Introduction to

Laplace Transforms

1
Solutions of
Differential
equations

2
Solutions

 Can be divide into three types:

 Analytical Method
 By Mathematical techniques
 Laplace Method

 State Space Modeling

3
 Laplace Techniques

 Laplace Techniques
 Steps involving in Laplace are:
 Laplace of Time Domain Equations

 Simplification of Laplace Equations

 Solving of S-Domain Equations

 Inverse Laplace of Equations

4
Introduction to Laplace Transforms

 Laplace transform
 ℒ{f(t)} = F(s)
 Function in time domain f(t)
 t is independent variable in time domain
 Function in frequency domain F(s)
s is independent variable in frequency domain
 s is a complex variable written as s =  + j
 Transforms set of Integro-differential equations
in time domain to simple algebraic equations in
frequency domain

5
Introduction to Laplace Transforms

 Analysis of Mathematical Models

 Differential& Integro-differential
equations transformed to simpler
equations in frequency domain
 Equations solved in frequency domain
 Transform the equations back to time
domain

6
Introduction to Laplace Transforms

 f(t) and F(s) are called transform pair

7
Definition

8
 Laplace Transform
Background
• Classical differential equations
Time Domain

y2  t   y1 t   yt   xt 

xt   1
Solve differential equation

yt    e  e
1 t 1  2 t
2 2
 Laplace Transform
Background
• Laplace transforms
Time Domain Frequency Domain
1
y 2 
t   y t   yt   xt 
1 H( s)  2
s  3s  2
xt   1 Xt  
1
s
Solve algebraic equation

yt    e  e
1 t 1  2 t 1 1
2 2 s s 2  3s  2
Functional Transform
 Some useful functional transform pairs

 Impulse δ( t )  1
 Step u(t)  1 / s
 Ramp t  1/ s2
 Exponential e  at  1 /(s  a )
 Sine sin ωt  ω /(s 2  ω2 )
 Cosine cos ωt  s /(s 2  ω2 )
 Damped ramp te at  1 /(s  a ) 2
 Damped sine eat sin ωt  ω /[(s  a ) 2  ω2 ]
 Damped cosine e at cos ωt  (s  a ) /[(s  a ) 2  ω2 ]
11
 Laplace Transform
Impulse Function
• The easiest transform is that of the
impulse function:

Lδt    δt e  st dt
0
δt   1
 e  s0
1
 Laplace Transform
Unit Step Function
• Next is the unit step function

L u t    u t e  st dt
0

0 t  0   e  st dt
u t     
u t 
1
1 t  1 0 s

1
  e  st
s 0

 1 
 0    e  s0 
 s 
1

s
Operational Transform
 General mathematical property of Laplace
 Multiplication by a Constant
 ℒ{f(t)}=F(s)
 ℒ{Kf(t)} =KF(s)
 Addition (Subtraction)
 ℒ{f1(t)} =F1(s), ℒ{f2(t)} =F2(s) &
ℒ{f3(t)} =F3(s)
 ℒ{f1(t) + f2(t) - f3(t)} = F1(s) + F2(s) – F3(s)

14
Convolution Integral

 ℒ-1{F1(s) + F2(s)} = f1(t) + f2(t)

 ℒ-1{F1(s)F2(s)} ≠ f1(t)f2(t)
 ℒ-1{F1(s)F2(s)} =
t

f
0
1 ()f 2 ( t  )d

15
 Operational Transform
 Laplace of Differential Parameter
 ℒ{dnf(t)/dtn}
= snF(s) – sn-1f(0-) – sn-2df(0-)/dt - … - dn-1f(0-)/dtn-1

 Laplace of Integral Parameter

t
F (s)
 ℒ{  f ( x ) dx}=
0 s

16
Operational Transform

 Translation in Frequency Domain

 Translation in frequency domain corresponds
to multiplication by an exponential in the time
domain
ℒ{e-atf(t)} =F(s+a)

 ℒ{cost} =s/(s2 + 2)

 ℒ{e-atcost} =(s+a)/[(s+a)2 + 2]

17
Inverse Transform

 Rational function is the ratio of two

polynomials in s.

N(s) a n s n  a n 1s n 1  ...  a1s  a 0

F(s)  
D(s) b ms m  b m1s m1  ...  b1s  b 0

 The inverses transform of a rational

function gives corresponding function in
time domain
18
Inverse Transform
N(s) a n s n  a n 1s n 1  ...  a1s  a 0
 F(s)  
D(s) b ms m  b m1s m1  ...  b1s  b 0
 the coefficients a and b are real constants
 The exponents m and n are positive
integers
 The ratio N(s)/D(s) is
 proper rational function if m > n
 Improper rational function if m  n

