Chapter 5

Laplace Transform

Pierre Simon Laplace

(3/23/1749 –3/2/1827)

Pierre-Simon Laplace: French Scholar (mathematician and astronomer)

1
 Introduction
• Laplace Transform transforms a function of a real variable t (often time) to a function of a complex
variable s (Frequency). The transform has many applications in science and engineering.

• Fourier transforms involve purely imaginary complex exponentials:

• Laplace transforms (generalization of the variable 𝜔) involve complex exponentials:

Symbolically

Laplace Transform: 𝓛 𝒙(𝒕) = ℒ

𝑥(𝑡) ՜ 𝑋(𝑠)

𝑋 𝜔 = 𝑋(𝑠)ቚ = Ϝ 𝑥(𝑡) Fourier Transform

𝑠=𝑗𝜔
Laplace Transform is a generalization of the continuous-time Fourier transform, 2
 Laplace Transform and Fourier Transform
∞ ∞ ∞
𝑋 𝜎 + 𝑗𝜔 = න 𝑥 𝑡 𝑒− 𝜎+𝑗𝜔 𝑡 𝑑𝑡 =න 𝑥 𝑡 𝑒 −𝜎𝑡 𝑒 −𝑗𝜔𝑡 𝑑𝑡 = න 𝑥′ 𝑡 𝑒 −𝑗𝜔𝑡 𝑑𝑡
−∞ −∞ −∞
The Laplace transform is the Fourier transform of the transformed signal 𝑥 ′ (𝑡) = 𝑥 𝑡 𝑒 −𝜎𝑡
Example 1
Consider the signal 𝑥 𝑡 = 𝑒 −𝑎𝑡 𝑢 𝑡 (𝑓𝑜𝑟 𝑎 ≥ 0)
∞ ∞
1
The Fourier transform: 𝑋 𝑗𝜔 = න 𝑥 𝑡 𝑒 −𝑗𝜔𝑡 𝑑𝑡 =න 𝑒 −𝑎𝑡 𝑒 −𝑗𝜔𝑡 𝑑𝑡 = ,𝑎 > 0
−∞ 0 𝑎 + 𝑗𝜔
∞ ∞ ∞
The Laplace transform: 𝑋 𝑠 = න 𝑥 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 = න 𝑒 −𝑎𝑡 𝑒 −(𝜎+𝑗𝜔) 𝑡 𝑑𝑡 = න 𝑒 −(𝑎+𝜎)𝑡 𝑒 −𝑗𝜔𝑡 𝑑𝑡
−∞ 0 0
which is the Fourier Transform of 𝑒 − 𝑎+𝜎 𝑡 𝑢(𝑡) Convergence 𝜎 + 𝑎 > 0

1 ℒ 1
𝑋 𝜎 + 𝑗𝜔 = ,𝜎 + 𝑎 > 0 Or 𝑒 −𝑎𝑡 𝑢 𝑡 ՜ , 𝑅𝑒 𝑠 > −𝑎
𝜎 + 𝑎 + 𝑗𝜔 𝑠+𝑎
If a is negative or zero, the Laplace Transform still exists 3
 Example 2
Consider the signal 𝑥 𝑡 = −𝑒 −𝑎𝑡 𝑢(−𝑡) 𝑓𝑜𝑟 𝑡 ≤ 0

The Laplace transform is:

−1 1
−𝑎𝑡
ℒ 1 = 𝑒− 𝑠+𝑎 0
−𝑒 − 𝑠+𝑎 −∞
=
−𝑒 𝑢 −𝑡 ՜ , 𝑅𝑒 𝑠 < −𝑎 − 𝑠+𝑎 𝑠+𝑎
𝑠+𝑎
Convergence for 𝑅𝑒 𝑠 + 𝑎 < 0 𝑓𝑜𝑟 𝑡 < 0

