Laplace Transform and Application

.
Lecture 7: Laplace Transform and Its Applications
Dr.-Ing. Sudchai Boonto
Department of Control System and Instrumentation Engineering

King Mongkuts Unniversity of Technology Thonburi
Thailand
Outline
Motivation
The Laplace Transform
The Laplace Transform Properties
Application to Zero-input and Zero-State Response
Analysis of Electrical Networks
Lecture 7: Laplace Transform and Its Applications 2/61

.
Motivation
The Laplace Transform convert integral and differential equations into
algebraic equations.
It can applies to
general signal, not just sinusoids
handles transient conditions
It can be used to analyze

Linear Constant Coefficient Ordinary Differential Equation
(LCCODE)
complicated RLC circuits with sources
complicated systems with integrators, differentiators, gains

.
The Laplace transform
We will be interested in signals defined for t > 0.
.
Definition
.
Let f (t), t > 0, be a given signal (function). The Laplace transform of
a signal (function) f (t) is defined by

F (s) = L{f (t)} = f (t)est dt,
0
. those s C for which the integral exists.

for
F is a complex-values function of complex numbers
s is called the (complex) frequency variable, with units sec1 ; t is

called the time variable (in sec); st is unitless.

.
Example
Determine the Laplace transforms of f (t) = et :

t st (1s)t 1 (1s)t 1
F (s) = e e dt = e dt = e = s1
0 0 1 s 0
provide we can say e(1s)t 0 as t , which is true for Re s > 1:
|e(1s)t | = |ej(Im s)t | |e(1Re s)t | = e(1Re s)t

| {z }
=1
the integral defining F (s) exists for all s C with Re s > 1. This
condition is called region of convergence (ROC) of F (s).
however the resulting formula for F (s) makes sense for all s C
excepts s = 1.
.
Example cont.
Constant or unit step function: f (t) = u(t) (for t 0)

st 1 st 1
F (s) = e dt = e =
0 s 0 s
provided we can say est 0 as t , which is true for Re s > 0 since
|est | = |ej(Im s)t ||e(Re s)t | = e(Re s)t
the integral defining F (s) makes sense for all s with Re s > 0.
however the resulting formula for F (s) makes sense for all s except
s = 0.

.
Example cont.
Sinusoid : first express f (t) = cos t as

1 1
f (t) = ejt + ejt
2 2
now we can find F as
( )
1 jt 1 jt
st
F (s) = e e + e dt
2 2
0

1 (s+j)t 1 (sj)t
= e dt + e dt
2 0 2 0
1 1 1 1
= +
2 s j 2 s + j
s
= 2
s + 2
(valid for Re s > 0; final formula for s = j)
.
Example cont.
Powers of t: f (t) = tn (n 1)
( st )
e
F (s) = tn est dt = tn +n tn1 est dt
s s
0 0 0
n
= L(t n1
)
s
provided tn est 0 if t , which is true for Re s > 0. Applying the
formular recursively, we obtain
n!
F (s) =
sn+1
valid for Re s > 0; final formula exists for all s = 0.

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Impulses at t = 0
If f (t) contains impulses at t = 0 we choose to include them in the

integral defining F (s):

F (s) = f (t)est dt
0
example: impulse function, f (t) = (t)

F (s) = (t)est dt = est t=0 = 1
0
Similarly for f (t) = (k) (t) we have

st dk st
F (s) = (k)
(t)e dt = (1) k e k
= sk est = sk
0 dt t=0 t=0

.
Multiplication by t
Let f (t) be a signal and define
d
g(t) = tf (t) then we have G(s) = F (s)
ds
To verify formula, just differentiate both sides of

F (s) = est f (t)dt
0
with respect to s to get

d st
F (s) = (t)e f (t)dt = (t)f (t)est dt
ds 0
0
= tf (t)est dt
0

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Multiplication by t examples
Examples:
f (t) = et , g(t) = tet
{ } d 1 1
L tet = =
ds s + 1 (s + 1)2
f (t) = tet , g(t) = t2 et
{ } d 1 2
L t2 et = =
ds (s + 1)2 (s + 1)3
in general
{ } k!
L tk et =
(s + )k+1

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Inverse Laplace transform
In principle we can recover f (t) from F (s) via

+j
1
f (t) = F (s)est ds
2j j
where is large enough that F (s) is defined for Re s .
In practical, no one uses this formula!.

