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ANALYSIS
Time-domain Laplace s-domain
ODE problems algebra problems
Transform
(LT)
Difficult Easy
Inverse
Solutions of time- Solutions of algebra
domain problems problems
LT
2
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
0
1
L [ F (s)] f (t )
d
Differenti ation L f (t ) sF ( s ) f (0)
dt
s
e
1 s ( ) s ( 0)
e
1
s
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
( s a )t 1 ( s a )t
e dt e
sa 0
0
1
sa
e ( s a )( ) e ( s a )( 0)
1
sa
The Laplace transform of a trigonometry function
st
F ( s) L[sin t ] e sin t dt
0
e
1 s ( )
cos () e s (0)
s st
cos (0) e cos t
0
1 s st s st
(e sin t ) /
0 0
e sin t
1 s2
2 F ( s) F ( s) 2 ,s 0
s 2
If F1(s) and F2(s) are respectively, the Laplace
transform of f1(t) and f2(t), then
Euler' s Rule
e jt e jt
sin t
j2
e j t e j t
cos t
2
2
Lcos t L e e
1 jt jt
1 1
1
2 s j s j
1 s j s j 1 2s
2
2 s js js j 2 2 2 s 2 2
s
s2 2
1. Find the laplace transforms of these
functions : r(t )tu(t ),that is ramp function
and e u (t ).
at
e as f ( x) e sx dx e as F ( s )
0
Lcos t 2
s
s 2
Lcos (t a ) u (t a ) e as s
s
2 2
If F ( s ) is Laplace transform of f (t ), then
Le at
f (t ) e at
f (t )e st
dt
0
( s a )t
f (t ) e dt F ( s a)
0
Le at
f (t ) F ( s a )
As example we know that,
Lcos wt 2
s
s 2
Using frequency shift property,
Le at
cos wt
sa
( s a)
2 2
Given that F(s) is the Laplace transform of f(t),
the Laplace transform of its derivative s is,
df
df st
L e dt
dt 0
dt
0 f (0 ) s f (t )e st dt
0
sF ( s ) f (0 )
f (t )( te
dF(s) st st
)dt [tf (t )]e dt L[tf (t )]
ds
0 0
and frequency differenti ation property becomes
dF(s)
L[tf (t )]
ds
Repeated applicatio n of this equation lead to
d n F(s)
L[t n f (t )] (1) n
ds n
1 at
We know that L[e ]
sa
Using property of frequency of derivative ,
at d 1 1
L[te ]
ds s a ( s a ) 2
If F (s) is Laplace transform of f(t)
the Laplace transform of integral is
t t
L[ f (t )dt ] [ f (t )dt ]e st dt
0 0 0
t
To integrate let, u f (t )dt, du f (t )dt
0
st
st e
and dv e dt, v , using formula uv- vdu
s
t t e st 1
L[ f (t )dt ] f (t )dt
0
e st f (t )dt
s s
0 0 0
1 st 1
L[ f (t )dt ] e f (t )dt F ( s )
s s
0 0
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
0
s s s
Thus Laplace transform of ramp function is
1
L[t ] 2
s
1
If we let f(t) t u (t ), and F(s) ,
s2
t
1 1
2
t
L[ t dt L[ ] 2
2 s s
0
2
L[t ] 2
3
s
Repeated applicatio n
n!
