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Laplace transformation is a powerful tool for solving linear system of ODEs and
corresponding initial value problems arising in engineering. Laplace transformation is most
important operation for engineers and researchers. It offers a direct method for solving ODEs
without first determining its general solution and then evaluating of arbitrary constants.
Pierre Simon Marquis De Laplace (1749-1827), great French mathematician, was a
professor in Paris. He developed the foundation of potential theory and made important
contribution to celestial mechanics, astronomy in general, special functions and probability
theory. Napoleon Bonaparte was his student for a year. The powerful practical Laplace
Transformation technique was developed over a century later by English electrical Engineer
Oliver Heaviside and was often called Heaviside calculus. Unfortunately Heavisides treatment
was unsystematic and lacked rigour, which was placed on sound mathematical footing by
Bromwich and Carson during 1916-17. Heavisides operational calculus is best introduced by
means of a particular type of definite integrals called Laplace Transformations.
If
is a function defined for of all
, its Laplace Transformation is integral of
times
form
to . Thus
i.e.
Further we can write
Then
is called the inverse Laplace Transformation of
Laplace transformation Operator.
. The symbol
is called
and
it follows that
(2.2)
c)
Real Shifting theorem:
For an arbitrary constant
(2.4)
d)
Complex Shifting theorem:
For an arbitrary constant
(2.5)
exists, then
(2.6)
f)
Complex differentiation theorem:
This theorem shows that a differentiation of the mapped function
corresponds to a multiplication with the time in the time domain:
(2.8)
g)
Integral theorem:
The integral of a function is mapped by
(2.9)
and
, presented by the
, is defined as
(2.10)
In section A.1.3 it is shown that the convolution of the two original functions
corresponds to the multiplication of the related mapped functions, that is
(2.11)
i)
Convolution in the frequency domain:
Whereas in h) the convolution of two functions of time was given, a similar
result for the convolution of two functions in the frequency domain exists and
is given by
(2.12)
Here
and
is valid. Furthermore, is the complex
variable of integration. According to this theorem the Laplace transform of the
product of two functions of time is equal to the convolution of
in the mapped domain. This is shown in detail in section A.1.3.
and
j)
Initial and final value theorems:
The theorem of the initial condition allows the direct calculation of the function
value
and
exist, then
(2.13)
is valid if the
for
and
can be
exist and the
The limit
Example 2.3.2
does not exist so that the final value theorem may not be applied.
The limit
applied.
does not exist and therefore the final value theorem may not be
It can be concluded from the last two examples that the following general statement is
valid: If the Laplace transform
has, apart from a single pole at the origin
,
poles on the imaginary axis or in the right-half plane, then the initial or final value
theorems cannot be applied.
where
If
and
, then
, where a polynomial in
and a ratio of
has a lower order
, then
(2.18)
whereby
and
and
are constants.
A rational fraction
given in Eq. (2.17) can be decomposed into more simple
functions by application of partial fraction decomposition, as shown in Eq. (2.15). In
must be
(2.19)
. The zeros of
roots or
, since
where the residuals are real or complex constants. Using the table of
correspondences one immediately can obtain the corresponding function of time
(2.21)
for
for
Case 2:
with
the
(2.23)
with
for
function
can be
(2.27)
and
(2.29)
As
is complex, both sides of this equation are complex. Comparing the real and
imaginary parts of both sides one gets two equations for the calculation of
This procedure is demonstrated now using the following example.
Example 2.4.1 Find the inverse Laplace transform
is
of
and
is
Comparing the real and imaginary parts on both sides one obtains
and
is thus
and
such that correspondences given in Table 2.1 can be directly applied to find the
inverse transformation. Using the correspondences 16, 15 and 6 of this table, it
follows that
for