NATIONAL INSTITUTE OF TECHNOLOGY JAMSHEDPUR

Electrical Circuits and Systems (EE1302)

Laplace Transform
Presented
by
Dr. Arvind Kumar Prajapati

(Assistant Professor Grade-II)

Electrical Engineering Department

 Structure of Unit
1. Introduction
2. Objectives Laplace
3. Transform
4. Linearity of the Laplace Transform
5. Change of Scale Property
6. First Shifting Theorem
7. Second Shifting Theorem (Heaviside’s Shifting Theorem):
8. Laplace Transform of the Derivative of 𝑓 𝑡
9. Laplace Transform of the Derivative of Order N
10. Laplace Transform of the Integral of 𝑓 𝑡 Laplace
11. Transform of Some Important Functions
1
12. Laplace Transform of 𝑓(𝑡)
𝑡
13. Laplace Transform Of 𝑡. 𝑓(𝑡)
14. Unit Step Function
15. Laplace Transform of Unit Step Function
16. Periodic Functions:
17. Some Important Formulae of Laplace Transform
18. Inverse Laplace Transform
19. Some Important Formulae of Inverse Laplace Transform
20. Multiplication by s
1
21. Division by s (Multiplication By )
𝑠
22. First Shifting Property
23. Second Shifting Property
24. Inverse Laplace Transforms of
25. Derivatives: Inverse Laplace Transform of
26. Integrals
27. Inverse Laplace Transform by Partial Fraction Method
28. Solution of Differential Equations by Laplace
29. Initial and Final Values
30. Convolution Integral
Transforms Self Assessment Question
 1. INTRODUCTION

❑ The Laplace transform is named for the French mathematician Laplace, who studied this transform in 1782. Laplace
transforms is an integral transform.
❑ It helps in solving the differential equations with boundary values without finding the general solution and values of
the arbitrary constants.
❑ The method of Laplace transforms is a system that relies on algebra (rather than calculus-based methods) to solve
linear differential equations.
❑ While it might seem to be a somewhat cumbersome method at times, it is a very powerful tool that enables us to
readily deal with linear differential equations with discontinuous forcing functions.
 2. OBJECTIVES
❑ After studying this chapter we will learn about how Laplace transforms is useful for solving differential equations
with boundary values without finding the general solution.
❑ With the use of different properties of Laplace transform and Inverse Laplace transform one can solve many
important problem of physics with very simple way.
❑ Thus we will learn from this unit to use the Laplace transform for solving the differential equations.
 3. LAPLACE TRANSFORM
Definition: The Laplace transform of a function f(t) is defined as follows
∞
F (s) = ∫ e−st 𝑓(𝑡)𝑑𝑡
0

For all positive values of t and integral should exits. The Laplace transform is denoted by
∞
𝑳[𝒇(𝒕)] = 𝑭 (𝒔) = ∫ 𝒆−𝒔𝒕 𝒇(𝒕)𝒅𝒕
𝟎
Introduction
For a signal x(t), its Laplace transform X(s) is defined by
∞
𝑋 𝑠 = න 𝑒 −𝑠𝑡 𝑥 𝑡 𝑑𝑡
−∞

The signal x(t) is said to be the inverse Laplace transform of X(s). It can be shown that

1 𝑐+𝑗∞
𝑥 𝑡 = න 𝑋(𝑠)𝑒 𝑠𝑡 𝑑𝑠
2𝜋𝑗 𝑐−𝑗∞

where c is a constant chosen to ensure the convergence of the integral. This pair of
equations is known as the bilateral Laplace transform pair, where X(s) is the direct
Laplace transform of x(t) and x(t) is the inverse Laplace transform of X(s). Symbolically,

7
4. LINEARITY OF THE LAPLACE TRANSFORM

The Laplace transform is a linear operation; that is, for any functions 𝑓 ( 𝑡 ) and 𝑔 ( 𝑡 ) whose
transforms exist and any constants 𝑎 and 𝑏 the transform of 𝑎𝑓 ( 𝑡 ) + 𝑏𝑔(𝑡) exists, and

𝑳 [ 𝒂𝒇 ( 𝒕 ) + 𝒃𝒈(𝒕) ] = 𝒂𝑳 [ 𝒇 ( 𝒕 )] + 𝒃[𝒈 ( 𝒕 ) ]

Proof:
∞
𝐿 [ 𝑎 𝑓 ( 𝑡 ) + 𝑏 𝑔 (𝑡 ) ] = ∫ 𝑒 −𝑠 𝑡 [𝑎 𝑓 ( 𝑡 ) + 𝑏 𝑔 ( 𝑡 ) ]𝑑 𝑡
0

As we know that integration is a linear operation. So we can use the linearity property of
integration in above equation
∞ ∞
𝐿 [ 𝑎𝑓 ( 𝑡 ) + 𝑏𝑔(𝑡) ] = 𝑎 ∫ 𝑒 − 𝑠 𝑡 𝑓 ( 𝑡 ) 𝑑𝑡 + 𝑏 ∫ 𝑒 − 𝑠 𝑡 𝑔 ( 𝑡 ) 𝑑𝑡
0 0

𝐿 [ 𝑎𝑓 ( 𝑡 ) + 𝑏𝑔 ( 𝑡 )] = 𝑎𝐿[ 𝑓 ( 𝑡 ) ] + 𝑏𝐿[𝑔 ( 𝑡 ) ]
 5. CHANGE OF SCALE PROPERTY
If the Laplace transform of 𝑓 𝑡 is 𝐹 𝑠 then
𝟏 𝒔
𝑳 𝒇 𝒂𝒕 = 𝑭
𝒂 𝒂
Proof: From the definition of Laplace transform
∞
𝐿 𝑓 𝑎𝑡 = ∫ 𝑒−𝑠𝑡 𝑓 𝑎𝑡 𝑑𝑡
0
𝑑𝑟 𝑟
𝑝𝑢𝑡 𝑎𝑡 = 𝑟 ⟹ 𝑑𝑡 = 𝑎𝑛𝑑 𝑎𝑙𝑠𝑜 𝑡 =
∞ 𝑎 ∞
𝑎
𝑠
−𝑎
𝑑𝑟 1 −𝑆𝑟
𝑠
⇒ 𝐿 𝑓 𝑎𝑡 =∫ 𝑒 𝑓 𝑟 = ∫ 𝑒 𝑓 𝑟 𝑑𝑟 𝑤ℎ𝑒𝑟𝑒 𝑆 =
0 𝑎 𝑎 0 𝑎
1 1 𝑠
= 𝐹 𝑆 = 𝐹
𝑎 𝑎 𝑎
 6. FIRST SHIFTING THEOREM
If 𝐹 𝑠 has the Laplace transform of 𝑓 𝑡 then
𝑳 𝒆𝒂𝒕𝒇 𝒕 = 𝑭(𝒔 − 𝒂)
Proof: Using the definition of Laplace transform ∞
𝐹 𝑠 − 𝑎 = ∫ 𝑒− 𝑠−𝑎 𝑡 𝑓 𝑡 𝑑𝑡
∞ 0 ∞
=∫ 𝑒 −𝑠𝑡+𝑎𝑡 𝑓 𝑡 𝑑𝑡 = ∫ 𝑒 −𝑠𝑡 𝑒 𝑎𝑡 𝑓 𝑡 𝑑𝑡
0∞ 0
= ‫׬‬0 𝑒−𝑠𝑡 𝑒 𝑎𝑡 𝑓 𝑡 𝑑𝑡 = 𝐿 𝑒 𝑎𝑡 𝑓 𝑡
Alternative Method: ∞
∞
𝐿 𝑒 𝑎𝑡 𝑓 𝑡 =∫ 𝑒 𝑎𝑡 𝑒 −𝑠𝑡 𝑓 𝑡 𝑑𝑡 = ∫ 𝑒 −𝑠𝑡+𝑎𝑡 𝑓 𝑡 𝑑𝑡
∞ 0 ∞ 0
=∫ 𝑒− 𝑠−𝑎 𝑡 𝑓 𝑡 𝑑𝑡 = ∫ 𝑒 −𝑢𝑡 𝑓 𝑡 𝑑𝑡
0 0
Using 𝑠 − 𝑎 = 𝑢
= 𝐹 𝑢 = 𝐹(𝑠 − 𝑎)
 7. SECOND SHIFTING THEOREM
(HEAVISIDE’S SHIFTING THEOREM)
𝑓 𝑡−𝑎 , 𝑓𝑜𝑟 𝑡 > 𝑎
If 𝐿 𝑓 𝑡 = 𝐹(𝑠) and 𝑔 𝑡 =
0, 𝑓𝑜𝑟 0 < 𝑡 < 𝑎
Then −𝑎𝑠
𝐿 𝑔 𝑡 = 𝑒 𝐹(𝑠)
Proof: As per the definition of Laplace transform ∞
𝐿 𝑔 𝑡 = ∫ 𝑒−𝑠𝑡 𝑔 𝑡 𝑑𝑡
𝑎 0 ∞
𝐿𝑔 𝑡 = ∫ 𝑒−𝑠𝑡 𝑔 𝑡 𝑑𝑡 + ∫ 𝑒−𝑠𝑡 𝑔 𝑡 𝑑𝑡
0 𝑎
Using the given condition 𝑔 𝑡 = 0 𝑓𝑜𝑟 0 < 𝑡 < 𝑎 𝑎𝑛𝑑 𝑔 𝑡 = 𝑓 𝑡 − 𝑎 𝑓𝑜𝑟 𝑡 > 𝑎
∞
𝐿𝑔 𝑡 = 0 + ∫ 𝑒 −𝑠𝑡 𝑓 𝑡 − 𝑎 𝑑𝑡
𝑎
𝑁𝑜𝑤 𝑢𝑠𝑖𝑛𝑔 𝑡 − 𝑎 = 𝑟 ⇒ 𝑑𝑡 = 𝑑𝑟 𝑎𝑛𝑑 𝑡 = (𝑟 + 𝑎) we get
∞ ∞
𝐿𝑔 𝑡 =∫ 𝑒−𝑠(𝑟+𝑎)𝑓 𝑟 𝑑𝑟 = 𝑒−𝑠𝑎 ∫ 𝑒 −𝑠𝑟 𝑓 𝑟 𝑑𝑟 = 𝑒−𝑠𝑎𝐹(𝑠)
0 0
Hence ⇒ 𝐿𝑔𝑡 = 𝑒 −𝑎𝑠 𝐹 𝑠
8. LAPLACE TRANSFORM OF THE DERIVATIVE OF 𝒇(𝒕)

