domain sinusoids

phasor
→

jw
✗

Introduction
n Piere Simon Laplace (1749-1827) French astronomer
and mathematician
Laplace Transform ÑwskÉwo%Ññ n Idea: Circuits are modeled in differential equations
%°nÑwÑosÑs whose solutions describe the total response ylstidorderylap.ae
sinusoids behavior mm
in

EEE111 Electric Circuit Analysis n Importance: Laplace transform turns differential phaser

equations into algebraic equations

Anawach Sangswang ¥1 :& -13 I
x! = f ( x) ® F ( s) = 0 "̇ = $(")

Dept. of Electrical Engineering i.e. the circuit is transformed from the time domain
KMUTT to the frequency domain
n Easiness: solves circuit problems with initial
conditions and gives total response
2

Definition /
time domain time domain → S -
Domain Example 15.1
n Given a function f(t), the Laplace transform is n Determine the Laplace transform of the followings
\•
¥ but laplace v80
L [ f (t )] = F ( s) =
,

ò
- st
f (t )e dt NosYD8t
sdomagin 0-
0 > oyoainnwuiwriw
where s is a complex variable given by s = s + jw
n The above integral is a definite integral w.r.t. time ¥
act ,
1 ¥ 1
and the result of integration is independent of time n Unit step L [u (t )] = ò 1× e- st dt = - e- st =
s~
0 s
Unit step function
-
n n Exponential function 0

Existence of 0, (<0 not "

¥
1 - ( s + a )t 1
n '(() = ) ¥
1, (≥0 L éëe u (t ) ùû = ò e- at e- st dt = -
- at
e =
Laplace transform -
0
s+a 0 s+a
¥
n Unit impulse 0+
¥
ò ò f (t )d(t )dt = f (0)
- st
f (t ) e dt < ¥ L [d(t )] = ò d(t )e- st dt = e-0 = 1
0- Drinnon
f (t )u (t ) Û f (t ), t ³ 0 0-
- -
0
integrable > mtor 3
pinpointed in fÑÑwhÑtk 4
 feats ta Ffa )
e±J°-
.

coso-t-js.in -0
=

to
Properties of the Laplace Transform Properties of the Laplace Transform
s
n Linearity: If F1(s) and F2(s) are, respectively, the n Example: Scaling L [ cos(wt )u (t )] = ult a)

s + w2 2
-

Laplace Transforms of f1(t) and f2(t) 1 s/2 s

L [cos(2wt )u (t )] = = 2
L [ a1 f1 (t ) + a2 f 2 (t )] = a1F1 (s) + a2 F2 (s) Emms
/ ☐ dx
n Time shift
-
s / 2) + w
2 (0 2 2
s + 4w2 a

n Example gag;gt=o^
" "
L[ f (t - a)u(t - a)] =0
e- as F (s) (a ³ 0)
6ÑdOUbdn7
é1 ù s
L [ cos(wt )u (t ) ] = L ê ( e jwt + e - jwt ) u (t ) ú = 2 }
Lfcoscwt )
¥ ¥
act )
ë2 û s +w
2
L [ f (t - a)u (t - a)] = ò f (t - a)u(t - a)e
- st
dt = ò f (t - a)e - st dt
Scaling: If F(s) is the Laplace transform of f(t),
-

n 0- -0a
"
;§n•% "
n Let x = t-a à dx = dt, t = x+a
}]
then 1 s g. s jw
L [ f (at )] =
{ É°
¥ ¥
-

-
ago
F( ) L [ f (t - a)u (t - a)] =
" "" " a a coso-jsinoe.it .
1
ò f ( x)e- s ( x + a ) dx = e - as ò f ( x)e - sx dx = e - as F (s )
fit >
[ is:é
>

Fcs ) 0→
Example: 0- -
Stjw
x = at
→

¥ sx ¥
n
L [ f (at )] = 1 Fcs )
ò
-
L [ f (at )] = ò f ( x)e a dx
- st
f (at )e dt ,
s
L [cos w(t - a)u (t - a)] = e- as
→

0-
dx = adt a 0- skat s + w2
2

5 6

Remark ! ! nosiirnsosnimourouflcoswtuct-ai-tffcoscwct-apuct.ci]
Properties of the Laplace Transform Properties of the Laplace Transform
n Frequency shift i
L éëe-at f (t )u(t )ùû = F (s + a) n 2nd order derivative
¥ ¥
L [ f ¢¢(t )] = sL [ f ¢(t )] - f ¢(0- ) = s éësF (s) - f (0- ) ùû - f ¢(0- )
L éëe- at f (t )u (t ) ùû = ò e- at f (t )e- st dt = ò f (t )e- ( s + a )t dt = F (s + a) -

= s 2 F (s) - sf (0- ) - f ¢(0- )