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Inverse Laplace Transform
Finding the inverse Laplace transform by using the standard formula
+j
1
f (t) = F (s)est ds
2j j
is difficult and tedious.

We can find the inverse transforms from the transform table.
All we need is to express F (s) as a sum of simpler functions of the

forms listed in the Laplace transform table.
Most of the transforms F (s) of practical interest are rational
functions: that is ratios of polynomials in s.
Such functions can be expressed as a sum of simpler functions by
using partial fraction expansion.

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Partial fraction expansion
7s 6
Example: Find the inverse Laplace transform of .
s2 s 6
7s 6 k1 k2
F (s) = = +
(s + 2)(s 3) s+2 s3
Using a cover up method:

7s 6 14 6
k1 = = =4
s 3 s=2 2 3

7s 6 21 6
k2 = = =3
s+2 s=33+2
Therefore
7s 6 4 3
F (s) = = +
(s + 2)(s 3) s+2 s3

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Partial fraction expansion cont.
Using the table of Laplace transforms, we obtain

{ }
4 3
f (t) = L1 +
s+2 s3
= (4e2t + 3e3t ), t 0.
2s2 + 5
Example: Find the inverse Laplace transform of F (s) = .
s2 + 3s + 2
F (s) is an improper function with m = n. In such case we can express F (s) as a sum of the
coefficient bn (the coefficient of the highest power in the numerator) plus partial fractions
corresponding to the denumerator.
2s2 + 5 k1 k2
F (s) = =2+ +
(s + 1)(s + 2) s+1 s+2

.
where

2s2 + 5 2+5
k1 = = =7
s + 2 s=1 1 + 2
and

2s2 + 5 8+5
k2 = = = 13
s + 1 s=2 2 + 1
7 13
Therefore F (s) = 2 + . From the table, we obtain
s+1 s+2
f (t) = 2(t) + 7et 13e2t , t 0.

.
6(s + 34)
Example: Find the inverse Laplace transform of F (s) =
s(s2 + 10s + 34)
6(s + 34) 6(s + 34)

F (s) = =
s(s2 + 10s + 34) s(s + 5 j3)(s + 5 + j3)
k1 k2 k2
= + +
s s + 5 j3 s + 5 + j3
Note that the coefficients (k2 and k2 ) of the conjugate terms must also be conjugate. Now

6(s + 34) 6 34
k1 = = =6
s2 + 10s + 34 s=0 34

6(s + 34) 29 + j3
k2 = = = 3 + j4
s(s + 5 + j3) s=5+j3 3 j5
k2 = 3 j4
To use the Laplace transform table, we need to express k2 and k2 in polar form
1 1
3 + j4 = 32 + 42 ej tan (4/3)
= 5ej tan (4/3)

.
From the Figure below, we observe that

k2 = 3 + j4 = 5ej126.9 and k2 = 5ej126.9
Therefore

6 5ej126.9 5ej126.9
F (s) = + +
s s + 5 j3 s + 5 + j3
From the table pair 10b
[ ]
f (t) = 6 + 10e5t cos(3t + 126.9 ) u(t)
3 + j4
j4
126.9
3 53.1
3 j4

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Alternative Method Using Quadratic Factors
6(s + 34) k1 As + B
F (s) = = + 2
s(s2 + 10s + 34) s s + 10s + 34
We have already determined that k1 = 6 by the (Heaviside) cover-up method. Therefore
6(s + 34) 6 As + B
= + 2
s(s2 + 10s + 34) s s + 10s + 34
Clearing the fractions by multiplying both sides by s(s2 + 10s + 34) yields
6(s + 34) = 6(s2 + 10s + 34) + s(As + B)

= (6 + A)s2 + (60 + B)s + 204
Now, equating the coefficients of s2 and s on both sides yields
0 = (6 + A) = A = 6
6 = 60 + B = B = 54
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Alternative Method Using Quadratic Factors cont.
and
6 6s 54
F (s) = + 2
s s + 10s + 34
Now from the table, the parameters for this inverse are A = 6, B = 54, a = 5, c = 34,

and b = c a2 = 3, and

A2 c + B 2 2ABa Aa B
r= = 10, = tan1 = 126.9
c a2 A c a2

b= c a2
Therefore
[ ]
f (t) = 6 + 10e5t cos(3t + 126.9 ) u(t)
which agrees with the previous result.