L[t ] n 1
n
s
Similarly, using integratio n by part, we can show
t
1 1 1
L[ f (t )dt ] F ( s) f (0 )
s s
0
f (t )dt
1
where, f (0 )
If F (s) is Laplace transform of f(t), then
F(s)
0
f (t )e st dt
e f (t ) st f (t )
F ( s )ds f (t )( ) dt [ ]e dt L[ ]
t t t
s 0 s 0
and frequency differenti ation property becomes
f (t )
L[ ] F ( s )ds
t
s
1
If we let f(t) t u (t ), and F(s) 2
,
s
s
f (t ) 1 2
L[ ] 2
ds s ds
t
s s
1
s 1 1
| 1( s )
1 s
1
s
1. Find the laplace transforms of these
functions:
a) f (t ) 2te2t
1 4 3t
b) f (t ) t e
2
c) f (t ) 5e 2t cos 3t
5t
d ) f (t ) 4e sin t
Definition:Inverse Laplace transform,
denoted by L1[ F ( s)] is given by
C j
1
1
f (t ) L [ F ( s)] F ( s ) e st
ds(t 0)
2 j C j
k1 2
k 2 8
s 2 12 s 3k1 s 3k 2
multiply bothside with s 3, k3
s s 2 s s2
s 2 12
k3
ss 2
s 3
k3 7
s 2 12 1 8 7
Hence ,
s s 2s 3 s s 2 s 3
1 s 2
12 1 1 8 7
L L
s s 2 s 3 s s 2 s 3
from table,
f (t ) 1 8e 2t 7e 3t
Suppose F(s) has n repeated poles at s = -p
kn k n 1 k2 k1
F(s) ... F1 ( s )
s p n
s p n 1
s p 2
s p 1
k n s p F ( s) s p
n
Todetermine 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
k n 1
d
ds
s p n F ( s) s p
Where m = 1,2,…,n-1
10 s 2 4
Example 16 : Calculate v(t) given that V(s)
ss 1s 22
10 s 2 4 A B C D
ss 1s 22 s s 1 s 2 s 2
2
10 s 2 4 sB sC sD
multiply bothside with s, A
s 1s 22 s 1 s 22 s 2
10 s 2 4 4
A 2 s 0
1
s 1s 2 (1)( 2) 2
10 s 2 4 14
B 2 s 1
14
ss 2 (1)(1) 2
multiply bothside with s 2 2 ,
10 s 2
4
s 2 2
A
s 2 2
B
C ( s 2) D
ss 1 s s 1
10 s 2 4 44
C 22
ss 1
s 2
(2)( 1) 2
D
d
ds
s 22 V ( s) s 2
d 10 s 2 4
ds ss 2
s 2
s 2
s 20 s 10 s 2 4 2 s 1
52
13
s 2
s 2 s 2
4
10 s 2 4 1 14 22 13
Hence,
ss 1s 22 s s 1 s 2 2
s2
1
10 s 2
4
1 1 14 22 13
L 2
L
ss 1s 2 s 2
2
s s 1 s 2
from table
f (t ) 1 14 e t 22 te 2t 13e 2t
F(s) may have a general form
A1s A2
F (s) F1 ( s )
s as b
2
s as b s 2s s 2
2 2 2 2 2
We also let
A1s A2 A1 s B1
From table
t t
f (t ) A1e cost B1e sin t f1 (t )
Example 17 : Find the inverse transform of the frequency
20
domain function , H(s)
s 3s 2 8s 25
In this example, H ( s ) has a pair of complex poles
s 2 8s 25 0 or s 4 j 3.
20 A Bs C
H(s) 2
s 3 s 8s 25 s 3 s 8s 25
2
solution :
Algebraic method : multiplyin g both side by s 3 s 2 8s 25
20 A s 2 8s 25 Bs C s 3
20 As 2
8s 25 B s 2
3 C s 3
Equation coefficien ts :
s 2 : 0 A B A B
s : 0 8 A 3B 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 2s 10 2 2s 4 2
H(s) 2
s 3 s 8s 25 s 3 s 42 9
2 2s 4 2 3
s 3 s 4 32 3 s 42 32
2
3t 4t 2 4t
Then, f (t ) 2e 2e cos 3t e sin 3t
3
L f ' (t ) sF ( s ) f (0 )
or
dy
L sL y y ( 0
)
dx
58
dy
2 y 12sin 4t y (0) 10
dt
12(4)
sY ( s ) 10 2Y ( s ) 2
s 16
10 48
Y ( s)
s 2 ( s 2)( s 16)
2
48 A B1s B2
2
( s 2)( s 16) s 2 s 16
2
59
48 48
A 2 2.4
s 16 s 2 20
48 2.4 B1s B2
2
( s 2)( s 16) s 2 s 16
2
48 2.4 B2 B2 4.8
(2)(16) 2 16
48 2.4 B1 B2 B1 2.4
(1)(17) 1 17
10 2.4 2.4s 4.8
Y (s) 2 2
s 2 s 2 s 16 s 16
2t
y(t ) 12.4e 2.4cos 4t 1.2sin 4t
60
2
d y dy
2
3 2 y 24
dt dt
y (0) 10 and y '(0) 0
24
s Y ( s) 10s 0 3 sY ( s) 10 2Y ( s)
2
s
24 10s 30
Y ( s) 2
s( s 3s 2) s 3s 2
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 2t
f (t ) 12 4e 2e
62
Exercise 3
1. Find f(t) for each of the following functions
6s 26s 26 2
a F s
s 1s 2s 3
16s 30s 500
2
b F s
s s 2s 50
2
c F s
400
s s 4s 5
2
2
d2x dx
2
3 2x(t) e -t
for t 0
dt dt
dx(0)
and x(0) 2, -3
dt
a) Resistor
66
b) Inductor
67
c) Capacitor
dv(t )
i (t ) C
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 )
1/ L K1 K2
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
1
R
1 e L ; t 0
t
i (t )
R
i (t )
vS