• Convergence requires that 𝑅𝑒 𝑠 + 𝑎 < 0 or 𝑅𝑒 𝑠 < −𝑎

𝑒 −𝑎𝑡 𝑢 𝑡 𝑤𝑖𝑡ℎ 𝑅𝑒 𝑠 > −𝑎

• In example 1 and 2: ℒ 1
−𝑒 −𝑎𝑡 𝑢 −𝑡
՜ 𝑠+𝑎 𝑤𝑖𝑡ℎ 𝑅𝑒 𝑠 < −𝑎

• For a Laplace transform, we need both the expression and the Region Of
Convergence (ROC)
• The Laplace transform is identical for two different signals. However, the regions of
convergence of s are mutually exclusive (non-intersecting). 4
 Region of Convergence (ROC) For Laplace Transform
• The Fourier transform exists for most signals with finite energy ( Dirichlet
convergence conditions)
• The Region Of Convergence (ROC) of the Laplace Transform is the region of
values for 𝑠 = 𝜎 + 𝑗𝜔 for which the Fourier transform of 𝑥(𝑡)𝑒 −𝜎𝑡 converges.).

Example 1 Example 2

• The ROC of X(s) consists of strips (bands) parallel to the jω-axis in the s-plane. The
shaded regions denote the ROC for the Laplace transform
• A complete specification of the Laplace transform requires the algebraic expression
for X(s) and the associated ROC 5
 Example 3
• Consider a signal that is the sum of two real exponentials:

• The Laplace transform is then:

• Using Example 1, each expression can be evaluated as:

• The ROC associated with these terms are Re{s}>-1 and Re{s}>-2.
• Therefore, both will converge for Re{s}>-1, and the Laplace transform:

6
 Poles and Zeros Pole-zero plot

The Laplace transform

Zeros: roots of N(s) Makes X(s) zero

Poles: roots of D(s) Makes X(s) infinite
Pole-zero plot
𝑠−1
For the Laplace transform: 𝑋 𝑠 =
𝑠+2 𝑠+1

Laplace transform X(s) is rational if it is a ratio of polynomials in the complex variable s.

Rational Not Rational

7
 Poles and Zeros at Infinity
• If the denominator polynomial order is greater than the numerator polynomial order,
there are zeros at infinity. (their number is the difference in order).
• If the numerator polynomial order is greater than the denominator polynomial order,
there are poles at infinity. (their number is the difference in order).

Neither poles or One zero at infinity

zeros are at infinity

• For rational Laplace transforms, the ROC is bounded by the poles (rightmost pole
or leftmost pole but does not contain any poles, X(s) is infinite at a pole).

• If the ROC includes the 𝑗𝜔 − 𝑎𝑥𝑖𝑠

then the Fourier transform exists.
The Fourier transform is the
evaluation of the Laplace transform
along the 𝑗𝜔 − 𝑎𝑥𝑖𝑠. Right sided signal, Double-sided
Left-sided signal,
rightmost pole signal, Intersection
leftmost pole 8
of the two regions
 Example 4

From Exercise 1

ℒ 1
𝑥 𝑡 = 𝑒 −𝑎𝑡 𝑢(𝑡) 𝑠+𝑎
𝑡 > 0 ՜ ℜ𝑒 𝑠 > −𝑎

After combining
𝑅𝑒 𝑠 > −2 𝑅𝑒 𝑠 > −1 𝑅𝑒 𝑠 > −1 𝑅𝑒 𝑠 > −1

𝑅𝑜𝑐: 𝑅𝑒 𝑠 > −1

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 Example 5

If x(t) is of finite duration and is absolutely integrable, ROC is the entire s-plane.
∞
ℒ 𝛿(𝑡) = 1, ROC = Entire s-plane 𝑋 𝑠 = න 𝛿(𝑡)𝑒 −𝑠𝑡 𝑑𝑡 = 𝛿 0 𝑒 −𝑠 0
=1
−∞

ROC: 𝑅𝑒 𝑠 > 2

𝑅𝑒 𝑠 𝑖𝑠
𝑎𝑙𝑙 𝑡ℎ𝑒 𝑠 𝑝𝑙𝑎𝑛𝑒 ROC: ROC:
𝑅𝑒 𝑠 > −1 𝑅𝑒 𝑠 > 2

Intersection

ROC: 𝑅𝑒 𝑠 > 2
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 Two-sided Signals
If x(t) is right-sided signal (RSS), and if the line Right-sided signal.
ℜ𝑒 𝑠 = 𝜎0 is in the ROC
The area of s for which ℜ𝑒 𝑠 > 𝜎0
will also be in the ROC.

