Laplace Transforms

Analysis of network can be done using the time domain, frequency domain and the complex
frequency domain (s domain). Laplace transforms converts functions in the time domain to s
domain using complex variable 𝑠 = 𝜎 + 𝑗𝜔.

Laplace transformation of a function f (t) is defined as

∞
𝐹(𝑠) = ℒ𝑓(𝑡) = ∫ 𝑓(𝑡) ⋅ 𝑒 −𝑠𝑡 𝛿𝑡
0

The time function is denoted by lowercase letter and the Laplace transform by capital letter.

Laplace transform exist for 𝑓(𝑡) only when t>0

Inverse Laplace transforms permits going back in the reverse direction i.e. from s domain to
time domain.
𝜎0 +𝑗𝜔
1
ℒ −1 [𝐹(𝑠)] = 𝑓(𝑡) = ∫ 𝐹(𝑠)𝑒 𝑠𝑡 𝛿𝑠
2𝜋𝑗
𝜎0 −𝑗𝜔

Basic Functions

A Unit step function

The most common driving function in electrical engineering is the unit step function denoted
as

0, 𝑡≤0
𝑢(𝑡) = 𝑓(𝑥) = {
1, 𝑥>0

1
The Laplace transform is
∞
−𝑠𝑡
1 −𝑠𝑡 ∞
𝐹(𝑠) = ∫ 1 ∙ 𝑒 𝛿𝑡 = [− 𝑒 ]
0 𝑠 0

1 1
= 0+ =
𝑠 𝑠
B Ramp Function

𝑓(𝑡) = 𝑡

f(t)

∞
𝐹(𝑠) = ∫ 𝑡 ∙ 𝑒 −𝑠𝑡 𝛿𝑡
0

Integrating by parts

𝑒 −𝑠𝑡
𝑢=𝑡, 𝛿𝑣 = 𝑒 −𝑠𝑡 , 𝛿𝑢 = 1 , 𝑣 = −
𝑠
∞ ∞
𝑒 −𝑠𝑡 𝑒 −𝑠𝑡
𝐹(𝑠) = [𝑡 ∙ (− )] − ∫ (− ) ∙ 1𝛿𝑡
𝑠 0 0 𝑠

∞
𝑒 −𝑠𝑡
=0−∫ − ∙ 1𝛿𝑡
0 𝑠
∞ ∞
1 1 1
= [ (− 𝑒 −𝑠𝑡 )] = [(− 2 𝑒 −𝑠𝑡 )]
𝑠 𝑠 0 𝑠 0

𝑒0 1
= 2
= 2
𝑠 𝑠

2
C Parabolic function

𝑓(𝑡) = 𝑡 2

f(t)

∞
𝐹(𝑠) = ∫ 𝑡 2 ∙ 𝑒 −𝑠𝑡 𝛿𝑡
0

∫ 𝑢𝑣 = 𝑢𝑣1 − 𝑢| 𝑣2 + 𝑢|| 𝑣3 − 𝑢||| 𝑣4

𝑢 = 𝑡 2 , 𝑢| = 2𝑡, 𝑢|| = 2, 𝑢||| = 0

−𝑠𝑡
𝑒 −𝑠𝑡 𝑒 −𝑠𝑡 𝑒 −𝑠𝑡
𝑣=𝑒 , 𝑣1 = − , 𝑣2 = 2 , 𝑣3 = − 3
𝑠 𝑠 𝑠
∞ ∞
1 −𝑠𝑡 ∞
2
𝑒 −𝑠𝑡 𝑒 −𝑠𝑡
𝐹(𝑠) = [𝑡 (− 𝑒 )] − [(2𝑡 ∙ 2 )] − [(2 ∙ 3 )]
𝑠 0 𝑠 0
𝑠 0