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Alternative Method Using Short-Cuts
6(s + 34) 6 As + B
F (s) = = + 2
s(s2 + 10s + 34) s s + 10s + 34
This step can be accomplished by multiplying both sides of the above equation by s and then
letting s . This procedure yields
0 = 6 + A = A = 6.
Therefore
6(s + 34) 6 6s + B
= + 2
s(s2 + 10s + 34) s s + 10s + 34
To find B, we let s take on any convenient value, say s = 1, in this equation to obtain
210 B6
=6+
45 45

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Alternative Method Using Short-Cuts cont.
Multiplying both sides of this equation by 45 yields
210 = 270 + B 6 = B = 54
a deduction which agrees with the results we found earlier.

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Partial fraction expansion: repeated roots
8s + 10
Example: Find the inverse Laplace transform of F (s) =
(s + 1)(s + 2)3
8s + 10 k1 a0 a1 a2
F (s) = = + + +
(s + 1)(s + 2)3 s+1 (s + 2)3 (s + 2)2 a+2
where

8s + 10
k1 = =2
(s + 2)3 s=1

8s + 10
a0 = =6
(s + 1) s=2
{ [ ]}
d 8s + 10
a1 = = 2
ds (s + 1) s=2
{ 2 [ ]}
1 d 8s + 10
a2 = = 2
2 ds2 (s + 1) s=2
Note : the general formula is { }

1 dn [ r ]
an = (s ) F (s)
n! dsn s=

.
Therefore
2 6 2 2
F (s) = +
s+1 (s + 2)3 (s + 2)2 s+2
and
[ ]
f (t) = 2et + (3t2 2t 2)e2t u(t)
Alternative Method: A Hybrid of Heaviside and Clearing Fractions: Using the values
k1 = 2 and a0 = 6 obtained earlier by the Heaviside cover-up method, we have
8s + 10 2 6 a1 a2
= + + +
(s + 1)(s + 2)3 s+1 (s + 2)3 (s + 2)2 s+2

.
We now clear fractions by multiplying both sides of the equation by (s + 1)(s + 2)3 . This
procedure yields
8s + 10 = 2(s + 2)3 + 6(s + 1) + a1 (s + 1)(s + 2) + a2 (s + 1)(s + 2)2

= (2 + a2 )s3 + (12 + a1 + 5a2 )s2 + (30 + 3a1 + 8a2 )s + (22 + 2a1 + 4a2 )
Equating coefficients of s3 and s2 on both sides, we obtain
0 = (2 + a2 ) = a2 = 2
0 = 12 + a1 + 5a2 = 2 + a1 = a1 = 2
Equating the coefficients of s1 and s0 serves as a check on our answers.
8 = 30 + 3a1 + 8a2
10 = 22 + 2a1 + 4a2
Substitution of a1 = a2 = 2, obtained earlier, satisfies these equations.

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Alternative Method: A Hybrid of Heaviside and Short-Cuts: Using the values k1 = 2 and
a0 = 6, determined earlier by the Heaviside method, we have
8s + 10 2 6 a1 a2
= + + +
(s + 1)(s + 2)3 s+1 (s + 2)3 (s + 2)2 s+2
There are two unknowns, a1 and a2 . If we multiply both sides by s and then let s , we
eliminate a1 . This procedure yields
0 = 2 + a2 = a2 = 2
Therefore
8s + 10 2 6 a1 2
= + +
(s + 1)(s + 2)3 s+1 (s + 2)3 (s + 2)2 s+2
There is now only one unknown, a1 . This value can be determined readily by equal to any
convenient value, say s = 0. This step yields
10 3 a1
=2+ + 1 = a1 = 2.
8 4 4
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The Laplace transform properties
Linearity
The Laplace transform is linear: if f (t) and g(t) are any signals, and a
is any scalar, we have
L {af (t)} = aF (s), L {(f (t) + g(t))} = F (s) + G(s)
i.e., homogeneity and superposition hold.