If x(t) is left-sided signal (LSS), and if the line

Left-sided signal.
ℜ𝑒 𝑠 = 𝜎0 is in the ROC
The area of s for which ℜ𝑒 𝑠 < 𝜎0
will also be in the ROC.

If x(t) is two-sided, and if the line

ℜ𝑒 𝑠 = 𝜎0 is in the ROC
The ROC is a strip in s-plane
that includes ℜ𝑒 𝑠 = 𝜎0
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 Example 6
divided it into the sum of a right-sided
and left-sided signal;
ℒ 1
𝑒 −𝑏𝑡 𝑢(𝑡) ℜ𝑒 𝑠 > −𝑏
−𝑡 𝑡 < 0
𝑠+𝑏 𝑡 =ቊ
𝑡 𝑡>0
𝑏𝑡 ℒ −1
𝑒 𝑢(−𝑡) ℜ𝑒 𝑠 < +𝑏
𝑠−𝑏
−𝑏 𝑡 ℒ 1 1 −2𝑏
𝑒 − = 2 2
−𝑏 < ℜ𝑒 𝑠 < +𝑏
𝑠+𝑏 𝑠−𝑏 𝑠 −𝑏

pole-zero plot with the shading

indicating the ROC.

• If b < 0, the Laplace transform does not exist.

• Hence, the ROC plays an integral role in the Laplace transform. 12
 Example 7
Let 1 Pole-zero pattern
𝑋 𝑠 =
(𝑠 + 1)(𝑠 + 2)

There are three possible ROCs associated with this −2 −1

expression corresponding to three distinct signals.

ROC corresponding to ROC corresponding to ROC corresponding to a

a right-sided sequence a left-sided sequence two-sided sequence
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 Inverse Laplace transform
• we can recover 𝑥 𝑡 from its Laplace transform 𝑋 𝑠 evaluated for a set of
values of s = 𝜎 + 𝑗𝜔 in the ROC by varying 𝜔 from −∞ to +∞

1 𝜎+𝑗∞
𝑥 𝑡 = න 𝑋 𝑠 𝑒 𝑠𝑡 𝑑𝑠
2𝜋𝑗 𝜎−𝑗∞

• The inverse Laplace transform can be determined using the technique of partial
fraction expansion (easier method)

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 Example 8
• Consider the Laplace transform:
• Can we uniquely determine the original signal, 𝑥 𝑡 ?
1ℒ ℒ 1
𝑒 −𝑎𝑡 𝑢(𝑡) ℜ𝑒 𝑠 > −𝑎 and −𝑒 −𝑎𝑡 𝑢(−𝑡) ℜ𝑒 𝑠 < −𝑎
𝑠+𝑎 𝑠+𝑎
• There are three possible ROCs:
Stability (system with impulse response ℎ(𝑡)) Causality
If 𝐻 𝑠 𝑐𝑜𝑛𝑡𝑎𝑖𝑛𝑠 𝑗𝜔 − 𝑎𝑥𝑖𝑠 𝐻 𝑗𝜔 𝑒𝑥𝑖𝑠𝑡𝑠 𝐻 𝑠 ℎ𝑎𝑠 𝑎 𝑅𝑂𝐶 𝑖𝑛 𝑅𝑖𝑔ℎ𝑡 − 𝐻𝑎𝑙𝑓 − 𝑃𝑙𝑎𝑛𝑒
∞
ℎ 𝑡 𝑖𝑠 𝑅𝑆𝑆 (ℎ 𝑡 = 0 𝑓𝑜𝑟 𝑡 < 0)
න ℎ(𝑡) 𝑑𝑡 < ∞ 𝑆𝑡𝑎𝑏𝑙𝑒
−∞

• ROC III: only if 𝑥 𝑡 is right-sided. Causal, NOT Stable

• ROC I: only if 𝑥 𝑡 is left-sided. NOT causal, NOT stable

• ROC II: only if 𝑥 𝑡 has a Fourier transform. STABLE

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 Find x(t) for different ROCs
To obtain the inverse Laplace transform, we
first perform a partial-fraction expansion

