 3
L f (t ) = L (t + 3)
1 3
⇒ f (s) = +
s2 s
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−2 s 1 3
∴ L (t + 1) u (t − 2) = e 2 + ---- (3)
s s
Consider, L (t + 3) u (t − 3)
It is in the form L f ( t − a ) u (t − a )
Here, a = 3 and f (t − a) = (t + 3)
⇒ f (t − 3) = t + 3
⇒ f (t ) = (t + 3) + 3
⇒ f (t ) = t + 6
L f (t ) = L [t ] + L ( 6)
1 6
⇒ f (s) = +
s2 s
We have, L f (t − a ) u (t − a ) = e − as f ( s )
−3 s 1 6
∴ L (t + 3) u (t − 3) = e 2 + ---- (4)
s s
Substituting (2), (3) and (4) in (1), we get
1 1 −2 s 1 3 −3 s 1 6
L f (t ) = 2 − − 2e 2 + + e 2 +
s s s s s s
80 Transform Calculus, Fourier Series and Numerical Techniques
Exercise 1.4
Express the following in terms unit step function and find its Laplace transform
t, 0 < t < 4 e2 t , 0 < t < 1
1. f (t ) = 2. f (t ) =
5, t>4 2, t >1
sin 2t , 0 < t < π t 2 , 1 < t ≤ 2
3. f (t ) = 4. f (t ) =
0, t >π 4t , t>2
Answers
1 2 e2
1
1. e −4 s +
s
1
s 2 (
1 − e −4 s ) 2. s−2
+ e− s −
s s − 2
3.
(
2 1 − e−π s ) 4.
2 4 2 −2 s
+ − e
s +4
2 s3 s s3
1.9 CONVOLUTION THEOREM
t
If L−1 f ( s ) = f (t ) and L−1 g ( s ) = g (t ) then L−1 f ( s ) .g ( s ) = ∫ f (u ) g (t − u ) du
u=0
Proof :
t
Let φ (t ) = ∫ f (u ) g (t − u ) du
u=0
By definition, L φ (t ) = ∫e
− st
φ (t ) dt
0
∞
t
L φ (t ) = ∫ ∫ f (u ) g (t − u ) du dt
− st
⇒ e
0 u = 0
∞ t
= ∫∫e
− st
f (u ) g (t − u ) du dt
0 0
Here: t = 0, t=∞
u = 0, u=t
Laplace Transforms 81
u u=t
O t
By changing the order of integration, we have
u = 0, u=∞
t = u, t=∞
∞∞
∴ L φ (t ) = ∫∫e
− st
f (u ) g (t − u ) dt du
0 u
∞
∞ − s( t − u)
= ∫ e − su
f ( ) ∫ e
u g (t − u ) dt du
0 u
∞
∞ − sv
= ∫0 e − su
f ( ) ∫ e g ( v) dv du
u On putting t − u = v
0
∞
= ∫e
− su
f ( u ) g ( s) du
0
= g ( s ) ∫ e f ( u ) du
− su
= g (s) . f (s)
∴ L φ (t ) = f ( s ) .g ( s )
⇒ φ (t ) = L− f ( s ) .g ( s )
1
∴ L f ( s ) .g ( s ) =
−1
∫ f (u ) g (t − u ) du
u=0
82 Transform Calculus, Fourier Series and Numerical Techniques
WORKED EXAMPLES
Example 1.75 :
s2
By employing convolution theorem, evaluate L−1 .
(
s + a
2 2
)( )
s 2 + b 2
(VTU 2003, 2011, 2012)
Solution:
s s
f (s) = and g ( s ) =
Let,
(s 2
+a 2
) (s 2
+ b2 )
Taking Laplace inverse transform on both side
s s
L−1 f ( s ) = L 2
−1
and L−1
g ( s ) = L−1
(
s + a 2
) s 2 + b 2 ( )
⇒ f (t ) = cos at and g (t ) = cos bt
By convolution theorem, we have
t
L f ( s ) .g ( s ) =
−1
∫ f (u ) g (t − u ) du
u=0
s2 t
∴ L−1 2 = ∫ cos au.cos b ( t − u ) du
( )(
s + a 2 s 2 + b 2 ) u=0
t
1
∫ cos ( au + bt − bu ) + cos ( au − bt + bu ) du
=
u=0
2
1 sin ( au + bt − bu ) sin ( au − bt + bu )
t
= 2 +
a −b a+b 0
1 sin ( at + bt − bt ) sin ( at − bt + bt ) sin (bt ) sin ( −bt )
= 2 + − +
a −b a+b a−b a + b
1 sin ( at ) sin ( at ) sin (bt ) sin (bt )
= 2 a − b + a + b − a − b − a + b
Laplace Transforms 83
1 ( a + b) sin at + ( a − b) sin at − ( a + b) sin bt + ( a − b) sin bt
=
2 ( a − b )( a + b )
1 sin at ( a + b + a − b) − sin bt ( a + b − a + b)
= 2
a 2 − b2
1 sin at ( 2a ) − sin bt ( 2b)
= 2
a 2 − b2
a sin at − b sin bt
=
a 2 − b2
Example 1.76 :
s
By employing convolution theorem, evaluate L−1 2
.
