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03 - The Laplace Transform

The Laplace transform is a method to transform a signal from the time domain to the frequency (s) domain. It is similar to the Fourier transform but can handle functions that the Fourier transform cannot, like t, t^2, e^t. The Laplace transform of a function f(t) is defined as F(s) = ∫_0^∞ e^-st f(t) dt. The document provides examples of taking the Laplace transform of various functions and discusses properties like linearity, time shifting, time scaling, and derivatives. It also discusses the inverse Laplace transform and provides examples of taking the inverse transform of functions in the s-domain to return to the time domain.
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0% found this document useful (0 votes)
218 views54 pages

03 - The Laplace Transform

The Laplace transform is a method to transform a signal from the time domain to the frequency (s) domain. It is similar to the Fourier transform but can handle functions that the Fourier transform cannot, like t, t^2, e^t. The Laplace transform of a function f(t) is defined as F(s) = ∫_0^∞ e^-st f(t) dt. The document provides examples of taking the Laplace transform of various functions and discusses properties like linearity, time shifting, time scaling, and derivatives. It also discusses the inverse Laplace transform and provides examples of taking the inverse transform of functions in the s-domain to return to the time domain.
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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1

The Laplace
Transform
2
Introduction
Laplace transform is another method to
transform a signal from time domain to
frequency domain (s-domain)
The basic idea of Laplace transform
comes from the Fourier transform
As we have seen in the previous chapter,
not many functions have their Fourier
transform such as t, t
2
, e
t
etc.
3
The Fourier transform formula:
The Laplace transform formula is the
modification of the above formula, that is,
the term j is replaced by s
s is equal to + j, where is a large
positive real number
The Laplace transform formula:
However, the Laplace transform only
support the function f(t) which domain t 0
}



= = dt e t f t f F
t j
) ( )} ( { ) ( F
}


= =
0
) ( )} ( { ) ( dt e t f t f s F
st
L
4
Using definition, find the Laplace transform of
(a)
(b)
(c)
(d)
Example 1
) ( ) ( t u t f =
) ( ) (
5
t u e t g
t
=
) ( ) ( t u t t i =
) ( cos ) ( t u t t v =
5
Solution
(a)
s s s
e
s
e
dt e dt e t u s F
st
st st
1 1 0 1
) ( ) (
0
0 0
=


=
(

=
= =

} }
(b)
5
1
) 5 (
1 0
) 5 (
1
) 5 (
) (
) 5 (
0
) 5 (
0
) 5 (
0
5

=


=


=
(


=
= =

} }
s s s
e
s
e
dt e dt e e s G
s t s
t s st t
6
(c)
2 2
0
2
0
0
0
1 1
) 0 0 (
) (
s s
e
s
e
dt
s
e
s
te
dt te s I
st
st st
st
=

=
(

= =

} }
7
(d)
| |
| |
) (
cos ) 1 0 (
) )( cos ( ) cos (
sin ) 0 0 (
) ( sin sin cos ) (
2
0
2
0
0
0
0
0
0
s V s s
tdt e s s
dt se t s t e s
tdt e s
dt se t t e tdt e s V
st
st st
st
st st st
=
+ =
=
+ =
= =
}
}
}
} }


1
) (
2
+
=
s
s
s V
8
Properties of L-transform
Linearity
L{af(t) bg(t)} = aL{f(t)} bL{g(t)}
{ }
|
.
|

\
|
=
a
s
F
a
at f
1
) ( L
First shift theorem
L{e
at
f(t)} = F(s + a)
Second shift thorem
L{f(t d) u(t d)} = e
ds
F(s)
Time scaling
9
Properties of L-transform (cont.)
Time derivatives
{ } ) 0 ( ) ( ) ( f s sF t f =
'
L
{ } ) 0 ( ) 0 ( ) ( ) (
2
f sf s F s t f
'
=
' '
L
{ } ) 0 ( ) 0 ( ) ( ) (
) 1 ( 1 ) (
=
n n n n
f f s s F s t f L
Time integral
) (
1
) (
0
s F
s
d f
t
=
)
`