If 𝐿 𝑓 𝑡 = 𝐹(𝑠) and 𝑓 ′ (𝑡) is the derivative of 𝑓 ′ (𝑡) then

𝑳[𝒇′(𝒕)] = 𝒔𝑳[𝒇(𝒕)] − 𝒇(𝟎)
Proof: As we know
𝐿[𝑓′(𝑡)] = ‫𝑒 ∞𝑎׬‬−𝑠𝑡𝑓′ 𝑡 𝑑𝑡
Solving above equation using integration by parts we get
∞
𝐿[𝑓′(𝑡)] = 𝑒−𝑠𝑡𝑓 𝑡 ∞
0 − ∫ (−𝑠𝑒−𝑠𝑡)𝑓 𝑡 𝑑𝑡
0
As we know that
𝑒−∞ = 0 𝑎𝑛𝑑 𝑒 0 = 1 ⇒ 𝑒−𝑠𝑡𝑓 𝑡 = 0 𝑤ℎ𝑒𝑛 𝑡 = ∞ 𝑎𝑛𝑑 𝑒−𝑠𝑡𝑓 𝑡 = 𝑓 0 𝑤ℎ𝑒𝑛 𝑡 = 0
⇒ 𝐿[𝑓 ′ (𝑡)] = −𝑓(0) + 𝑠 ‫׬‬0∞ 𝑒−𝑠𝑡𝑓 𝑡 𝑑𝑡 = −𝑓(0) + 𝑠𝐿[𝑓(𝑡)
⇒ 𝑳[𝒇′ (𝒕)] = 𝒔𝑳[𝒇 𝒕 ] − 𝒇 𝟎
9. LAPLACE TRANSFORM OF
THE DERIVATIVE OF ORDER n
𝐿[𝑓 𝑛 (𝑡)] = 𝑠 𝑛 𝐿[𝑓 𝑡 ] − 𝑠 𝑛 −1 𝑓 0 − 𝑠 𝑛 −2 𝑓′ 0 − 𝑠 𝑛 −3 𝑓′′ 0 − ⋯ − 𝑓 𝑛 −1 (0)
Proof: As we know that the Laplace transform of derivative is given by
𝐿[𝑓′(𝑡)] = 𝑠𝐿[𝑓(𝑡)] − 𝑓(0) … … … … … … . 1
Using this equation we can find the Laplace transform of [𝑓′′ (𝑡)]
𝐿[𝑓′′ (𝑡)] = 𝑠𝐿[𝑓′(𝑡)] − 𝑓′(0)
Using equation 1 we get
𝐿[𝑓′′ (𝑡)] = 𝑠{𝑠𝐿 𝑓 𝑡 − 𝑓(0)} − 𝑓′(0)
𝐿[𝑓 ′′ (𝑡)] = 𝑠 2 𝐿[𝑓(𝑡)] − 𝑠𝑓(0) − 𝑓′(0) … … … … .2
Similarly we can find the value of 𝐿[𝑓′′′(𝑡)] by using equation 1 &2
𝐿[𝑓 ′′′ (𝑡)] = 𝑠 3 𝐿[𝑓(𝑡)] − 𝑠 2 𝑓(0) − 𝑠𝑓′(0) − 𝑓 ′′ (0) … … … … .3
Similarly, using above method we get
𝐿[𝑓 𝑛 (𝑡)] = 𝑠 𝑛 𝐿[𝑓 𝑡 ] − 𝑠 𝑛 −1 𝑓 0 − 𝑠 𝑛 −2 𝑓′ 0 − 𝑠 𝑛 −3 𝑓′′ 0 − ⋯ − 𝑓 𝑛 −1 (0)
10. LAPLACE TRANSFORM OF THE INTEGRAL OF 𝒇(t)

