Laplace Transform
Laplace Transform
Laplace Transform
If f(t) is a function in time, and its Laplace Similarly Laplace transform of the f (t) = e−at is
transform F(s) is expressed as:
Z∞
L[f (t)] = F (S) = f (t)e−st dt (1.1) Z∞ Z∞
−st
0 L[f (t)] = f (t)e dt = e−at e−st dt
0 0
Q 1) Find the Laplace transform of the unit step
Z∞ ∞
function as shown in Figure 1.2. −(s+a)t 1 −st 1
= e dt − e =
s+a s+a
f(t) 0
0
u(t)
1
Solution:
Figure 1.1: Step function
Solution:
The unit step function is defined as
Z∞ Z∞
−st
L[f (t)] = f (t)e dt = sinωte−st dt
1, f or t ≥ 0
u(t) =
0, f or t < 0 0 0
Z∞
ejωt − e−jωt −st
= e dt
Z∞ Z∞ 2j
0
L[f (t)] = f (t)e−st dt = 1e−st dt ∞
Z∞
Z
1
0 0
= (e−(s−jωt) dt − (e−(s+jωt) dt
1 −st ∞ 2j
1
= − e = 0 0
S 0 S
1 1 1 1 2jω
= − =
2j s − jω s + jω 2j s2 + ω 2
Q 2) Find the Laplace transform of the f (t) = eat ω
= 2
where a is constant. s + ω2
Solution:
Z∞ Z∞
−st
L[f (t)] = f (t)e dt = eat e−st dt
0 0
Z∞ ∞ Q 4) Find the Laplace transform of the f (t) = cosωt.
−(s−a)t 1 −st 1
= e dt − e =
s−a 0 s−a Solution:
0
1
Chapter 1. Laplace Transform
Z∞
Z∞ Z∞
−st −st
L[f (t − to )u(t − to )] = f (t)e−st dt
L[f (t)] = f (t)e dt = cosωte dt
0
0 0 Z∞
Z∞
ejωt + e−jωt −st = f (t − to )u(t − to )e−st dt
= e dt
2 0
0
1, f or t ≥ to
∞
Z∞
u(t − to ) =
Z
1
= (e−(s−jωt) dt + (e−(s+jωt) dt 0, f or t < to
2j
0 0 Z∞
f (t − to )e−st dt
1 1 1 1 2s L[f (t − to )u(t − to )] =
= + =
2 s − jω s + jω 2 s2 + ω 2 to
s
= 2 Let τ = t − to t = τ + to
s + ω2
Z∞
Q 5 2011-DEC-7a) Find the Laplace transform i) L[f (t − to )u(t − to )] = f (τ )e−s(τ +to ) dτ
sin2 t ii) cos2 t, iii) sinωt 0
i) sin2 t Z∞
−to s
= e f (τ )e−sτ dτ
f (t) = sin2 t 0
−to s
1 − cos2t
1 1 = e F (s)
f (t) = = − cos2t
2 2 2
Differentiation in Time domain
1 1 s
F (s) = −
2s 2 s2 + 4 If L[f(t)]=F(s) then
s2 + 4 − s2
df (t)
= L = sF (s) − f (0)
2s(s2 + 4) dt
2
= 2 Let
s(s + 4)
df (t)
y(t) =
dt
ii) cos2 t
Z∞
L[y(t)] = y(t)e−st dt
f (t) = cos2 t
0
1 + cos2t 1 1
f (t) = = + cos2t
2 2 2 Z∞
df (t) −st
Y [s] = e dt
1 1 s
F (s) = + dt
2s 2 s2 + 4 0
s2 + 4 + s2 Integrating by parts
=
2s(s2 + 4) Z∞
∞
2(s2 + 2) Y [s] = e−st f (t) 0 − f (t)(−se−st )dt
=
2s(s2 + 4) 0
s2 + 2 Z∞
=
s(s2 + 4) = 0 − f (0) + s f (t)e−st dt
0
= −f (0) + sF (s)
Time Shifting Property = sF (s) − f (0)
Similarly
If L[f(t)]=F(s) then, for any real number to
n
d f (t)
L = sn F (s) − sn−1 f (0) · · · − f n−1 (0)
L[f (t − to )u(t − to )] = e−to s F (s) dtn
Z∞ Zt
L[f (t)] = F (s) = f (t)e−st dt y(t) = f (τ )dτ
0 0
Z0
y(0) = f (τ )dτ = 0
Divide both sides by s
0
Z∞
F (s) e−st Hence
= f (t) dt F (s)
s s Y (s) =
0 s
Q 1) Find the Laplace transform of the unit step Using Time shift property
function as shown in Figure 1.2.
