2.

0 Introduction to Laplace transforms

The Laplace transform is a method of changing a differential equation into algebraic
equation which manipulated by normal algebraic rules and convert back into a differential
equation by inverse transforms.

Diffential Equation Algebraic Equation

2
d y dy Step 1 2
2 + −3 y =0 2s L{y}+5 sL{y}−3 L{y}−8s−38=0
dx 2 dx L { } , Lapla
ce
Step 2 Algebraic
Simplificati
on
Final Solution of Differential Solution of Algebraic Equation
Equation Step 3

y=6 e −2e
4x −3 x -1
L { },
=6 ( s−41 )−2( s+13 )
Inverse Laplace

Common notations used for the Laplace transform

There are various commonly used notations for the Laplace transform of f (t) and these
include:
L { f (t ) } L { f (t )}
(i) or
L(f )
(ii) or L f
f (s) f (s)
(iii) or

2.1 Derive the Laplace Transforms of an expression by using integral definition

The Laplace transform of a function f (t ) is denoted by F( s) or L { f (t ) } , is an integral

transform given by the Laplace integral.

∞ −st
L { f (t )}=∫ 0
e f (t ) dt=F( s)

The Laplace transform is an operation that transforms a function of t defined on [0,∞ )

,to a function s . The different continuous functions of t will have different transforms.
2.1.1 Laplace transforms of elementary functions

1) f (t )=a

Using defintion of Laplace Transform ,determine Example

F(s) if f (t )=a ,where a is constant
∞ −st Determine F( s) if f (t )=4
L { f (t )} =∫ e f (t) dt ∞
0
∞ −st L { f (t )} =∫0 e−st f (t) dt
L {a } =∫0 e (a) dt ∞ −st
L {4 } =∫0 e (4) dt
[ ]
−st ∞
ae

[ ]
= −st ∞
−s 4e
0 =
a ∞
−s 0
= [ e− st ]0
−s 4 − st ∞
= [ e ]0
a −∞ 0 −s
=− [ e −e ]
s 4 −∞ 0
=− [ e −e ]
a s
=− [ 0−1 ]
s 4
=− [ 0−1 ]
a s
F( s)=
s 4
F( s)=
s

a
∴ L { a }=
s

1
L {1 }=
s
2
L {2 }=
s
4
L {−4 }=−
s
Using defintion of Laplace Transform ,determine Example 1
−at 3t
F(s) if f (t )=e ,where a is constant Determine F( s) if f (t )=e
∞ −st ∞ −st
L { f (t )} =∫0 e f (t) dt L { f (t )} =∫0 e f (t) dt
∞ −st
=∫0 e (e ) dt
∞ −st at
L {e } 3t
3t
L {a } =∫ 0
e (e ) dt
∞
=∫0 e−st+3t dt
∞ −st+at
=∫0 e dt
∞
=∫0 e−t ( s−3 ) dt
∞
=∫0 e−t ( s−a ) dt

[ ] [ ]
∞
e
−t ( s−a ) ∞ e−t ( s−3 )
= =
−( s−a ) 0
−( s−3 ) 0

1 ∞
=
1 ∞
[ e−t ( s−a) ]0 = [ e−t ( s−3) ]0
−( s−a ) −( s−3 )
1 1
=− [ e−∞−e0 ] =− [ e−∞−e0 ]
( s−a ) ( s−3 )
1 1
=− [ 0−1 ] =− [ 0−1 ]
( s−a ) ( s−3 )
1 1
F( s )= F( s )=
s−a s−3

∞ −st −2t
L {e } =∫0 e (e ) dt
Example 2 −2t
−( 2t−3 )
Determine F( s) if f (t )=e ∞ −st−2 t
=∫ 0
e dt
=e−2 t+3 =e 3 ( e−2t )
−( 2t−3 )
f (t )=e
∞ −t ( s+2 )
=∫0 e dt
L { f ( t ) }=e 3 L {e−2t }