If 𝐿 𝑓 𝑡 = 𝐹(𝑠) and 𝑓 ′ (𝑡) is the derivative of 𝑓 ′ (𝑡) then

𝒕
𝟏
𝑳 ∫ 𝒇 𝒕 𝒅𝒕 = 𝑭(𝒔)
𝟎 𝒔
𝑡
Proof: Let 𝑔(𝑡) = ‫׬‬0 𝑓 𝑡 𝑎𝑛𝑑 𝑔 0 = 0 then 𝑔′(𝑡) = 𝑓(𝑡)
As we know that 𝐿 𝑔′ 𝑡 = 𝑠𝐿 𝑔 𝑡 − 𝑔(0)
⇒ 𝐿 𝑔′ 𝑡 = 𝑠𝐿 𝑔 𝑡 𝑎𝑠 𝑔 0 = 0
1
⇒ 𝐿 𝑔 𝑡 = 𝐿 𝑔′ 𝑡
𝑠
Using the value of 𝑔(𝑡) = ‫׬‬
0 𝑓 𝑡
𝑎𝑛𝑑 𝑔′ 𝑡 = 𝑓(𝑡) we will get
𝑡
1
⇒ 𝐿 ∫ 𝑓 𝑡 𝑑𝑡 = 𝐿[𝑓 𝑡 ]
0 𝒕 𝑠
𝟏
⇒ 𝑳 ∫ 𝒇 𝒕 𝒅𝒕 = 𝑭 𝒔
𝟎 𝒔
11.LAPLACE TRANSFORM OF
SOME IMPORTANT FUNCTIONS
𝟏
1. 𝑳(𝟏) =
𝑺
Proof: From the definition of Laplace transform, the Laplace transform of L(1) can be written as
∞ 𝑒 −𝑠𝑡 ∞
−𝑠𝑡
1 1
𝐿(1) = ∫ 1. 𝑒 𝑑𝑡 = =− 0−1 =
0 −𝑠 0
𝑠 𝑠
𝐴𝑠 𝑒 −∞ = 0 𝑎𝑛𝑑 𝑒 0 = 1
𝟏
2. 𝑳(𝒆𝒂𝒕) = 𝑤ℎ𝑒𝑟𝑒 𝑠 > 𝑎
𝒔−𝒂
Proof: As per the definition of Laplace transform ∞
∞
𝐿(𝑒 𝑎𝑡 ) = ∫ 𝑒 𝑎 𝑡 . 𝑒 −𝑠𝑡 𝑑𝑡 = ∫ 𝑒 𝑎−𝑠 𝑡 𝑑𝑡
0 0
∞ ∞
𝑒− 𝑠−𝑎 𝑡 1
= ∫ 𝑒−(𝑠−𝑎)𝑡 𝑑𝑡 = −(𝑠 − 𝑎) = 𝐴𝑠 𝑒 −∞ = 0 𝑎𝑛𝑑 𝑒 0 = 1
0 0
𝑠−𝑎
3. 𝑳 𝐬𝐢𝐧 𝒂𝒕 = 𝒂
𝒔𝟐+𝒂𝟐
𝑒 𝑖 𝑎 𝑡 − 𝑒 −𝑖𝑎𝑡 1
Proof: 𝐿(sin 𝑎𝑡) = 𝐿( )= 𝐿 𝑒𝑖 𝑎
− 𝐿 𝑒 −𝑖 𝑎
2 2
1 𝑖𝜃
Since sin 𝜃 = 𝑒 − 𝑒 −𝑖𝜃
2𝑖
1
𝑈𝑠𝑖𝑛𝑔 𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝐿(𝑒 𝑎𝑡 ) = 𝑤𝑒 𝑤𝑖𝑙𝑙 𝑔𝑒𝑡
𝑠−
1 1 1 1 𝑠 + 𝑖𝑎 − (𝑠 − 𝑖𝑎)
𝐿 sin 𝑎𝑡 = − =
2𝑖 𝑠 − 𝑖𝑎 𝑠 + 𝑖𝑎 2𝑖 𝑠 − 𝑖𝑎 (𝑠 + 𝑖𝑎)
1 2𝑖𝑎 𝑎
= = 2
2𝑖 𝑠 2 + 𝑎2 𝑠 + 𝑎2
𝒔
4. 𝑳 𝐜𝐨𝐬 𝒂𝒕 =
𝒔𝟐+𝒂𝟐
𝑒 𝑖 𝑎 𝑡 + 𝑒 −𝑖𝑎𝑡 1
Proof: 𝐿(cos 𝑎𝑡) = 𝐿( 𝐿 𝑒 𝑖 𝑎 + 𝐿 𝑒 −𝑖 𝑎
)=
2 2
1
Since cos 𝜃 = 𝑒 𝑖𝜃 + 𝑒−𝑖𝜃
2
1
𝑈𝑠𝑖𝑛𝑔 𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝐿(𝑒 𝑎𝑡 ) = 𝑤𝑒 𝑤𝑖𝑙𝑙 𝑔𝑒𝑡
𝑠−
1 1 1 1 𝑠 + 𝑖𝑎 + (𝑠 − 𝑖𝑎)
𝐿 cos 𝑎𝑡 = + =
2 𝑠 − 𝑖𝑎 𝑠 + 𝑖𝑎 2 𝑠 − 𝑖𝑎 (𝑠 + 𝑖𝑎)
1 2𝑠 𝑠
= 2 2
= 2 2
𝑎𝑠 𝑤𝑒 𝑘𝑛𝑜𝑤 𝑖 2 = −1
2 𝑠 + 𝑎 𝑠 + 𝑎
5. 𝑳 𝐬𝐢𝐧𝐡 𝒂𝒕 = 𝒂
𝒔 𝟐 − 𝒂𝟐
𝑒 𝑎 𝑡 − 𝑒 −𝑎𝑡
Proof: 𝐿(sinh 𝑎𝑡) = 𝐿( ) = 1 𝐿 𝑒 𝑎𝑡 − 𝐿 𝑒 −𝑎𝑡
2𝑖 2
1
Since sinh 𝜃 = 𝑒 𝜃 − 𝑒 −𝜃
2
1
𝑈𝑠𝑖𝑛𝑔 𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝐿(𝑒 𝑎𝑡 ) = 𝑤𝑒 𝑤𝑖𝑙𝑙 𝑔𝑒𝑡
𝑠−
1 1 1 1 𝑠 + 𝑎 − (𝑠 − 𝑎)
𝐿 sin 𝑎𝑡 = − =
2 𝑠−𝑎 𝑠+𝑎 2 𝑠 − 𝑎 (𝑠 + 𝑎)
1 2𝑎 𝑎
= = 2
2 𝑠2 − 𝑎2 𝑠 − 𝑎2
𝒔
6. 𝑳 𝐜𝐨𝐬𝐡 𝒂𝒕 =
𝒔 𝟐 − 𝒂𝟐
𝑒 𝑎 𝑡 + 𝑒 −𝑎𝑡
Proof: 𝐿(cosh 𝑎𝑡) = 𝐿( ) = 1 𝐿 𝑒 𝑎𝑡 + 𝐿 𝑒 −𝑎𝑡
2 2
1 𝜃
Since cos 𝜃 = 𝑒 + 𝑒 −𝜃
2
1
𝑈𝑠𝑖𝑛𝑔 𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝐿(𝑒 𝑎𝑡 ) = 𝑤𝑒 𝑤𝑖𝑙𝑙 𝑔𝑒𝑡
𝑠−
1 1 1 1 𝑠 + 𝑎 + (𝑠 − 𝑎)
𝐿 cosh 𝑎𝑡 = + =
2 𝑠−𝑎 𝑠+𝑎 2 𝑠 − 𝑎 (𝑠 + 𝑎)
1 2𝑠 𝑠
= = 2
2 𝑠2 − 𝑎2 𝑠 − 𝑎2
 𝒏!
7. 𝑳 𝒕𝒏 =
𝒔𝒏+𝟏
𝒘𝒉𝒆𝒓𝒆 𝒏 𝒂𝒏𝒅 𝒔 𝒂𝒓𝒆 𝒑𝒐𝒔𝒊𝒕𝒊𝒗𝒆
∞ 𝑛 −𝑠𝑡
Proof: 𝑳 𝒕𝒏 = ‫׬‬0 𝑡 . 𝑒 𝑑𝑡
𝑢 𝑑𝑢
𝑛𝑜𝑤 𝑢𝑠𝑖𝑛𝑔 𝑠𝑡 = 𝑢 ⇒ 𝑡 = ⇒ 𝑑𝑡 =
𝑠 𝑠
We will get
∞ 𝑢𝑛 ∞
−𝑢
𝑑𝑢 1 −𝑢 𝑢 𝑛 𝑑𝑢
𝐿 𝑡𝑛 = ∫ . 𝑒 = ∫ 𝑒
0 𝑠𝑛 𝑠 𝑠𝑛+1 0
∞