2
𝐹(𝑠) =
𝑠3

From C and B it shows that these function can be generated using

𝑛!
ℒ𝑓(𝑡) = ℒ 𝑡 𝑛 =
𝑠 𝑛+1

3
D Exponential function

i. 𝑓(𝑡) = 𝑒 −𝛼𝑡

f(t)

f(0)

e-at

∞
𝐹(𝑠) = ∫ 𝑒 −𝛼𝑡 ∙ 𝑒 −𝑠𝑡 𝛿𝑡
0

∞
𝐹(𝑠) = ∫ 𝑒 −(𝑠+𝛼)𝑡 𝛿𝑡
0

∞
1
𝐹(𝑠) = [− 𝑒 −(𝑠+𝛼)𝑡 ]
𝑠+𝛼 0

1
𝐹(𝑠) =
𝑠+𝛼
ii. 𝑓(𝑡) = 𝑡 ⋅ 𝑒 −𝛼𝑡

𝑢 = 𝑡, 𝑢| = 1, 𝑢|| = 0

𝑒 −(𝑠+𝛼)𝑡 𝑒 −(𝑠+𝛼)𝑡
𝑣 = 𝑒 −(𝑠+𝛼)𝑡 , 𝑣1 = − , 𝑣2 = −
𝑠+𝛼 (𝑠+𝛼)2

∞
𝐹(𝑠) = ∫ 𝑡. 𝑒 −𝛼𝑡 ∙ 𝑒 −𝑠𝑡 𝛿𝑡
0

∞
𝐹(𝑠) = ∫ 𝑡. 𝑒 −(𝑠+𝛼)𝑡 𝛿𝑡
0

∞ ∞
𝑒 −(𝑠+𝛼)𝑡 𝑒 −(𝑠+𝛼)𝑡
𝐹(𝑠) = [𝑡 ⋅ (− )] − [( )]
𝑠+𝛼 0
𝑠 + 𝛼2 0

1
𝐹(𝑠) =
(𝑠 + 𝛼)2

4
From Di and Dii when 𝑓(𝑡)=𝑡 𝑛 𝑒 −𝛼𝑡 then
𝑛!
𝐹(𝑠) =
(𝑠 + 𝛼)𝑛+1

E Sinusoidal function

𝑓(𝑡) = 𝑠𝑖𝑛𝑤𝑡

𝑒 𝑗𝜔𝑡 − 𝑒 −𝑗𝜔𝑡
𝑠𝑖𝑛𝜔𝑡 =
2𝑗

1 ∞ 𝑗𝜔𝑡
𝐹(𝑠) = ∫ (𝑒 − 𝑒 −𝑗𝜔𝑡 )𝑒 −𝑠𝑡 𝛿𝑡
2𝑗 0

1 ∞ −(𝑠−𝑗𝜔)𝑡
𝐹(𝑠) = ∫ 𝑒 − 𝑒 −(𝑠+𝑗𝜔) 𝛿𝑡
2𝑗 0
∞
1 𝑒 −(𝑠−𝑗𝜔)𝑡 𝑒 −(𝑠+𝑗𝜔)𝑡
𝐹(𝑠) = [− + ]
2𝑗 𝑠 − 𝑗𝜔 𝑠 + 𝑗𝜔 0

1 1 1
𝐹(𝑠) = [ − ]
2𝑗 𝑠 − 𝑗𝜔 𝑠 + 𝑗𝜔

1 𝑠 + 𝑗𝜔 − 𝑠 + 𝑗𝜔 1 2𝑗𝜔
𝐹(𝑠) = [ ] = [ ]
2𝑗 𝑠2 + 𝜔2 2𝑗 𝑠 2 + 𝜔 2
𝜔
𝐹(𝑠) =
𝑠2 + 𝜔2
F Frequency Shifted Sinusoidal Signal