Z∞ Z∞
f(t) 1
L[f (t)] = f (t)e−st dt = u(t − a)e−st dt = e−as
u(t) s
1 0 0
4
Q 6) Find the Laplace transform of the unit ramp 1
3
function r(t) as shown in Figure 1.6 (a).
2
r (t ) V(t - a )u (t - a)
f(t) f(t)
1
1 1
0
0 1 2 3 4 5 t
0
Figure 1.7: Staircase function
0 a t a t
The ramp function is defined as
r (t ) V(t - a )u (t - a )
1, 1 < t < 2
(a) (b)
2, 2 < t < 3
Figure 1.5: Unit ramp function u(t) = 3, 3 < t < 4
4, 4 < t < 5
The ramp function is defined as
0, otherwis3
(t − a), t ≥ a
Ar(t − a) =
0, t ≤ 0
Z∞ Z∞ u(t) = [u(t − 1) − u(t − 2)] + 2[u(t − 2) − u(t − 3)]
−st −st A
L[f (t)] = f (t)e dt = (t − a)e dt = 2 e−as
s
0 0
Q 7) Find the Laplace transform of the unit ramp
function r(t) as shown in Figure 1.6 (b).
u(t) = [u(t − 1) − u(t − 2)] + 2[u(t − 2) − u(t − 3)]
r (t ) V(t - a )u (t - a)
f(t) f(t) + 3[u(t − 3) − u(t − 4)] + 4[u(t − 4) − u(t − 5)]
1 1 = u(t − 1) + u(t − 2) + u(t − 3) + u(t − 4)
−4u(t − 5)
0 a t 0 a t
r (t ) V(t - a )u (t - a )
(a) (b) 1 −s
U (s) = [e + e−2s + e−3s + e−4s − 4e−5s ]
s
Q 1) Find the Laplace transform of the square wave as shown in Figure 1.8.
f(t)
V
T 2T 3T 4T t
-V
T 2T 3T t
-V
f(t) f(t)
Vu (t )
V + V
T 2T 3T t T 2T 3T t
-V -V
-2V
2Vu (t T )
f(t) f(t)
Vu (t 2T )
V + V
t
T 2T 3T T 2T 3T t
-V -V
f(t)
V
T 2T 3T t
-V
T 2T 3T 4T t
Figure 1.10
Solution:
V
r (t )
T
f(t) f(t)
V V
+
t t
T 2T 3T T 2T 3T
V
r (t T )
T
f(t) f(t)
.