𝑤𝑒 𝑘𝑛𝑜𝑤 𝑡ℎ𝑎𝑡 ∫ 𝑒 −𝑢 𝑢 𝑛 𝑑𝑢 = Γ 𝑛 + 1 = 𝑛!
0
𝑛
Hence we have 𝐿 𝑡𝑛 = !
𝑠 𝑛+1
Example 1: Find the Laplace transform of 𝑠𝑖𝑛3 2𝑡
Solution: we have given 𝑓 𝑡 = 𝑠𝑖𝑛3 2𝑡
And we also know that sin 3𝜃 = 3 sin 𝜃 − 4𝑠𝑖𝑛3 𝜃
1
From above equation 𝑠𝑖𝑛3 2𝑡 = 3 sin 2𝑡 − sin 6𝑡
4
1
Hence 𝐿[𝑠𝑖𝑛3 2𝑡] = 3 L(sin 2𝑡) − L(sin 6𝑡)
4
= 1 6 − 6
4 𝑠 2 + 4 𝑠 2 + 36 𝑎
𝐴𝑠 𝑤𝑒 𝑘𝑛𝑜𝑤 𝑡ℎ𝑎𝑡 𝐿 sin 𝑎𝑡 = 2 2
𝑠 + 𝑎
6 𝑠 2 + 36 − 𝑠 2 − 4 48
= = 2
2 2
4 𝑠 + 4 𝑠 + 36 𝑠 + 4 𝑠 2 + 36
Example 2: Find the Laplace transform of 𝑠𝑖𝑛 2𝑡 𝑠𝑖𝑛3𝑡
Solution: we have given 𝑓 𝑡 = 𝑠𝑖𝑛 2𝑡 𝑠𝑖𝑛3𝑡
1
𝑈𝑠𝑖𝑛𝑔 𝑟𝑒𝑙𝑎𝑡𝑖𝑜𝑛 → 𝑠𝑖𝑛 𝐴 𝑠𝑖𝑛𝐵 = cos 𝐴 − 𝐵 − cos(𝐴 + 𝐵)
2
1
≫ 𝑠𝑖𝑛 2𝑡 𝑠𝑖𝑛3𝑡 = cos 𝑡 − cos 5𝑡
2
1
So 𝐿 𝑠𝑖𝑛 2𝑡 𝑠𝑖𝑛3𝑡 = 𝐿(cos 𝑡) − L(cos 5𝑡)
2
𝑠
Now using relation 𝐿 cos 𝑎𝑡 =
𝑠 2 +𝑎 2
1 𝑠 𝑠 12𝑠
We have 𝐿 𝑠𝑖𝑛 2𝑡 𝑠𝑖𝑛3𝑡 = − 𝑠2+25 =
2 𝑠2+1 𝑠2+1 (𝑠2+25)
 1 1 𝑡 = 1
Example 3: Show that 𝐿 = 𝐺𝑖𝑣𝑒𝑛 𝑡ℎ𝑎𝑡 𝐿 2 3
𝜋 𝑠 𝜋 𝑠ൗ
2
𝑡
Solution: Suppose 𝐹 𝑡 = 2 𝑡ℎ𝑒𝑛
𝜋
′
1
𝐹 𝑡 = 𝑎𝑛𝑑 𝑎𝑙𝑠𝑜 𝑤𝑒 𝑐𝑎𝑛 𝑠𝑒𝑒 𝑡ℎ𝑎𝑡 𝐹 0 = 0
𝜋𝑡
Now we know that 𝐿[𝐹′ 𝑡 ] = 𝑠𝐿 𝐹 𝑡 − 𝐹(0)
1 𝑡 − 0 = 𝑠. 1 − 0
Hence 𝐿 = 𝑠𝐿 2 3
𝜋 𝜋 𝑠 ൗ 2
1 1
⇒𝐿 =
𝜋𝑡 𝑠
Example 4: Find the Laplace transform of 𝑡 + 𝑡 2 + 𝑡 3
Solution: we have given 𝑓 𝑡 = 𝑡 + 𝑡 2 + 𝑡 3
𝑛!
Now using the relation 𝐿 𝑡 𝑛 = 𝑠 𝑛+1
1 2 6
We have𝐿 𝑓 𝑡 =𝐿 𝑡 +𝐿 𝑡2 +𝐿 𝑡3 = + +
𝑠2 𝑠3 𝑠4
Example 5: Find the Laplace transform of 𝑡 𝑐𝑜𝑠ℎ 𝑎𝑡
Solution: we have given 𝑓 𝑡 = 𝑡 𝑐𝑜𝑠ℎ 𝑎𝑡
𝑠
We know that 𝐿 𝑐𝑜𝑠ℎ 𝑎𝑡 =
𝑠 2 −𝑎 2
𝑛
Now using the relation 𝐿 𝑡 𝑛 𝑓 𝑡 = (−1)𝑛 𝑑 𝑛 [𝐹 𝑠 ]
𝑑𝑠
𝑑 𝑠 (𝑠2−𝑎2).1−𝑠.2𝑠
We will get 𝐿 𝑡 𝑐𝑜𝑠ℎ 𝑎𝑡 =− =−
𝑑𝑠 𝑠 2 −𝑎 2 (𝑠 2 −𝑎 2 ) 2
(𝑠2−𝑎2 − 2𝑠2
=−
(𝑠2−𝑎2)2
(𝑠 2 +𝑎 2 )
=
(𝑠2−𝑎2)2
 12. LAPLACE TRANSFORM OF 𝟏 𝒇(𝒕)
𝒕
If 𝑳 𝒇 𝒕 = 𝑭(𝒔) then If 𝑳
𝟏 𝒇(𝒕) = ‫𝒔𝒅 )𝒔(𝒇 ∞𝒔׬‬
𝒕
Proof: As per the Laplace transform
∞
𝐿𝑓 𝑡 = 𝐹 𝑠 = ‫׬‬0 𝑒−𝑠𝑡 𝑓 𝑡 𝑑𝑡
Integrating with respect to s, we get
∞ ∞ ∞
∫ 𝐹 𝑠 𝑑𝑠 = ∫ ∫ 𝑒 −𝑠𝑡 𝑓 𝑡 𝑑𝑡 𝑑𝑠
𝑠 0
∞𝑠 ∞ 𝑒−𝑠𝑡 ∞ ∞
= ∫ 𝑓(𝑡) ∫ 𝑒−𝑠𝑡𝑑𝑠 𝑑𝑡 = ∫ 𝑓(𝑡) 𝑑𝑡
0 𝑠 0 −𝑡 𝑠
∞ 𝑓(𝑡) ∞ 𝑓(𝑡)
= −∫ 𝑒 −𝑠𝑡 0∞ 𝑑𝑡 = − ∫ 𝑒 −∞ − 𝑒−𝑠𝑡 𝑑𝑡
𝑡 𝑡
0
∞ 𝑓(𝑡) ∞ 0
1 1
= −∫ 0 − 𝑒 −𝑠𝑡 𝑑𝑡 = ∫ 𝑒−𝑠𝑡 𝑓(𝑡) 𝑑𝑡 = 𝐿 𝑓(𝑡)
0 𝑡 0 𝑡 𝑡
𝟏 ∞
⇒ 𝑳 𝒇(𝒕) = ∫ 𝑭 𝒔 𝒅𝒔 𝑷𝒓𝒐𝒗𝒆𝒅
𝒕 𝒔
Similarly: LAPLACE TRANSFORM OF 𝒕. 𝒇(𝒕)
𝒅𝒏
𝑳 𝒕𝒏. 𝒇(𝒕) = (−𝟏)𝒏 𝑭(𝒔)
𝒅𝒔𝒏
 13. LAPLACE TRANSFORM OF 𝒕. 𝒇(𝒕)
𝒅 𝒏
𝑳 𝒕𝒏 . 𝒇(𝒕) = (−𝟏)𝒏 𝒏 𝑭(𝒔)
𝒅𝒔
sin 2𝑡
Example 6: Find the Laplace transform of
Solution: 𝐿(sin 2𝑡) = 2
𝑠 2 +4 ∞
sin 2𝑡 ∞ 2 𝑠 𝜋 −1 𝑠
𝐿 = ‫𝑠׬‬ 𝑑𝑠 = 2. 1 tan−1 = tan−1 ∞ − tan−1 𝑠 = − tan
𝑠 2 +4 2 2 𝑠 2 2 2
=cot−1 𝑠
2