𝑓(𝑡) = 𝑒 −𝛼𝑡 𝑠𝑖𝑛𝜔𝑡

1 ∞ 𝑗𝜔𝑡
𝐹(𝑠) = ∫ (𝑒 − 𝑒 −𝑗𝜔𝑡 )𝑒 −𝛼𝑡 ⋅ 𝑒 −𝑠𝑡 𝛿𝑡
2𝑗 0

1 ∞ 𝑗𝜔𝑡
𝐹(𝑠) = ∫ (𝑒 − 𝑒 −𝑗𝜔𝑡 )𝑒 −(𝑠+𝛼)𝑡 𝛿𝑡
2𝑗 0

1 ∞ −((𝑠+𝛼)−𝑗𝜔)𝑡
𝐹(𝑠) = ∫ (𝑒 ) − 𝑒 −((𝑠+𝛼)+𝑗𝜔)𝑡 𝛿𝑡
2𝑗 0
∞
1 𝑒 −((𝑠+𝛼)−𝑗𝜔)𝑡 𝑒 −((𝑠+𝛼)+𝑗𝜔)𝑡
𝐹(𝑠) = [− + ]
2𝑗 (𝑠 + 𝛼) − 𝑗𝜔 (𝑠 + 𝛼) + 𝑗𝜔 0

1 1 1
𝐹(𝑠) = [ − ]
2𝑗 (𝑠 + 𝛼) − 𝑗𝜔 (𝑠 + 𝛼) + 𝑗𝜔

5
 𝜔
𝐹(𝑠) =
(𝑠 + 𝛼)2 + 𝜔 2

G Co-sinusoidal function

𝑓(𝑡) = 𝑐𝑜𝑠𝜔𝑡

As derived in E and F the Laplace transform of 𝑐𝑜𝑠𝜔𝑡 is

𝑠
𝐹(𝑠) = 2
𝑠 + 𝜔2
And for 𝑓(𝑡) = 𝑒 −𝛼𝑡 𝑐𝑜𝑠𝜔𝑡
𝑠+𝛼
𝐹(𝑠) =
(𝑠 + 𝛼)2 + 𝜔 2

H Hyperbolic functions
𝜔
If 𝑓(𝑡) = 𝑠𝑖𝑛ℎ𝑤𝑡 , then 𝐹(𝑠) = 𝑠2 −𝜔2

𝑠
If 𝑓(𝑡) = 𝑐𝑜𝑠ℎ𝑤𝑡 , then 𝐹(𝑠) = 𝑠2 −𝜔2

Hint

𝑒 𝑗𝜔𝑡 + 𝑒 −𝑗𝜔𝑡
𝑐𝑜𝑠𝑤𝑡 =
2

𝑒 𝑗𝜔𝑡 − 𝑒 −𝑗𝜔𝑡
𝑠𝑖𝑛𝑤𝑡 =
2𝑗

𝑒 𝜔𝑡 + 𝑒 −𝜔𝑡
𝑐𝑜𝑠ℎ𝑤𝑡 =
2

𝑒 𝜔𝑡 − 𝑒 −𝜔𝑡
𝑠𝑖𝑛ℎ𝑤𝑡 =
2

First Shifting Theorem

States that if Laplace transform of 𝑓(𝑡) is F(s) then

ℒ𝑒 𝑎𝑡 ⋅ 𝑓(𝑡) = 𝐹(𝑠 − 𝑎)

Second Shifting Theorem (Time shifting Theorem)

States that if Laplace transform of 𝑓(𝑡) is F(s) then Laplace transform of 𝑓(𝑡 − 𝑎) is

ℒ𝑓(𝑡 − 𝑎) = 𝑒 −𝑎𝑠 ⋅ 𝐹(𝑠)

6
Laplace transform of a derivative

Given a function 𝑓(𝑡) it‘s Laplace transform is

∞
ℒ𝑓(𝑡) = 𝐹(𝑠) = ∫ 𝑓(𝑡). 𝑒 −𝑠𝑡 𝛿𝑡
0

Integrating by parts

−𝑠𝑡 | (𝑡),
𝑒 −𝑠𝑡
𝑢 = 𝑓(𝑡), 𝛿𝑣 = 𝑒 , 𝛿𝑢 = 𝑓 𝑣=−
𝑠
∞
∞
𝑒 −𝑠𝑡 𝑒 −𝑠𝑡 |
𝐹(𝑠) = [𝑓(𝑡) ⋅ (− )] − ∫ − ⋅ 𝑓 (𝑡) 𝛿𝑡
𝑠 0 0 𝑠