+
V V
t t
T 2T 3T T 2T 3T
Vu (t T )
-V
f(t)
V
t
T 2T 3T
Figure 1.11
By considering one complete cycle from 0 to T Laplace transform of the complete periodic waveform
is
V V F1 (S)
L[f( t)] = r(t) − r(t − T ) − V u(t − T ) F (S) =
T T 1 − e−T S
V 1 V −T S 1
1 V
1 − e−T S − T Se−T S
F1 (S) = − e − V e−T S = 2
T S (1 − e−T S )
T S2 T S2 S
V V
1 − e−T S − T Se−T S
1 − e−T S − T Se−T S =
= 2 2
T S (1 − e−T S )
TS
1 1.5 2 3 t 1 1.5 2 3 t
6r(t-1)
f(t) f3(t)
f(t) 2 2 10r(t-1)
1 1.5 2 3 t 1 1.5 2 3 t
1 1.5 2 3 t
f(t) f4(t)
Figure 1.12 2 2
1 1.5 2 3 t 1 1.5 2 3 t
12r(t-2)
f(t)
Solution: f5(t)
2 2 12r(t-3)
1 1.5 2 3 1 1.5 2 3 t
f(t)
2
f(t) slope 2
1 1 1.5 2 3
2
2
2 Figure 1.14
1
1 1.5 2 3 t f (t) = 2r(t) − 6r(t − 1) + 10r(t − 1.5) − 12r(t − 2)
2 2 +12r(t − 3)
slope 4 4 2 6 10 12 12
0.5 0.5 F (S) = 2 − 2 e−s + 2 e−2s − 2 e−2s + 2 e−3s
s s s s s
2
Figure 1.13 = 2 1 − 3e−S + 5e−1.5s − 6e−2s + 6e−3s
s
t
T 2T
-V
+
T T
t t
-V -V
2V
r (t )
T
f3(t) f4(t)
2V
V + V r (t T )
T
T T
t t
-V -V
f4(t) f4(t)
Vu (t T )
V + V
T t T t
t t
-V -V
f4(t)
T
t t
-V
2V 2V
f (t) = V u(t) −r(t) + r(t − T ) + V u(t − T )
T T
V 2V 1 2V −T S 1 V
F1 (S) = − + e + e−T S
s T S2 T S2 s
V 2V
1 + e−T S − 1 − e−T S
= 2
s TS
Laplace transform of the periodic waveform is
F1 (S) 1 V −T S
2V −T S
F (S) = = 1 + e − 1 − e
1 − e−T S 1 − e−T S s T S2
0 t0 T-t0 T t
V
Slope
f(t) t0 f3(t)
V V
+
0 t0 T-t0 T t 0 t0 T-t0 T t
V
Slope
f(t) f4(t) t0
V + V
Slope
V
t0
0 t0 T-t0 T t 0 t0 T-t0 T t
f(t)
V
0 t0 T-t0 T t
2.5
4
0 1 2 3 t
-2
2
Slope r (t 1)
f(t)
1 f (t) 3
2 V
+
0 1 2 3 t 0 1 2 3 t
2
Slope r (t 2)
0.5
f(t) f4(t)
2 + V
2
Slope r (t 3)
1
0 1 2 3 t 0 1 2 3
-2
f(t) f5(t)
2 + 2
0 1 2 3 t 0 1 2 3 4 t
2
-2 -2 Slope r (t 4)
1
2
f(t)
0 1 2 3 4 t
-2
0 a 3a 4a 5a t
V
r (t )
f1(t) a f2(t)
V V
a 3a t a 3a t
V
r (t a )
a
f(t) f3(t)
V V
3a V
a
r (t 3a )
a 3a t t a
f4(t) V
f(t) r (t 4a )
V
a
V
a 3a 4a 5a t a 3a 4a 5a t
f(t)
a 3a 4a 5a t
E
Slope =
t0
T T t
2
T T t T T t
2 2
2
r (t T / 2)u (t T / 2)
T
f1(t) f3(t)
V V
+
T T t T T t
2 2 2
r (t T / 2)u (t T / 2)
T
f(t) f4(t)
V V
2
r (t T )u (t )
T
T T t T T t
2 2
f(t)
V
T T t
2
0 1 2 3 t
f(t) f3(t)
V V V
Slope
+ 1 Vr(t-3)
0 1 2 3 0 1 2 3
t
f(t)
V
0 1 2 3 t
Q 10) Find the Laplace transform of the waveform as shown in Figure 1.27.
f(t)
0 T 2T 3T 4T t
-V
V
2T 4T
T 3T t
-V
-
f2(t)
V
2T 4T
T 3T t
-V
f(t)
T 2T 3T t
-V
ω
L[sinωt] =
S2 + ω2
π π
L[f( t)] = V sin tu(t) + V sin (t − T )u(t − T )
" T T #
π π
F1 (S) = V T
+ T
e−T S
S 2 + ( Tπ )2 S 2 + ( Tπ )2
π
T
1 + e−T S
= V π 2
S2 + ( T )
Q 11) Find the Laplace transform of the waveform as shown in Figure 1.29.