Example 7: Find the Laplace transform of the function

𝑓 𝑡 = 𝑡𝑒−𝑡 sin 2𝑡
Solution: 𝐿 sin 2𝑡 = 2
𝑠 2 +4
2
𝐿 𝑒−𝑡 sin 2𝑡 = =𝐹 𝑠 𝑠𝑎𝑦
𝑠+1 2+4
𝑑 2 2.2(𝑠+1) 4(𝑠+1)
𝐿 𝑒 −𝑡 sin 2𝑡 = −𝐹 ′ 𝑠 = 𝑑𝑠 𝑠+1 2+4 = = Ans.
𝑠+1 2+4 2 𝑠+1 2+4 2
 14. UNIT STEP FUNCTION
The unit step function is defined as follows:

= 𝟎, 𝒘𝒉𝒆𝒏 𝒕 < 𝑎
𝒖 𝒕−𝒂 𝒘𝒉𝒆𝒓𝒆 𝒂 ≥ 𝟎
𝟏, 𝒘𝒉𝒆𝒏 𝒕 ≥ 𝒂
15. LAPLACE TRANSFORM OF
UNIT STEP FUNCTION
𝒆−𝒂𝒔
𝑳[𝒖 𝒕 − 𝒂 ] =
𝒔
Proof: Using the definition of Laplace transform, we have
∞
𝑳[𝒖 𝒕 − 𝒂 ] = ∫ 𝒆−𝒔𝒕𝒖 𝒕 − 𝒂 𝒅𝒕
𝟎
Now using the condition of unit step function
𝑎 ∞
𝐿[𝑢 𝑡 − 𝑎 ] = ∫ 𝑒−𝑠𝑡𝑢 𝑡 − 𝑎 𝑑𝑡 + ∫ 𝑒−𝑠𝑡𝑢 𝑡 − 𝑎 𝑑𝑡
0 𝑎 ∞
𝑎 ∞ 𝑒−𝑠𝑡
= ∫ 𝑒 −𝑠𝑡 0. 𝑑𝑡 + ∫ 𝑒 −𝑠𝑡 1. 𝑑𝑡 = 0 +
0 𝑎 −𝑠 𝑎
𝑒−𝑎𝑠
𝐿 𝑢 𝑡−𝑎 =
𝑠
Example 8: Convert the following function in terms of unit step function and then find the
Laplace Transform
6, 𝑤ℎ𝑒𝑛 𝑡 < 2
𝑓 𝑡 = ቊ
4, 𝑤ℎ𝑒𝑛 𝑡 ≥ 2
Solution: Given that
6, 𝑤ℎ𝑒𝑛 𝑡 < 2
𝑓 𝑡 =ቊ
4, 𝑤ℎ𝑒𝑛 𝑡 ≥ 2
This further can be written as
6 + 0, 𝑤ℎ𝑒𝑛 𝑡 < 2 = 6 + ቊ0, 𝑤ℎ𝑒𝑛 𝑡 < 2
𝑓 𝑡 =ቊ
6 − 2, 𝑤ℎ𝑒𝑛 𝑡 ≥ 2 −2, 𝑤ℎ𝑒𝑛 𝑡 ≥ 2
𝑤ℎ𝑒𝑛 𝑡 < 2 = 6 − 2𝑢 𝑡 − 2
= 6 + −2 ቊ0,
1, 𝑤ℎ𝑒𝑛 𝑡 ≥ 2
[Using the condition of unit step function]
6 𝑒−2𝑠
𝐿 𝑓 𝑡 = 6𝐿 1 − 2𝐿 𝑢 𝑡 − 2 = − 2
𝑠 𝑠
 16. PERIODIC FUNCTIONS
If 𝑓 𝑡 be a periodic function with period 𝑇, ⇒ 𝑓 𝑡 + 𝑇 =𝑻 𝑓(𝑡) then
‫𝒆 𝟎׬‬−𝒔𝒕𝒇 𝒕 𝒅𝒕
𝑳𝒇 𝒕 =
𝟏 − 𝒆−𝒔𝑻
Proof: As we know
∞
𝐿𝑓 𝑡 = ∫ 𝑒−𝑠𝑡 𝑓 𝑡 𝑑𝑡
0
This can be written as in the following manner
∞ 𝑇 2𝑇 3𝑇
𝐿 𝑓 𝑡 = ‫׬‬0 𝑒−𝑠𝑡
𝑓 𝑡 𝑑𝑡 = ‫׬‬0 𝑓 𝑡 𝑑𝑡 + ‫𝑇׬‬ 𝑒−𝑠𝑡 𝑒−𝑠𝑡
𝑓 𝑡 𝑑𝑡 + ‫׬‬2𝑇 𝑒−𝑠𝑡 𝑓 𝑡 𝑑𝑡 + ⋯
Now substituting 𝑡 = 𝑢 + 𝑇, 𝑡 = 𝑢 + 2𝑇, … 𝑎𝑛𝑑 𝑑𝑡 = 𝑑𝑢 in second integral, third integral, and so on respectively,
we will get
𝑇 𝑇 𝑇
𝐿𝑓 𝑡 = ‫׬‬0 𝑒−𝑠𝑡 𝑓 𝑡 𝑑𝑡 + ‫׬‬0 𝑒−𝑠(𝑢+𝑇) 𝑓 𝑢 + 𝑇 𝑑𝑢 + ‫׬‬0 𝑒−𝑠(𝑢+2𝑇) 𝑓 𝑢 + 2𝑇 𝑑𝑢 + ⋯
𝑇 𝑇 𝑇
= ∫ 𝑒−𝑠𝑡 𝑓 𝑡 𝑑𝑡 + 𝑒−𝑠𝑇 ∫ 𝑒−𝑠𝑢 𝑓 𝑢 + 𝑇 𝑑𝑢 + 𝑒−2𝑠𝑇 ∫ 𝑒−𝑠𝑢 𝑓 𝑢 + 2𝑇 𝑑𝑢 + ⋯
0 𝑇 0 𝑇 0𝑇

= ∫ 𝑒−𝑠𝑡 𝑓 𝑡 𝑑𝑡 + 𝑒−𝑠𝑇 ∫ 𝑒−𝑠𝑢 𝑓 𝑢 𝑑𝑢 + 𝑒−2𝑠𝑇 ∫ 𝑒−𝑠𝑢 𝑓 𝑢 𝑑𝑢 + ⋯

0 0 0
As 𝑓 𝑢 be a periodic function with period 𝑇, ⇒ 𝑓 𝑢 + 𝑇 =
𝑓 𝑢 + 2𝑇 = ⋯ = 𝑓(𝑢)
Now we can write
𝑇 𝑇 𝑇
= ∫ 𝑒−𝑠𝑡 𝑓 𝑡 𝑑𝑡 + 𝑒−𝑠𝑇 ∫ 𝑒−𝑠𝑡 𝑓 𝑡 𝑑𝑢 + 𝑒−2𝑠𝑇 ∫ 𝑒−𝑠𝑡 𝑓 𝑢 𝑑𝑡 + ⋯
0 𝑇 0 0

= ∫ 𝑒−𝑠𝑡 𝑓 𝑡 𝑑𝑡 1 + 𝑒−𝑠𝑇 + 𝑒−2𝑠𝑇 + ⋯

0
1
𝑥2 𝑥3
𝑁𝑜𝑤 𝑢𝑠𝑖𝑛𝑔 𝑡ℎ𝑒 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛 [1 + 𝑥 + + + … = we have
1−𝑥
‫׬‬0𝑇 𝑒 −𝑠𝑡 𝑓 𝑡 𝑑𝑡
𝐿𝑓 𝑡 =
1 − 𝑒−𝑠𝑇
Example 8: Find the Laplace transform of the waveform
2𝑡
𝑓 𝑡 = , 0 ≤ 𝑡 ≤ 3.
3
1
Solution: 𝐿 𝑓(𝑡) = 1−𝑒−𝑠𝑇 ‫׬‬0𝑇 𝑒−𝑠𝑇𝑓 𝑡 𝑑𝑡
−𝑠𝑡 3
2 1 3 𝑒 −𝑠𝑡
𝐿 = ‫ 𝑒 ׬‬−𝑠𝑡 2 𝑡 𝑑𝑡 = 1 2 𝑡𝑒
− 1 𝑠2
1−𝑒−3𝑠 0 3 1−𝑒−3𝑠 3 −𝑠 0
3 3𝑒 −3𝑠 𝑒 −3𝑠 1 2 1 3𝑒 −3𝑠 1−𝑒−3𝑠
=2 1
− 𝑠2 + = + 𝑠2
3 1−𝑒−3𝑠 −𝑠 𝑠2 3 1−𝑒 −3𝑠 −𝑠
2𝑒 −3𝑠 2
= +
−𝑠 1−𝑒−3𝑠 3𝑠 2
17. SOME IMPORTANT FORMULAE
OF LAPLACE TRANSFORM
S.No. 𝑓 𝑡 𝐹 𝑠

1 𝑒 𝑎𝑡 1
𝑠−𝑎
𝑎
2 sin 𝑎𝑡
𝑠2 + 𝑎2
𝑠
3 cos 𝑎𝑡
𝑠 + 𝑎2
2

𝑎
4 sinh 𝑎𝑡
𝑠 − 𝑎2
2

𝑠
5 cosh 𝑎𝑡
𝑠 − 𝑎2
2

𝑡𝑛 𝑛!
6
𝑠 𝑛+1
𝑎
7 ebt sin 𝑎𝑡
𝑠 − 𝑏 2 + 𝑎2
𝑠−𝑏
8 ebt cos 𝑎𝑡
𝑠 − 𝑏 2 + 𝑎2
𝑡 𝑠
9 sin 𝑎𝑡
2𝑎 𝑠 2 + 𝑎2 2
𝑠2 − 𝑎2
10 𝑡 cos 𝑎𝑡
𝑠 2 + 𝑎2 2
 18. INVERSE LAPLACE TRANSFORM
If 𝐹 𝑠 is the Laplace Transform of a function 𝑓 𝑡 , then 𝑓 𝑡 is known
as Inverse Laplace Transform.
𝑓 𝑡 = 𝐿−1[𝐹 𝑠 ]
The Inverse Laplace Transform is very useful to solving the differential
equations without finding the general solution and arbitrary constants.
 19.SOME IMPORTANT FORMULAE OF INVERSE LAPLACE
TRANSFORM
S.No. 𝐹 𝑠 𝑓 𝑡 = 𝐿−1[𝐹 𝑠 ]