}
L
10
Example 2
Determine the Laplace transform of
(a)
(b)
t e t
t
2 sin 3
4 3
+

4
cos ) 1 (
4
3
t
t e
t


11
Solution
{ } t e t
t
2 sin 3
4 3
+

L
4
2
4
3 6
2 4
+
+
+
=
s s s
{ } { } { } t e t
t
2 sin 3
4 3
L L L + =

)
`

+

4
cos cos
4
3
t
t e t
t
L
{ } { } { }
4 3
4
1
cos cos t t e t
t
L L L + =

5 2 2
6
1 ) 3 (
3
1 s s
s
s
s
+
+ +
+

+
=
(a)
(b)
12
Example 3
Determine the Laplace transform of
(a)
(b)
) 2 ( ) 2 (
2
t u t
3 5
t e
t
13
Solution
(a) Let
3
) ( t t f =
then
.
6
) (
4
s
s F =
Therefore
{ } { } ) (
5 3 5
t f e t e
t t
= L L
) 5 ( + = s F
.
) 5 (
6
4
+
=
s
14
(b)
Let
2
) ( t t f =
then
.
2
) (
3
s
s F =
Therefore
{ } ) 2 ( ) 2 (
2
t u t L
) (
2
s F e
s
=
.
2
3
2
s
e
s
=
2
) 2 ( ) 2 ( = t t f
{ } ) 2 ( ) 2 ( = t u t f L
Also
15
Inverse Laplace transform (ILT)
The inverse Laplace transform of F(s) is f(t), i.e.
{ } ) ( ) (
1
s F t f

= L
where L
1
is the inverse Laplace transform operator.
16
Example 4
Find the inverse Laplace transform of
3
2
s
(a) (b)
4
2
s
(d)
9
6 5
2
+

s
s
(c)
25
1
2
+ s
(e)
4 ) 1 (
1
2
+ +
+
s
s
(f)
4 ) 1 (
2
+ + s
s
17
Solution
From the table of Laplace transform,
)
`

3
1
2
s
L (a)
)
`

=

3
1
! 2
s
L
2
t =
)
`

4
1
2
s
L (b)
)
`

=

4
1
! 3
! 3
2
s
L
3
3
1
t =
)
`

25
1
2
1
s
L (c)
)
`

+
=

2 2
1
5
5
5
1
s
L
t 5 sin
5
1
=
18
)
`


9
6 5
2
1
s
s
L
(d)
2 2 2 2 2
3
3
2
3
5
9
6 5
+

+
=
+

s s
s
s
s
)
`

)
`

+
=

2 2
1
2 2
1
3
3
2
3
5
s s
s
L L
t t 3 sin 2 3 cos 5 =
)
`

+ +
+

4 ) 1 (
1
2
1
s
s
L
(e)
t e
t
2 cos

=
Write
19
)
`

+ +


4 ) 1 (
2
1
s
s
L
(f)
)
`

+ +

)
`

+ +
+
=

2 2
1
2 2
1
2 ) 1 (
2
2
1
2 ) 1 (
1
s s
s
L L
t e t e
t t
sin
2
1
cos

=
Since the ILT of the term cannot be found
directly from the table, we need to rewrite
it as the following
2 2 2 2
2 2 2 2
2 ) 1 (
2
2
1
2 ) 1 (
1
4 ) 1 (
1
4 ) 1 (
1
4 ) 1 (
1 ) 1 (
4 ) 1 (
+ +

+ +
+
=
+ +

+ +
+
=
+ +
+
=
+ +
s s
s
s s
s
s
s
s
s
20
Example 5
Find the inverse Laplace transform of
8
( 2)
s
s s

(a) (b)
2
9
2 7 4 s s +
(d)
2
7 20
( 4 20)
s
s s s

+
(c)
3 2
4 1
2
s
s s s
+
+ +
(e)
2
2
5 6
s
s s + +
21
Solution
We use the partial fractions technique:
1
8
( 2)
s
s s