f(t)
V2
V1
1 2 2.5 3 t
2π 2π
ω = 2πf = = = π (F or sine wave T = 2)
T 2
Q 12 2009-JULY) Find the Laplace transform of the Figure 1.31: Full wave rectifier output
waveform as shown in Figure 1.30.
f(t)
V
2π 2π
ω = 2πf = = = 1 (F or sine wave T = 2π)
π 2π 3π t
T 2π
F (s) F (s)
F3 (s) = =
f(t) 1 − e−st 1 − e−πs
V
V 1
F3 (s) = (1 + e−πs )
2
s +1 1 − e−πs
0 π V (1 + e−πs )
t =
s + 1 (1 − e−πs)
2
Q 13) Find the Laplace transform of the waveform as Figure 1.33: Full wave rectifier output
shown in Figure 1.32.
f(t)
V 2π 2π
ω = 2πf = = (F or sine wave T = 2π)
T T 3T 2T 5T
t T T
2 2 2
f(t) 0 a T t 0 a T t
10
10 -10
10u (t a )
t
0 a T T+a 2T 2T+a t
0 a T
Figure 1.34: Full wave rectifier output
Figure 1.36: Full wave rectifier output
Q 15 2010-DEC) Find the Laplace transform of the waveform as shown in Figure 1.37.
f(t)
0 1 2 3 4 5 t
Figure 1.37
Solution:
By considering one cycle.
f(t)
0 1 2 t
Figure 1.38
f1(t) f2(t)
u (t )
1 + 1 1
slope r (t )
1
0 1 2 t 0 1 2 t
f(t) f3(t)
1 1
+ 1
slope r (t 1)
1
0 1 2 t 0 1 2 t
f(t)
0 1 2 t
Figure 1.39
Q 16 2009-JULY) Find the Laplace transform of the waveform as shown in Figure 1.40.
f(t)
5
4.2
0 1 2 3 4 5 t
-2
Figure 1.40
Solution:
By considering one cycle.
f1(t)
u (t )
5 f2(t)
+ 1 5
slope r (t )
3
t t
0 1 2 3 4 5 0 1 2 3 4 5
f(t) f3(t)
1 1
+ 5
slope r (t )
3
t t
0 1 2 3 4 5 0 1 2 3 4 5
f(t) f4(t)
1 1
+ 2u (t 4.2)
t t
0 1 2 3 4 5 0 1 2 3 4 5
f(t)
5
4.2
0 1 2 3 4 5 t
2
Figure 1.41
1.1 Solutions
Q 1 2012-JUNE-7a) In the circuit shown in Figure K
R
1.42 find an expression for i(t) when the switch K is
closed at t=0. V i (t ) C
K
R
i (t ) L
Figure 1.43: Example
V
Solution: Assuming that there is no initial charge
on the capacitor then
Figure 1.42: Example
Solution: q(0− ) = 0 = q(0+ ) (1.1)
10
A = × s|s=0
s(1 + s) i(0− ) = i(0+ ) = 0
= 10
Z
1
10 vi = Ri + idt
B = × (1 + s)|s=−1 C
s(1 + s)
= −10 Z
1
δ(t) = Ri + idt
10 10 10 C
I(s) = − +
s (1 + s) 3(1 + s) Taking the Laplace transform on both sides
10 6.67
I(s) = −
s (1 + s)
1 I(s) (0− )
i(t) = [10 − 6.67e−t ]A Vi (s) = RI(s) + +i
C s s
Q 4 2013-JUNE-7a) Using Laplace transform obtain 1 I(s)
1 = RI(s) +
expression for the circuit shown in Figure 1.45. C s
Assume zero initial conditions. RCs + 1
1 = I(s)
1mH Cs
10
10−6 s
Cs
I(s) = =
1V i (t ) 1 F RCs + 1 10−6 106 s + 1
s
I(s) = 10−6
s+1
Figure 1.45: Example
Solution:
(s + 1) − 1
− + = 10−6
i(0 ) = i(0 ) = 0
s+1
di 1
Z (s + 1) 1
V = 10i + L + idt = 10−6 −
dt C s+1 s+1
Taking the Laplace transform on both sides 1