- -
~

- -
n Example 0 0

s+a w n nth order derivative

L éëe- at cos wtu (t ) ùû = L éëe- at sin wtu (t ) ùû =
( s + a)2 + w2 ( s + a)2 + w2 L éë f n (t )ùû = s n F (s) - s n-1 f (0- ) - s n-2 f ¢(0- ) - ! - s0 f n-1 (0- )
* n Time differentiation
é df ù
L ê u (t ) ú = sF ( s) - f (0- ) n Example: f (t ) = cos wtu(t ), f (0) = 1, f ¢(t ) = -w sin wtu(t )
oaf
¥
é df ù df ë dt û
L ê u (t ) ú = ò e - st
dt 1 1
fit , ë dt û 0-
dt L [sin wtu (t )] = - L [ f ¢(t )] = - éë sF ( s) - f (0- ) ùû
w w
-
-

n Integrate by part: let u = e-st, du = -se-st, v = f(t)

bgpart
Jvdu 1æ s ö w
ur
=- çs 2 - 1÷ = 2
-

¥ ¥ ¥ ¥
df ¥
wè s +w 2
ø s +w
2
ò uv¢dx = uv - ò u¢vdx òe - ò -se
- st
dt = f (t ) e- st - st
f (t )dt
dt 0-
0- 0- 0- 0- ¥

o-flo-1-fsc.T-ktiq.IT#-if. sFcs)-flo-
7 8
fit ,
=

→ Fcs)

)
Properties of the Laplace Transform fct ) Properties of the Laplace Transform
ut
→ Fcs )
¥
Time integration L é t f (t )dt ù = é t f (t )dt ù e - st dt Example: let f(t) = u(t)
ëê ò0 ûú ò ëê ò0
n fit >
Hit > ?
n .

ûú
→

0-
n The ramp function f(t) = t Fist > .

1g
1
.

t
Integrating by part, let u = ò f ( x)dx, v¢ = e- st , v = - e - st 1æ1ö 1
L [t ] = L é ò u (t )dt ù = ç ÷ = 2
n t
- 0
-
s êë 0 úû s è s ø s
¥ ¥ -

ò uv¢dx = uv - ò u¢vdx ° n The parabola f(t) = t2

fu du 1æ 2 ö 2
- -

L éët 2 ùû = L é 2ò tdt ù = ç 2 ÷ = 3
0 0 -
t

t on êë 0 úû s è s ø s
¥ ¥
æ 1 ö ¥æ 1ö
ò éëêò f (t )dt ù e- st dt = é ò f (t )dt ù ç - e- st ÷
t
- ò - ç - ÷ e- st f (t )dt
0 ûú ëê 0 ûú è s ø 0-
0
è sø n The cubic function f(t) = t3
0-
æ1ö 1 0T¥ 1 æ 3 × 2 ö 3!
L éët 3 ùû = L é3ò t 2 dt ù = ç 3 ÷ = 4
¥ t
= ò - ç ÷ e- st f (t )dt = F ( s )
0
èsø s êë 0 úû s è s ø s
1 Eventually, f(t) = tn
L é ò f (t )dt ù = F ( s) n!
t n
êë 0 úû s Integrate ÷s
L éët n ùû =
s n +1
a- 9 10
differentiate xs

Properties of the Laplace Transform Properties of the Laplace Transform

µ
't )
n Frequency differentiation n Time periodicity f. MN
shift on

n
¥
Let F ( s) = ò f (t )e- st dt f (t ) = f1 (t ) + f1 (t - T )u (t - T ) +
- →

! É
0
Differentiate w.r.t. s dF (s) = ò f (t ) × ( -te- st ) dt = L [ -tf (t )] f1 (t - 2T )u (t - 2T ) +!
¥
n -
0 ds n Laplace transform Timeshift
dF ( s) F ( s) = F1 ( s) + F1 ( s)e -Ts + F1 ( s)e -2Ts
L [tf (t )] = - -

ds
-

+ F1 ( s)e -3Ts + !

÷
n Similarly, L éët n f (t ) ùû = (-1)n
d n F ( s) L[ t ] .

1g = F1 ( s) éë1 + e -Ts + e -2Ts + e -3Ts + !ùû

ds n n From 1
1 + x + x 2 + x3 + ! =
n Example 1- x
d æ 1 ö 1 n Thus F1 ( s)
L éëte - at u (t ) ùû = - ç ÷=
ds è s + a ø ( s + a) 2
F ( s) =
1 - e-Ts
d
11 12
 Properties of the Laplace Transform L

I
,

n Initial and final value theorem

constant
n Recall é df ù ¥ df
<

Time doff L ê u (t ) ú = ò - e dt = sF ( s ) - f (0)

- st inverse

ë dt û 0 dt ~

L
""ÑIÑwoiw↳=%s
n Let s goes to infinity
f (0) = lim [ sF ( s)] initial
o

take lim [ sF ( s) - f (0)] = 0

→
1in
s→•
s ®¥ -
s ®¥

Next, let s goes to zero

-

n
¥ df -0×t ¥
n lim éë sF ( s ) - f (0- ) ùû = ò -
s ®0 0 dt 1.
e dt = ò - df = f (¥) - f (0 - )
0 .