A proper rational function can be

expanded as a sum of partial fractions
19
Partial Fraction Expansion: Proper
Rational Functions
 Proper rational function is expanded into a
sum of partial fractions
s6
 s(s  3)(s  1) 2 F(s) should be in factored form

s6 K1 K 2 K3 K4
   
 s(s  3)(s  1) 2
s s  3 s  1 s  1
2

for each multiple root of F(s) of multiplicity r,

the expansion contains r terms
20
Partial Fraction Expansion: Proper
Rational Functions
 Each term in the sum of partial fractions is
represented by its f(t)
 s6 K1 K 2 K3 K4
   
s(s  3)(s  1) 2 s s  3 s  12 s  1
 (K1  K 2 e 3t  K 3 te  t  K 4 e  t )u ( t )
 ℒ-1{F(s)}

 Determining coefficients K1, K2, K3 …

 Roots are real and distinct
 Roots are complex and distinct
 Roots are real and repeated
 Roots are complex and repeated 21
Distinct Real Roots of D(s)
96(s  5)(s  12) K1 K 2 K3
 F(s)    
s(s  8)(s  6) s s 8 s 6
 Multiply both sides of the equation by a
factor equal to the denominator beneath
the desired K
 96(s  5)(s  12) Ks Ks
 K1  2  3
(s  8)(s  6) s 0 s  8 s 0 s  6 s 0

96(5)(12)
 K1  120
(8)(6)

22
Distinct Real Roots of D(s)

 For determining K2
 96(s  5)(s  12) K1 (s  8) K 3 (s  8)
  K2 
s(s  6) s  8
s s  8 s  6 s  8
96(3)( 4)
 K 2  72
 8(2)

 For determining K3
96(s  5)(s  12) K1 (s  6) K 2 (s  6)
   K3
 s(s  8) s  6
s s  6 s  8 s  6
96(1)(6)
 K 3  48
 6(2)

23
Distinct Real Roots of D(s)
96(s  5)(s  12) 120 72 48
F(s)    
 s(s  8)(s  6) s s 8 s 6
 Testing the result against errors
 Bothsides of the equation should be equal
 Check using values s = -5 and -12

 finding inverse transform

 ℒ {F(s)}
8 t 6 t
-1  ( K 1  K 2 e  K 3 e )u ( t )
 (120  72e8t  48e6 t )u(t )

24
Partial Fraction Expansion:
Improper Rational Functions
 An improper rational function can be
expanded into a polynomial and a proper
rational function
 Polynomial is inverse transformed into
impulse functions and derivatives of
impulse functions
4
s  13s  66s  200s  300
3 2

 F(s) 
s 2  9s  20

25
Improper Rational Functions
30s  100
 F(s)  s 2  4s  10 
s 2  9s  20
 expanding the proper rational function into sum
of partial fractions
30s  100 30s  100  20 50
   
s  9s  20 (s  4)(s  5) s  4 s  5
2

20 50
F(s)  s  4s  10 
2

s4 s5

 taking the inverse transform

 f (t) 
d 2 δ( t )
dt 2
 4
dδ( t )
dt
 10δ ( t ) 
 20e 4 t
 50e 
5 t
u(t)
26
Poles and Zeros of F(s)
 Rational functions can be expressed as a
ratio of two factored polynomials
 8(s 2  15s  50) 4(s  5)(s  10)
F(s)  
2(s  10s  35s  50s  24) (s  1)(s  2)(s  3)(s  4)
4 3 2

 The roots of the denominator polynomial

are called Poles of F(s)
 They are values s at which F(s) becomes 
 Poles are -1, -2, -3 & - 4

27
Poles and Zeros of F(s)
8(s 2  15s  50) 4(s  5)(s  10)
 F(s)  
2(s  10s  35s  50s  24) (s  1)(s  2)(s  3)(s  4)
4 3 2

 The roots of the numerator polynomial are called

Zeros of F(s)
 They are values s at which F(s) becomes 0
 Zeros are -5 & - 10

28
Pole and Zero Diagram
 Poles and Zeros
plotted on a complex -6+j8
X 10

s plane
10(s  5)(s  3  j4)(s  3  j4)
-3+j4 5

F(s)  S-plane 0

s(s  10)(s  6  j8)(s  6  j8)

X 0 X
-10 -5

0
-3-j4 -5

-6-j8
X -10

29
Pole and Zero Diagram
 f(t) = e-atcos(bt)
a = 0, b = 
 F(s) = s/(s2 + 2)

1.50
S-plane
1.00 X

0.50

0
0.00
4
8

2
6

8
2
6

8
2

4
8
0

6
0.
0.

1.
1.

2.

2.
3.
3.

4.

4.
5.

5.

6.
6.
-0.50
X
-1.00

-1.50

30
Pole and Zero Diagram
 f(t) = e-atcos(bt)
a = 0.5, b = 
 F(s) =(s+0.5)/[(s+0.5)2 + 2)]

1.20
1.00 S-plane
0.80 X
0.60
0.40
0
0.20
0.00
-0.20
4
8

2
6

8
2

8
2

8
0

X
0.
0.

1.
1.

2.

2.
3.

3.

4.

4.
5.

5.

6.