Example:
{ } { }
L 3(t) 2et = 3L {(t)} 2L et
2
=3
s1
3s 5
=
s1

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One-to-one property
The Laplace transform is one-to-one: if L {f (t)} = L {g(t)} then

f (t) = g(t).
F (s) determines f (t)
inverse Laplace transform L1 {f (t)} is well defined.
Example:
{ }
1 3s 5
L = 3(t) 2et
s1
in other words, the only function f (t) such that

3s 5
F (s) =
s1
is f (t) = 3(t) 2et .
.
Time delay
This property states that if
f (t) F (s)
then for T 0
f (t T ) esT F (s)
(If g(t) is f (t), delayed by T seconds), then we have G(s) = esT F (s).
Derivation:

st
G(s) = e g(t)dt = est f (t T )dt
0
T
= es( +T ) f ( )d = esT F (s)
0
.
Time delay
To avoid a pitfall, we should restate the property as follow:
f (t)u(t) F (s)
then
f (t T )u(t T ) esT F (s), T 0.

.
Time delay example
f (t)
0 1 2 3 4
Find the Laplace Transform of f (t) depicted in Figure above.

The signal can be described as
f (t) = (t 1)[u(t 1) u(t 2)] + [u(t 2) u(t 4)]

= (t 1)u(t 1) (t 1)u(t 2) + u(t 2) u(t 4)
= (t 1)u(t 1) (t 2)u(t 2) u(t 4)

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Time delay example
1
Since t yields
s2
1 s 1
(t 1)u(t 1) e and (t 2)u(t 2) 2 e2s
s2 s
1
Also u(t) yields
s
1 4s
u(t 4) e
s
Therefore
1 s 1 1
F (s) = e 2 e2s e4s
s2 s s

.
Time delay example
Find the inverse Laplace transform of
s + 3 + 5e2s
F (s) =
(s + 1)(s + 2)
The F (s) can be separated in two parts
s+3 5e2s
F (s) = +
(s + 1)(s + 2) (s + 1)(s + 2)
| {z } | {z }
F1 (s) F2 (s)e2s
where
s+3 2 1
F1 (s) = =
(s + 1)(s + 2) s+1 s+2
5 5 5
F2 (s) = =
(s + 1)(s + 2) s+1 s+2

.
Time delay example
Therefore
( )
f1 (t) = 2et e2t
( )
f2 (t) = 5 et e2t
Since
F (s) = F1 (s) + F2 (s)e2s

f (t) = f1 (t) + f2 (t 2)
( ) [ ]
= 2et e2t u(t) + 5 e(t2) e2(t2) u(t 2)

.
Time scaling
Define a signal g(t) by g(t) = f (at), where a > 0; then

1 s
G(s) = F ( ).
a a
time are scaled by a, then frequencies are scaled by 1/a.

st 1 1 s
f ( )e a d =
s
G(s) = f (at)e dt = F ( ),
0 a 0 a a
where = at.
{ } 1
Example: L et = so
s1
{ } 1 1 1
L eat = =
a s
a 1 sa

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Exponential scaling
Let f (t) be a signal and a a scale, and define g(t) = eat f (t); then
G(s) = F (s a)
Proof:

st at
G(s) = e e f (t)dt = e(sa)t f (t)dt = F (s a)
0 0
s
Example: L {cos t} = , and hence
s2 + 1
{ } s+1 s+1
L et cos t = 2
= 2
(s + 1) + 1 s + 2s + 2

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Derivative
If signal f (t) is continuous at t = 0, then

{ }
df
L = sF (s) f (0);
dt
time-domain differentiation becomes multiplication by frequency
variable s (as with phasors)
plus a term that includes initial condition (i.e., f (0))
higher-order derivatives: applying derivative formula twice yields
{ 2 } { }
d f (t) df (t) df (t)
L f (t) = sL
dt dt dt
df (0) df (0)
= s(sF (s) f (0)) = s2 F (s) sf (0)
dt dt
{ (k) }
similar formulas hold for L f .
.
Derivation of derivative formula
Start from the defining integral

f (t) st
G(s) = e dt
0 dt
integration by parts yields

G(s) = est f (t) f (t)(sest )dt
0 0
st
= f (t)e f (0) + sF (s)
we recover the formula
G(s) = sF (s) f (0)