(
s + a
2 2
)
(VTU 2004, 2005, 2013)
Solution:
1 s
f (s) = and g ( s ) =
Let,
(s 2
+a 2
) (s 2
+ a2 )
Taking Laplace inverse transform on both side
1 s
L−1 f ( s ) = L−1 2 and L−1
g ( s ) = L−1
(
s + a 2
) s 2 + a 2 ( )
sin at
⇒ f (t ) = and g (t ) = cos at
a
By convolution theorem, we have
t
L f ( s ) .g ( s ) =
−1
∫ f (u ) g (t − u ) du
u=0
t
s sin au
L−1 .cos a ( t − u ) du
∴
(
s2 + a2 )
2
= ∫ a
u=0
1 t
= a ∫ sin au.cos a (t − u ) du
u=0
84 Transform Calculus, Fourier Series and Numerical Techniques
1 t 1
= a ∫ 2 sin ( au + at − au ) + sin ( au − at + au ) du
u=0
t
1
= 2 a ∫ sin at + sin ( 2au − at ) du
u=0
1 t t
= 2a sin at ∫u = 0 u∫= 0 sin ( 2au − at ) du
du +
1 − cos ( 2au − at )
t
= 2a sin at ( u )0 +
t
2a 0
1 cos at cos at 1
=
2a
sin at (t − 0) −
2a
+ =
2a 2a
[ t sin at ]
t sin at
=
2a
Example 1.77 :
s
By employing convolution theorem, evaluate L−1 .
( )
( s − 1) s + 4
2
(VTU 2004, 2011, 2013)
Solution:
1 s
Let, f (s) = and g ( s ) = 2
s −1 s +4
Taking Laplace inverse transform on both side
L−1 f ( s ) = L−1
1 −1 s
s − 1 and L g ( s ) = L s 2 + 4
−1
⇒ f ( t ) = et and g (t ) = cos 2t
By convolution theorem, we have
t
L f ( s ) .g ( s ) =
−1
∫ f (u ) g (t − u ) du
u=0
s t
∴ L−1 = ∫ eu .cos 2 (t − u ) du
(
( s − 1) s 2 + 4 ) u=0
Laplace Transforms 85
= ∫ eu .cos ( 2t − 2u ) du
u=0
t
eu
= 2 cos ( 2t − 2u ) − 2 sin ( 2t − 2u )
2
1 + ( −2) 0
=
1
{
et ( cos 0 − 2 sin 0) − e0 (cos 2t − 2 sin 2t )
5
}
=
1 t
5
{
e − cos 2t + 2 sin 2t }
Example 1.78 :
s
By employing convolution theorem, evaluate L−1 .
( )
( s + 2) s + 9
2
(VTU 2005, 2008)
Solution:
1 s
Let, f (s) = and g ( s ) =
s+2 s +9
2
Taking Laplace inverse transform on both side
−1 1 s
L−1 f ( s ) = L and L−1 g ( s ) = L−1 2
s + 2 s + 9
⇒ f ( t ) = e −2 t and g (t ) = cos 3t
By convolution theorem, we have
t
L f ( s ) .g ( s ) =
−1
∫ f (u ) g (t − u ) du
u=0
s t
L−1 = ∫ e −2 u .cos 3 (t − u ) du
∴
(
( s − 1) s 2 + 4 ) u=0
= ∫ e −2u .cos (3t − 3u ) du
u=0
t
e −2 u
=
2
−2 cos ( 3t − 3u ) − 3sin ( 3t − 3u )
( −2) + ( −3)
2
0
86 Transform Calculus, Fourier Series and Numerical Techniques
=
1
{
e −2t ( −2 cos 0 − 3sin 0) − e 0 ( −2 cos 3t − 3sin 3t )
13
}
=
1
13
{
−2e −2t + 2 cos 3t + 3sin 3t }
Example 1.79 :
1
By employing convolution theorem, evaluate L−1 2
.
s s + a
2
( ) (VTU 2006)
Solution:
1 1
Let, f (s) = and g ( s ) =
s s + a2
2
Taking Laplace inverse transform on both side
−1 1 −1 1
L−1 f ( s ) = L and L g ( s ) = L 2
−1
s s + a
2
sin at
⇒ f (t ) = 1 and g (t ) =
a
By convolution theorem, we have
t
L f ( s ) .g ( s ) =
−1
∫ f (u ) g (t − u ) du
u=0
1 t
sin a (t − u )
L−1 2 = ∫ 1. du
∴
(
s s + a 2 ) u=0
a
t
1
= a ∫ sin ( at − au ) du
u=0
1 − cos ( at − au )
t
= a
−a 0
1 cos 0 − cos at
a
=
a
1 − cos at
=
a2
Laplace Transforms 87
Example 1.80 :
1
By employing convolution theorem, evaluate L−1 .