1 1 𝑒 𝑎𝑡
𝑠−𝑎
𝑎
2 sin 𝑎𝑡
𝑠 + 𝑎2
2

𝑠
3 cos 𝑎𝑡
𝑠 + 𝑎2
2

𝑎
4 sinh 𝑎𝑡
𝑠 2 − 𝑎2
𝑠
5 cosh 𝑎𝑡
𝑠 − 𝑎2
2

𝑛! 𝑡𝑛
6
𝑠 𝑛+1
𝑎
7 ebt sin 𝑎𝑡
𝑠 − 𝑏 2 + 𝑎2
𝑠−𝑏
8 ebt cos 𝑎𝑡
𝑠 − 𝑏 2 + 𝑎2
𝑠 𝑡
9 sin 𝑎𝑡
𝑠 2 + 𝑎2 2 2𝑎
𝑠2 − 𝑎2
10 𝑡 cos 𝑎𝑡
𝑠 2 + 𝑎2 2
1 1
11
𝑠
 1 1
Example 9: Prove that 𝑠 1/2
=𝐿 𝜋
1 𝑡 𝑛−1 𝑡 𝑛−1
Solution: we know that 𝐿−1 𝑠𝑛
= =
(𝑛−1)! Γ
1
−1
1 𝑡2
Using above relation we can write 𝐿−1 = 1
𝑠 1/2 Γ
2
−1
2 1
= 𝑆𝑖𝑛𝑐𝑒 Γ = π
π 2
1 1 1 1
⇒ 𝐿−1 = ⇒ =𝐿
𝑠1/2 πt 𝑠1/2 πt
Example 10: Find the inverse Laplace Transform of the following:
(i) 1 (ii)
1
(iii)
𝑠
𝑠−3 𝑠 2 −25 𝑠2 +16
1 1 𝑠−1
(iv) (v) (vi)
𝑠2 +9 𝑠−2 2 +1 𝑠−1 2 +4

Solution.
1 1
(i) 𝐿−1 = 𝑒 3𝑡 [𝑠𝑖𝑛𝑐𝑒 𝐿−1 = 𝑒 𝑎𝑡 ]
𝑠−3 𝑠−
1 5 −1 𝑎
(ii) 𝐿−1 2 = 𝐿−1 1 2 = 1
𝑠𝑖𝑛ℎ5𝑡 [𝑠𝑖𝑛𝑐𝑒 𝐿 = 𝑠𝑖𝑛ℎ 𝑎𝑡]
𝑠 −25 5 𝑠 − 5 2 5 𝑠 2 −𝑎 2
𝑠 𝑠
(iii)𝐿−1 2 = 𝐿−1 2 = cos 4𝑡 [𝑠𝑖𝑛𝑐𝑒 𝑠𝑖𝑛𝑐𝑒 𝐿−1 𝑠 = 𝑐𝑜𝑠 𝑎𝑡 ]
𝑠 +16 𝑠 + 4 2 𝑠 2 +𝑎 2
1 1 1
(iv)𝐿−1 2 = 𝐿−1 𝑠 2 + 3 2 = 3 sin 3𝑡 [𝑠𝑖𝑛𝑐𝑒 𝑠𝑖𝑛𝑐𝑒 𝐿−1 2 1 2 = 1 𝑠𝑖𝑛 𝑎𝑡 ]
𝑠 +9 𝑠 +𝑎 𝑎
1 1
(v) 𝐿−1 2
= 𝑒 2𝑡 sin 𝑡 𝑠𝑖𝑛𝑐𝑒 𝑠𝑖𝑛𝑐𝑒 𝐿−1
= 𝑒 𝑏𝑡 𝑠𝑖𝑛 𝑎𝑡
𝑠−12 +1 𝑠−1 𝑠−𝑏 2 +𝑎𝑠− 2
−1 −1 𝐿 −1 𝑎 𝑐𝑜𝑠 𝑏𝑡
(vi)𝐿 = 𝐿 = 𝑒 cos 2𝑡 𝑠𝑖𝑛𝑐𝑒 𝑠𝑖𝑛𝑐𝑒 = 𝑒
𝑠−1 2 +4 𝑠−1 2+(2)2 𝑠−𝑎 2 +𝑏 2
 2
Example 11: Find 𝐿−1 𝑠 +3𝑠+8
𝑠3
Solution: Here, we have
2
−1 𝑠 +3𝑠+8 −1 1 3 8
𝐿 =𝐿 + +
𝑠3 𝑠 𝑠2 𝑠3
𝑡 𝑛−1
= 1 + 3𝑡 + 8 𝑡 2 [ 𝑠𝑖𝑛𝑐𝑒 𝐿−1 1𝑛 = ]
1! 2! 𝑠 𝑛−1 !
= 1 + 3𝑡 + 4 𝑡 2
20. MULTIPLICATION BY S
−𝟏 𝒅
𝑳 𝒔𝑭(𝒔) = 𝒇 𝒕 + 𝒇 𝟎 𝜹(𝒕)
𝒅𝒕

𝒔
Example 12: Find the Inverse Laplace Transform of
𝒔𝟐+𝟒
1
Solution: we know that 𝐿−1 = (sin 𝑎𝑡)/a
𝑠 2 +𝑎 2
1
Hence 𝐿−1 2
= (sin 2𝑡)/2
𝑠 +4
𝑠
And 𝐿−1 2 = 𝑑 ((𝑠𝑖𝑛 2𝑡)/2) + sin 0
𝑠 +4 𝑑𝑡
𝐴𝑛𝑠.
 𝟏
21. DIVISION BY s (MULTIPLICATION BY )
𝒔
𝐹 (𝑠) 𝑡
𝐿−1 = 0‫׬‬ 𝐿
−1
F(𝑠) d𝑡 = ∫0 𝑓(𝑡)
𝑠

Example 13: Find the Inverse Laplace Transform of

1 1
(i) (ii)
𝑠 (𝑠+𝑎) 𝑠(𝑠2+1)
Solution:
1
(i) 𝑠𝑖𝑛𝑐𝑒 𝐿−1 𝑠+𝑎
= 𝑒−𝑎𝑡 𝑡
𝐿−1
1 =∫ 1
0 𝐿−1 𝑠+𝑎
𝑑𝑡
𝑠 𝑠+𝑎
𝑒 −𝑎𝑡 𝑒 −𝑎𝑡
=‫׬‬
0 𝑒
−𝑎 𝑑𝑡 = = + 1 = 1 1 − 𝑒 −𝑎
−𝑎 0 −𝑎 𝑎 𝑎
 1
(ii) 𝑤𝑒 𝑘𝑛𝑜𝑤 𝑡ℎ𝑎𝑡 𝐿−1 2
= sin 𝑡
(𝑠 +1)
𝑡 𝑡
−1 1 1 −1 1
𝐿 = ‫׬‬0 𝐿 = ‫׬‬0 sin 𝑡 𝑑𝑡 =
𝑠 𝑠2+1) 𝑠2+1
= − cos 𝑡 0𝑡 = − cos 𝑡 + 1 = 1 − cos 𝑡
 22. FIRST SHIFTING PROPERTY
If the inverse Laplace transform of 𝐹 𝑠 𝑖𝑠 𝑓(𝑡) such that
𝐿−1[𝐹 𝑠 ] = 𝑓(𝑡)
Then 𝐿−1𝐹 𝑠 + 𝑎 = 𝑒−𝑎𝑡 𝐿−1[𝐹 𝑠 ]

Example 14: Find the Inverse Laplace Transform of

1 (ii) 𝑠 1
(i) 4
(iii)
(𝑠+4) 2 𝑠 +4𝑠 +13 9𝑠2+6𝑠+1
Solution:
1 𝑡3
(i) 𝑤𝑒 𝑘𝑛𝑜𝑤 𝑡ℎ𝑎𝑡 𝐿−1 𝑠4
=
3!
1
then 𝐿−1
(𝑠+4 )4
1
= 𝑒−4𝑡𝐿−1 𝑢𝑠𝑖𝑛𝑔 𝑓𝑖𝑟𝑠𝑡 𝑠ℎ𝑖𝑓𝑖𝑡𝑖𝑛𝑔 𝑝𝑟𝑜𝑝𝑒𝑟𝑡𝑦
3
𝑠4
1
= 𝑒−4𝑡 𝑡 = 𝑒 −4𝑡 𝑡 3
3! 6
 𝑠 𝑠+2−2
Solution (ii) 𝐿−1 = 𝐿 −1
𝑠2+4𝑠+13 (𝑠+2)2 +(3)2
𝑠+2 2
= 𝐿−1 − 𝐿−1
(𝑠+2)2+(3)2 (𝑠+2)2+(3)2
Using First shifting property ⇒ 𝐿−1𝐹 𝑠 + 𝑎 = 𝑒−𝑎𝑡 𝐿−1[𝐹 𝑠 ]
𝑠 −2𝑡𝐿−1 2 3
= 𝑒−2𝑡𝐿−1 − 𝑒
(𝑠)2+(3)2 3 𝑠 2 +3 2
2
= 𝑒−2𝑡 cos 3𝑡 − 𝑒 −2 sin 3𝑡 𝐴𝑛𝑠.
3
1 1
Solution (iii) 𝐿−1 2 = 𝐿−1
9𝑠 +6𝑠+1 (3𝑠+1 )2
= 1 𝐿−1 11
9 (𝑠+ )2
3
1 −𝑡Τ3 −1 1
= 𝑒 𝐿 2 [ 𝑈𝑠𝑖𝑛𝑔 𝐹𝑖𝑟𝑠𝑡 𝑠ℎ𝑖𝑓𝑡𝑖𝑛𝑔 𝑝𝑟𝑜𝑝𝑒𝑟𝑡𝑦]
9 𝑠
1 −𝑡 Τ 𝑡𝑒 −𝑡Τ3
= 𝑒 𝑡=
9 3 9
 23. SECOND SHIFTING PROPERTY
SECOND SHIFTING PROPERTY