ℜ𝑒 𝑠 > 2

ℜ𝑒 𝑠 < −1

-1<ℜ𝑒 𝑠 < 2
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 Example 9
Find inverse Laplace transform of −2 −1

ILT
𝑅𝑒 𝑠 > −1 Right-side signal (𝑢(𝑡))

Find inverse Laplace transform of

−2 −1

ILT
𝑅𝑒 𝑠 < −2 Left-side signal (𝑢(−𝑡))

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 PROPERTIES OF THE LAPLACE TRANSFORM
1. Linearity
ℒ ℒ
IF 𝑥1 𝑡 𝑋1 𝑠 𝑅𝑂𝐶 = 𝑅1 AND 𝑥2 𝑡 𝑋2 𝑠 𝑅𝑂𝐶 = 𝑅2
ℒ
THEN 𝑎 𝑥1 𝑡 + 𝑏 𝑥2 𝑡 𝑎 𝑋1 𝑠 + 𝑏 𝑋2 𝑠 𝑅𝑂𝐶 = 𝑅1 ⋂ 𝑅2

2. Time Shifting 𝑃𝑟𝑜𝑜𝑓

∞
ℒ[𝑥 𝑡 ] = 𝑋 𝑠 = න 𝑥 𝑡 𝑒 −𝑠𝑡 𝑑𝑡
ℒ
IF 𝑥 𝑡 𝑋 𝑠 𝑅𝑂𝐶 = 𝑅 ∞
−∞

ℒ[𝑥 𝑡 − 𝑇 ] = න 𝑥 𝑡 − 𝑇 𝑒 −𝑠𝑡 𝑑𝑡
−∞
∞
ℒ
THEN 𝑥 𝑡−𝑇 𝑒 −𝑠𝑇 𝑋 𝑠 𝑅𝑂𝐶 = 𝑅 = න 𝑥 𝜏 𝑒 −𝑠 𝜏+𝑇
𝑑𝜏 𝜏 =𝑡−𝑇
−∞
∞
= 𝑒 −𝑠𝑇 න 𝑥 𝜏 𝑒 −𝑠𝜏 𝑑𝜏
−∞
−𝑠𝑇
= 𝑒 𝑋 𝑠
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 Example 10 Linearity and Time Shifting
Consider the following signal, which is a linear sum of two time-shifted sinusoids.
with
Solution
Laplace transform of 𝑥1 𝑡 :
∞ ∞ 𝑗𝜔0 𝑡 ∞ ∞
𝑋1 𝑠 = න 𝑠𝑖𝑛 𝜔0 𝑡 𝑢(𝑡) 𝑒 −𝑠𝑡 𝑑𝑡 𝑒 − 𝑒 −𝑗𝜔0 𝑡 −𝑠𝑡 1 −(𝑠−𝑗𝜔0 )𝑡
𝑋1 𝑠 = න 𝑒 𝑑𝑡 𝑋1 𝑠 = න 𝑒 𝑑𝑡 − න 𝑒 −(𝑠+𝑗𝜔0 )𝑡 𝑑𝑡
−∞ 0 2𝑗 2𝑗 0 0

∞ ∞ ℒ 𝜔0
1 𝑒 −(𝑠−𝑗𝜔0 )𝑡 𝑒 −(𝑠+𝑗𝜔0 )𝑡 1 1 1 𝜔0
𝑋1 𝑠 = อ − อ = − = 2 𝑠𝑖𝑛 𝜔0 𝑡 𝑢(𝑡) 𝑠 2 + 𝜔0 2
2𝑗 −(𝑠 − 𝑗𝜔0 ) −(𝑠 + 𝑗𝜔0 ) 2𝑗 (𝑠 − 𝑗𝜔0 ) (𝑠 + 𝑗𝜔0 ) 𝑠 + 𝜔0 2
0 0

Using linearity and time-shifting properties of Laplace transform, we get:

From Time-shifting property
ℒ From linearity property
𝑥1 𝑡 − 2.5 𝑒 −2.5 𝑠 𝑋1 𝑠 ℒ
ℒ 𝑋(𝑠) 2𝑒 −2.5 𝑠 𝑋1 𝑠 − 0.5𝑒 −4 𝑠 𝑋1 𝑠 𝑅𝑒 𝑠 > 0
𝑥1 𝑡 − 4 𝑒 −4 𝑠 𝑋1 𝑠

19
 3. Shifting in the s-Domain
ℒ
IF 𝑥 𝑡
ℒ
𝑋 𝑠 𝑤𝑖𝑡ℎ 𝑅𝑂𝐶 = 𝑅 THEN 𝑒 𝑠0 𝑡 𝑥 𝑡 𝑋 𝑠 − 𝑠0
𝑤𝑖𝑡ℎ 𝑅𝑂𝐶 = 𝑅 + 𝑅𝑒 𝑠0

4. Time Scaling
THEN 𝑥 𝑎𝑡 1 𝑠
IF 𝑥 𝑡
ℒ ℒ
𝑋 𝑠 𝑤𝑖𝑡ℎ 𝑅𝑂𝐶 = 𝑅 𝑋 𝑤𝑖𝑡ℎ 𝑅𝑂𝐶 = 𝑎𝑅
𝑎 𝑎
5. Conjugation
ℒ
IF 𝑥 𝑡 ℒ
𝑋 𝑠 𝑤𝑖𝑡ℎ 𝑅𝑂𝐶 = 𝑅 THEN 𝑥 ∗ 𝑡 𝑋∗ 𝑠∗ 𝑤𝑖𝑡ℎ 𝑅𝑂𝐶 = 𝑅

6. Differentiation in the s-Domain

𝑑𝑋 𝑠
IF 𝑥 𝑡 ℒ
𝑋 𝑠 𝑤𝑖𝑡ℎ 𝑅𝑂𝐶 = 𝑅 THEN −𝑡 𝑥 𝑡 ℒ
𝑤𝑖𝑡ℎ 𝑅𝑂𝐶 = 𝑅
𝑑𝑠
𝑃𝑟𝑜𝑜𝑓 ∞ ∞ ℒ
𝑑𝑋 𝑠 𝑑 𝑑𝑋 𝑠 ∞
𝑑𝑋 𝑠 ∞ 𝑑𝑋 𝑠
𝑋 𝑠 =න 𝑥 𝑡 𝑒 −𝑠𝑡
𝑑𝑡 = න 𝑥 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 = න 𝑥 𝑡 −𝑡 𝑒 −𝑠𝑡 𝑑𝑡 = න −𝑡𝑥 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 −𝑡 𝑥 𝑡
−∞
𝑑𝑠 𝑑𝑠 −∞ 𝑑𝑠 −∞ 𝑑𝑠 𝑑𝑠
−∞ 20
 7. Convolution
• The Laplace transform also has the multiplication property, i.e.
ℒ
IF 𝑥 𝑡 𝑋 𝑠 𝑅𝑂𝐶 = 𝑅1
ℒ
AND ℎ 𝑡 𝐻 𝑠 𝑅𝑂𝐶 = 𝑅2

THEN 𝑥 𝑡 ∗ ℎ(𝑡) ℒ
𝑋 𝑠 𝐻 𝑠 𝑅𝑂𝐶 = 𝑅1 ⋂𝑅2
Convolution in time-domain becomes multiplication in Laplace domain.

• Note that pole-zero cancellation may occur between H(s) and X(s) which
extends the ROC

21
 8. Differentiation in Time-Domain
ℒ
𝑥 𝑡 𝑋 𝑠 𝑅𝑂𝐶 = 𝑅

The Inverse Laplace transform

The Derivative

22
 Problem 1
Determine the Laplace transform, and ROC and pole-zero plot:

𝑍𝑒𝑟𝑜: −5/2

𝑅𝑂𝐶: 𝑅𝑒 𝑠 > −2
Because of 𝑢(𝑡), ROC is
on the right-side of s-plane
𝑃𝑜𝑙𝑒𝑠: −2, −3

CAUSAL: because X(s) is rational, and ROC is on

the right-side of the right-most pole

STABLE: because ROC contains imaginary axis (𝑗𝜔)