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Derivative example
1. f (t) = et , so f (t) = et and
{ } 1
L {f (t)} = L f (t) =
s1
1
by using L {f (t)} = s 1, which is the same.
s1
2. sin t =
1 d
dt
cos t, so
( )
1 s
L {sin t} = s 1 =
s2 + 2 s2 + 2
3. f (t) is a unit ramp, so f (t) is a unit step

( )
{ } 1 1
L f (t) = s 0=
s2 s

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Integral
Let g(t) be the running integral of a signal f (t), i.e.,

t
g(t) = f ( )d
0
1
then G(s) = F (s), i.e., time-domain integral become division by
s
frequency variable s.
Example: f (t) = (t) is a unit impulse function, so F (s) = 1; g(t) is
the unit step
1
G(s) = .
s
Example: f (t) is a unit step function, so F (s) = 1/s; g(t) is the unit
ramp function (g(t) = t for t 0),
1
G(s) = 2
s
.
Derivation of integral formula:
( t )
G(s) = f ( )d est dt
t=0 =0
here we integrate horizontally first over the triangle 0 t.
t Lets switch the order, integrate vertically

first:

G(s) = f ( )est dtd
=0 t=
( )
st
= f ( ) e dt d
=0 t=

1 F (s)
= f ( ) es d =
=0 s s

.
Convolution
The convolution of signals f (t) and g(t), denoted h(t) = f (t) g(t), is
the signal
t
h(t) = f ( )g(t )d
0
In terms of Laplace transforms:
H(s) = F (s)G(s)
The Laplace transform turns convolution into multiplication.

.
Convolution cont.
Lets show that L {f (t) g(t)} = F (s)G(s) :

( t )
st
H(s) = e f ( )g(t )d dt
t=0 =0
t
= est f ( )g(t )d dt
t=0 =0
where we integrate over the triangle 0 t. By changing the order

of the integration and changing the limits of integration yield

H(s) = est f ( )g(t )dtd
=0 t=

.
Convolution cont.
Change variable t to t = t ; dt = dt; region of integration becomes

0, t 0

H(s) = es(t+ ) f ( )g(t)dtd
(=0 t=0 ) ( )
s st
= e f ( )d e g(t)dt
=0 t=0
= F (s)G(s)

.
Convolution cont.
Example: Using the time convolution property of the Laplace transform, determine
c(t) = eat ebt . From the convolution property, we have
[ ]
1 1 1 1 1
C(s) = =
sasb ab sa sb
The inverse transform of the above equation yields
1
c(t) = (eat ebt ), t 0.
ab

.
Applications
Solution of Differential and Integro-Differential Eqautions
Solve the second-order linear differential equation
(D2 + 5D + 6)y(t) = (D + 1)f (t)
if the initial conditions are y(0 ) = 2, y(0 ) = 1, and the input f (t) = e4t u(t).
The equation is
d2 y dy df
+5 + 6y(t) = + f (t).
dt2 dt dt
Let
y(t) Y (s).
Then
dy
sY (s) y(0 ) = sY (s) 2.
dt

.
Applications
Solution of Differential and Integro-Differential Eqautions
and
d2 y
s2 Y (s) sy(0 ) y(0 ) = s2 Y (s) 2s 1.
dt2
Moreover, for f (t) = e4t u(t),
1 df s s
F (s) = , and sF (s) f (0 ) = 0= .
s+4 dt s+4 s+4
Taking the Laplace transform, we obtain
[ ] s 1
s2 Y (s) 2s 1 + 5 [sY (s) 2] + 6Y (s) = +
s+4 s+4
Collecting all the terms of Y (s) and the remaining terms separately on the left-hand side, we
obtain
s+1
(s2 + 5s + 6)Y (s) (2s + 11) =
s+4

.
Applications
Solution of Differential and Integro-Differential Equations
Therefore
s+1 2s2 + 20s + 45

(s2 + 5s + 6)Y (s) = (2s + 11) + =
s+4 s+4
and
2s2 + 20s + 45
Y (s) =
(s2+ 5s + 6)(s + 4)
2s2 + 20s + 45
=
(s + 2)(s + 3)(s + 4)
Expanding the right-hand side into partial fractions yields
13/2 3 3/2
Y (s) =
s+2 s+3 s+4
The inverse Laplace transform of the above equation yields