(
s s + 9
2
) (VTU 2006)
Solution:
1 1
Let, f (s) = and g ( s ) =
s s +9 2
Taking Laplace inverse transform on both side
−1 1 −1 1
L−1 f ( s ) = L and L g ( s ) = L 2
−1
s s + 9
sin 3t
⇒ f (t ) = 1 and g (t ) =
3
By convolution theorem, we have
t
L f ( s ) .g ( s ) =
−1
∫ f (u ) g (t − u ) du
u=0
1 t
sin 3 (t − u )
L−1 2 = ∫ 1. du
∴
(
s s + 9 ) u=0
3
1 t
= 3 ∫ sin (3t − 3u ) du
u=0
1 − cos (3t − 3u )
t
= 3
−3 0
1 cos 0 − cos 3t 1 − cos 3t
3 =
=
3 9
Example 1.81 :
1
By employing convolution theorem, evaluate L−1 .
(
( s − 1) s + 1
2
) (VTU 2014)
Solution:
1 1
Let, f (s) = and g ( s ) = 2
s− 1 s +1
88 Transform Calculus, Fourier Series and Numerical Techniques
Taking Laplace inverse transform on both side
−1 1 1
L−1 f ( s ) = L and L−1 g ( s ) = L−1 2
s − 1 s + 1
⇒ f ( t ) = et and g (t ) = sin t
By convolution theorem, we have
t
L−1 f ( s ) .g ( s ) = ∫ f (u ) g (t − u ) du
u=0
1 t
L−1 = ∫ eu sin (t − u ) du
∴
( )
( s − 1) s + 1
2
u=0
t
eu
= 2 2 sin (t − u ) − ( −1) cos ( t − u )
1 + 1 0
1 t
= e (sin 0 + cos 0) − e0 (sin t + cos t )
2
1 t
= e − sin t − cos t
2
Example 1.82 :
1
By employing convolution theorem, evaluate L−1 . (VTU 2013)
4s − 9
2
Solution:
1 1 −1 1 1 −1 1
L−1 2 = L 2 = L
4s − 9 4 s − 9 / 4 4 ( s + 3 / 2)( s − 3 / 2)
1 1
Let, f (s) = and g ( s ) =
s+3/ 2 s −3/ 2
Taking Laplace inverse transform on both side
−1 1 1
L−1 f ( s ) = L and L−1 g ( s ) = L−1
s + 3 / 2 s − 3 / 2
⇒ f (t ) = e − (3/ 2)t and g (t ) = e(3/ 2)t
By convolution theorem, we have
Laplace Transforms 89
L−1 f ( s ) .g ( s ) = ∫ f (u ) g (t − u ) du
u=0
t
1 −1 1 1 −( 3/ 2 )u ( 3/ 2)( t − u )
∴ L = 4 ∫ e .e du
4 ( s + 3 / 2 )( s − 3 / 2 ) u = 0
t
1 (3/ 2)t
∫ e ( ) .e ( ) du
− 3/ 2 u − 3/ 2 u
= 4e
u =0
t
1 (3/ 2 )t
= 4e ∫ e−3u du
u=0
t
1 (3/ 2 )t e −3u 1 (3/ 2)t e −3t − e0
= 4e 3 = 4e
− 0 −3
=
(
e(3/ 2)t 1 − e−3t )
12
Example 1.83 :
1
By employing convolution theorem, evaluate L−1 5
.
( s + 1)( s − 2 )
Solution:
1 1
Let, f (s) = and g ( s ) =
( s − 2) 5
s +1
Taking Laplace inverse transform on both side
1 1
L−1 f ( s ) = L−1 and L−1 g ( s ) = L−1
( s − 2) s + 1
5
e 2t t 4
⇒ f (t ) = and g (t ) = e − t
4!
By convolution theorem, we have
t
L−1 f ( s ) .g ( s ) = ∫ f (u ) g (t − u ) du
u=0
1 t
e 2 u u 4 − (t − u )
∴ L−1 5
= ∫ 4! .e du
( s + 1)( s − 2) u=0
90 Transform Calculus, Fourier Series and Numerical Techniques
e−t t
= 4! ∫ue 4 3u
du
u=0
t
e −t 4 e3u 3 e
3u
2 e
3u
e3u e3u
= 4! u − 4u ( )
9 + 12u 27 − ( (
24u ) )
81 + ( 24) 243
3 0
e −t 3t t 4 4t 3 4t 2 8t 8 8
= 4! e 3 − 9 + 9 − 27 + 81 − 81
Exercise 1.5
Apply convolution theorem to evaluate the following:
−1 s2 −1 1 −1 1
(i) L 2 2 (ii) L 2 (iii) L 3 2 (VTU 2007)
(
s + 4 ) (
s s + 4 ) (
s s + 1 )
−1 s2
−1 1 −1 1
(iv) L 4 4 (v) L 2 (vi) L 2
s − a (
s s − a
2
) (
s + 1 s + 9
2
)( )
Answers
1 1 t2
(i) (sin 2t + 2t cos 2t ) (ii) (1 − cos 2t ) (iii) + cos t − 1
4 4 2
1 1 1 1
(iv) (sinh at + sin at ) (v) ( cosh at − 1) (vi) sin t − sin 3t
2a a2 8 3
1.10 SOLUTION OF LINEAR DIFFERENTIAL EQUATIONS USING LAPLACE
TRANSFORMS
Laplace transforms can be used to solve ordinary as well as partial differential equations. We shall
apply this method to solve only ordinary linear differential equations with constant coefficients.