f (¥) = lim [ sF ( s)] Final

s ®0
-

n Example
5 f (t ) = sin 5tu (t )??
☐
f (t ) = e-2t sin 5tu (t ) Û F (s) =
( s + 2)2 + 52
→ initial

find
SF's>

Sfcs> →
13
→
¥7m
him
Donson ;nÑJoio:oon
14

s→o

Inverse Laplace Transform Partial Fraction

n

n
The general form
Recall: ② F (s) =
N ( s)
D( s )
Rational
Function
n

N ( s)
lNo&bÉq,qé•t
Simple (first-order) poles à D(s) is a product of factors
k1 k2 kn
11878ns →
F ( s) = = + +!+
q Roots of N(s) = 0 are zeros ( s + p1 )( s + p2 )! ( s + pn ) ( s + p1 ) ( s + p2 ) ( s + pn )
Roots of D(s) = 0 are poles
q
n Residue method: k1, k2, …, kn are residues of F(s)
n Want to find f (t ) = L-1 [ F (s)] n Multiply (s+p1)
n So far, we have only the knowledge of table ( s + p1 )k2 ( s + p1 )kn
f @ (Stp , ) ( s + p1 ) F ( s ) = k1 + +! +
(previous slide) -
p,
+p,i¥p)
- ( s + p2 ) ( s + pn )
, n Let s = -p1
n Plan: break the F(s) into simple terms s¥ ( Japp
n Method: partial fraction s
(s + p1 ) F (s) s =- p = k1 ki = (s + pi ) F (s) s =- p
-p
-
1
, i

n Steps: 1) Decompose F(s) using partial fraction

2) Find the inverse of each term f (t ) = L [ F (s)] = éëk1e- p1t + k2e- p2t + ! + kne- pnt ùû u(t )

15 **Remark: F(s) is a proper rational function and all pi are distinct 16

 Partial Fraction Partial Fraction
n Repeated poles at s = -p n Complex poles à completing the square
kn kn-1 k2 k1 A1s + A2
F (s) = + n -1
+!+ + + F1 (s) F (s) = + F1 ( s)
( s + p) ( s + p)
n
( s + p) ( s + p)
2
s + as + b
2
n D(s) à let -

where F1(s) is the remaining part of F(s) with no pole

ooswt
¥-2
-

s + as + b = s + 2as + a + b = (s + a) + b
2 2 2 2 2 2

Similarly, kn = (s + p)n F (s) s=- p Winborn ( )

\

n n
smart
n N(s) à let A1s + A2 = A1 (s + a) + B1b
£÷
-

n Next, we differentiate to get rid of kn, and

diff ÑoWinIo d A1 ( s + a) B1b
kn -1 = [( s + p)n F ( s )] s =- p → F ( s) = + + F1 ( s)
kn ,ÑÑso ds ( s + a) + b ( s + a ) 2 + b 2
2 2

Tmoohe§m%
-

n Repeating 1 d2
kn - 2 = [( s + p)n F ( s)] s =- p n The inverse transform
2! ds 2
n The mth term
1 d m
(
f (t ) = Ae
1
-at
)
cos bt + B1e-at sin bt u(t ) + f1 (t )
kn - m = [( s + p)n F ( s)] s =- p
m! ds m Note: N(s) and D(s) have real coefficients and the roots must occur in conjugate pairs
17 18

Example V ( s) =
10s 2 + 4 Example H (s) =
20
s( s + 1)( s + 2)2 ( s + 3)( s + 8s + 25)
2

n Calculate v(t) n Calculate h(t)

20 A Bs + C
Partial fraction gives A B C D H (s) = = + 2
n V ( s) = + + + ( s + 3)( s + 8s + 25) s + 3 s + 8s + 25
2
s s + 1 (s + 2) s + 2
cs+%
2
n For each coefficient n (s+3) 20

-0
A = (s + 3) H (s ) s =-3 = 2 =2
10s + 4
2
4 s + 8s + 25 s =-3
c
-

A = sV (s ) = = =1 v(t ) = (1 - 14e-t + 13e-2t

s =0
( s + 1)( s + 2)2 1× 22 n Next, will try s = 0, 1
-0s =0
+ 22te-2t )u (t )
10s 2 + 4 14 n Let s = 0, 20 = A + C 20 = 25 A + 3C
C-
my
B = ( s + 1)V ( s ) s =-1 = = = -14 (3)(25) 3 25
s( s + 2)2 s =-1
-1×12
Let s = 1, 20 A B+C 20 = 34 A + 4 B + 4C

÷
n
10s + 4 2
44 = +
C = ( s + 2) V ( s ) s =-2
2
= = = 22 (4)(34) 4 34
s( s + 1) s =-2 -2 × -1
d 20s( s 2 + s) - (10s 2 + 4)(2s + 1) A = 2, C = -10, B = -2 æ 2 ö
D= éë( s + 2)2V (s) ùû = = 13 h(t ) = ç 2e -3t - 2e -4t cos 3t - e -4t sin 3t ÷ u (t )
ds s =-2 (s 2 + s)2 è 3 ø
s =-2

19 20