2/26/2024

Laplace Transform Figure 10-1.

Differential Equation

Steps involved
The Laplace transform was developed by the Transform differential

French mathematician by the same name, in using the equation to

algebraic equation.

Pierre-Simon Laplace (1749-1827) and was Laplace

widely adapted to engineering problems in the transform.
last century.
Solve equation
by algebra.

Its utility lies in the ability to convert differential

equations to algebraic forms that are more
easily solved. The notation has become very
common in certain areas as a form of Determine
inverse

engineering “language” for dealing with systems. transform.

Solution
1 2

1 2

Laplace Transformation
Basic Theorems of Linearity
L[ Kf (t )] = KL[ f (t )] = KF ( s)
L[ f1 (t ) + f 2 (t )] = L[ f1 (t )] + L[ f 2 (t )]

F ( s) =  f (t )e dt − st
= F1 ( s ) + F2 ( s )
0
The Laplace transform of a product is
not the product of the transforms.
L[ f (t )] = F ( s)
L[ f1 (t ) f 2 (t )]  F1 (s) F2 (s)
−1
L [ F (s)] = f (t ) 3 4

3 4

Figure 10-2. Illustration of the unit Example 10-1. Derive the Laplace
step function. transform of the unit step function.
u (t ) 
F ( s) =  (1)e− st dt
0
1


e − st   e −0  1
F ( s) = = −  =
− s  0
0
 − s  s
0 t

5 6

5 6

1
 2/26/2024

Table 10-1. Common transform pairs.

Example 10-2. Derive the Laplace
transform of the exponential function f (t )
1 or u (t )
F ( s ) = L[ f (t )]
1 T-1
s
− t
f (t ) = e e − t

sin  t
1
s +

T-2

T-3

  s2 +  2

F ( s ) =  e e dt =  e
− t − st − ( + s ) t cos  t
dt s
s2 +  2
T-4

0 0 e − t sin  t  T-5*
(s +  )2 +  2
− ( s + ) t 
e  e −0 e − t cos  t s + T-6*

=  = 0− t
(s +  )2 +  2

−( s +  )  0 −( s +  )
1 T-7
s2
tn n! T-8
s n +1
e − t t n
1 n! T-9

=  (t )
( s +  ) n +1

s +
1 T-10

*Use when roots are complex.

7 8

7 8

Example 10-3. A force in newtons (N) Example 10-4. A voltage in volts (V)
is given below. Determine the Laplace starting at t = 0 is given below.
transform. Determine the Laplace transform.

f (t ) = 50u (t ) v(t ) = 5e−2t sin 4t

4
50 V ( s ) = L[v(t )] = 5 
F ( s) = ( s + 2) 2 + (4) 2
s 20 20
= 2 = 2
s + 4s + 4 + 16 s + 4 s + 20
9 10

9 10

Example 10-5. A pressure in pascals Example 10-5. A pressure in pascals

(p) starting at t = 0 is given below. (p) starting at t = 0 is given below.
Determine the Laplace transform. Determine the Laplace transform.

p(t ) = 5cos 2t + 3e−4t p(t ) = 5cos 2t + 3e−4t

s 1
P( s ) = L[ p (t )] = 5  + 3
s + (2)
2 2
s+4
5s 3
= +
s +4 s+4
2

11 12

11 12

2
 2/26/2024

Laplace Transformation
Inverse Laplace Transforms
by Identification
When a differential equation is solved by
Laplace transforms, the solution is
 obtained as a function of the variable s.
F ( s) =  f (t )e− st dt
0
The inverse transform must be formed in
order to determine the time response.
L[ f (t )] = F ( s) The simplest forms are those that can be
recognized within the tables and a few of
those will now be considered.
L−1[ F (s)] = f (t ) 13 14

13 14

Example 10-6. Determine the Example 10-7. Determine the

inverse transform of the inverse transform of the
function below. function below.
200
5 12 8 V ( s) =
F ( s) = + 2 + s 2 + 100
s s s+3
 10 
V ( s) = 20  2 2 
f (t ) = 5 + 12t + 8e−3t  s + (10) 

v(t ) = 20sin10t

15 16

15 16

Example 10-8. Determine the

inverse transform of the
function below. Example 10-8. Continuation.
8s + 4
V ( s) =
s 2 + 6s + 13
When the denominator
contains a quadratic, check the
roots. If they are real, a partial
fraction expansion will be
required. If they are complex,
the table may be used. In this
case, the roots are
s1,2 = −3  2i 17 18

17 18

3
 2/26/2024

Laplace Transformation

Example 10-8. Continuation.