The advantage of this method is that it yields the particular solution directly without the necessity
of first findings the general solution and then evaluating the arbitrary constants.
Laplace Transforms 91
Working Procedure
Step-1: Take the Laplace transforms of both sides of the given differential equation, using the
formula defined below and the given initial conditions.
(i) L y (t ) = y ( s )
(ii) L y ' (t ) = s y ( s ) − y ( 0)
(iii) L y '' (t ) = s 2 y ( s ) − s y ( 0) − y ' (0 )
(iv) L y ''' (t ) = s y ( s ) − s y ( 0) − s y ' ( 0) − y '' ( 0)
3 2
(v) L y '''' (t ) = s 4 y ( s ) − s3 y (0) − s 2 y ' (0) − s y '' (0 ) − y ''' (0)
Step-2: Solve the algebraic equation to get y ( s ) in terms of 's'
Step-3: Take inverse Laplace transform on both sides. This gives y as a function on t which is the
desired solution.
WORKED EXAMPLES
Example 1.84 :
d2 y dy
Solve 2
− 3 + 2 y = 4 t + e 3 t , y ( 0 ) = 1, y ' ( 0 ) = −1 by using Laplace transforms.
dt dt
(VTU 2013)
Solution:
Given, y ''− 3 y '+ 2 y = 4t + e3t
Taking Laplace Transform on both side
L [ y ''] − 3L [ y '] + 2 L [ y ] = 4 L [t ] + L e3t
1 1
⇒ s y ( s ) − s y (0) − y ' ( 0) − 3 s y ( s ) − y ( 0) + 2 y ( s ) = 4 2 +
2
s s −3
4 1
⇒ s y ( s ) − s (1) − ( −1) − 3 s y ( s ) − (1) + 2 y ( s ) = 2 +
2
s s−3
4 1
⇒ s 2 y ( s ) − s + 1 − 3s y ( s ) + 3 + 2 y ( s ) = +
s 2
s−3
92 Transform Calculus, Fourier Series and Numerical Techniques
4 1
⇒ y ( s ) s 2 − 3s + 2 = + +s−4
s 2
s−3
4 ( s − 3) + s 2 + ( s − 4 ) s 2 ( s − 3)
⇒ y ( s ) ( s − 1)( s − 2) =
s 2 ( s − 3)
4 s − 12 + s 2 + s 4 − 7 s3 + 12 s 2
⇒ y ( s) = s 2 ( s − 3)( s − 1)( s − 2)
s 4 − 7 s 3 + 13s 2 + 4 s − 12
⇒ y ( s)
( )( )( )
= s2 s − 3 s − 1 s − 2
y (t ) = L− y ( s )
1
we have,
4
−1 s − 7 s + 13 s + 4 s − 12
3 2
⇒ y (t ) = L 2
s ( s − 1)( s − 2)( s − 3)
−1 A B C D E
y (t ) = L + 2 + + +
⇒
s s ( s − 1) ( s − 2) ( s − 3)
Now, s 4 − 7 s3 + 13s 2 + 4 s − 12 = As ( s − 1)( s − 2)( s − 3) + B ( s − 1)( s − 2)( s − 3) + C s 2 ( s − 2)
( s − 3) + D s 2 ( s − 1)( s − 3) + E s 2 ( s − 1)( s − 2)
Put s = 0 ⇒ −12 = −6 B ⇒ B = 2
1
Put s = 1⇒ − 1 = C ( 2) ⇒C = −
2
Put s = 2 ⇒ 8 = D ( −4) ⇒ D = −2
1
Put s = 3 ⇒ 9 = E (18) ⇒ E=
2
Put s = 4 ⇒ 20 = 24 A + 6 B + 32C + 48 D + 96 E
1 1
⇒ 20 = 24 A + 6 ( 2) + 32 − + 48 ( −2) + 96 ⇒ 72 = 24 A ⇒ A = 3
2 2
−1 3 2 −1 / 2 −2 1/ 2
∴ y (t ) = L s + 2 + s 1 + s 2 + s 3
s ( − ) ( − ) ( − )
−1 1 −1 1 1 −1 1 1 1 −1 1
y (t ) = 3L + 2 L 2 − L − 2 L−1 + L
⇒ s s 2 s − 1 s − 2 2 s − 3
Laplace Transforms 93
⇒ y (t ) = 3 (1) + 2 (t ) −
2
( ) ( )
1 t 1
e − 2 e2t + e3t
2
( )
1 t 1
⇒ y (t ) = 3 + 2t − e − 2e 2t + e3t
2 2
Example 1.85 :
d2 y dy
Solve 2
+ 4 + 4 y = e − t , y (0 ) = 0, y ' ( 0 ) = 0 by using Laplace transforms.
