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COLLEGE OF ENGINEERING
COLEGIO SAN AGUSTIN
Pierre Simon Marquis De Laplace (1749-1827), great French mathematician develop the
theory of potential and contributions to celestial mechanics, astronomy in general, special
functions, and probability theory. Napoleon Bonaparte was his student for a year.
3 Main Steps
1. The given hard problem is tranmsformed into a simple equation called subsidiary
equation.
2. The subsidiary equation is solved by purely algebraic manipulations.
3. The solution of the subsidiary equation is transformed back to obtain the solution of the
given problem.
These process is made easier by tables of functions and their transforms, whose role
is similar to that of integral tables of calculus. The switching from operations of calculus to
algebraic operations on transforms is called OPERATIONAL CALCULUS. For engineers,
Laplace transform method is practically the most important operational method.
where:
F (s ) = Laplace transform of the original function and will be denoted by L(f).
f (t ) = original function
∞
(1) F (s ) = L(f) = ∫ 0
e −st f (t ) dt
Remember that:
f depends on t
F depends on s
The original function f (t ) in (1) is called the inverse transform or inverse of F (s ) and will
be denoted by L−1 (F).
f (t ) = L−1 (F)
Notation:
Original functions are denoted by lowercase letters
Transforms by the same letters in CAPITALS
So that:
F (s ) denotes the transform of f (t )
Y (s ) denotes the transform of y (t )
Example 1.
f (t ) = 1 when t ≥ 0. Find F (s ) .
From (1) by integration:
∞
∫e
−st
F (s ) = L(f) = f (t ) dt
0
∞
∫e
−st
= 0
dt
1 ∞ −st
s ∫0
= − e ( −s ) dt
1
= − e −st [ ∞
0
s
1
= − {e −s ( ∞) − e −s ( 0 ) }
s
1
= − {0 −1}
s
1
F (s ) = L(1) = ans.
s
Example 4:
f (t ) = a + bt + ct 2 a, b, c = cons tan ts . Find F (s ) .
Solution:
L(a + bt + ct 2 ) = aL (1) + bL (t ) + cL (t 2 )
1 1 2!
= a ( ) + b( 2 ) + c ( 3 )
s s s
a b 2!c
= + 2 + 3 ans.
s s s
Example 5:
f (t ) = e a −bt . Find F (s ) .
Solution:
L (e a −bt ) = L(e a e −bt ) = e a L(e −bt )
1
= ea ( )
s +b
ea
= ans.
s +b
TRANSFORMS OF DERIVATIVES:
Laplace transforms replaces operations of calculus by operations of algebra on
transforms.
Example 1:
f (t ) = t 2 . Derive L( f ) .
Solution:
1. Take the derivatives
f (t ) = t 2 f ' (t ) = 2t f '' (t ) = 2
f (0) = 0 2 f ' (0) = 2(0) f ' ' ( 0) = 2
f ( 0) = 0 f ' ( 0) = 0
2. Take the Laplace of the highest derivative of f (t ) .
L( f '' ) = L( 2) = 2 L(1)
3. Substitute to equation of differentiation of the highest derivative
L( f ' ' ) = s 2 L( f ) − sf (0)] − f ' (0)
L( 2) = s 2 L( f ) − s (0)] − (0)
2
From the table L(2) =
s
2
= s 2 L( f )
s
2
L( f ) = ans. (see table)
s3
Example 2:
Derive the Laplace transform of cos wt .
Solution:
1. Differentiate f (t )
f (t ) = cos wt f ' (t ) = −w sin wt f '' (t ) = −w2 cos wt
f (0) = cos w(0) f ' (0) = −w sin w(0) f ' ' (0) = −w2 cos w(0)
f (0) =1 f ' ( 0) = 0 f ' ' (0) = −w2
2. Take the Laplace of the highest derivative of f (t ) .
L( f '' ) = L( −w2 cos wt )
But: f (t ) = cos wt ; w2 = constant
L( f ' ' ) = −w2 L(cos wt ) = −w2 L( f )
3. Substitute to equation of differentiation of the highest derivative
L( f ' ' ) = s 2 L( f ) − sf (0)] − f ' (0)
− w2 L( f ) = s 2 L( f ) − s (1) − (0)
s = s 2 L( f ) + w2 L ( f )
s
L( f ) =
s + w2
2
s
L(cos wt ) = ans. (see table)
s + w2
2
Assignment:
1. Derive L(sin wt ) using transforms of derivative.
2. f (t ) = sin 2 t
1st Step: Transform (5) by means of (1) and (2) writing Y = L( y ) & R = L(r )
y '' + ay ' + by = r (t )
[ s 2Y − sy (0)] − y ' (0)] + a[ sY − y (0)] + bY = R this is the subsidiary equation
Collecting Y terms we have;
s 2Y − sy (0) − y ' (0) + asY − ay (0) + bY = R
( s 2 + as + b)Y = ( s + a ) y (0) + y ' (0) + R
2nd Step: Solve the subsidiary equation algebraically for Y. Multiply the subsidiary equation by:
1
(6) = Q(Transfer _ function )
coeff − of − Y
1
[( s 2 + as + b)Y ] = [( s + a ) y (0) + y ' (0) + R ]Q
( s 2 + as + b)
(7) Y = [( s + a ) y (0) + y ' (0)]Q + RQ
If y (0) = y ' (0) = 0
Y = RQ
Y L(output
Q = )
R L(input )
Note that Q depends only on a & b, neither on r(t) or initial condition.
3rd Step: Reduce (7) usually by partial fraction, to a sum of terms whose inverse can be found
from the table so that;
y (t ) = L−1 (Y ) of (5) is obtained.
Example 1:
Solve: y"− y = t ; y ( 0) = 1 ; y ' (0) =1
Solution:
1. From the table and (2) get the subsidiary equation
y"− y = t
1
s 2Y − sy (0)] − y ' (0) − Y =
s2
1
s 2Y − s (1) − (1) − Y =
s2
1
( s 2 − 1)Y = s + 1 + 2
s
1
2. The transfer function is Q = and (7) becomes;
s −1
2
1
Y = ( s + 1)Q + Q
s2
s +1 1
Y = + 2 2
s −1 s ( s −1)
2
s +1 1 1
Y = +[ 2 − ]
( s −1)( s +1) ( s −1) s 2
1 1 1
Y = + 2 − 2
( s −1) ( s −1) s
1 1 1
y (t ) = L−1 (Y ) = L−1{ } + L−1{ 2 } − L−1{ 2 }
( s −1) ( s −1) s
y (t ) = et + sinh t − t ans.
Diagram:
t space s space
1 1 1
Y = + − y (t ) = et + sinh t − t
( s −1) ( s 2 −1) s 2
t space s space
Practice Problems:
1. y"+2 y '+y =e −t y (0) = −1 y ' (0) =1
Theorem:
“Integration of a function corresponds to division of its transform by s”
t F (s)
L{∫ f (τ )dτ } = ; s >0
0 s
Or if we take the inverse transform
t F (s)
∫0
f (τ ) dτ = L−1{
s
}
where:
t
f (t ) = ∫ f (τ) dτ
0
Example:
1
L( f ) = Find f (t ).
s ( s + w2 ) 2
Solution:
From the table we have:
1 1
L−1 ( ) = sin wt
s +w
2 2
w
Note that:
t F ( s)
f (t ) = ∫ f (τ ) dτ = L−1{ }
0 s
1
= L−1{ }
s ( s + w2 )
2
t F ( s)
f (t ) = ∫ f (τ ) dτ = L−1{ }
0 s
t 1
=∫ f (τ )dτ = L−1{ }
0 s ( s + w2 )
2
1 1
L−1 ( ) = sin wt
s +w 2
2
w
Then;
t 1
=∫( sin wτ ) dτ
0 w
1 t
w ∫0
= sin wτdτ
1 1 t
= [ ∫ sin wτ ( w) dτ ]
w w 0
1
=2
[− cos wτ ]t0
w
1
= 2 [ − cos wt − ( − cos w(0))]
w
1
f (t ) = 2 [1 − cos wt ] ans.
w
1
L( f ) = Find f (t ).
s ( s + w2 )
2 2
Solution:
t 1
f (t ) = ∫ f (τ ) dτ = L−1{ }
0 s 2 ( s 2 + w2 )
1 1
L−1 ( ) = 2 [1 − cos wt ]
s ( s 2 + w2 ) w
t 1
=∫[ (1 − cos wt )]dτ
0 w2
1 t
w2 ∫0
= (1 − cos wt ) dτ
1 sin wτ t
= 2 [τ − ]0
w w
1 sin wt sin w(0)
= 2 {[t − 0] − [ − ]}
w w w
1 sin wt
= 2 [t − ]
w w
1
f (t ) = 3 [ wt − sin wt ] ans.
w
Practice Problems:
−1 1
1. L ( 5 )
s + s3
−1 1
2. L ( 3 )
s −s