23
 Problem 2
Determine the Laplace transform, and ROC and pole-zero plot:

ℒ
𝑒 𝑠0 𝑡 𝑥 𝑡 𝑋 𝑠 − 𝑠0 Shifting in the s-domain

Poles: solving 𝑠 + 4 = 0 ՜ 𝑠 = −4;

𝑎𝑛𝑑 𝑠 2 + 10𝑠 + 50 = 0 ՜ 𝑠 = −5 ± 𝑗 5 CAUSAL
Zeros: solving 𝑠 2 + 15𝑠 + 70 = 0 STABLE

՜ 𝑠 = −7.5 ± 𝑗 3.7 𝑅𝑂𝐶: 𝑅𝑒 𝑠 > −4

24
 Problem 3
Determine the Laplace transform, and ROC and pole-zero plot:

ℒ 1 ℒ 1
−𝑒 −𝑎𝑡
𝑢(−𝑡) ℜ𝑒 𝑠 < −𝑎 𝑒 2𝑡 𝑢(−𝑡) − ℜ𝑒 𝑠 < − −2
𝑠+𝑎 𝑠 + −2
𝑍𝑒𝑟𝑜: 5/2

𝑅𝑂𝐶: 𝑅𝑒 𝑠 < 2
Because of 𝑢(−𝑡), ROC is
𝑃𝑜𝑙𝑒𝑠: 2, 3 on the left-side of s-plane

NOT CAUSAL;
STABLE

25
 Problem 4 (inverse Laplace transform )
Find inverse Laplace transform of

ℒ 𝜔0
Laplace transform of 𝑠𝑖𝑛 𝜔0 𝑡 𝑢(𝑡) 𝑅𝑂𝐶: 𝑅𝑒 𝑠 > 0
𝑠 2 + 𝜔0 2
ℒ 𝜔0
−𝑠𝑖𝑛 𝜔0 𝑡 𝑢(−𝑡) 𝑠 2 + 𝜔0 2 𝑅𝑂𝐶: 𝑅𝑒 𝑠 < 0

We have

26
 Problem 5
Find inverse Laplace transform of

𝓛 𝑠
Laplace transform of 𝑐𝑜𝑠 𝜔0 𝑡 𝑢(𝑡) 𝑅𝑂𝐶: 𝑅𝑒 𝑠 > 0
𝑠 2 + 𝜔0 2
Proof
∞
−𝑠𝑡
∞ 𝑗𝜔0 𝑡
𝑒 + 𝑒 −𝑗𝜔0 𝑡 −𝑠𝑡 1 ∞ −(𝑠−𝑗𝜔 )𝑡 ∞
𝑋1 𝑠 = න 𝑐𝑜𝑠 𝜔0 𝑡 𝑢(𝑡) 𝑒 𝑑𝑡 𝑋1 𝑠 = න 𝑒 𝑑𝑡 𝑋1 𝑠 = න 𝑒 0 𝑑𝑡 + න 𝑒 −(𝑠+𝑗𝜔0 )𝑡 𝑑𝑡
−∞ 0 2 2 0 0

1 𝑒 −(𝑠−𝑗𝜔0 )𝑡
∞
𝑒 −(𝑠+𝑗𝜔0 )𝑡
∞
1 1 1 𝑠 ℒ 𝑠
𝑋1 𝑠 =
2 −(𝑠 − 𝑗𝜔0 )
อ +
−(𝑠 + 𝑗𝜔0 )
อ = +
2 (𝑠 − 𝑗𝜔0 ) (𝑠 + 𝑗𝜔0 )
= 2
𝑠 + 𝜔0 2
𝑐𝑜𝑠 𝜔0 𝑡 𝑢(𝑡) 𝑠 2 + 𝜔0 2
0 0

We have

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 Problem 6
Find inverse Laplace transform of

ILT

𝑅𝑒 𝑠 > −4
2 ℒ
𝑠+4
2𝑒 −4𝑡 𝑢(𝑡)

𝑅𝑒 𝑠 < −3
−1 ℒ
𝑠+3
𝑒 −3𝑡 𝑢(−𝑡)