( )
13 2t 3
y(t) = e 3e3t e4t u(t).
2 2
.
Applications
Zero-Input and Zero-State Components of Response
The Laplace transform method gives the total response, which

includes zero-input and zero-state components.
The initial condition terms in the response give rise to the
zero-input response.
For example in the previous example,

s+1
(s2 + 5s + 6)Y (s) (2s + 11) =
s+4
so that
s+1
(s2 + 5s + 6)Y (s) = (2s + 11) +
| {z }
initial condition terms
|s {z
+ 4}
input terms

.
Applications
Zero-Input and Zero-State Components of Response
Therefore
2s + 11 s+1
Y (s) = +
s2
| + {z
5s + 6} (s + 4)(s2 + 5s + 6)
| {z }
zero-input component zero-state component
[ ] [ ]
7 5 1/2 2 3/2
= + +
s+2 s+3 s+2 s+3 s+4
Taking the inverse transform of this equation yields

1 3
y(t) = (7e2t 5e3t )u(t) + ( e2t + 2e3t e4t )u(t)
| {z } | 2 {z 2 }
zero-input response
zero-state response

.
Basic concept
It is possible to analyze electrical networks directly without having

to write the integro-differential equation.
This procedure is considerably simpler because it permits us to
treat an electrical network as if it was a resistive network.
To do such a procedure, we need to represent a network in
frequency domain where all the voltages and currents are
represented by their Laplace transforms.

.
Basic concept
zero initial conditions case:

If v(t) and i(t) are the voltage across and the current through and
inductor of L henries, then
di(t)
v(t) = L V (s) = sLI(s), i(0) = 0.
dt
Similarly, for a capacitor of C farads, the voltage-current relationship is
dv(t) 1
i(t) = C V (s) = I(s), i(0) = 0.
dt Cs
For a resistor of R ohms, the voltage-current relationship is
v(t) = Ri(t) V (s) = RI(s).

.
Basic concept
Thus, in the frequency domain, the voltage-current relationships

of an inductor and a capacitor are algebraic;
These elements behave like resistors of resistance Ls and 1/Cs,
respectively.
The generalized resistance of an element is called its impedance
and is given by the ratio V (s)/I(s) for the element (under zero
initial conditions).
The impedances of a resistor of R ohms, and inductor of L henries,
and a capacitance of C farads are R, Ls, and 1/Cs, respectively.
The Kirchhoffs laws remain valid for voltages and currents in the
frequency domain.
.
A simple RC circuit
Find the loop current i(t) in the circuit, if all the initial conditions are zero.
1H 3 s 3
+ 1 10 + 2
10u(t)
i(t) 2 F s
I(s) s
In the first step, we represent the circuit in the frequency domain shown in the right hand
side. The impedance in the loop is
2 s2 + 3s + 2
Z(s) = s + 3 + =
s s
The input voltage is V (s) = 10/s. Therefore, the loop current I(s) is
V (s) 10/s 10 10 10 10
I(s) = = 2 = 2 = =
Z(s) (s + 3s + 2)/s s + 3s + 2 (s + 1)(s + 2) s+1 s+2
The inverse transform of the equation yields: i(t) = 10(et e2t )u(t).
.
Initial Condition Generators
A capacitor C with an initial voltage v(0) can be represented in the

frequency domain by an uncharged capacitor of impedance 1/Cs in
series with a voltage source of value v(0)/s or as the same uncharged
capacitor in parallel with a current source of value Cv(0).
i(t) I(s) I(s)
+ + +
1
Cs
+ 1
v(t) C v(0) V (s) V (s) Cs Cv(0)

+ v(0)
s

(a) (b) (c)
dv
i(t) = C I(s) = C[sV (s) v(0)]
dt
Rearranging the equation, we obtain
1 v(0) 1
V (s) = I(s) + or V (s) = [I(s) + Cv(0)]
Cs s Cs
.
Initial Condition Generators
An inductor L with an initial voltage i(0) can be represented in the

frequency domain by an inductor of impedance Ls in series with a
voltage source of value Li(0) or by the same inductor in parallel with a
current source of value i(0)/s.
i(t) I(s) I(s)
+ + +
Ls
i(0)
v(t) L V (s) V (s) Ls s