( ) [ ]
−t( s+2 ) ∞
1 e
=e 3 =
s+2 − ( s+ 2 ) 0

e3 =
1 ∞
[ e−t ( s+2 )]0
F ( s) = −( s+2 )
s+2
1
=− [ e−∞ −e 0 ]
( s +2 )
1 1
=− [ 0−1 ] =
( s +2 ) ( s+ 2 )
 3) f (t )=t
Using defintion of Laplace Transform ,determine
f (t )=t ,where a is constant
F(s) if

∞
L { f (t )} =∫0 e−st f (t ) dt
∞ −st
L {t } =∫ 0
e .t dt
Integration By Parts

Step1: Choose u and

Substitute
=uv− v du
into dv…………….LATE
formula ∫ Or Tabular method

Step 2: U(Diff) dv(Int)

t =e
− st
u=t
∫ −st (+)
( )
e−st dv=
e−st e dt
diff du −s ∫ −s e.−1 st dx
=t − Int 1 =
e−st
=1 v= (-) −s
dt −s
du=1.
= (s
−st
−tedx 1
− − ∫ e−st dx
s )( ) (+)
0 =− ( )1 e−st
s −s
−st
e
¿ 2
s
= ( −te−st
s
e−st
− 2
s )( )
= ( −te−st
s )( )
e−st
− 2
s

f (t )=t n ,where n=0,1,2,3....

[ ]
∞
∞ − st −te−st e−st
∫ 0
e .t dt=
s
− 2
s By similar method it may be shown that
0
2
∴ L {t 2 }=
s3
=
(−∞ e−∞ e−∞
s
− 2 −
s )(
−0 e0 e0
s
− 2
s ) ∴ L {t 3}=
( 3)( 2 ) 6
s4
= 4
s

( s)
=( 0−0 ) − 0−
1
2
Thus, ∴ L {t n }=
n!
s n+1
1
=
12
∴ L { t }= s
s2

3) f (t )=sin at
 ∞ Tabular method
L { f defintion
Using (t )}
∫0
−st
=of Laplace
e f (t ) Transform
dt ,determine

f (t )=sin at ,where
∞ −st a is constant
L {ifsin at }
F(s) =∫0 e . ( sinat ) dt

U(Diff) dv(Int)
− st
sin(at ) =e
(+)
−st
a cos(at ) e
(-) =
−s

−a2 sin(at ) e
−st
e
−st
(+) = = 2
−s (−s ) s

∞ −st sin ( at ) e− st a cos ( at ) e−st a 2 sin ( at ) e−st

∫ 0
e . ( sinat ) dt= −s
−
s2
− ∫ s2
dt

∫
∞ −st
0
e . ( sinat ) dt
sin ( at ) e− st a cos ( at ) e−st a2
−s
−
s2
− 2
s ( )∫ e−st sin ( at ) dt

()
a2 − st −st
sin ( at ) e a cos ( at ) e
s2
∫ e− st sin ( at ) dt +∫∞ e−st . ( sinat ) dt −s
−
0 s2

( )∫
a2 − st −st
+1 e− st sin ( at ) dt sin ( at ) e − a cos ( at ) e
s2 −s s2

( )∫
a2 +s 2 − st −st
e−st sin ( at ) dt sin ( at ) e a cos ( at ) e
−
s2 −s s2

( )[ ]
∞
s2 sin ( at ) e−st a cos ( at ) e−st
= 2 2 −
∫ e−st sin ( at ) dt a +s −s s2 0

=
( s2
a2 + s 2 )([ sin ( ∞ ) e−∞ a cos ( ∞ ) e ∞
−s
−
s2
−
−s
−
][
sin ( 0 ) e0 a cos ( 0 ) e0
s2 ])
 =
( s2
a2 + s 2 )(
[ 0−0 ] − 0−
[
a cos ( 0 ) e0
s2 ]) a
∴ L { sin at }=

[ ])
s + a2
2

= ( 2
s2
a +s 2 )( a
[ 0−0 ] − 0− 2
s
eg : L { sin 2t }=
a
2
s +4
s2
F( s )= 2 2
a +s ( )( )
a
s 2
a
= 2 2
s +a eg : L { sin 4 t }= 2
a
s +16