dt dt
(VTU 2006, 2011)
Solution:
Given, y ''+ 4 y '+ 4 y = e − t
Taking Laplace Transform on both side
L [ y ''] + 4 L [ y '] + 4 L [ y ] = L e− t
1
⇒ s y ( s ) − s y (0) − y ' ( 0) + 4 s y ( s ) − y ( 0) + 4 y ( s ) =
2
s +1
1
⇒ s 2 y ( s ) − s ( 0) − ( 0) + 4 s y ( s ) − ( 0) + 4 y ( s ) =
s +1
1
⇒ s 2 y ( s ) + 4s y ( s ) + 4 y ( s ) =
s +1
1
⇒ y ( s ) s 2 + 4s + 4 =
s +1
1
y ( s ) ( s + 2 ) =
2
⇒ s +1
1
⇒ y ( s) =
( s + 1)( s + 2)2
we have, y (t ) = L−1 y ( s )
1
y (t ) = L 1
−
⇒
( s + 1)( s + 2 )
2
A B C
y (t ) = L 1
−
⇒ + +
s 1 ( s + 2 ) ( s + 2) 2
+
94 Transform Calculus, Fourier Series and Numerical Techniques
1 = A ( s + 2) + B ( s + 1)( s + 2) + C ( s + 1)
2
Put s = −1 ⇒ 1 = A (1) ⇒ A = 1
Put s = −2 ⇒ 1 = C ( −1) ⇒ C = −1
Put s = 0 ⇒ 1 = 4 A + 2 B + C ⇒ B = −1
−1
1 −1 −1
∴ y (t ) = L s + 1 + ( s + 2 ) +
( s + 2)2
−1 1 −1
1 −1
1
⇒ y ( t ) = L s + 1 − L ( s + 2 ) − L
( s + 2 )
2
⇒ y (t ) = e − t − e −2 t − te −2 t
Example 1.86 :
d2 y dy
Solve 2
+ 2 − 3 y = sin t , y ( 0 ) = 0, y ' ( 0 ) = 0 by using Laplace transforms.
dt dt
(VTU 2004)
Solution:
Given, y ''+ 2 y '− 3 y = sin t
Taking Laplace Transform on both side
L [ y ''] + 2 L [ y '] − 3L [ y ] = L [sin t ]
1
⇒ s 2 y ( s ) − s y ( 0 ) − y ' ( 0 ) + 2 s y ( s ) − y ( 0 ) − 3 y ( s ) = 2
s +1
1
⇒ s 2 y ( s ) − s ( 0 ) − ( 0 ) + 2 s y ( s ) − ( 0 ) − 3 y ( s ) = 2
s +1
1
⇒ s 2 y ( s ) + 2s y ( s ) − 3 y ( s ) =
s +1
2
1
⇒ y ( s ) s 2 + 2s − 3 =
s +1
2
1
⇒ y ( s ) ( s − 1)( s + 3) =
s +1
2
1
⇒ y ( s) =
(s 2
)
+ 1 ( s − 1)( s + 3)
Laplace Transforms 95
y (t ) = L− y ( s )
1
we have,
1
y (t ) = L 2
−1
⇒
( )
s + 1 ( s − 1)( s + 3)
−1 As + B C D
⇒ y (t ) = L 2 1 + s 1 + s 3
s + ( − ) ( + )
( ) (
1 = ( As + B )( s − 1)( s + 3) + C s 2 + 1 ( s + 3) + D s 2 + 1 ( s − 1) )
1
Put s = 1 ⇒ 1 = C ( 2)( 4) ⇒ C =
8
1
Put s = −3 ⇒ 1 = D (10)( −4) ⇒D= −
40
1
Put s = 0 ⇒ 1 = −3B + 3C − D ⇒ B = −
5
1
Put s = −1⇒ 1 = 4 A − 4B + 4C − 4 D ⇒ A = −
5
−1 (
−1 / 5) s + ( −1 / 5) 1/ 8 −1 / 40
y (t ) = L + +
∴
s +1
2
( s − 1) ( s + 3)
1 −1 s 1 −1 1 1 −1 1 1 −1 1
⇒ y (t ) = − L 2 − L 2 + L − L
s + 3
5 s + 1 5 s + 1 8 s − 1 40
1 1 1 t 1 −3 t
⇒ y (t ) = − cos t − sin t + e − e
5 5 8 40
Example 1.87 :
d2 y dy
Solve 2
− 3 + 2 y = 1 − e 2 t , y ( 0 ) = 1, y ' (0 ) = 1 by using Laplace transforms.