= 10−6 1 −
s+1
1
= 10I(s) + L[sI(s) − i(0+ )] i(t) = 10−6 [δ(t) − e−t ]
s
1 I(s) q(0− )
+ +
C s s Q 6 In the circuit shown in Figure 1.47 if the capacitor
1 11 is initially charged to 1 V, find an expression for i(t),
= 10I(s) + LsI(s) +
s Cs when the switch K is closed at t = 0.Use Laplace
10 6
= I(s)[10 + 10−3 s + ] transform
s 1H
K 2
11 = I(s)[10s + 10−3 s2 + 106 ]
1 = I(s)[10−3 s2 + 10s + +106 ] 1
i (t ) V_0=1 V F
1 2
I(s) =
10−3 s2 + 10s + +106
————————————— Figure 1.47: Example
Q 5 2013-JUNE-7b) For the critically related network Solution:
of the circuit shown in Figure 1.46 obtain an
expression for i(t). Use Laplace transform. When the switch K is closed
−
1M i(0− ) = 0A q(0s ) = 1
Z
vi (t ) (t ) 1 F di 1
Ri + L + idt = 0
dt C
Taking the Laplace transform on both sides Also obtain the expression for the capacitor voltage
in S domain for the circuit shown in Figure 1.49.
1 I(s) q(0− )
2I(s) + L[sI(s) − i(0+ )] + + =0 i 0.5 F 2
C s s
I(s) 1
2I(s) + LsI(s) + 2 − =0 2 (t ) +
s s 2 4u (t )
-
I(s) 2
2I(s) + sI(s) + 2 =
s s
2 2 Figure 1.49: Example
I(s) 2 + s + =
s s Solution:
2
2s + s + 2
I(s) =2 i 0.5 F 2
s
2 +
+ 4u (t )
I(s) 1
= 2 s2 +2s+2 4 (t ) -
-
I(s) = 2 (s+1)1 2 +1
i(t) = 2e−t sint Figure 1.50: Example
1 I(s) q(0− )
+
L[sI(s) − i(0 )] + + =0
C s s
—————————————
+ I(s)
LsI(s) − Li(0 ) + =0
Cs Q 1 2014-JAN-7b) In the circuit shown in Figure 1.44
I(s) solve for iL (t) using Laplace transformation.
1I(s) − 10 + −6
=0
10 × 10 10
iL (t )
105
I(s) s + = 10 5H
s
5u(t-2) iL (0 ) 5mA
10s
I(s) = s2 +105
10s Figure 1.51: Example
I(s) = s2 +(10 5/2 )2
1 A B Solution:
= +
s(s + 2) s (s + 2) When the steady state is reached the circuit is as
shown in Figure 1.53, capacitor is fully charged with
10 voltage vc (0− ) = 1V and inductor current is
A = × s|s=0
s(s + 2)
1
= 1
2 IL (0− ) = = 1V = i(0+ )
1 1
B = × (s + 2)|s=−2
s(s + 2)
1
= −
2 vc (0− ) = vc (0+ ) = 1V
5 × 10−3
1 1 1
I(s) = − e−2s +
2 s (s + 2) s+2 L is shorted
−2s −2s 5 × 10−3
1 e e K
I(s) = − + + i
2 s (s + 2) s+2 1V 1V - 1
1h i
i(t) = u(t − 2) − e−2(t−2) u(t − 2)
2
+ 5 × 10−3 e−2t u(t) Figure 1.53: Example
——————————– K
v (t ) 10
———————————–
t=0
Q 1 2011-JUNE-7a) Find the current i(t) when switch 10 V +
v(t ) 2F
K is opened at t=0 with the circuit having reached -
steady state before the switching in Fig 1.55. Find
current at t=0.5 sec 0 2 t
40
100V 0 2 0 2
40 iL (0 )
10 u (t )
-10 V
v(t )
40
v(t) = 10u(t) − 10u(t − 2)
10 10 −2s
40 i (t ) V (s) = − e
s s
4H 10
1 − e−2s
=
s