ENGS 22 — Systems

Laplace Transform Table

Largely modeled on a table in D’Azzo and Houpis, Linear Control Systems Analysis and Design, 1988

F (s) f (t) 0 ≤ t
1. 1 δ (t ) unit impulse at t = 0
1 1 or u(t ) unit step starting at t = 0
2.
s
1 t ⋅ u(t) or t ramp function
3.
s2
1 1
4. t n −1 n = positive integer
sn ( n − 1)!
1 −as u (t − a ) unit step starting at t = a
5. e
s
1 −as
u(t) − u(t − a) rectangular pulse
6. (1 − e )
s
7.
1 e −at exponential decay
s+a
1 1
8. t n−1e −at n = positive integer
( s + a) n (n − 1)!
1 1
9. (1 − e −at )
s ( s + a) a
1 1 b −at a −bt
10. s(s + a)(s + b) (1 − e + e )
ab b−a b−a
s +α 1 b(α − a) −at a(α − b) −bt
11. [α − e + e ]
s( s + a)(s + b) ab b−a b−a
1 1
12. (s + a)(s + b) (e − at − e −bt )
b−a
s 1
( ae − at − be −bt )
13. ( s + a )( s + b) a−b

Laplace Table Page 1

ENGS 22 — Systems

F(s) f(t) 0≤t

s +α 1
14. ( s + a )( s + b ) [(α − a)e −at − (α − b)e −bt ]
b−a
1 e−at e−bt e−ct
15. ( s + a)(s + b)(s + c) + +
(b − a)(c − a) (c − b)(a − b) (a − c)(b − c)
s +α (α − a)e−at (α − b)e−bt (α − c)e−ct
16. (s + a)(s + b)(s + c) + +
(b − a)(c − a) (c − b)(a − b) (a − c)(b − c)
ω sin ω t
17. 2
s + ω2
s cos ω t
s + ω2
18. 2
s+α α 2 + ω2
19. 2
s +ω2 sin(ωt + φ ) φ = atan2(ω, α )
ω
s sin θ + ω cos θ sin(ωt + θ )
20.
s2 + ω2
1 1
21. s ( s 2 + ω 2 ) (1 − cosωt )
ω2
s+α α α2 +ω2
22. s ( s 2 + ω 2 ) − cos( ω t + φ ) φ = atan2(ω,α )
ω2 ω2
1 e − at 1
23. (s + a)(s 2 + ω 2 ) + sin(ωt − φ )
a +ω
2 2
ω a +ω
2 2

φ = atan2(ω, α )
1 1 − at
24. (s + a) 2 + b 2 e sin(bt )
b
1 1
24a. 2 e −ζωnt sin(ωn 1 − ζ 2 t )
s + 2ζω n s + ω n
2
ωn 1 − ζ 2
s+a e − at cos( bt )
25. ( s + a ) 2 + b 2
Laplace Table Page 2
ENGS 22 — Systems

F(s) f(t) 0≤t

s +α (α − a ) 2 + b 2 − at
26. ( s + a ) 2 + b 2 e sin( bt + φ ) φ = atan2(b,α − a)
b
26a.
s +α
( α
ωn − ζωn ) 2

+1 ⋅ e −ζωnt sin(ω n 1 − ζ 2 t + φ )
s2 + 2ζωns +ωn
2 1−ζ 2
φ = atan2(ωn 1 − ζ 2 ,α − ζωn )
27. 1 1
1 + e−at
sin(bt −φ) φ = atan2( b,− a )
a +b b a +b
2 2 2 2

s[(s + a)2 + b2 ]
27a. 1 1
1 − e−ζωnt sin(ωn 1 − ζ 2 t + φ )
ωn 2
ωn 2 1 − ζ 2
s(s 2 + 2ζωn s + ωn
2
φ = cos − 1 ζ
28. α 1 (α − a) 2 + b2 −at
s +α + e sin(bt + φ)
a +b b
2 2
a +b
2 2

s[(s + a)2 + b2 ] φ = atan2( b , α − a ) − atan2( b , − a )

