COURSE : EE602- CIRCUIT

ANALYSIS

Time-domain
ODE problems

Laplace

s-domain
algebra problems

Transform
(LT)
Difficult

Solutions of timedomain problems

Easy

Inverse
LT

Solutions of algebra
problems

 Find

differential equations that describe

system
Obtain Laplace transform
Perform algebra to solve for output or
variable of interest
Apply inverse transform to find solution

The Laplace transform of a

function f(t) is defined as

F ( s ) L f (t )

f (t )e dt
st

Laplace, Pierre-Simon
1749-1827

Where s j
variable.

is a complex
4

is real, s is complex!
Inverse requires complex analysis to solve
Note transform: f(t) F(s), where t is
integrated and s is variable
Conversely F(s) f(t), t is variable and s is
integrated
Assumes f(t) = 0 for all t < 0
* The Laplace transform is an integral
information of a function f(t) from the time
domain into the complex frequency domain,
F(s)

Some Laplace Transforms wide variety of

function can be transformed
Inverse Transform
1

L [ F ( s )] f (t )
Often requires partial fractions or other
manipulation to find a form that is easy to
apply the inverse

Name
Impulse

f(t)
1
f (t )
0

F(s)
t 0
t 0

Step

f (t ) 1

1
s

Ramp

f (t ) t

1
s2

Exponential

f (t ) e at

1
sa

Sine

f (t ) sin(t )

1
2 s2

Addition/Scaling

L[af1 (t ) bf 2 (t )] aF1 ( s ) bF2 ( s )

Differentiation

L f (t ) sF ( s ) f (0)
dt

Integration

f (t)dt F s(s) 1s f (t)dt

t 0

Convolution

f (t )f ( )d F (s) F (s)
1

Initial-value theorem

f (0 ) lim sF ( s )

Final-value theorem

lim f (t ) lim sF ( s )

s 0

Laplace Transform of the unit step.

L[u (t )] 1e

st

1 st
dt e
s

1 s ( )
s ( 0)

e
e
s
1

The Laplace transform of a unit impulse.

L[ (t )] (t )e st dt
0
s ( 0)
e
1

The Laplace transform of a exponential function

L[e at u (t )] e at e st dt
0

e
0

( s a )t

1 ( s a )t
dt
e
sa

1
( s a )( )
( s a )(0)

e
e
sa
1

sa

The Laplace transform of a trigonometry function

F ( s ) L[sin t ]

st

sin t dt

ue

st

du s.e st dt
dv sin t dt
cos t
v

f ( x) g ' ( x)dx uv vdu


s st

st
(e cos t ) /
e cos t
0
0

1 s ( )
s st

s ( 0)
e
cos () e
cos (0) e cos t

1 s st
s st

(e sin t ) /
e sin t
0

0

2 F ( s) F ( s) 2
,s 0
2

s
1

s2

If F1(s) and F2(s) are respectively, the Laplace transform

of f1(t) and f2(t), then

L af1 (t ) bf 2 (t ) aF1 (s) bF2 (s)

L af1 (t ) bf 2 (t ) a

st

f1 (t )dt b

aL f1 (t ) bL f 2 (t )

e st f 2 (t )dt

e j t e j t 1
1
j t
jt
Lcos t L

L
e

L
e

2
2

Euler's Rule
e jt e jt
sin t
j2
e jt e jt
cos t
2

1
1 1
1
j t
j t

Lcos t L e e

2
2 s j s j
1
s j s j
2
2 s js js j 2 2

s
s
2

1 2s

2
2
2 s

1. Find the laplace transforms of these

functions : r(t)tu(t) ,that is ramp function
at
e
and u (t ) .
2. Determine the Laplace transform of
f (t ) cost u(t ) .
3. Obtain the Laplace transform of
2 t
f (t ) (t ) 2u (t ) 3e , t 0

If F ( s ) is Laplace transformof f (t ), then

L f (t a ) u (t a )

f (t a ) u (t a )e st dt, a 0

But u (t a ) 0 for t a and u (t a ) 1 for t a. Hence

L f (t a ) u (t a )

f (t a ) e st dt

If we let x t a then dx dt and t x a.