F ( s) =  f (t )e− st dt
0

v(t ) = 8e−3t cos 2t −10e−3t sin 2t

L[ f (t )] = F ( s)
19 L−1[ F (s)] = f (t ) 20

19 20

Forms for Constant Coefficient Linear Ordinary The roots of D(s) are called poles and
Differential Equation (CCLODE) Transforms they may be classified in four ways.
N (s)
F ( s) = 1. Real poles of first order.
D( s )
2. Complex poles of first order (including
N ( s) = an s n + an−1s n−1 + ... + a1s + a0 purely imaginary poles)
3. Real poles of multiple order
D( s) = bm s m + bm−1s m−1 + ... + b1s + b0 4. Complex poles of multiple order
(including purely imaginary poles)
N ( s)
F (s) =
bm ( s − p1 )( s − p2 )....( s − pm )
21 22

21 22

Partial Fraction Expansion Example 10-9. Determine inverse

Real Poles of First Order transform of function below.

A1 A2 Ar s+6 s+6
F (s) = + + .... + + R(s) F (s) = =
s − p1 s − p2 s − pr s 2 + 3s + 2 ( s + 1)( s + 2)
s+6
Ak = ( s − pk ) F ( s)s = p
A A
F (s) = = 1 + 2
k ( s + 1)( s + 2) s + 1 s + 2

s + 6 −1 + 6
f1 (t ) = A1e p1t + A2e p2t + ....Ar e pr t A1 = ( s + 1) F ( s)s =−1 = = =5
s + 2  s =−1 −1 + 2
23 24

23 24

4
 2/26/2024

Example 10-9. Example 10-10. Determine exponential

Continuation. portion of inverse transform of function
below.
s + 6 −2 + 6
A2 = ( s + 2) F ( s)s =−2 = = = −4 50( s + 3)
s + 1  s =−2 −2 + 1 F ( s) =
( s + 1)( s + 2)( s 2 + 2s + 5)
5 4
F ( s) = −
s +1 s + 2 A1 A
F1 ( s) = + 2
s +1 s + 2
f (t ) = 5e−t − 4e−2t
25 26

25 26

Partial Fraction Expansion for

Example 10-10. Continuation.
First-Order Complex Poles

50( s + 3)  (50)(2)
A1 = = = 25 ( s 2 + bs + c)  p1,2 = −  i
( s + 2)( s 2 + 2 s + 5)  s =−1 (1)(4)

50( s + 3)  (50)(1) As + B
A2 =  = = −10
( s + 1)( s + 2 s + 5)  s =−2 (−1)(5)
2 F ( s) = + R( s )
s + bs + c
2

f1 (t ) = 25e−t − 10e−2t
27 28

27 28

Example 10-11. Complete the inverse Example 10-11. Continuation.

transform of Example 10-10. −15s − 25
F2 ( s) = 2
50( s + 3) 25 10 As + B s + 2s + 5
= − +
( s + 1)( s + 2)( s 2 + 2s + 5) s + 1 s + 2 s 2 + 2s + 5 s 2 + 2s + 5 = s 2 + 2s + 1 + 5 − 1 = ( s + 1) 2 + (2) 2
50(3) 25 10 B B = −25
= − + −15s − 25 −15( s + 1) −5(2)
(1)(2)(5) 1 2 5 F2 ( s) = = +
( s + 1) 2 + (2) 2 ( s + 1) 2 + (2) 2 ( s + 1) 2 + (2) 2
50(4) 25 10 A + B A = −15
= − + f (t ) = f1 (t ) + f 2 (t )
(2)(3)(8) 2 3 8
= 25e − t − 10e −2t − 15e − t cos 2t − 5e − t sin 2t
25 10 −15s − 25
F ( s) = − + 2
s + 1 s + 2 s + 2s + 5
29 30