3) f (t )=cosat
∞ Tabular method
L { f defintion
Using (t )}
∫−st
=of0Laplace
e f (t ) Transform
dt
f (t )=sin at ,where a is constant
,determine

F(s) if ∞ −st
L { cosat } ∫0
= e . ( cosat ) dt

U(Diff) dv(Int)
− st
cos( at ) =e
(+)
−st
−a sin( at ) e
(-) =
−s

2
−a cos(at ) e−st e−st
(+) = = 2
−s (−s ) s

−st −st 2 −st

∞ − st cos ( at ) e a sin ( at ) e a cos ( at ) e
∫ 0
e . ( cosat ) dt= −s
+
s2
− ∫ s2
dt

∫
∞ −st
0
e . ( cosat ) dt
cos ( at ) e−st a sin ( at ) e−st a2
−s
+
s2
− 2
s ( )∫ cos ( at ) e−st dt

( )
a2 −st −st
cos ( at ) e a sin ( at ) e
s2
∫ e− st cos ( at ) dt +∫∞ e−st . ( cosat ) dt −s
+
0 s2

( )∫
a2
s2
+1 e− st cos ( at ) dt =
sin ( at ) e−st a cos ( at ) e−st
−s
−
s2
( )
a2 +s 2 −st −st
sin ( at ) e a cos ( at ) e
s2
∫ e−st cos ( at ) dt = −
−s s2

( )[ ]
∞
s2 sin ( at ) e−st a cos ( at ) e−st
= 2 2 −
∫ e−st sin ( at ) dt a +s −s s2 0

(s2
= 2 2
a +s )([ sin ( ∞ ) e−∞ t a cos ( ∞ ) e−∞ t
−s
−
s2
−
−s ][
sin ( 0 ) e 0 a cos ( 0 ) e 0
−
s2 ])
=
( 2
s2
a +s 2 )( 1
[ 0−0 ] − − −0
s [ ]) ∴ L { cos at }=
s
a + s2
2

F( s )=
( s2
a2 + s2 )( )
1 s
= 2 2
s a +s eg : L { cos 2 t } = 2
s
s +4

s
eg : L { cos 4 t }= 2
s +16

Example:
−2t
By using definition ,determine the Laplace Transform of function f (t )=−5+3 e

L { f (t ) } =L {−5 }+L { 3 e−2 t }

∞ ∞
L {−5 } =∫0 e−st (-5) dt L {e } =∫0 e−st (e−2 t ) dt
−2t

[ ]
∞ −st−2 t
−st ∞
−5e =∫ e dt
= 0
−s 0 ∞ −t ( s+2 )
=∫0 e dt
−5 ∞
= [ e−st ]0

[ ]
−s ∞
e−t ( s+2 )
5 −∞ 0 =
= [ e −e ] −( s+3 ) 0
s
1 ∞
5
= [ 0−1 ]
= [ e−t ( s+2) ]0
−( s +2 )
s
1
=
5 =− [ e−∞ −e 0 ]
s ( s +2 )
1
=− [ 0−1 ]
( s +2 )
1
=
s +2
 5 1
F( s )= +
s s+2

Finding the Laplace Transform of a Piecewise Function

Determine the Laplace transforms of

{
2t
f (t )= e ; 0≤t <1
4 ; t≥1
Since the expressions defining f(t) differ on each of the subinterval , so we break the integral into two
separate parts.

Solution:

1 ∞
L { f (t ) } =∫0 e− st . ( e 2t ) dt+∫1 e−st . ( 4 ) dt

∞
∫1 e− st . ( 4 ) dt
1
∫0 e−st . ( e2t ) dt
∞
=4∫1 e−st dt
1 −st+2 t
=∫0 e dt

[ ]
1 −t ( s−2 ) ∞
=∫ e dt e−st
0 =4
1 −t ( s−2 )
-s 1
=∫ 0
e dt 4 −∞ -s
= [ e -e ]
[ ]
1 −s
e−t ( s−2 )
=
−(s−2) 0
 [ ]
e−( s−2 ) 1 4
= − =− [ 0 -e-s ]
−( s−2 ) −( s−2 ) s
( ) 4 e−s
e− s−2 1 ¿
¿− + s
( s−2 ) ( s−2 )