𝐿−1[ 𝑒−𝑎𝑠 𝐹 (𝑠) ] = 𝑓(𝑡 − 𝑎)𝑢(𝑡 − 𝑎 )

E x a m p l e 15: Ob t a in Inverse Laplace Tra n sfo rm of

𝑒−𝜋𝑠 𝑒−𝑠
(𝑖 ) (𝑖 𝑖 )
(𝑠+3 ) ( 𝑠 + 1 )3

Solution:

(i ) A s w e k n o w t h a t
1
𝐿−1 = 𝑒−3𝑡
𝑠+3

N o w using second shifting theorem w e can find the inverse Laplace transform of
−𝜋𝑠
𝑒
𝐿−1
(𝑠 + 3 )
= 𝑒−3( 𝑡−𝜋)𝑢(𝑡 − 𝜋) 𝑠𝑖𝑛𝑐𝑒 [𝐿−1[ 𝑒−𝑎𝑠 𝐹 (𝑠)] = 𝑓(𝑡 − 𝑎)𝑢(𝑡 − 𝑎)]
 2
1
(ii) 𝐴𝑠 𝑤𝑒 𝑘𝑛𝑜𝑤 𝑡ℎ𝑎𝑡 −1
𝐿 3 =𝑡
𝑠 2!
Then 2
1
𝐿−1 𝑒−𝑡 𝑡 [𝑢𝑠𝑖𝑛𝑔 𝑓𝑖𝑟𝑠𝑡 𝑠ℎ𝑖𝑓𝑖𝑡𝑖𝑛𝑔 𝑝𝑟𝑜𝑝𝑒𝑟𝑡𝑦]
( 𝑠+1 )3 2!
𝑒 −𝑠
Hence 𝐿−1 =
( 𝑠+1 )3
2
𝑒−( 𝑡−1) ( 𝑡−1 ) 𝑢 𝑡−1 [𝑢𝑠𝑖𝑛𝑔 𝑠𝑒𝑐𝑜𝑛𝑑 𝑠ℎ𝑖𝑓𝑖𝑡𝑖𝑛𝑔 𝑝𝑟𝑜𝑝𝑒𝑟𝑡𝑦]
2!
24. INVERSE LAPLACE TRANSFORMS OF DERIVATIVES

𝑑
𝐿−1 𝐹 (𝑠) = −𝑡𝐿−1 𝐹(𝑠) = −𝑡𝑓 𝑡
𝑑𝑠
1 −1 𝑑
⇒ 𝐿−1 𝐹(𝑠) =− 𝐿 𝐹 (𝑠)
𝑡 𝑑𝑠
Example 16: Find 𝑠+1
𝐿−1 log .
𝑠−1
𝑠+1 1 −1 𝑑
Solution: 𝐿−1 log = − 𝐿 log( 𝑠+1)
𝑠−1 𝑡 𝑑𝑠 𝑠−1
𝑢𝑠𝑖𝑛𝑔 𝑖𝑛𝑣𝑒𝑟𝑠𝑒 𝑙𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝑜𝑓 𝑑𝑒𝑟𝑖𝑣𝑎𝑡𝑖𝑣𝑒𝑠
1 −1 𝑑 𝑑 1 −1 1 1
= − 𝐿 log 𝑠+1 − log(𝑠 − 1) = − 𝐿 −
𝑡 𝑑𝑠 𝑑𝑠 𝑡 𝑠+1 𝑠−1
= − 1 𝑒−𝑡 − 𝑒 𝑡 = 1 𝑒 𝑡 − 𝑒−𝑡 𝐴𝑛𝑠.
𝑡 𝑡
25. INVERSE LAPLACE TRANSFORM OF INTEGRALS
𝑓 (𝑡 )
𝐿−1 ‫= 𝑠𝑑 𝑠 𝐹∞׬‬ = 1 𝐿−1 𝐹(𝑠)
𝑠 𝑡 𝑡
⇒ 𝐿−1 𝐹(𝑠) = 𝐿−1 ∫ ∞ 𝐹 𝑠 𝑑𝑠
𝑠

2𝑠
Example17: Find the Inverse Laplace Transform of
(𝑠2+1)2
2𝑠
Solution: we have to find 𝐿−1
(𝑠2+1)2
We will solve this using inverse Laplace transform of integrals
∞
−1
2𝑠 −1
2𝑠𝑑𝑠
𝐿 2 2
= 𝑡𝐿 ∫ 2 2
(𝑠 +1) 𝑠 (𝑠 +1)
∞
1 1 1
𝑡𝐿−1 − 2 = 𝑡𝐿 −1 −0 + 2 = 𝑡𝐿 −1
𝑠 +1 𝑠 𝑠 +1 𝑠2 + 1
= 𝑡 𝑠𝑖𝑛 𝑡
26. INVERSE LAPLACE TRANSFORM BY PARTIAL FRACTION
METHOD
1
Example 18: Find the Inverse Laplace Transform of 2 .
𝑠 −5𝑠+6
Solution: Let us convert the given function into partial fractions.
1 1 1
𝐿−1 2 = 𝐿−1 −
𝑠 −5𝑠+6 𝑠−3 𝑠−2
1 1
= 𝐿−1 − 𝐿−1 = 𝑒 3𝑡 − 𝑒 2𝑡
𝑠−3 𝑠−2
𝑠+1
Example 19: Find the Inverse Laplace Transform of .
𝑠 2−6𝑠+25
Solution:
1 1 𝑠−3+4
𝐿−1 = 𝐿−1 = 𝐿−1
𝑠2−6𝑠+25 (𝑠−3)2+(4)2 (𝑠−3)2+(4)2
𝑠−3 4
= 𝐿−1 + 𝐿−1
(𝑠−3)2+(4)2 (𝑠−3)2+(4)2
= 𝑒 3𝑡 cos 4𝑡 + 𝑒 3𝑡 sin 4𝑡 𝑈𝑠𝑖𝑛𝑔 𝑓𝑖𝑟𝑠𝑡 𝑠ℎ𝑖𝑓𝑖𝑡𝑖𝑛𝑔 𝑝𝑟𝑜𝑝𝑒𝑟𝑡𝑦
27. SOLUTION OF DIFFERENTIAL EQUATIONS
BY LAPLACE TRANSFORMS
Ordinary linear differential equations with constant coefficients can be easily
solved by the Laplace Transform method, without finding the general
solution and the arbitrary constants. The method wil be clear from the
following examples:
Let us now discuss how the Laplace transform method solves ODEs and
initial value problems. We consider an initial value problem
𝑦 ′′ + 𝑎𝑦 ′ + 𝑏𝑦 = 𝑟 𝑡 , 𝑦 0 = 𝐾0 ,
𝑎𝑛𝑑 𝑦 ′ 0 = 𝐾1
where a and b are constant. Here is the given input (driving force) applied to
the mechanical or electrical system and is the output (response to the input)
to be obtained.
In Laplace’s method we do three steps:
Step 1. Setting up the subsidiary equation.
This is an algebraic equation for the transform 𝑌 = 𝐿 𝑦 obtained by transforming the given
differential equation using the Laplace transform of derivatives,
𝑠 2 𝑌 − 𝑠𝑦 0 − 𝑦 ′ 0 + 𝑎 𝑠𝑌 − 𝑦 0 + 𝑏𝑌 = 𝑅(𝑠)
Where 𝑅 𝑠 = 𝐿(𝑟)
Now collecting the Y-terms, we have the subsidiary equation as follows
𝑠2 + 𝑎𝑠 + 𝑏 𝑌 = 𝑠 + 1 𝑦 0 + 𝑦 ′ 0 + 𝑅 𝑠
Step 2. Solution of the subsidiary equation by algebra.
We divide by and use the so-called transfer function
1
𝑄(𝑠) = 2
𝑠 + 𝑎𝑠 + 𝑏
This gives the solution
𝑌 = 𝑠 + 1 𝑦 0 𝑄(𝑠) + 𝑦 ′ 0 𝑄(𝑠) + 𝑅 𝑠 𝑄(𝑠)
Note that Q depends neither on r(t) nor on the initial conditions (but only on a and b).
Step 3. Inversion of Y to obtain 𝒚 = 𝑳−𝟏𝒀
Now take the inverse Laplace transform to get the solution of differential equations.
Example 20: Solve the following equation by Laplace transform
𝑦 ′′ − 𝑦 = 𝑡 ; 𝑦 0 = 1 𝑎𝑛𝑑 𝑦 ′ 0 = 1
Solution: The given equation is
𝑦 ′′ − 𝑦 = 𝑡 ; 𝑦 0 = 1 𝑎𝑛𝑑 𝑦 ′ 0 = 1
Step 1: Taking the Laplace transform of the given equation, we get the subsidiary
equation
𝐿(𝑦 ′′ ) − 𝐿(𝑦) = 𝐿(𝑡)
Now using the condition of Laplace transform of derivatives with 𝐿 𝑦 = 𝑌
𝐿[𝑓 𝑛 (𝑡)] = 𝑠 𝑛 𝐿[𝑓 𝑡 ] − 𝑠 𝑛 −1 𝑓 0 − 𝑠 𝑛 −2 𝑓′ 0 − 𝑠 𝑛 −3 𝑓′′ 0 − ⋯ − 𝑓 𝑛 −1 (0)
We get
𝑠 2 𝑌 − 𝑠𝑦 0 − 𝑦 ′ 0 − 𝑌 = 1
𝑠2
1 1
(𝑠2−1)𝑌 = 𝑠𝑦 0 + 𝑦 ′ 0 + = 𝑠 + 1 +
𝑠2 𝑠2
𝐴𝑠 𝑔𝑖𝑣𝑒𝑛𝑦 0 = 1 𝑎𝑛𝑑 𝑦 ′ 0 = 1
Step 2: Transfer function is given by
1
𝑄 𝑠 = 2 and hence
(𝑠 −1)
𝑄 𝑠 (𝑠 + 1) 1
𝑌 = 𝑠+1 𝑄 𝑠 + 2 = 2 +
𝑠 (𝑠 −1) 𝑠2(𝑠2−1)
On simplifying
1 1 1
𝑌= + −
(𝑠 − 1) (𝑠2−1) 𝑠2
Step 3: Now taking the inverse Laplace transform to get the solution of differential
equation
1 1 1
𝑦 𝑡 = 𝐿−1𝑌 = 𝐿−1 + 𝐿−1 − 2
(𝑠 − 1) (𝑠 −1) 𝑠
2