dt dt
(VTU 2004)
Solution:
Given, y ''− 3 y '+ 2 y = 1 − e 2 t
Taking Laplace Transform on both side
L [ y ''] − 3L [ y '] + 2 L [ y ] = L 1 − e2 t
1 1
⇒ s 2 y ( s ) − s y ( 0 ) − y ' ( 0 ) − 3 s y ( s ) − y ( 0 ) + 2 y ( s ) = −
s s−2
96 Transform Calculus, Fourier Series and Numerical Techniques
1 1
⇒ s 2 y ( s ) − s (1) − (1) − 3 s y ( s ) − (1) + 2 y ( s ) = −
s s−2
1 1
⇒ s 2 y ( s ) − s − 1 − 3s y ( s ) + 3 + 2 y ( s ) = −
s s−2
1 1
⇒ y ( s ) s 2 − 3s + 2 = − +s−2
s s−2
s − 2 − s + s ( s − 2)
2
⇒ y ( s ) ( s − 1)( s − 2) =
s ( s − 2)
(
−2 + s s 2 + 4 − 2 s )=s 3
− 2s2 + 4s − 2
⇒ y ( s) =
s ( s − 1)( s − 2) s ( s − 1)( s − 2)
2 2
y (t ) = L− y ( s )
1
we have,
3
−1 s − 2 s + 4 s − 2
2
⇒ y (t ) = L
s ( s − 1)( s − 2)
2
A B C D
y (t ) = L +
−1
⇒ + +
s ( s − 1) ( s − 2) ( s − 2)
2
s 3 − 2s 2 + 4s − 2 = A ( s − 1)( s − 2) + Bs ( s − 2) + Cs ( s − 1)( s − 2) + D s ( s − 1)
2 2
1
Put s = 0 ⇒ −2 = A ( −1)( 4) ⇒ A =
2
Put s = 1⇒ 1 = B (1)(1) ⇒B =1
Put s = 2 ⇒ 6 = D ( 2)(1) ⇒ D = 3
5
Put s = −1⇒ − 9 = −18 A − 9 B − 6C + 2 D ⇒ C =
2
−1 1 / 2 1 5/ 2 3
∴ y (t ) = L + + +
s ( s − 1) ( s − 2) ( s − 2)2
1 −1 1 −1 1 5 −1 1 −1
1
⇒ y (t ) = 2 L s + L s − 1 + 2 L s − 2 + 3L 2
( s − 2)
Laplace Transforms 97
⇒ y (t ) =
1
2
(
5
1) + et + e2 t + 3 te2 t
2
( )
1 5
⇒ y (t ) = + et + e2 t + 3te2 t
2 2
Example 1.88 :
d2 y dy
Solve 2
+ 6 + 9 y = 12 t 2 e −3 t , y (0 ) = 0, y ' ( 0 ) = 0 by using Laplace transforms.
dt dt
(VTU 2005)
Solution:
Given, y ''+ 6 y '+ 9 y = 12t 2 e −3t
Taking Laplace Transform on both side
L [ y ''] + 6 L [ y '] + 9 L [ y ] = L 12t 2 e−3t
2
⇒ s 2 y ( s ) − s y (0) − y ' ( 0) + 6 s y ( s ) − y (0) + 9 y ( s ) = 12 3
( s + 3)
24
⇒ s 2 y ( s ) − s ( 0 ) − ( 0 ) + 6 s y ( s ) − ( 0 ) + 9 y ( s ) =
( s + 3)3
24
⇒ s 2 y ( s ) + 6s y ( s ) + 9 y ( s ) =
( s + 3)3
24
⇒ y ( s ) s 2 + 6s + 9 =
( s + 3)3
24
y ( s ) ( s + 3) =
2
⇒ ( s + 3)3
24
⇒ y ( s) =
( s + 3)5
y (t ) = L− y ( s )
1
we have,
−1
24
⇒ y (t ) = L
( s + 3)
3
98 Transform Calculus, Fourier Series and Numerical Techniques
t4
y (t )
−3t
⇒ = 24e
4!
⇒ y ( t ) = e −3 t t 4
Example 1.89 :
d3 y d2y dy
Solve 3
− 3 2
+ 3 − y = t 2 e t , y ( 0 ) = 1, y ' ( 0 ) = 0, y '' ( 0 ) = −2 by using Laplace
dt dt dt
transforms. (VTU 2005, 2012)
Solution:
Given, y '''− 3 y ''+ 3 y '− y = t 2 et
Taking Laplace Transform on both side
L [ y '''] − 3L [ y ''] + 3L [ y '] − L [ y ] = L t 2 et
⇒ s y ( s ) − s y ( 0) − sy ' ( 0) − y '' (0) − 3 s y ( s ) − s y ( 0) − y ' ( 0) + 3 s y ( s ) − y ( 0) − y ( s )
3 2 2
2
=
( s − 1)3
2
⇒ s3 y ( s ) − s 2 (1) − s ( 0) − ( −2) − 3 s2 y ( s ) − s (1) − (0) + 3 s y ( s ) − (1) − y ( s ) =
( s − 1)3
2
⇒ s 3 y ( s ) − s 2 + 2 − 3s 2 y ( s ) + 3s + 3s y ( s ) − 3 − y ( s ) =
( s − 1)3
2
⇒ ( )
y ( s ) s 3 − 3s 2 + 3s − 1 =
( s − 1)3
+ s 2 − 3s + 1
2
⇒ y ( s ) ( s − 1) =
3
+ s 2 − 3s + 1
( s − 1) 3
2 s 2 − 3s + 1
⇒ y ( s) = +
( s − 1)6 ( s − 1)3
we have, y (t ) = L−1 y ( s )
2 s 2 − 3s + 1 2 2
− 1 s − 3s + 1
y (t )
−1 −1
⇒ = L + = L + L
( s − 1) ( s − 1) ( s − 1) ( s − 1)
6 3 6 3
Laplace Transforms 99
2 A B C
y (t ) = L
−1 −1
⇒ + L + +
( s − 1) ( s − 1) ( s − 1) ( s − 1)3
6 2
s 2 − 3s + 1 = A ( s − 1) + B ( s − 1) + C
2
Put s = 1 ⇒ −1 = C ⇒ C = −1
Put s = 0 ⇒ 1 = A − B ---- (i)
Put s = 2 ⇒ − 1 = A + B + C ⇒ A + B = 0 ---- (ii)
Solving (i) and (ii), we get
1 1
A = 2, B= − 2
2 1/ 2 −1 / 2 −1
y (t ) = L
−1
∴ + L−1 + +
( s − 1) ( s − 1) ( s − 1) ( s − 1)3
6 2
−1
1 1 −1 1 1 −1 1 1
⇒ y (t ) = 2 L + L − L − L−1
( s − 1) 2 ( s − 1) 2 ( s − 1) ( s − 1)
6 2 3
t 5 e t 1 t 1 t t 2 et
⇒ y (t ) = 2 + e − te −
5! 2 2 2!