− ( s−2 )
e 1 4 e−s
F( s )=− + +
s−2 s−2 s

Example
Sketch the graph and find the Laplace Transforms of the function by using defintion
integral

{
0 ; 0<t<1
f (t )= 10 ; 1<t <3
2t +3 ; t≥3

0<t <1
,
1<t <3
When ,
t≥3
1 −st ,
∫0
e . (0 ) dt When
=0 3 −st When
∫1
e . ( 10 ) dt
∞ −st
∫
3
e . ( 2t+3 ) dt
3 −st
=10 ∫1 e dt U(Diff) dv(Int)
2t +3 − st

[ ]
−st 3 (+) =e
e
=10
-s 1 e
−st

(-)
2 =
10 −s
= [ e−3 s -e -s ]
−s
 −3 s −s
10 e 10 e
=− +
( )
0 −st −st
s s (+) 1 e e
=− = 2
s −s s

[ ( ) ]
∞
e−st 2 e−st
= (2t +3 ) − 2
−s s 3

[ ( ) ][ ( ) ]
−∞ −∞
e 2e e−3 s 2 e−3 s
¿ (2 ∞+3 ) − 2 − (9) − 2
−s s −s s

[ ( )
¿ [ 0−0 ] − ( 9)
e−3 s 2 e−3 s
−s
− 2
s ]
9 e−3 s 2 e−3 s
¿ + 2
s s

∞ −st
∫
1 −st 3 −st
F( s) =∫ 0
e .(0 ) dt+ ∫ 1
e . ( 10 ) dt + 3
e . ( 2t+3 ) dt
−3 s −s −3 s −3 s
10 e 10 e 9e 2e
=− + + +
s s s s2

10 e−s e−3 s e−3 s

= − + 2
s s s

Tutorial 2.1:

1. Use the (integral transformation ) defition of the laplace transform to find the Laplace transform
∞ −st

function below .[Hint: L

{ } ∫
f (t ) = 0 e f (t ) dt=F( s)
]

a) f (t )=5 5
F( s)=
s
Ans:
b) f (t )=e 6t 1
F( s )=
s−6
Ans:

c) −2t 1
f (t )=e F( s )=
s +2
` Ans:
d) −4 t−2 1
f (t )=e F( s )=
e 2 ( s+4 )
Ans:
e) f (t )=2t 2
F( s )=
s2
Ans:
 f) f (t )=cos 4 t s
F( s )= 2
s +16
Ans:
g) f (t )=1−e 4 t 1 1
F( s )= −
s s−4
Ans:

2. Determine the Laplace transforms of by using definition of integral

{
a) −5 s
f (t )= 0 ; t<5 10 e
F( s)=
10 ; t≥5 Answer: s

f (t )={
b) −s
t ; 0≤t<1 1 e
F( s )= 2 −
1 ; t≥1 s s
Answer:

{ 1 e−2 s 4 e−2 s
c) 1 ; 0≤t<2
f (t )= F( s )= + +
4 ; t≥2 s2 s s
Answer:

{
−5 s −10 ( s−4 )
2 ; 0<t<5 2 2e
F( s )= − +
e
f (t )= 0 ; 5<t<10 Answer: s s s−4
e 4t ; t≥10

{
d) −2( s−1) −4 s
et ; 0<t<2 F( s)=
1
−
e
+
5e
f (t )= 0 ; 5<t<10 s−1 s−1 s
Answer:
5 ; t≥4