29 30

5
 2/26/2024

Second-Order Real Poles Example 10-12. Determine inverse

transform of function below.
Assume that F(s) contains a denominator
60
factor of the form (s+)2. The expansion F ( s) =
will take the form shown below. s ( s + 2) 2
C1 C 60 A C1 C2
F (s) = + 2 + R( s) F (s) = = + +
(s +  )2 s +  s ( s + 2) 2
s ( s + 2) ( s + 2)
2

C1 = ( s +  ) 2 F ( s)  60  60
s =− A = sF ( s ) s =0 = = = 15
( s + 2) 2  s =0 (0 + 2) 2
f1 (t ) = C1te− t + C2e− t = (C1t + C2 )e− t 60  60
C1 = ( s + 2)2 F ( s)  = = = −30
s =−2 s  s =−2 −2
31 32

31 32

Example 10-12. Continuation. Significant Operations for

60 15 30 C Solving Differential Equations
F ( s) = = − + 2
s( s + 2) 2 s ( s + 2) 2 s + 2
60 15
= −
30
+
C2
C2 = −15
L[ f '(t )] = sF ( s) − f (0)
(1)(1 + 2)2 1 (1 + 2)2 (1 + 2)

60 15 30 15 L[ f "(t )] = s 2 F (s) − sf (0) − f '(0)

F (s) = = − −
s ( s + 2)2 s ( s + 2)2 s + 2

f (t ) = 15 − 30te−2t − 15e−2t = 15 − 15e−2t (1 + 2t )

33 34

33 34

Procedure for Solving DEs Example 10-13. Solve DE shown below.

d2y dy
b2 + b1 + b0 y = f (t ) dy
dt 2 dt + 2 y = 12 y(0) = 10
 d2y dy  dt
L b2 2 + b1 + b0 y  = L  f (t )
 dy 
 dt dt  L   + 2 L  y  = L 12
b2  s 2Y ( s) − sy (0) − y '(0)   dt 

+b1  sY ( s ) − y (0)  + b0Y ( s ) = F ( s )

12
sY ( s) − 10 + 2Y ( s) =
s
F (s) sb y (0) + b2 y '(0) + b1 y (0) ( s + 2) Y (s) = 10 +
12
Y (s) = + 2
b2 s + b1s + b0
2
b2 s 2 + b1s + b0 s
10 12
Y (s) = +
35
s + 2 s ( s + 2) 36

35 36

6
 2/26/2024

Example 10-13. Continuation. Example 10-15. Solve DE shown below.

12 A A
= 1+ 2 d2y dy
s( s + 2) s s + 2 + 3 + 2 y = 24
dt 2 dt
 12   12 
A1 = s   =  =6 y(0) = 10 and y '(0) = 0
 s ( s + 2)  s =0  s + 2  s =0
24
 12 
A2 = ( s + 2) 
12 
=  = −6
s 2Y ( s) − 10s − 0 + 3 sY ( s) − 10 + 2Y ( s) =
 s
 s ( s + 2)  s =−2  s  s =−2
24 10s + 30
10 6 6 6 4 Y (s) = + 2
Y ( s) = + − = + s ( s + 3s + 2) s + 3s + 2
2
s+2 s s+2 s s+2
24 10s + 30
y(t ) = 6 + 4e−2t = +
37
s ( s + 1)( s + 2) ( s + 1)( s + 2)
38

37 38

Example 10-15. Continuation.

24 12 24 12
= − +
s ( s + 1)( s + 2) s s + 1 s + 2
10s + 30 20 10
= −
( s + 1)( s + 2) s + 1 s + 2
12 4 2
F ( s) = − +
s s +1 s + 2

f (t ) = 12 − 4e−t + 2e−2t
39

39