𝑓(0+ ) 1 ∞ |
𝐹(𝑠) = + ∫ 𝑓 (𝑡) ⋅ 𝑒 −𝑠𝑡 𝛿𝑡
𝑠 𝑠 0

Multiply both sides by s

𝑠𝐹(𝑠) = 𝑓(0+ ) + ℒ𝑓 | (𝑡)

ℒ𝑓 | (𝑡) = 𝑠𝐹(𝑠) − 𝑓(0+ )

𝑓(0+ ) is the initial value of the function at t=0 which is a constant value.

Laplace transform of an integral

Let the function be ∫ 𝑓(𝑡)𝛿𝑡, the Laplace transform is

∞
ℒ ∫ 𝑓(𝑡)𝛿𝑡 = ∫ ∫ 𝑓(𝑡)𝛿𝑡 . 𝑒 −𝑠𝑡 𝛿𝑡
0

Integrating by parts

−𝑠𝑡
𝑒 −𝑠𝑡
𝑢 = ∫ 𝑓(𝑡)𝛿𝑡, 𝛿𝑣 = 𝑒 , 𝛿𝑢 = 𝑓(𝑡), 𝑣 = −
𝑠
∞ ∞
𝑒 −𝑠𝑡 𝑒 −𝑠𝑡
ℒ ∫ 𝑓(𝑡)𝛿𝑡 = [𝑓(𝑡)𝛿𝑡 ⋅ − ] −∫ − ⋅ 𝑓(𝑡) 𝛿𝑡
𝑠 0 0 𝑠

1 1 ∞
ℒ ∫ 𝑓(𝑡)𝛿𝑡 = ∫ 𝑓(𝑡)𝛿𝑡0+ + ∫ 𝑓(𝑡) ⋅ 𝑒 −𝑠𝑡 𝛿𝑡
𝑠 𝑠 0

𝑓(𝑡)𝛿𝑡0+ 𝐹(𝑠)
ℒ ∫ 𝑓(𝑡)𝛿𝑡 = +
𝑠 𝑠

∫ 𝑓(𝑡)𝛿𝑡0+ gives the value of the integral at t=0

7
Initial Value Theorem

The Laplace transform of a differential is

∞
𝛿
ℒ𝑓 | (𝑡) = 𝑠𝐹(𝑠) − 𝑓(0+ ) = ∫ 𝑓(𝑡) ⋅ 𝑒 −𝑠𝑡 𝛿𝑡
0 𝛿𝑡

If s tends to infinity then

𝛿
lim ℒ𝑓 | (𝑡) = lim 𝑓(𝑡) ⋅ 𝑒 −𝑠𝑡 𝛿𝑡 = lim 𝑠𝐹(𝑠) = 𝑓(0+ ) = 0
𝑠→∞ 𝑠→∞ 𝛿𝑡 𝑠→∞

lim 𝑠𝐹(𝑠) = 𝑓(0+ )

𝑠→∞

Where 𝑓(0+ ) is a constant

This expression permits the evaluation of the initial value of the time domain solution
of 𝑓(𝑡), using the transform version.

Final Value Theorem

Using the Laplace transform of a differential

∞
𝛿 𝛿
ℒ 𝑓(𝑡) = ∫ 𝑓(𝑡) ⋅ 𝑒 −𝑠𝑡 𝛿𝑡 = 𝑠𝐹(𝑠) − 𝑓(0+ )
𝛿𝑡 0 𝛿𝑡

If s tends to zero then

∞
𝛿 𝛿
ℒ 𝑓(𝑡) = lim ∫ 𝑓(𝑡) 𝛿𝑡 = lim 𝑠𝐹(𝑠) − 𝑓(0+ )
𝛿𝑡 𝑠→0 0 𝛿𝑡 𝑠→0

𝛿
ℒ 𝑓(𝑡) = [𝑓(𝑡)]∞ +
0 = lim 𝑠𝐹(𝑠) − 𝑓(0 )
𝛿𝑡 𝑠→0

𝛿
ℒ 𝑓(𝑡) = 𝑓(∞) − 𝑓(0+ ) = lim 𝑠𝐹(𝑠) − 𝑓(0+ )
𝛿𝑡 𝑠→0

𝑓(∞) = lim 𝑠𝐹(𝑠)

𝑠→0

This is useful where the transform solution of the problem is available and the needed
information is about the final or steady state solution.