{
e) −2 s −4 s
0 ; 0<t<2 e e
F( s)= −
f (t )= 1 ; 2<t <4 s s
Answer:
2 ; t≥4

3. Sketch the graph and find the Laplace Transforms of the function

{
f (t )= 7 ; 0≤t<1
2t +8 ; t≥1

7 3 e−s 2 e−s
F( s )= + + 2
Answer: s s s

4. Sketch the graph and find the Laplace Transforms of the function
 {
0 ; 0<t<1
f (t )= 3 ; 1≤t <3
2t ; t≥3

3 e−3s 3 e−s 2 e−3 s

F( s )= + 2 + 2
Answer: s s s

5. Determine the Laplace transforms of by using definition of integral

f (t )= { 1
e2+3 t
; 0≤t< 4
; t≥4

−4s 2
1 e e [ −4 ( s−3 )]
F( s )= − + e
Answer: s s s−3

2.2 Table of Laplace Transform

2.2.1 Properties of Laplace Transform

Some properties of the Laplace Transform

Let f ,f 1 ,f 2 be a functions whose Laplace Transforms exist and c be a constant

a) L { 0 }=0

b) L { f 1±f 2 }= L { f 1 }+ L { f 2 ) }

c) L { cf (t ) }=c L { f (t ) } ; for any constant c

 Problem 1: using a standard list of Laplace Transforms determine the following:

1
f (t )=1+2t− t 4 2t −t
a) 3 c) f (t )=5 e −3 e

{ }
1 4 From Table
F( s )=L { 1 }+ L {2 t }−L t
3 F( s )=L { e } −L {3 e
2t −t
} #2 ,#2
1
=L { 1 } +2 L { t }− L { t 4 }
From Table 3 =L {e 2t }−3 L { e−t }
#1 ,#3, #3 1
() ( )
1 1 4!
¿ +2 2 − 4+1
s s 3 s
¿5 ( ) (
1
s−2
−3
1
s−(−1 ) )
1 2 1 24
¿ + 2− 5
s s 3 s ( ) ¿
5
−
s−2 s+1
3

1 2 8
¿ + 2− 5
s s s

−5t 3t 3
b) f (t )=6 e +e +5 t −9

F( s )=L { 6 e−5t } + L { e 3 t }+ L { 5 t 3 } −L { 9 }

=6 L { e−5 t } +L { e3 t }+5 L { t 3 }−9 L { 1 }

¿6
1
(
s−(−5 ) s−3
+
)
1
( ) () 3!
+5 3+1 −9
s
1
s

s+5 ) s−3 (s ) (s )
¿ 6(
1 1 6 1
+ +5 −9 4

6 1 30 9 From Table
¿ + + 4− #2 ,#2, #3,#1
s+5 s−3 s s

Problem 2: using a standard list of Laplace Transforms determine the following:

) f (t )=6 sin 3 t−4 cos 5t

a

F( s)=L { 6 sin 3 t } −L { 4 cos5 t }

=6 L { sin 3 t } −4 L { cos5 t } From Table

3
( ) ( )
¿ 6 2 2 −4 2 2
s +3
s
s +5
#7 ,#8,

18 4s
¿ 2 −2
s +9 s +25
 f (t )=3 sinh 2t +3 sin 2t
b)

F( s )=L { 3 sinh 2t }−L { 3 sin 2t }

From Table
=3 L { sinh 2t }−3 L { sin 2t }
#17 ,#7,
2
( ) ( )
¿ 3 2 2 +3 2 2
s −2
2
s +2
6 6
¿ 2 + 2
s −4 s +4

3t 3t
h(t )=e +cos 6 t−e cos 6 t
c)

F( s )=L { e 3t } +L { cos 6 t }−L { e 3 t cos 6 t }

From Table

( )(
1 s s−3
)
#2 ,#8.#20
= + 2 2 −
s−3 s +6 ( s−3 )2 + 62
1 s s−3
¿ + 2 −
s−3 s +36 ( s−3 )2 +36

The derivative of Laplace Transforms

f (t )=t cosh 3 t
Problem 3: Determine the Laplace Transforms of

Solution:

This function is not in the table of Laplace transforms. However , we can use formula

(30) from the table to compute its transforms. IF n=1 ,

n
f (t )=t n f (t )−−−−−−−¿F (s)=(−1 ) F n( s)
 IF n=1

L { t f (t ) }=−F ' (s)

IF n=2
L {t 2 f (t ) }=F ' '(s)

Where f (t )=cosh3 t
u= s 2
v =s −9
s Differentiate using quotient rule
F( s)= u '=1 v '=2 s
s2 −9
2
−s −9
F '( s)= dy vu '−uv '
( s 2−9 )2 =
dx v2