As t a, x 0 and as t , x , Thus
L f (t a ) u (t a )

f ( x) e

s( xa)

dx

e as

f ( x) e sx dx e as F ( s )

so, L f (t a) u (t a) e

as

F ( s)

As examplewe know,
Lcos t

s
Using timeshiftproperty,
2

Lcos (t a) u (t a) e

as

s
2

If F ( s ) is Laplace transformof f (t ), then

Le

at

f (t ) e

at

f (t )e

st

dt

f (t ) e ( s a )t dt F ( s a)

Le

at

f (t ) F ( s a)

As examplewe know that,

s
Lcos wt 2
s 2
Usingfrequencyshiftproperty,
sa
at
L e cos wt
2
2
( s a)

Given that F(s) is the Laplace transformof f(t),

the Laplace transformof its derivatives is,
df
L
dt

df st
e dt
dt

To integrateby thispart, let u e , du se dt

df
and dv
dt df (t ), v f (t )
dt
-st

-st

Then,
df
L f (t )e st
dt

f (t )[ se st dt]

0 f (0 ) s f (t )e st dt
0

sF ( s) f (0 )

L f ' (t ) sF ( s) f (0 )

The Laplace transformof secondderivative is,

d 2 f
L 2
dt

sL
f
'
(
t
)

f
'
(
0
)

s sF ( s ) f (0 ) f ' (0 )
s 2 F ( s) sf (0 ) f ' (0 )
L f ' ' (t ) s 2 F ( s) s f (0 ) f ' (0 )
We can obtain nth derivatives,
d n f
L n
dt

n
n 1

n2
f ' (0 ) ... s 0 f n 1 (0 )
s F ( s ) s f (0 ) f ' (0 ) s

If we let f(t) cos t,then f (0) 1

and f ' (t ) sin t.
L[ sin t ] sF ( s ) f (0 )
L[sin t ]

sF ( s ) f (0 )

1
s

s 2
1 2
2
2
s
s

If F (s) is Laplace transformof f(t), then

F(s)

f (t )e st dt

Taking derivative with respectto s,

dF(s)

ds

f (t )(te st )dt [tf (t )]e st dt L[tf (t )]

0

and frequencydifferentiationproperty becomes

dF(s)
L[tf (t )]
ds

Repeatedapplication of thisequationleadto
L[t n f (t )] (1) n

d n F(s)
ds n

1
We know that L[e ]
sa
Usingproperty of frequencyof derivative,
at

L[te

at

d 1
1
]

ds s a ( s a ) 2

If F (s) is Laplace transformof f(t)

the Laplace transformof integralis
t

L[ f (t )dt ] [ f (t )dt ]e st dt
0

0 0

To integratelet,u
and dv e

st

f (t )dt, du f (t )dt
0
st

e
dt, v
, usingformulauv- vdu
s

t
e st
L[ f (t )dt ] f (t )dt

s
0
0

1
0
e st f (t )dt

For the first term on right - hand side of equation,

evaluatingthe term t yield zero due to e
10
and evaluatingat t 0 give f(t)dt 0,thus
s0
t

1 st
1
L[ f (t )dt ]
e f (t )dt F ( s )
s
s
t

1
L[ f (t )dt] F ( s)
s
0

1
If we let f(t) u (t ), and F(s) ,
s
t

1 1 1
L[ f (t )dt L[t ] 2
s s s
0

Thus Laplace transformof ramp functionis

L[t ]

1
s2

If we let f(t) t u (t ), and F(s)

t

t
L[ t dt L[ ]
2
0

L[t ]
2

2
s

1 1
2
s s

1
s2

Repeatedapplication
n!
n
L[t ] n 1
s
Similarly,usingintegration by part, we can show
t

L[

1
1 1
f (t )dt ] F ( s ) f (0 )
s
s
0

where, f

(0 )

f (t )dt

If F (s) is Laplace transformof f(t), then

F(s)

f (t )e st dt

Taking integralwith respectto s,

F ( s )ds

st

e
f (t ) st
f (t )
f (t )(
) dt [
]e dt L[
]
t
t
t

and frequencydifferentiationproperty becomes

f (t )
L[
] F ( s )ds
t
s

If we let f(t) t u (t ), and F(s)

f (t )
L[
]
t

1
s

|
1

s
s

1
2

ds s ds
s

1( 1 s 1 )