t 5 et 1 t 1 t 1 2 t
⇒ y (t ) = + e − te − t e
60 2 2 2
Example 1.90 :
d3 y d 2 y dy
Solve + 2 − − 2 y = 0, y ( 0 ) = 0, y ' (0 ) = 0, y '' ( 0 ) = 6 by using Laplace
dt 3 dt 2 dt
transforms. (VTU 2004, 2011)
Solution:
Given, y '''+ 2 y ''− y '− 2 y = 0
Taking Laplace Transform on both side
L [ y '''] + 2 L [ y ''] − L [ y '] − 2 L [ y ] = 0
⇒ s 3 y ( s ) − s 2 y ( 0) − sy ' ( 0) − y '' (0) + 2 s 2 y ( s ) − s y ( 0) − y ' (0) − s y ( s ) − y (0) − 2 y ( s ) = 0
⇒ s 3 y ( s ) − s 2 ( 0 ) − s ( 0 ) − 6 + 2 s 2 y ( s ) − s ( 0 ) − ( 0 ) − s y ( s ) − ( 0 ) − 2 y ( s ) = 0
⇒ s 3 y ( s ) − 6 + 2s 2 y ( s ) − s y ( s ) − 2 y ( s ) = 0
100 Transform Calculus, Fourier Series and Numerical Techniques
⇒ (
y ( s ) s3 + 2 s 2 − s − 2 ) = 6
⇒ y ( s ) ( s − 1)( s + 1)( s + 2) = 6
6
⇒ y ( s) =
( s − 1)( s + 1)( s + 2)
y (t ) = L− y ( s )
1
we have,
6
⇒ y (t ) = L−1
( s − 1)( s + 1)( s + 2)
A B C
⇒ y (t ) = L−1 + +
( s − 1) ( s + 1) ( s + 2)
6 = A ( s + 1)( s + 2) + B ( s − 1)( s + 2) + C ( s − 1)( s + 1)
Put s = 1 ⇒ 6 = A ( 2)(3) ⇒ A = 1
Put s = −1⇒ 6 = B ( −2)(1) ⇒ B = −3
Put s = −2 ⇒ 6 = C ( −3)( −1) ⇒ C = 2
1 −3 2
∴ y (t ) = y ( t ) = L−1 + +
( s − 1) ( s + 1) ( s + 2 )
1 1 1
⇒ y (t ) = L−1 −1
− 3L
−1
+ 2L
( s − 1) ( s + 1) ( s + 2)
⇒ y (t ) = et − 3e − t + 2e −2t
Example 1.91 :
d3 y d 2 y dy
Solve + 2 − − 2 y = 0, y ( 0 ) = 1, y ' ( 0 ) = 2 = y '' ( 0 ) by using Laplace
dt 3 dt 2 dt
transforms. (VTU 2013)
Solution:
Given, y '''+ 2 y ''− y '− 2 y = 0
Taking Laplace Transform on both side
L [ y '''] + 2 L [ y ''] − L [ y '] − 2 L [ y ] = 0
Laplace Transforms 101
⇒ s3 y ( s ) − s 2 y ( 0) − sy ' ( 0) − y '' ( 0) + 2 s2 y ( s ) − s y ( 0) − y ' ( 0) − s y ( s ) − y ( 0) − 2 y ( s ) = 0
⇒ s3 y ( s ) − s 2 (1) − s ( 2) − 2 + 2 s 2 y ( s ) − s (1) − ( 2) − s y ( s ) − (1) − 2 y ( s ) = 0
⇒ s 3 y ( s ) − s 2 − 2s − 2 + 2s 2 y ( s ) − 2s − 4 − s y ( s ) + 1 − 2 y ( s ) = 0
⇒ (
y ( s ) s3 + 2 s 2 − s − 2 ) = s 2 + 4s + 5
⇒ y ( s ) ( s − 1)( s + 1)( s + 2) = y ( s ) ( s − 1)( s + 1)( s + 2)
s 2 + 4s + 5
⇒ y ( s) =
( s − 1)( s + 1)( s + 2)
we have, y (t ) = L−1 y ( s )
s 2 + 4s + 5
⇒ y (t ) = L−1
( s − 1)( s + 1)( s + 2)
−1
A B C
⇒ y (t ) = L s 1 + s 1 + s 2
( − ) ( + ) ( + )
s 2 + 4s + 5 = A ( s + 1)( s + 2) + B ( s − 1)( s + 2) + C ( s − 1)( s + 1)
5
Put s = 1 ⇒ 10 = A ( 2)(3) ⇒ A =
3
Put s = −1⇒ 2 = B ( −2)(1) ⇒ B = −1
1
Put s = −2 ⇒ 1 = C ( −3)( −1) ⇒ C =
3
5/3 −1 1/ 3
∴ y (t ) = L−1 + +
( s − 1) ( s + 1) ( s + 2)
5 −1 1 1 1 −1 1
y (t ) =
−1
⇒ L −L + L
3 ( s − 1) ( s + 1) 3 ( s + 2)
