The Laplace Transform

Muhammad Subri, ST., MT.

The University of Muhammadiyah

Mechanical Engineering Department
Semarang, Indonesia

wlg
 The Laplace Transform
The Laplace Transform of a function, f(t), is defined as;


L[ f (t )]  F ( s)   f (t )e dt
 st
Eq A
0

The Inverse Laplace Transform is defined by

  j
1

1
L [ F ( s)]  f (t )  F ( s ) ts
e ds Eq B
2 j   j
*notes
 The Laplace Transform

Laplace Transform of the unit step.


 1  st 
L[u(t )]   1e dt  e |
 st

0
s 0

1
L[u(t )] 
s
The Laplace Transform of a unit step is:
1
*notes s
 The Laplace Transform
The Laplace transform of a unit impulse:

Pictorially, the unit impulse appears as follows:

f(t) (t – t0)

0 t0

Mathematically:
t 0 

(t – t0) = 0 t  0  (t  t )dt 1

t0 
0  0

*note
 The Laplace Transform
The Laplace transform of a unit impulse:

An important property of the unit impulse is a sifting

or sampling property. The following is an important.

t2
 f (t 0 ) t1  t 0  t 2

t1
f (t ) (t  t 0 )dt  
0 t 0  t1 , t 0  t 2
 The Laplace Transform

The Laplace transform of a unit impulse:

In particular, if we let f(t) = (t) and take the Laplace


L[ (t )]    (t )e dt  e
 st 0 s
1
0
 The Laplace Transform

An important point to remember:

f (t )  F ( s )

The above is a statement that f(t) and F(s) are

transform pairs. What this means is that for
each f(t) there is a unique F(s) and for each F(s)
there is a unique f(t). If we can remember the
Pair relationships between approximately 10 of the
Laplace transform pairs we can go a long way.
 The Laplace Transform
Building transform pairs:
 e
L[e u(t )]   e e dt   e
 at  at  st ( s  a ) t
dt
L(e
0 0

 st
e  1
L[e u( t )] 
 at
|0 
(s  a) sa

at 1
A transform e u(t ) 
pair sa
 The Laplace Transform
Building transform pairs:


L[tu(t )]   te dt
 st

 
 u=t
 udv  uv |   vdu
0
0
0
dv = e-stdt

1 A transform
tu(t )  2 pair
s
 The Laplace Transform
Building transform pairs:

(e jwt  e  jwt )  st
L[cos(wt)]   e dt
0
2
1 1 1 
   
2  s  jw s  jw 
s
 2
s  w2

s
cos(wt)u(t )  A transform
s2  w2 pair
 The Laplace Transform
Time Shift

L[ f (t  a )u(t  a )]   f (t  a )e  st
a

Let x  t  a, then dx  dt and t  x  a

As t  a, x  0 and as t  , x  . So,
 


0
f ( x )e  s ( x  a ) dx  e as  f ( x )e  sx dx
0

 as
L[ f (t  a )u(t  a )]  e F ( s)
 The Laplace Transform
Frequency Shift


L[e  at
f (t )]   [e  at
f (t )]e dt st

0


 f ( t )e
( s  a ) t
 dt  F ( s  a )
0

 at
L[e f (t )]  F ( s  a )
 The Laplace Transform
Example: Using Frequency Shift
Find the L[e-atcos(wt)]
In this case, f(t) = cos(wt) so,

s
F ( s)  2
s  w2
(s  a)
and F ( s  a ) 
(s  a)2  w 2

at ( s  a)
L[e cos(wt)] 
( s  a) 2  (w)2
 The Laplace Transform
Time Integration:

The property is:

  t   st
L  f (t )dt      f ( x )dxe dt
0  0 0 
Integrate by parts :
t
Let u   f ( x )dx, du  f (t )dt
0

and
 st 1  st
dv  e dt, v  e
s
 The Laplace Transform
Time Integration:

Making these substitutions and carrying out

The integration shows that

  1
L  f (t )dt    f (t )e  st dt
0  s0
1
 F ( s)
s
 The Laplace Transform
Time Differentiation:

If the L[f(t)] = F(s), we want to show:

df (t )
L[ ]  sF ( s)  f (0)
dt
Integrate by parts:

u  e , du   se dt and
 st  st

df ( t )
dv  dt  df ( t ), so v  f ( t )
*note
dt
 The Laplace Transform
Time Differentiation:

Making the previous substitutions gives,


 df 
L    f ( t )e
 dt 
|  f (t ) se dt
 st 
0
 st

0

 0  f (0)  s  f (t )e  st dt
0

So we have shown:

 df (t ) 
L  sF ( s )  f ( 0)
 dt 
 The Laplace Transform
Time Differentiation:
We can extend the previous to show;
 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)
 The Laplace Transform
Transform Pairs:
f(t) F(s)
 (t ) 1
1
u( t ) ____________________________________
f ( t ) F ( s )

s
 st 1
e
sa
1
t
s2
n n!
t
s n 1
 The Laplace Transform
Transform Pairs:
f(t) F(s)
 at 1
te
s  a 2
n  at n!
t e
( s  a )n 1
w
sin(wt )
s2  w2
s
cos(wt )
s2  w2
 The Laplace Transform
Transform Pairs:
f(t) F(s)
w
e at sin( wt)
(s  a)2  w 2
 at sa
e cos(wt)
(s  a)  w
2 2

s sin   w cos
sin( wt   ) Yes !
s2  w2
s cos  w sin 
cos(wt   )
s2  w2
 The Laplace Transform
Common Transform Properties:

f(t) F(s)
 to s
f ( t  t 0 )u( t  t 0 ), t 0  0 e F ( s)
 to s
f ( t )u( t  t 0 ), t  0 e L[ f ( t  t 0 )

e  at f ( t ) F (s  a)
d n f (t )
s n F ( s )  s n  1 f ( 0)  s n  2 f ' ( 0)  . . .  s 0 f n  1 f ( 0)
dt n
dF ( s )
tf ( t ) 
ds
t 1
 f ( )d F ( s)
0 s
 The Laplace Transform
Using Matlab with Laplace transform:
Example Use Matlab to find the transform of te  4 t
The following is written in italic to indicate Matlab code

syms t,s
laplace(t*exp(-4*t),t,s)
ans =
1/(s+4)^2
 The Laplace Transform
Using Matlab with Laplace transform:
Example Use Matlab to find the inverse transform of
s( s  6)
F ( s)  prob.12.19
( s  3)( s  6 s  18)
2

syms s t

ilaplace(s*(s+6)/((s+3)*(s^2+6*s+18)))

ans =
-exp(-3*t)+2*exp(-3*t)*cos(3*t)
 The Laplace Transform
Theorem: Initial Value Theorem:

If the function f(t) and its first derivative are Laplace transformable and f(t)
Has the Laplace transform F(s), and the lim sF ( s ) exists, then
s

lim sF ( s )  lim f ( t )  f (0) Initial Value

s t 0 Theorem

The utility of this theorem lies in not having to take the inverse of F(s)
in order to find out the initial condition in the time domain. This is
particularly useful in circuits and systems.
 The Laplace Transform
Example: Initial Value Theorem:
Given;
( s  2)
F ( s) 
( s  1) 2  5 2

Find f(0)


( s  2) s 2  2s 
f (0)  lim sF ( s )  lim s  lim  2 
s   ( s  1)  5
 s  2 s  1  25 
s 2 2 s

s2 s2  2 s s2
 lim 1
s
s 2
s  2 s s  ( 26 s )
2 2 2
 The Laplace Transform
Theorem: Final Value Theorem:

If the function f(t) and its first derivative are Laplace transformable and f(t)
has the Laplace transform F(s), and the lim sF ( s ) exists, then
s

lim sF ( s )  lim f ( t )  f ( ) Final Value

s0 t Theorem

Again, the utility of this theorem lies in not having to take the inverse
of F(s) in order to find out the final value of f(t) in the time domain.
This is particularly useful in circuits and systems.
 The Laplace Transform
Example: Final Value Theorem:
Given:

( s  2) 2  3 2
note F 1 ( s )  te 2 t cos 3t
F ( s) 
( s  2) 2
 32 

Find f () .

( s  2) 2  3 2
f ( )  lim sF ( s )  lim s
s0 s0 ( s  2) 2
3 2
 0