Time Displacement Theorem

This theorem states that if a function 𝑓(𝑡) is Laplace transformable and

8
 f(t)

t
T

ℒ𝑓(𝑡) = 𝐹(𝑠)

Then

ℒ𝑓(𝑡 − 𝑇) = 𝑒 −𝑠𝑇 ⋅ 𝐹(𝑠)

Example 1.1

Obtain the Laplace transform of 𝑓(𝑡) = 1 − 𝑒 −𝑎𝑡 from first principle, a being a constant.

Solution
∞
𝐹(𝑠) = ∫ (1 − 𝑒 −𝑎𝑡 ) ⋅ 𝑒 −𝑠𝑡 𝛿𝑡
0

∞
𝐹(𝑠) = ∫ 𝑒 −𝑠𝑡 − 𝑒 −(𝑠+𝑎)𝑡 𝛿𝑡
0

∞
𝑒 −𝑠𝑡 𝑒 −(𝑠+𝑎)𝑡
𝐹(𝑠) = [− + ]
𝑠 𝑠+𝑎 0

1 1 𝑎
𝐹(𝑠) = − =
𝑠 𝑠 + 𝑎 𝑠(𝑠 + 𝑎)

Example 1.2

If a function is given by

(𝑠 + 𝑎)𝑠𝑖𝑛𝜃 𝛽𝑐𝑜𝑠𝜃
𝐹(𝑠) = 𝑄 [ 2 2
+ ]
(𝑠 + 𝑎) + 𝛽 (𝑠 + 𝑎)2 + 𝛽 2

Show that the initial value of this function in time domain is equal to 𝑓(0+ ) = 𝑄𝑠𝑖𝑛𝜃

Solution

Using initial value theorem

𝑓(0+ ) = lim 𝑠𝐹(𝑠)

𝑠→∞

9
 𝛽𝑐𝑜𝑠𝜃 + (𝑠 + 𝑎)𝑠𝑖𝑛𝜃
𝐹(𝑠) = 𝑄 [ ]
(𝑠 + 𝑎)2 + 𝛽 2

𝑠𝛽𝑐𝑜𝑠𝜃 + 𝑠(𝑠 + 𝑎)𝑠𝑖𝑛𝜃

𝑠𝐹(𝑠) = 𝑄 [ ]
(𝑠 + 𝑎)2 + 𝛽 2

Divide numerator and denominator by s2

𝛽𝑐𝑜𝑠𝜃 𝑎
+ (1 + 𝑠 ) 𝑠𝑖𝑛𝜃
𝑠𝐹(𝑠) = 𝑄 [ 𝑠 ]
(𝑠 + 𝑎)2 𝛽 2
+
𝑠2 𝑠2

0 + (1 + 0)𝑠𝑖𝑛𝜃
lim 𝑠𝐹(𝑠) = 𝑄 [ ]
𝑠→∞ 1+0

lim 𝑠𝐹(𝑠) = 𝑄𝑠𝑖𝑛𝜃

𝑠→∞

𝑓(0+ ) = 𝑄𝑠𝑖𝑛𝜃

Example 1.3

Find the initial value of

𝑓(𝑡) = 𝑒 −𝜃 (𝑠𝑖𝑛3𝜃 + 𝑐𝑜𝑠5𝜃)

Solution

𝑓(𝑡) = 𝑒 −𝜃 𝑠𝑖𝑛3𝜃 + 𝑒 −𝜃 𝑐𝑜𝑠5𝜃)