1
s

1. Find the laplace transforms of these

functions:
2 t

a ) f (t ) 2te
1 4 3t
b) f (t ) t e
2
c) f (t ) 5e 2t cos 3t
d ) f (t ) 4e 5t sin t

DefinitionInverse Laplace transform,

denoted by L1[ F ( s)] is given by
C j

1
st
f (t ) L [ F ( s)]
F
(
s
)
e
ds(t 0)

2 j C j
1

where C is a real constant

Note: The inverse Laplace transform operation involving
rational functions can be carried out using Laplace
transform table and partial-fraction expansion.

1
a) L [ ] 1
s
s

1
b) L 2
sin t
2
s
1 1 1 3 1
1
c) L 2
sin 3t
3L 2
2
s 9
s 3 3
1

t
5
5
1 5
1
3
e
d )L
L

1 3

3s 1
3
s

2!
2
e) L [ 3 ] 3L 21 3t
s
s
1 1 3! 1 3
1 3
f ) L 4 L 31 t
s 2
s 2
1

7s
s
1
g )L 2
7 cos 2t
7L 2
2
s 4
s 2
2
1
1 3t 4 1 3t 4
1
h) L
2L
2 e t e t
5
5
4!
12
s 3
s 3
1

 Suppose

F(s) has a general form of :

N ( s)
F ( s)
D( s )

N(s) numerator polynomial

D(s) denominator polynomial
N(s)=0 are called zeros of F(s), while
D(s)=0 are called poles of F(s).
Where

 If

F(s) has a simple poles, then D(s) become a

product of factor:
N ( s)
F ( s)
s p1 s p2 ...s pn

For

all s = -p1,-p2,,-pn are the simple poles.

kn
k1
k2
F ( s)

...
s p1 s p2
s pn

k1,k2,,kn

- are known as residues of F(s)

 If

we multiply bothside with (s + p1)

s p1 F (s) k1
Since

s p1 k n

s p1 k 2

...
s p2

pi pj, setting s = -p1

s p1 F (s) s p

Thus

s pn

k1

in general form,
ki s pi F (s) s pi

Since

the inverse transform of each terms,

f (t ) k1e

p1t

k2e

p2t

... k n e

pn t

2s 3
Example 14 : F(s)
s s 3
k1
k2
2s 3

s ( s 3)
s
s 3
multiplybothside with s ,
2s 3
k1
s 3
k1 1

s 0

sk 2
2s 3
k1
s 3
s 3

2 s 3 ( s 3)k1
multiplybothsidewith s 3,

k2
s
s
2s 3
k2
s 3
s
k2 1
2s 3 1
1
Hence

ss 3 s s 3
1

2s 3
1
1 1
L
L

s
s

3
s
s

from table,
f (t ) 1 e

3t

s 2 12
Example 15 : F(s)
s s 2 s 3
k3
k1
k2
s 2 12

s s 2 s 3 s s 2 s 3
sk 3
sk 2
s 2 12
multiplybothsidewith s ,
k1

s 2s 3
s2 s3
s 2 12
k1
s 2s 3
k1 2

s 0

s 2 k 3
s 2 12 s 2 k1
multiplybothsidewith s 2,

k2
ss 3
s
s3
s 2 12
k2
s s 3
k 2 8

s 2

multiplybothsidewith s 3,
s 2 12
k3
ss 2
k3 7
Hence,

s 2 12 s 3k1 s 3k 2

k3
ss 2
s
s2

s 3

s 2 12
1
8
7

ss 2s 3 s s 2 s 3

s 2 12
8
7
1 1
L

s s 2 s 3
ss 2s 3
from table,
1

f (t ) 1 8e 2t 7e 3t

 Suppose

F(s)

F(s) has n repeated poles at s = -p

kn

s p

k n 1

s p

n 1

Where

...

k2

s p

k1

s p

F1 ( s)

F1(s) is the remaining part of F(s)