−1
1 −1
1 −1
1
𝑦 𝑡 =𝐿 +𝐿 −𝐿
(𝑠 − 1) 2
(𝑠 −1) 𝑠2
𝑦 𝑡 = 𝑒 𝑡 + sinh 𝑡 − 𝑡 𝐴𝑛𝑠.
 28. SELF ASSESSMENT QUESTION
• Self Assessment Question (SAQ) 1: Find the Laplace transform of
2𝑠𝑖𝑛 2𝑡 cos 4 𝑡
1
• Self Assessment Question (SAQ) 2: Find the Laplace transform of 𝑡2
• Self Assessment Question (SAQ) 3: Find the Laplace transform of 𝐹 𝑡 =
1, 0 ≤ 𝑡 < 1
ቐ𝑡, 1≤𝑡<2
𝑡2 , 2 ≤ 𝑡 < ∞
• Self Assessment Question (SAQ) 4: Find the Laplace transform of 1+
𝑠𝑖𝑛 2𝑡
• Self Assessment Question (SAQ) 5: Find the Laplace transform of 𝑠𝑖𝑛ℎ3 𝑡
 28. Initial and Final Values
Initial and Final Values
The initial-value and final-value properties allow us to find the initial value f(0) and the final value f(∞) of f(t) directly from its
Laplace transform F(s). To obtain these properties, we begin with the differentiation property

If we let 𝑠 → ∞ the integrand in Eq. vanishes due to the damping exponential factor, and Eq. becomes

This is known as the initial-value theorem.

This theorem is not applicable if the degree of numerator polynomial is equal or greater than the degree of denominator
polynomial of the Laplace transform F(s).
 Example

Example 1:
 Example

Solution 1:

which confirms what we would expect from the given f(t).

 28. Initial and Final Values
Initial and Final Values
The initial-value and final-value properties allow us to find the initial value f(0) and the final value f(∞) of f(t) directly from its
Laplace transform F(s). To obtain these properties, we begin with the differentiation property

If we let 𝑠 → 0 the integrand in Eq. and Eq. becomes

This is referred to as the final-value theorem. In order for the final value theorem to hold, all poles of F(s) must be located in
the left half of the s plane; that is, the poles must have negative real parts. The only exception to this requirement is the case
in which F(s) has a simple pole at 𝑠 = 0, because the effect of 1/s will be nullified by 𝑠𝐹(𝑠).
 Example

Example 1:
 Example

Solution 1:

as expected from the given f(t).

 Example
Example 2:

Applying the final-value theorem.

 Example

Solution 2:

❑ This is incorrect, because oscillates between +1 and -1 and does not have a limit as t→ ∞. Thus, the final-value theorem
cannot be used to find the final value of because F(s) has poles at which are not in the left half of the s plane.
❑ In general, the final value theorem does not apply in finding the final values of sinusoidal functions—these functions
oscillate forever and do not have final values.
❑ The initial-value and final-value theorems depict the relationship between the origin and infinity in the time domain and
the s-domain. They serve as useful checks on Laplace transforms.
 30. Convolution Integral
❑ The term convolution means “folding.” Convolution is an invaluable tool to the engineer because it provides a means of
viewing and characterizing physical systems.
❑ For example, it is used in finding the response y(t) of a system to an excitation x(t), knowing the system impulse response
h(t).
❑ This is achieved through the convolution integral, defined as

where is a dummy variable and the asterisk denotes convolution.

❑ The convolution of two signals consists of time-reversing one of the signals, shifting it, and multiplying it point by point with
the second signal, and integrating the product.
30. Convolution Integral

Here are some properties of the convolution integral.

 Example
Example 1: Applying the convolution theorem, find 𝑦(𝑡) = 𝑥(𝑡) ∗ ℎ(𝑡),
where 𝑥 𝑡 = 4𝑒 −𝑡 ℎ 𝑡 = 5𝑒 −2𝑡
 Example
Solution 1:
• Self Assessment Question (SAQ) 6: Find the Laplace transform of
𝑡 𝑐𝑜𝑠𝑡
• Self Assessment Question (SAQ) 7: Find the Laplace transform of
1 2𝑡
𝑡
𝑠𝑖𝑛
• Self Assessment Question (SAQ) 8: Find the Laplace transform of
𝑡 − 1, 1<𝑡<2
𝑓 𝑡 =ቊ
0 𝑒𝑙𝑠𝑒𝑤𝑒ℎ𝑟𝑒
• Self Assessment Question (SAQ) 9: Find the Laplace transform of the
periodic function
𝑓 𝑡 = 𝑒 𝑡 𝑓𝑜𝑟 0 < 𝑡 < 2𝜋
• Self Assessment Question (SAQ) 10: Find the Inverse Laplace
1
transform of
𝑠−5
• Self Assessment Question (SAQ) 11: Find the Inverse Laplace
2𝑠−5
transform of 2
9𝑠 −25
• Self Assessment Question (SAQ) 12: Find the Inverse Laplace
𝑠2
transform of 2 2
𝑠 +𝑎
• Self Assessment Question (SAQ) 13: Find the Inverse Laplace
1
transform of 2 2)
𝑠(𝑠 +𝑎
 𝑠
• Self Assessment Question (SAQ) 14: Find the Inverse Laplace transform of (𝑠+7)4
𝑒 −𝑠
• Self Assessment Question (SAQ) 15: Find the Inverse Laplace transform of
(𝑠+2)3
• Self Assessment Question 1
(SAQ) 16: Find the Inverse Laplace transform by partial
fraction method of 2
𝑠 −7𝑠+12
• Self Assessment Question (SAQ) 17: Solve the differential equation using Laplace
transform method
𝑑2𝑦 𝑤ℎ𝑒𝑟𝑒 𝑦 = 1 𝑎𝑛𝑑 𝑑𝑦 = −1 𝑎𝑡 𝑥 = 0
+ 𝑦 = 0,
𝑑𝑥2 𝑑𝑥
• Self Assessment Question (SAQ) 18: Solve the differential equation using Laplace
transform method
• 𝑦 ′′ + 4𝑦 ′ + 4𝑦 = 6𝑒−𝑡, 𝑤ℎ𝑒𝑟𝑒 𝑦 0 = −2 𝑎𝑛𝑑 𝑦′ (0) = 8
THANKS