3 𝑠+1
𝐹(𝑠) = 2 2
+
(𝑠 + 1) + 3 (𝑠 + 1)2 + 52

3 𝑠+1
𝐹(𝑠) = +
(𝑠 + 1)2 + 9 (𝑠 + 1)2 + 25

3𝑠 𝑠2 + 𝑠
𝑠𝐹(𝑠) = +
(𝑠 + 1)2 + 9 (𝑠 + 1)2 + 25

Divide numerator and denominator by s2

3 1
1+𝑠
lim 𝑠𝐹(𝑠) = 𝑠 +
𝑠→∞ 2 1 9 2 1 25
1+𝑠+ 2+ 2 1+𝑠 + 2+ 2
𝑠 𝑠 𝑠 𝑠
lim 𝑠𝐹(𝑠) = 1
𝑠→∞

𝑓(0+ ) = 1

10
Example 1.4

In the RC network shown the capacitor has an initial charge 𝑞0 = 2500𝜇𝐶. At 𝑡 = 0, the
switch is closwd and a constant voltage source 𝑉 = 100𝑉 is applied to the circuit. Use
Laplace transforms method to find the current.

Solution

1
𝑅𝑖(𝑡) + ∫ 𝑖(𝑡) 𝛿𝑡 = 𝑉
𝑐
1 𝐼(𝑠) 1 𝑉
𝑅𝐼(𝑠) + [ + ∫ 𝑖(𝑡)𝛿𝑡0+ ] =
𝑐 𝑠 𝑠 𝑠
𝐼(𝑠) 1 𝑉
𝑅𝐼(𝑠) + + 𝑄0 =
𝑠𝑐 𝑠 𝑠
1 𝑄0 𝑉
𝐼(𝑠) (𝑅 + )+ =
𝑠𝑐 𝑠𝑐 𝑠
1 𝑅 𝑄0 𝑉
𝐼(𝑠) (𝑠 + ) + =
𝑅𝑐 𝑠 𝑠𝑐 𝑠
𝑉 𝑄
( 𝑠 − 𝑠𝑐0 )
𝐼(𝑠) =
𝑅 1
𝑠 (𝑠 + 𝑅𝑐 )

𝑉 𝑄0 𝑠 1
𝐼(𝑠) = ( − ) ( )
𝑠 𝑠𝑐 𝑅 𝑠 + 1
𝑅𝑐

𝑉 𝑉0 1
𝐼(𝑠) = ( − ) ( )
𝑅 𝑅 1
𝑠 + 𝑅𝑐

1 1 𝑄0 2500×10−6
= = 2000, 𝑉0 = = = 50𝑉
𝑅𝑐 10×50×10−6 𝑐 50×10−6
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 𝑉 1 𝑉0 1
𝐼(𝑠) = ( )− ( )
𝑅 𝑠 + 2000 𝑅 𝑠 + 2000
100 1 50 1
𝐼(𝑠) = ( )− ( )
10 𝑠 + 2000 10 𝑠 + 2000
10 5
𝐼(𝑠) = ( )−( )
𝑠 + 2000 𝑠 + 2000
Transform back to time domain

𝑖(𝑡) = 10𝑒 −2000𝑡 − 5𝑒 −2000𝑡 𝐴

Example 1.5

A shifted unit step function is expressed as 𝑓(𝑡) = 𝑢(𝑡 − 𝑎). Obtain it’s Laplace transform.

Solution

A unit step function is defined as

0, 𝑡<0
𝑢(𝑡) = {
1, 𝑡≥0

u(t)

But when it is time shifted or delayed by a

0, 𝑡<𝑎
𝑢(𝑡 − 𝑎) = {
1, 𝑡≥a

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 u(t-a)

t
a

∞ ∞
−𝑠𝑡
ℒu(t − a) = ∫ u(t) ⋅ 𝑒 𝛿𝑡 = ∫ 1 ⋅ 𝑒 −𝑠𝑡 𝛿𝑡
a a

∞
𝑒 −𝑠𝑡 𝑒 −a𝑠
= [− ] =
s a s

1
ℒu(t − a) = e−as
s

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