The Laplace Transform

The s-Domain

f (t ) ⇔ F ( s)
The Laplace Transform of a function, f(t), is defined as;

∞
−st
L[ f (t)] = F(s) = ∫0
f (t )e dt
The Inverse Laplace Transform is defined by

σ + j∞
−1 1
L [ F ( s )] = f (t ) = ∫
ts
F ( s )e ds
2π jσ − j∞
Con’t
− st
Laplace Transform of f (t ) = e u (t )
1
F ( s) =
s+a
Laplace Transform of the unit step.
1
L[u (t )] =
s
Laplace Transform Pairs
Con’t
 Yes !
Con’t
Laplace Transform Properties
Time Differentiation:

 df (t ) 
L  = sF ( s ) − f ( 0)
 dt 

 df (t ) 2  2
L 2 
= s F ( s ) − sf (0) − f ' (0)
 dt 
 df (t ) 3 
L 3 
= s 3
F ( s ) − s 2
f (0) − sf ' (0) − f ' ' (0)
 dt 
general case
 df (t ) n  n −1 n− 2
L n 
= s n
F ( s ) − s f ( 0 ) − s f ' (0)
 dt 
− ... − f ( n−1) (0)
 Examples
• Find laplace transform !

1. e −2 t
(3 cos 6t − 5 sin 6t )
2. t sin at
d cos3t
3.
dt
  s   6  3s − 30
1. 3  2  − 5 2 = 2
 s + 36   s + 36  s + 36
3 ( s + 2 ) − 30 3s − 24
∴ = 2
( s + 2 ) + 36 s + 4s + 40
2

d  a  2as
2. −  2 2 
=
ds  s + a  ( s 2 + a 2 )2

 s  −9
3. s  2  −1 = 2
 s +9 s +9
 Inverse Laplace Transforms
Background:
There are three cases to consider in doing the partial fraction expansion of F(s).
Case 1: F(s) has all non repeated simple roots.
k k k
F ( s) = 1 + 2 + . . . + n
s+ p s+ p s+ p
1 2 n
Case 2: F(s) has complex poles:
P (s) k k*
F(s) = 1 = 1 + 1 + . . . +
Q (s)(s +α − jβ )(s +α + jβ ) s +α − jβ s +α + jβ )
1

Case 3: F(s) has repeated poles.

4( s + 2) A1 A2 A3
F ( s) = = + +
( s + 1)( s + 4)( s + 10) ( s + 1) ( s + 4) ( s + 10)

Find A1, A2, A3 from Heavyside

( s + 1)4( s + 2) ( s + 4)4( s + 2)
A1 = | = 4 27 A2 = | =49
( s + 1)( s + 4)( s + 10) s = −1 ( s + 1)( s + 4)( s + 10) s = −4

( s + 10)4( s + 2)
A3 = |s = −10 = − 16 27
( s + 1)( s + 4)( s + 10)

[
f ( t ) = (4 27)e − t + (4 9)e − 4 t + ( −16 27)e −10t u( t ) ]
Case 2: Complex Roots: F(s) is of the form;

P1 ( s ) K1 K 1*
F ( s) = = + + ...+
Q1 ( s )( s + α − jβ )( s + α + jβ ) s + α − jβ s + α + jβ )

K1 is given by,
( s + α − jβ ) P1 ( s )
K1 = |s = −α − jβ
Q1 ( s ) ( s + α − jβ )( s + α + jβ )

jθ
K 1 = | K 1 | ∠θ = | K 1 | e
 Case 2: Complex Roots:
jθ − jθ
K1 K 1* | K1 | e | K 1e
+ = +
s + α − jβ s + α + jβ s + α − jβ s + α + jβ

 | K | e jθ − jθ 
−1 
| K | e
  jθ −αt jβt − jβ −αt − jβt 
L 1
+ 1 = | K | e e e +e e e 
 s + α − jβ s + α + jβ  1 
 

 e j ( βt + θ ) + e j ( βt + θ ) 
 jθ jβ t − jβ −αt − jβt 
| K | e e −αt e +e e e  = 2 | K | e − at  
1  1  2 
 
Case 2: Complex Roots:

Therefore:

 | K | e jθ | K 1e
− jθ 
L−1  1 +  = 2 | K | e −αt [cos( βt + θ )]
 s + α − jβ s + α + jβ  1
 

You should put this in your memory:

For the given F(s) find f(t)

( s + 1) ( s + 1)
F ( s) = =
s( s 2 + 4 s + 5) s( s + 2 − j )( s + 2 + j )

A K1 K 1*
F ( s) = + +
s s+2− j s+2+ j

( s + 1) 1
A = || s = 0 =
( s + 4 s + 5)
2
5

( s + 1) − 2+ j +1
K1 = || s = − 2 + j = = 0.32∠ − 108o
s( s + 2 + j ) ( −2 + j )( 2 j )
Complex Roots: An Example. (continued)

We then have;

0.2 0.32∠ − 108o 0.32∠ + 108o

Recalling the form of the inverse for complex roots;

[ ]
f ( t ) = 0.2 + 0.64 e − 2 t cos( t − 108o u( t )
Circuit theory problem:
You are given the circuit shown below.

t=0 6kΩ
• •
•
+ +
12 V _ v(t) 3kΩ
_ 100 µ F

Use Laplace transforms to find v(t) for t > 0.

t=0 6kΩ
• •
•
+ +
12 V _ v(t) 3kΩ
_ 100 µ F

3
v (0) = 12 x = 4 volts
9
 Take the Laplace transform
of this equations including
dv c ( t )
the initial conditions on vc(t) RC + vc (t ) = 0
dt
Circuit theory problem:
dv c ( t ) v c (t )
+ =0
dt RC
+ 3kΩ 6kΩ
vc(t) i(t)
_ 100 µ F

+ 5v c (t ) = 0
dv c ( t )
dt
Circuit theory problem:

dvc ( t )
+ 5 vc ( t ) = 0
dt

sVc ( s ) − 4 + 5Vc ( s ) = 0

4
Vc ( s ) =
s+5

vc ( t ) = 4 e − 5t u( t )