28a. α 1 α −ζω t
s +α + ( −ζ ) 2
+ (1−ζ 2
) ⋅ e ω
sin( 1−ζ 2
n
t +φ)
ωn ωn 1−ζ ωn
2 n
2

s(s2 + 2ζωn s + ωn )
2

φ = atan2(ωn 1 − ζ 2 ,α − ω nζ ) − atan2( 1 − ζ 2 ,−ζ )

29. e −ct e −at sin(bt − φ )
1 + φ = atan2(b, c − a)
(c − a) 2 + b 2 b (c − a) 2 + b 2
(s + c)[(s + a)2 + b2 ]

Laplace Table Page 3

ENGS 22 — Systems

F(s) f(t) 0 ≤1
30. 1 e−ct e−at sin(bt − φ)
1 − +
c(a2 + b2 ) c[(c − a)2 + b2 ] b a2 + b2 (c − a)2 + b2
s(s + c)[(s + a)2 + b2 ]
φ = atan2(b,−a) + atan2(b, c − a)
31. α (c − α )e −ct
+
s +α c(a 2 + b 2 ) c[(c − a) 2 + b 2 ]
s(s + c)[(s + a)2 + b2 ] (α − a) 2 + b 2
+ e −at sin(bt + φ )
b a 2 + b 2 (c − a) 2 + b 2
φ = atan2(b, α − a) − atan2(b,−a) − atan2(b, c − a)
1 1
32. s 2 ( s + a ) 2
(at−1+ e−at )
a
1 1
(1− e−at − ate−at )
33. s(s + a)2 a2

s +α 1
[α − αe−at
+ a(a − α)te−at
]
34. s(s + a)2 a2

s 2 + α1s + α 0 α0 a2 −α1a + α0 −at b2 −α1b + α0 −bt

35. s(s + a)(s + b) + e − e
ab a(a − b) b(a − b)
s 2 + α1s + α 0 α0 1 2 2
+ [(a − b − α1 a + α 0 ) 2
36. s[(s + a) 2 + b 2 ] c 2 bc
1
+ b (α1 − 2a) ] e−at sin(bt + φ)
2 2 2

φ = atan2[ b(α 1 − 2a ), a 2 − b 2 − α 1 a + α 0 ] − atan2( b,− a )

c2 = a2 +b2

Laplace Table Page 4

ENGS 22 — Systems

F(s) f(t) 0 ≤1
37. (1 / ω ) sin(ωt + φ1 ) + (1 / b)e − at sin(bt + φ 2 )
1 1

(s2 +ω2 )[(s + a)2 +b2 ] [ 4a ω + ( a + b − ω ) ]

2 2 2 2 2 2 2

φ1 = atan2(−2aω, a2 + b2 − ω2 )
φ2 = atan2(2ab, a 2 − b 2 + ω 2 )
38. 1 α 2 + ω2 2
1

s +α ( ) sin(ωt + φ1 )
ω c
(s2 +ω2 )[(s + a)2 +b2 ]
1 (α − a)2 + b2 2 −at
1
+ [ ] e sin(bt +φ2 )
b c
c = (2aω)2 + (a2 + b2 −ω2 )2

φ1 = atan2(ω , α ) − atan2( 2aω , a 2 + b 2 + ω 2 )

φ2 = atan2(b,α − a) + atan2(2ab, a 2 − b 2 − ω 2 )
s +α 1
1 2α a [b + (α − a ) ] − at
2 2 2
39. s2[(s + a)2 + b2 ] (α t + 1 − )+ e sin( bt + φ )
c c bc
c = a 2 + b2
φ = 2atan2(b, a) + atan2(b,α − a)
s 2 + α1s + α0 α1 +α0t α0 (a + b) 1 α1 α0
− − (1− + )e−at
40. s 2 (s + a)(s + b) ab (ab) 2
a −b a a 2

1 α α
− (1− 1 + 20 )e−bt
b−a b b

Laplace Table Page 5