5 t 1
⇒ y (t ) = e − e − t + e −2 t
3 3
102 Transform Calculus, Fourier Series and Numerical Techniques
Example 1.92 :
d2 y 0, 0 < t < 1
Solve + y = F ( t ) , where F ( t ) = given that y ( 0 ) = 0 = y ' ( 0 ) by using
dt 2
2, t >1
Laplace transforms. (VTU 2013)
Solution:
Given, y ''+ y = F (t )
Taking Laplace Transform on both side
L [ y ''] + L [ y ] = L F (t )
∞
1
⇒ s 2 y ( s ) − s y ( 0) − y ' ( 0) + y ( s ) = ∫ e − st (0) dt + ∫ e − st ( 2) dt
0 1
∞
⇒ s 2 y ( s ) − s ( 0) − ( 0) + y ( s ) = 0 + 2∫ e − st dt
1
∞
e − st e −∞ − e − s 2e − s
⇒ s y ( s ) + y (s ) = 2
2
= 2 = s
− s 1 −s
2e − s
⇒ ( )
y ( s) s2 + 1 =
s
2e − s
⇒ y ( s) =
(
s s2 + 1 )
we have, y (t ) = L−1 y ( s )
2e − s 1
y (t ) = L 2
−1
⇒ = 2e − s L−1 2
(
s s + 1 ) s s + 1 ( )
Bs + C
− s −1 A
⇒ y ( t ) = 2e L + 2
s s + 1 ( )
( )
1 = A s 2 + 1 + ( Bs + C ) s
Put s = 0 ⇒ 1 = A (1) + 0 ⇒ A = 1
Put s = 1 ⇒ 1 = 2 A + B + C ⇒ B + C = −1 ---- (i)
Laplace Transforms 103
Put s = −1⇒ 1 = 2 A + B − C ⇒ B − C = −1 ---- (ii)
Solving (i) & (ii), we get B = −1, C = 0
−s e− s se − s
− s −1 1
∴ y ( t ) = 2e L + 2 = 2 L−1 − 2
s (
s +1 ) s (
s +1 )
⇒ y (t ) = 2u (t − 1) − 2u (t − 1) cos (t − 1)
Exercise 1.6
Solve the following differential equations by using the Laplace transform technique:
1. y ''− 3 y '+ 2 y = 4t + e3t , when y ( 0) = 1 and y ' ( 0) = −1
2. y '''+ 2 y ''− y '− 2 y = 0, when y ( 0) = 1, y ' ( 0) = 2 and y '' ( 0) = 2
3. y ''+ 4 y '+ 3 y = e − t , when y ( 0) = 1 and y ' ( 0) = 1 (VTU 2008)
4. y ''+ 5 y '+ 6 y = 5et , when y ( 0) = 2 and y ' ( 0) = 1
5. y ''− y '− 2 y = 20 sin 2t , when y ( 0) = −1 and y ' ( 0) = 2
6. y '''− 3 y ''+ 3 y '− y = t 2 et , when y ( 0) = 1, y ' ( 0) = 0 and y '' (0) = −2
7. y ''+ y '− 2 y = 3 cos 3t − 11sin 3t , when y ( 0) = 0 and y ' ( 0) = 6
8. y ''+ y = t cos 2t , when y ( 0) = 0 and y ' (0) = 0
d2 y π
9. + 9 y = cos 2t , when y (0) = 1 and y = −1 Hint: Assume y ' ( 0) = k
dt 2
2
10. y ''+ 5 y '+ 5 y = e −t sin t , when y ( 0) = 0 and y ' ( 0) = 1
Answers
1. y = 3 + 2t +
2
(
1 3t
)
e − e t − 2e 2 t 2. y =
3
(
1 t
)
5e + e −2 t − e − t
7 − t 3 −3t 1 − t 5 t 16 −2t 15 −3t
3. y = e − e + te 4. y = e + e − e
4 4 2 12 3 4
104 Transform Calculus, Fourier Series and Numerical Techniques
t 1 2 1 5
5. y = 2e2 t − 4e− t + cos 2t − 3sin 2t 6. y = e 1 − t − t + t
2 60
1
7. y = et − e−2t + sin 3t 8. y = ( 4 sin 2t − 5 sin t − 3t cos 2t )
9
4 4 1 11 − t
9. y = cos 3t + sin 3t + cos 2t 10. y = e (sin t + sin 2t )
5 5 5 3
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