Therefore , dy ( s −9 ) −2 s
2 2
=
dx ( s 2 −9 )2
L {t cosh 3 t }=−F ' (s )
dy −s 2 −9

(( ) ) (
2 2
−s −9 s +9 =
=− 2
= 2
dx ( s 2 −9 )2
s 2 −9 s2 −9 )

Laplace Transforms of Trigonometric Functions

Problem 3: Determine the Laplace Transforms of:

DOUBLE ANGLE FORMULAE

sin 2θ=2 sin θ cos θ

cos2θ=cos2 θ−sin2 θ
2
=1−2sin θ
2
a)
f (t )=sin2 t

1 1
sin2 t= − cos2 t
2
Since cos 2 t =1−2 sin t then 2 2

L {sin 2 t }=L {12 − 12 cos 2 t }

1 1
= L { 1 }− L {cos 2t }
2 2
= () ( )
1 1 1 s
−
2 s 2 s2 +22
1 s
¿ − 2
2 s 2 ( s +4 )
SUM AND DIFFERENCE
FORMULAE

b) f (t )=3 sin ( 2t +α )
Using the compound angle formula
sin( A+B )=sin A cos B+cos A sin B

sin( A+B )=sin A cos B+cos A sin B

cos( A+B )=cos A cos B−sin A sin B

f (t )=3sin ( 2t +α )=3 [ sin 2t cosα+cos2t sin α ]

sin( A−B )=sin A cos B−cos A sin B
=3sin2t cos α+3 cos2t sin α

L { 3sin ( 2 t + α ) } =L {3 sin 2 t cos α } + L {3 cos 2t sin α } cos( A−B)=cos

Tutorial 2.2 A cos B+sin A sin B

By using table, determine the

=3 cos αL { sin 2t } +3 sin αL { cos 2 t } Laplace Transform of the
2
( )
=3 cos α 2 2 +3 sin α 2 2
s +2
s
s +2 ( ) following functions of f (t )

2
¿ 3 cos α 2
s +4 ( )
+3 sin α 2
s
s +4 ( )
6 cos α 3 s sin α 6 cos α +3 s sin α
¿ 2 + = 2
s +4 s2 +4 s +4
a) f (t )=sin 3 t 3
F( s)= 2
Ans: s +9
b) f (t )=e 5t F( s)=
1
Ans: s−5
c) 4t 2 1
f (t )=2−e F( s)= −
Ans: s s−4
d) f (t )=3+cos7 t 3 s
F( s )= + 2
Ans: s s + 49
e) 2 3t 2 1
f (t )=t +te F( s )= 3 +
Ans: s ( s−3 )2
f) 2 10 4 3
f (t )=5 t +4 t−3 F( s )= 3 + 2 −
Ans: s s s
g) t3 F( s )=
1 3 2
− −
f (t )= −3 t+2 4 s 4 s2 s
24 Ans:

h) 5 2 8 48 1
t t F( s )= 6 − 5 + 3
f (t )= −2t 4 + s s s
15 2 Ans:

i) f (t )=sin 2t +2 t cos t 2 2 ( s 2 −1 )
F( s )= 2 −
Ans: s +4 ( s 2 +1 )2
j) f (t )=e 3t sin 5t F( s )=
5
Ans: ( s−3 )2 +25
k) f (t )=t+ e−2 t cosh 3 t 1
F( s )= 2 +
s+2
Ans: s ( s−3 )2 −9
l) 2 2 4
f (t )=t +sinh 4 t F( s)= 3 + 2
Ans: s s −16
m) f (t )=t sinh 2 t 8s
( Table #30) F( s )=
Ans: ( s −16 )2
2

n) 2 1 s
f (t )=2 cos t F( s )= + 2
(Apply identity)
Ans: s s +4
0) f (t )=sin(2 t+3 ) s. sin ( 3 ) +2 cos ( 3 )
F( s )=
Ans: s2 +4

p) f (t )=sin( 4−3t ) s. sin ( 4 )−3 cos ( 4 )

F( s)=
Ans: s 2 +9