6.
-0.40
-0.60
-0.80

31
Pole and Zero Diagram
 f(t) = e-atcos(bt)
a = 0.75, b = 
 F(s) =(s+0.75)/[(s+0.75)2 + 2)]

1.20
1.00 S-plane

0.80 X

0.60
0.40 0
0.20
0.00
X
-0.20
4
8

2
6

8
2
6

8
2

4
8
0

6
0.
0.

1.
1.

2.

2.
3.
3.

4.

4.
5.

5.

6.
6.

-0.40
-0.60

32
Pole and Zero Diagram
 f(t) = e-atcos(bt)
a = -0.5, b = 
 F(s) =(s - 0.5)/[(s -0.5)2 + 2)]

30.00
S-plane
20.00
X
10.00

0.00
0
0

6
0.4
0.8
1.2
1.6

2.4
2.8
3.2
3.6

4.4
4.8

5.2
5.6

6.4
6.8
-10.00

-20.00 X

-30.00

-40.00

33
 Final Value Theorem
• The final value theorem (FVT) is a theorem that is used to relate
frequency domain expressions to the time domain behavior as
time approaches infinity.
 Initial Value Theorem
• the Initial Value Theorem (IVT) is a theorem used to relate
frequency domain expressions to the time domain behavior as
time approaches zero.
The Transfer Function
 Transfer function H(s) = Y(s)/X(s)
 Y(s) is the laplace of output signal
 X(s) is the laplace of input signal
 In computing the transfer function, circuit
where all initial conditions are zero are
considered
 Transfer function depends on what is
defined as the output signal

36
Example
 H(s) = ?
 Poles & Zeros = ?
Vo  Vg Vo sVo
   6 0
1000 250  0.05s 10
1000(s  5000)Vg 1000 ohm
 Vo 
s 2  6000s  25x106 250
ohm

1000(s  5000) 1 μ F Vo
Vg

 H(s)= s 2
 6000s  25 x10 6
50 mH

37
Example
 H(s) = 2 1000(s  5000) 6
s  6000s  25x10
 Poles
 -p1 = -3000 –j4000
 -p2 = -3000 +j4000
1000 ohm
 Zeros
250
 -z1 = -5000 ohm

1 μ F Vo
Vg
50 mH

38
Example
 H(s) = 1000(s  5000)
s 2  6000s  25x106

 Complex poles & zeros appear in

conjugate pairs
 Poles of H(s) must lie in the left half of s
plane if the response to a bounded source
is to be bounded
 Zeros of H(s) can lie in the left or right half
of the s plane
39
Revision

40
Revision cont…

41
 Example: Step response of a
parallel RLC circuit
 Step Response of an
RLC circuit
 Currents & voltages
that arise when energy
is acquired by an R =625
C=25nF
t=0 ohm
inductor or capacitor
when it is suddenly Idc = L=25mH
connected to a current 24mA
or voltage source
 Find IL through
inductor

42
 Example: Step response of a
parallel RLC circuit
 Idc/s=sCV +V/sL +V/R
1/sC R
 Idc/s = V(sC +1/sL +1/R) t=0
sL
Idc / s  Idc/s

 V = sC  1 / sL  1 / R
Idc / s sLR
 2
I dc LR
 2
I dc / C
 V = s CLR  R  sL s CLR  R  sL s  1 / LC  s1 / RC 
2

I dc / C 1 I dc / LC
 2

 IL= s  1 / LC  s1 / RC  sL s s  1 / LC  s1 / RC 
2

43
 Example: Step response of a
parallel RLC circuit
I dc / C 1 I dc / LC
 2
 IL=  
s  1 / LC  s1 / RC  sL s s  1 / LC  s1 / RC 
2

24 /( 25)(25) 384x105
 2
 IL= ss  1 /( 25)(25)  s1 /(625)(25) ss  16x108  64000s 
2

384x105
 IL= s(s  32000  j24000)(s  32000  j24000)

44
 Home task
*
 I L= K K K
1
 2
 2
s (s  32000  j24000) (s  32000  j24000)
5
 K  384 x10 3
1  24 x10
16x108
384x105 3
 K   20 x10 126.87 0

(32000  j24000)( j48000)

2

ei  e i
 using the relationship cos  
2

32000t
 iL = [ 24  40e cos( 24000 t  126.87 0
)]u(t ) mA
45
 Step Response of a Multiple-Mesh
Circuit
 At t=0 when the
switch is closed
 336  (42  8.4s)I  42I 8.4 H 10 H
1 2
s

0  42I1  (90  10s)I2 t=0 i1 i2

42 ohm
48 ohm
336 V
 Solving for I1 & I2
 40(s  9)
I1 
s(s  2)(s  12)

 I2 
168
s(s  2)(s  12) 46
Step Response of a Multiple-Mesh
Circuit
 i1 = [15  14e2 t  e12t ]u(t )

 i2 = [7  8.4e 2 t  1.4e12t ]u(t )

47