28
 Problem 7
Determine 𝑌 𝑠 , when

𝓛 1
𝑒 −𝑎𝑡 𝑢(𝑡) 𝑅𝑂𝐶: 𝑅𝑒 𝑠 > −𝑎
𝑠+𝑎
𝓛
𝑥(𝑡 − 𝑡0 ) 𝑒 −𝑠𝑡0 𝑋(𝑠)
𝑥(−𝑡)
𝓛 1 𝑠
𝑋 = 𝑋(−𝑠)
−1 −1
𝓛

𝓛
𝑅𝑂𝐶 < 3

−2 < 𝑅𝑂𝐶 < 3

29
 Problem 8
An LTI system 𝐻 𝑠 has pole-zero plot:
(a) Indicate all possible ROCs

(b) Specify whether the system:

Stable and/or Causal from part (a)

𝑅1 : NOT Causal and NOT Stable

𝑅2 : NOT Causal and NOT Stable
𝑅3 : NOT Causal and Stable
𝑅4 : Causal and NOT Stable

30
 Problem 9
𝑑2 𝑦 𝑡 𝑑𝑦 𝑡
LTI system has differential equation: − − 2 𝑦 𝑡 = 𝑥(𝑡)
𝑑𝑡 2 𝑑𝑡
(a) Determine 𝐻 𝑠 as a ratio of two polynomials in s and sketch the pole-zero plot.
𝑑 𝓛
𝑑2 𝑦 𝑡 𝑑𝑦 𝑡 𝑥 𝑡 𝑠 𝑋(𝑠)
𝑑𝑡 2
−
𝑑𝑡
− 2 𝑦 𝑡 = 𝑥(𝑡) 𝑑𝑡
𝓛 𝑠 2 𝑌 𝑠 − 𝑠 𝑌 𝑠 − 2𝑌 𝑠 = 𝑋(𝑠)

𝑌 𝑠 𝑠 2 − 𝑠 − 2 = 𝑋(𝑠)

𝑌 𝑠 1 1
𝐻 𝑠 = = =
𝑋(𝑠) 𝑠 2 − 𝑠 − 2 (𝑠 − 2)(𝑠 + 1)
1 pole-zero plot
𝑌 𝑠 𝐴 𝐵 𝐴=
𝐻 𝑠 = = + 3
𝐴+𝐵 =0 1
𝑋(𝑠) 𝑠−2 (𝑠 + 1) ቊ
−2𝐴 − 2𝐵 = 1 𝐵=−
3
1 𝐴𝑠 − 2𝐴 + 𝐵𝑠 − 2𝐵
=
𝑠2 − 𝑠 − 2 𝑠2 − 𝑠 − 2
1 1
1 (𝐴 + 𝐵)𝑠 − 2𝐴 − 2𝐵 𝐻 𝑠 = 3 − 3
= 𝑠−2 (𝑠 + 1)
𝑠2 − 𝑠 − 2 𝑠2 − 𝑠 − 2 31
 Problem 92 1: The system is Stable
(b) Determine ℎ 𝑡 for the following cases: 2: The system is Causal
3: The system is neither Stable nor Causal
𝓛 1
1 1 𝑒 −𝑎𝑡 𝑢(𝑡) 𝑅𝑂𝐶: 𝑅𝑒 𝑠 > −𝑎
𝐻 𝑠 = 3 − 3
Poles at -1, 2 𝑠+𝑎
𝑠−2 (𝑠 + 1)

• Stable: −1 < 𝑅𝑂𝐶 < 2

1 2𝑡 1 −𝑡
ℎ1 𝑡 = − 𝑒 𝑢 −𝑡 − 𝑒 𝑢 𝑡
3 3
• Causal: 𝑅𝑂𝐶 > 2
1 2𝑡 1 −𝑡
ℎ2 𝑡 = 𝑒 𝑢 𝑡 − 𝑒 𝑢 𝑡
3 3
• Not Stable and Not Causal: 𝑅𝑂𝐶 < −1
1 2𝑡 1 −𝑡
ℎ3 𝑡 = − 𝑒 𝑢 −𝑡 + 𝑒 𝑢 −𝑡
3 3 32
A table of several important
Laplace transforms

33