(a)
1
2
9
2 7 4 s s


`
+
)
(b)
1
4 3
2 s s


=
`

2
4 3
t
e =
1
2 1
2 1 4 s s


=
`
+
)

/ 2 4 t t
e e

=
1
1
2
1 1
4 s s


=
`
+
)

=L L
L =L
=L
22
1
3 2
4 1
2
s
s s s

+

`
+ +
)

(c)
1
2
4 1
( 1)
s
s s

+
=
`
+
)

1
2
1 3 1
( 1) 1 s s s


= +
`
+ +
)

1 3
t t
e t e

= +
where, if we let
2
1
( ) F s
s
=
, then ( ) . f t t = Hence,
{ }
1 1
2
1
( 1) ( )
( 1)
t t
F s e f t e t
s


= + = =
`
+
)

=L
L
=L
L =L
23
1
2
7 20
( 4 20)
s
s s s


`
+
)

(d)
1
2
1 3
4 20
s
s s s

+

= +
`
+
)

1
2 2
1 2 5
( 2) 16 ( 2) 16
s
s s s


= + +
`
+ +
)

1
2
1 3
( 2) 16
s
s s

+
= +
`
+
)

1
2
1 ( 2) 5
( 2) 16
s
s s

+
= +
`
+
)

2 2
5
4
1 cos 4 sin 4
t t
e t e t = + +
=L L
=L
=L
=L
24
2
1
2
5 6
s
s s


`
+ +
)

(e)
1
2
5 6
1
5 6
s
s s

+

=
`
+ +
)

1
5 6
1
( 2)( 3)
s
s s

+
=
`
+ +
)

1
4 9
1
2 3 s s


= +
`
+ +
)

2 3
( ) 4 9
t t
t e e

= +
L =L
=L
=L =L
25
The convolution theorem
{ } ) ( ) ( ) ( ) (
1
t g t f s G s F - =

L
) ( ) ( t g t f -
where is called as the convolution of
f(t) and g(t),
}
= -
t
d g t f t g t f
0
) ( ) ( ) ( ) (
Convolution property:
) ( ) ( ) ( ) ( t f t g t g t f - = -
Therefore,
} }
= = -
t t
d t g f d g t f t g t f
0 0
) ( ) ( ) ( ) ( ) ( ) (
Sometimes,
) ( ) ( t g t f -
denoted as
) )( ( t g f -
or simply
. g f -
defined by
26
Example 6
(a)
) 2 )( 1 (
1
+ s s
Use the convolution theorem to find the inverse
Laplace transforms of the following:
(b)
) 9 (
12
2
+ s s
(c)
) 5 (
7
2
+ s s
27
Solution
)
`

) 2 )( 1 (
1
1
s s
L
(a)
)
`

+
-
)
`

=

2
1
1
1
1 1
s s
L L
t t
e e
2
- =
}

=
t
t
d e e
0
2


}

=
t
t
d e
0
3

t
t
e
0
3
3
(

=

3 3
2 2 t t t t
e e e e

=
28
)
`

) 9 (
12
2
1
s s
L
(b)
)
`

+
=

9
3 1
4
2
1
s s
L
)
`

+
-
)
`

=

9
3 1
4
2
1 1
s s
L L
) 3 sin 1 ( 4 t - =
}
=
t
d
0
3 sin 1 4
t
0
3
3 cos
4
(

=

) 3 cos 1 (
3
4
t =
29
)
`

) 5 (
7
2
1
s s
L
(c)
)
`

+
=

5
1 1
7
2
1
s s
L
)
`

+
-
)
`

=

5
1 1
7
1
2
1
s s
L L
t
e t
5
7

- =
}

=
t
t
d e
0
) ( 5
7

}

=
t
t
d e
0
) ( 5
7

}

=
t
t
t
t
d
e e
0
) ( 5
0
) ( 5
5
7
5
7


t
t
e te
0
) ( 5 0
25
7
5
0
7
(

|
|
.
|

\
|

=

25
) 1 ( 7
5
7
5t
e t

=
) 1 5 (
25
7
5
+ =
t
e t
30
Circuit applications
1. Transfer functions
2. Convolution integrals
3. RLC circuit with initial conditions
sC
C
sL L
R R
1