[does not have a pole at s = -p].
Determine kn as,
kn s p F (s) s p
n

 To

determine kn-1, multiply each term by

(s+1)n and differentiate to get rid of kn,
evaluate the result a s = -p to get rid of
other coefficients except kn-1

d
n
s p F (s)
k n1
ds
Repeating

s p

this gives

1 d2
n

p
F ( s)
2
2! ds

k n2
mth

term becomes
k nm

Where

1 dm
n

p
F ( s)
m
m! ds

m = 1,2,,n-1

s p

s p

Example 16 : Calculatev(t) given thatV(s)

10s 2 4

ss 1s 22

2 s 0

s 1s 2

10s 2 4

s 1s 22
4

(1)(2)

multiplybothsidewith s 1,
B

10s 2 4

2 s 1

ss 2

ss 1s 22

A B
C
D

2
s s 1 s 2 s 2

multiplybothsidewith s ,
10s 2 4

10s 2 4

14
(1)(1)

sB
sC
sD

s 1 s 22 s 2

s 1A
s 1C s 1D

2
2
s
s 2 s 2
ss 2

10s 2 4

14

2
2
2

10
s

4
s

2
A
s

2
B
multiplybothsidewith s 2 2 ,

C ( s 2) D
s s 1
s
s 1

10s 2 4
C
s s 1

s 2

d
s 22 V ( s)
D
ds

Hence,

44
(2)(1)

s 2

22

d 10s 2 4

ds s s 2

s 20s 10s 2 4 2 s 1

10s 2 4

s s 1s 2 2

s 2

s 2

52

13
4

1 14
22
13

2
s s 1 s 2
s2

10
s
4
14
22
13
1
1 1
L
L

2
2
s
s

1
s

2
s 2
s s 1s 2

from table

f (t ) 1 14e t 22te 2t 13e 2t

 F(s)

may have a general form

F (s)

A1s A2
s 2 as b

F1 (s)

Where

F1(s) remaining part of F(s) [does

not have this pair of complex poles.
Complete the square by letting

s as b s 2s s
2

 We

also let
A1s A2 A1 s B1

Then

F ( s)
From

equation become
A1 s

B1

s 2 2 s 2 2

F1 ( s)

table

f (t ) A1e t cos t B1e t sin t f1 (t )

Example 17 : Find the inversetransformof the frequency

domain function, H(s)

20

s 3s 2 8s 25

In thisexample,H ( s ) has a pair of complexpoles

s 2 8s 25 0 or s 4 j 3.
A
Bs C
H(s)

2
2
s 3 s 8s 25 s 3 s 8s 25
solution :

20

Algebraicmethod: multiplying both side by s 3 s 2 8s 25

20 As

8s 25 B s

20 A s 2 8s 25 Bs C s 3
2

3 C s 3

Equation coefficients :
s2 :

0 A B A B

s :

0 8 A 3 B C 5 A C C 5 A

constant: 20 25 A 3C 25 A 15 A A 2
That is, B 2, C 10. Thus

2
2 s 10
2
2s 4 2
H(s)
2

s 3 s 8s 25 s 3 s 4 2 9
2
2s 4
2
3

2
2
s 3 s 4 3
3 s 4 2 32

Then, f (t ) 2e

3t

2e

4t

2 4t
cos 3t e sin 3t
3

L f ' (t ) sF ( s ) f (0 )
or
dy

sL
y

y
(
0
)

dx

L f ' ' (t ) s 2 F ( s ) s f (0 ) f ' (0 )

or
d 2y
L 2 s 2 L[ y ] sy (0 ) y ' (0 )
dx

Procedure :
Take the Laplace transform of both sides of the
differential equation by applying the formula for
the Laplace transforms of derivatives
Put in the given initial conditions, i.e. y(0) and
y(0).
Rearrange the equation to make L [y] the
subject.
Determine y by using, where necessary, partial
fractions, and taking the inverse of each term by
using Table of Laplace

dy
y(0) 10
2 y 12
dt
dy
L 2 L y L 12
dt
12
sY ( s) 10 2Y ( s)
s
12
s 2 Y (s) 10
s
10
12
Y ( s)

s 2 s ( s 2)
57

A1
A2
12

s ( s 2) s s 2
12
12
A1 s

s( s 2) s 0 s 2 s 0
12
12
A2 ( s 2)

6

s( s 2) s 2 s s 2

10 6
6
6
4
Y ( s)


s2 s s2 s s2

y (t ) 6 4e

2 t

58

dy
2 y 12sin 4t
dt

y(0) 10

12(4)
sY ( s) 10 2Y ( s) 2
s 16

10
48
Y ( s)

2
s 2 ( s 2)( s 16)
B1s B2
48
A

2
2
( s 2)( s 16) s 2 s 16
59

48
48
A 2

2.4

s 16 s 2 20
48
2.4 B1s B2

2
2
( s 2)( s 16) s 2 s 16

48
2.4 B2

(2)(16)
2 16
48
2.4 B1 B2

(1)(17)
1
17

B2 4.8
B1 2.4

10
2.4
2.4s
4.8
Y ( s)

2
2
s 2 s 2 s 16 s 16

y (t ) 12.4e 2t 2.4 cos 4t 1.2sin 4t

60

d y
dy
3 2 y 24
2
dt
dt
y(0) 10 and y '(0) 0

24
s Y ( s) 10s 0 3 sY ( s) 10 2Y (s )
s
2

24
10s 30
Y ( s)
2
2
s( s 3s 2) s 3s 2
24
10s 30

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

61

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
t

f (t ) 12 4e 2e

2 t

62

Exercise 3
1. Find f(t) for each of the following functions

6 s 26s 26
F s
s 1s 2s 3

16s 30s 500

F s
2
s s 2 s 50

F s

10s 105s 216s 104

F s
2
s 10s 16

400

s s 4s 5
2

63

2. Solve the following differential equation using Laplace

transforms.

d2x
dx
-t

2x(t)

e
for t 0
2
dt
dt
dx(0)
and x(0) 2,
-3
dt

a) Resistor

Time domain

S-domain

66

b) Inductor

Time domain

S-domain

67

c) Capacitor

Time domain

i(t ) C

S-domain

dv(t )
dt
68

LAPLACE CIRCUIT SOLUTIONS

di
KVL : v S (t ) Ri(t ) L (t )
dt
di
VS ( s ) RI ( s ) LL
dt
di
L sI ( s ) i (0) sI ( s )
dt

1
RI ( s ) LsI ( s )
s
1
I ( s)
s ( R Ls )
K1
K2
1/ L
I ( s)

s( R / L s)
s
s R/L
1
K1 sI ( s ) | s 0
R
1
K 2 ( s R / L) I ( s ) | s R / L
R
R

t
1
i (t )
1 e L ; t 0

i(t )

vS
usingKVL : Ri (t ) v (t ) v s
dv
dv
i (t ) C
, so RC
v vS
dt
dt
dv
RCL V ( s ) VS ( s )
dt
dv
L sV ( s ) v (0) sV ( s )
dt

v S (t ) 0, t 0 v(0) 0
1
v S u (t ) VS ( s )
s
1
RCsV ( s ) V ( s )
s
1
1 / RC
V (s)

s ( RCs 1)
s ( s 1 / RC )
K1
K2
1 / RC
V (s)

s ( s 1 / RC )
s
s 1 / RC
K1 sV ( s ) | s 0 1
K 2 ( s 1 / RC )V ( s ) | s 1 / RC 1
v(t ) 1 e

t
RC

,t0

Find the transfer function relating the capacitor voltage ,

To the input voltage

di(t )
1
L
Ri(t )
dt
C

i(t )dt v(t )

as q(t) i(t)dt
d 2 q (t )
dq(t ) 1
L
R
q (t ) v (t )
2
dt
dt
C
output vC , q(t) Cv C (t )
d 2 v C (t )
dv C (t )
LC
RC
v C (t ) v (t )
2
dt
dt
LCs 2 VC ( s ) RCsVC ( s ) VC ( s ) V ( s )
VC ( s )
1
G(s)

V (s)
LCs 2 RCs 1
1
LC
G(s)
R
1
s2 s
L
LC