31
Transfer function
h(t) y(t) x(t)
) ( ) ( ) ( t x t h t y - =
) ( Input
) ( Output
) (
) (
) ( , function Transfer
s
s
s X
s Y
s H = =
In s-domain, ) ( ) ( ) ( s X s H s Y =
In time domain,
Network
System
32
Example 7 (Pb.13.64, pg.751)
For the following circuit, find H(s)=V
o
(s)/V
i
(s).
Assume zero initial conditions.
33
Solution
Transform the circuit into s-domain with
zero i.c.:
) (s V
s
) (s V
o
s
s
10
34
s s
s s o
V
s s
V
s s
V
s
s
s
V
s
s
s
V
30 9 2
20
) 5 2 )( 2 ( 20
20
2
5 2
20
5 2
20
2
10
// 4
10
// 4
2
+ +
=
+ + +
=
+ +
+
+
=
+ +
|
.
|

\
|
|
.
|

\
|
=
Using voltage divider
30 9 2
20
) (
) (
) (
2
+ +
= =
s s s V
s V
s H
s
o
35
Example 8 (Pb.13.65, pg.751)
Obtain the transfer function H(s)=V
o
(s)/V
i
(s),
for the following circuit.
36
Solution
Transform the circuit into s-domain (We can
assume zero i.c. unless stated in the question)
) (s V
s
) (s V
o
) (s I
s
2
) ( 2 s I
s
37
I s
s
I s I
s
V
I I I V
s
o
|
.
|

\
|
+ + = + + =
= + =
9 3
2
3 ) 3 (
2
9 ) 2 ( 3
We found that
2 9 3
9
9 3
2
9
) (
) (
) (
2
+ +
=
+ +
= =
s s
s
s
s
s V
s V
s H
s
o
38
Example 9 (P.P.15.14, pg.705)
Use convolution to find v
o
(t) in the circuit of
Fig.(a) when the excitation (input) is the
signal shown in Fig.(b).
39
Solution
Step 1: Transform the circuit into s-domain
(assume zero i.c.)
) (s V
s
) (s V
o
s
2
Step 2: Find the TF
) ( 2 ) (
2
2
1 ) / 2 (
/ 2
) (
) (
) (
2
1
t u e t h
s s
s
s V
s V
s H
t
s
o

=
+
=
+
= =

L
40
Step 4: Find v
o
(t)
d v t h t v t h t v
s V s H s V
s
t
s o
s o
) ( ) ( ) ( ) ( ) (
) ( ) ( ) (
0
}
= - =
=
| |
) ( 20 ) 1 ( 20
20 20
10 2 ) (
2 2
0
2
0
2
0
) ( 2
t t t t
t
t
t
t
t
t
o
e e e e
e e d e e
d e e t v



= =
= =
=
}
}

For t < 0 0 ) ( = t v
o
For t > 0
41
Circuit element models
Apart from the transformations
we must model the s-domain equivalents
of the circuit elements when there is
involving initial condition (i.c.)
Unlike resistor, both inductor and capacitor
are able to store energy
sC
C sL L R R
1
, ,
42
Therefore, it is important to consider the
initial current of an inductor and the initial
voltage of a capacitor
For an inductor
Taking the Laplace transform on both
sides of eqn gives
or
dt
t di
L t v
L
L
) (
) ( =
) a 1 .....( ) 0 ( ) ( ) ( )] 0 ( ) ( [ ) (
L L L L L
Li s I sL i s sI L s V = =
) b 1 .....(
) 0 ( ) (
) (
s
i
sL
s V
s I
L L
L
+ =
43
) 0 ( ) ( ) ( ) (
L L L
Li s I sL s V =
s
i
sL
s V
s I
L L
L
) 0 ( ) (
) ( + =
44
For a capacitor
Taking the Laplace transform on both
sides of eqn gives
or
dt
t dv
C t i
C
C
) (
) ( =
) a 2 .....( ) 0 (
/ 1
) (
)] 0 ( ) ( [ ) (
C
C
C C C
Cv
sC
s V
v s sV C s I = =
) b 2 .....(
) 0 (
) (
1
) (
s
v
s I
sC
s V
C
C C
+ =
45
) 0 (
/ 1
) (
) (
C
C
C
Cv
sC
s V
s I =
s
v
s I
sC
s V
C
C C
) 0 (
) (
1
) ( + =
46
Example 10 (Pb.16.23, pg.750)
Consider the parallel RLC circuit of the
following. Find v(t) and i(t) given that
v(0) = 5 V and i(0) = 2 A.
47
Solution
Transform the circuit into s-domain (use the
given i.c. to get the equivalents of L and C)
) (s I
) (s V
s
4
16
1
s
80
s 4
8
10
) (s V
48
Then, using nodal analysis
20 8
) 96 ( 5
16
96
16
1 6
80
) 20 8 (
16
1 4
80
) 8 (
4
8
0
16
1 4
80
// 10
2
2
+ +
+
=
+
= + =
+ +
+ =
+
+

=
|
.
|

\
|
+
s s
s
V
s
s
s s
V s s
s
V s
s
V
s
s
V
I
49
Since the denominator cannot be factorized,
we may write it as a completion of square:
2 2 2 2 2
2 ) 4 (
) 2 ( 230
2 ) 4 (
) 4 ( 5
4 ) 4 (
) 96 ( 5
) (
+ +
+
+ +
+
=
+ +
+
=
s s
s
s
s
s V
V ) ( ) 2 sin 230 2 cos 5 ( ) (
4
t u e t t t v
t
+ =
Finding i(t),
s s s s
s
s
V
I
2
) 20 8 (
) 96 ( 25 . 1
4
8
2

+ +
+
=

=
50
A ) ( ] ) 2 sin 375 . 11 2 cos 6 ( 4 [ ) (
4
t u e t t t i
t
+ =
Using partial fractions,
s s s
C Bs
s
A
s s s s
s
s I
2
20 8
2
) 20 8 (
) 96 ( 25 . 1
) (
2 2

+ +
+
+ =
+ +
+
=
It can be shown that
75 . 46 , 6 , 6 = = = C B A
Hence,
2 2 2 2 2
2 ) 4 (
) 2 ( 375 . 11
2 ) 4 (
) 4 ( 6 4
20 8
75 . 46 6 4
) (
+ +

+ +
+
=
+ +
+
=
s s
s
s s s
s
s
s I
51
Example 11
The switch in the following circuit moves from
position a to position b at t = 0 second.
Compute i
o
(t) for t > 0.
0 = t
V 4 2
O 5
O 1
F 1 . 0
H 625 . 0
) (t i
o
a b
52
Solution
The i.c. are not given directly. Hence, at first
we need to find the i.c. by analyzing the circuit
when t 0:
V 24 ) 0 (
L
i

+
) 0 (
C
v
O 5
V 0 ) 0 ( , A 8 . 4
5
24
) 0 ( = = =
C L
v i
53
Then, we can analyze the circuit for t > 0 by
considering the i.c.
( ) 10 25 . 6 625 . 0
) 10 ( 3
625 . 0
3
1 // 625 . 0
3
2
10
10 10
+ +
+
=
+

=
+

=
+
s s
s
s s
I
s s
3 ) 0 ( =
L
Li
s 625 . 0
s
10
1
) (s I
o
Let
I
54
Using current divider rule, we find that
) 8 )( 2 (
48
16 10
48
10 25 . 6 625 . 0
30
10
10
1
2
2
10
10
+ +

=
+ +

=
+ +

=
+
=
+
=
s s s s
s s
I
s
I I
s
s
o
Using partial fraction we have
2
8
8
8
) (
+

+
=
s s
s I
o
A ) ( ) ( 8 ) (
2 8
t u e e t i
t t
o

=

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