+
Li(0)

(a) (b) (c)
di
v(t) = L V (s) = L[sI(s) i(0)]
dt
Rearranging the equation, we obtain
[ ]
i(0)
V (s) = sLI(s) Li(0) or V (s) = Ls I(s)
s
.
A simple RLC circuit with initial condition generators
Find the loop current i(t) in the circuit, if y(0) = 2 and vC (0) = 10.
1H s 2
2 2
+
y(0 ) = 2

5
s
+ 1 + 10 +
10u(t)
y(t) 5 F 10 V s
Y (s)

+ 10
s
The right hand side figure shows the frequency-domain representation of the circuit.
Applying mesh analysis we have
10 5 10
+ sY (s) 2 + 2Y (s) + Y (s) + =0
s s s
2
Y (s) = 5
s+2+ s
2s
=
s2 + 2s + 5

.
A simple RLC circuit with initial condition generators
From Pair 10c in the Laplace transform table with values A = 2, B = 0, a = 1, and c = 5.
This yields
( )
20 2
r= = 5, b = c a2 = 2 and = tan1 = 26.6 .
4 4
Therefore

y(t) = 5et cos(2t + 26.6 )u(t).

.
An RLC circuit with initial condition generators
The switch in the circuit is in the closed position for a long time before t = 0, when it is
opened instantaneously. Find the currents y1 (t) and y2 (t) for t 0.
16
s 1
v 1 1
+ C y1 (t) +
s
1H s
4V 2
1 1 20 + 1
20 V 5 y2 (t) 2 H s
Y1 (s) 5 Y2 (s)

t=0 + 2
When the switch is closed and the steady-state conditions are reached, the capacitor voltage
vC = 16 volts, and the inductor current y2 = 4 A. The right hand side circuit shows the
transformed version of the circuit in the left hand side. Using mesh analysis, we obtain
Y1 (s) 1 4
+ [Y1 (s) Y2 (s)] =
s 5 s
1 6 s
Y1 (s) + Y2 (s) + Y2 (s) = 2
5 5 2

.
An RLC circuit with initial condition generators
Rewriting in matrix form, we have

[ ][ ] [ ]
1
s
+ 1
5
15 Y1 (s) 4
s
=
15 6
5
+ s
2
Y2 (s) 2
Therefore,
24(s + 2)
Y1 (s) =
s2 + 7s + 12
24(s + 2) 24 48
= = +
(s + 3)(s + 4) s+3 s+4
4(s + 7) 16 12
Y2 (s) = = .
s2 + 7s + 12 s+3 s+4
Finally,
y1 (t) = (24e3t + 48e4t )u(t)

y2 (t) = (16e3t 12e4t )u(t)

.
Reference
1. Xie, W.-C., Differential Equations for Engineers, Cambridge

University Press, 2010.
2. Goodwine, B., Engineering Differential Equations: Theory and
Applications, Springer, 2011.
3. Kreyszig, E., Advanced Engineering Mathematics, 9th edition, John
Wiley & Sons, Inc., 1999.
4. Lathi, B. P., Signal Processing & Linear Systems,
Berkeley-Cambridge Press, 1998.
5. Lecture note on Signals and Systems Boyd, S., Stanford, USA.

.

Laplace Transform and Application

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Laplace Transform and Application

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.

Lecture 7: Laplace Transform and Its Applications

Dr.-Ing. Sudchai Boonto

Department of Control System and Instrumentation Engineering

The Laplace Transform

The Laplace Transform Properties

Application to Zero-input and Zero-State Response

Analysis of Electrical Networks

Lecture 7: Laplace Transform and Its Applications 2/61

handles transient conditions

It can be used to analyze

complicated systems with integrators, differentiators, gains

Lecture 7: Laplace Transform and Its Applications 3/61

. those s C for which the integral exists.

F is a complex-values function of complex numbers

s is called the (complex) frequency variable, with units sec1 ; t is

Lecture 7: Laplace Transform and Its Applications 4/61

Determine the Laplace transforms of f (t) = et :

provide we can say e(1s)t 0 as t , which is true for Re s > 1:

|e(1s)t | = |ej(Im s)t | |e(1Re s)t | = e(1Re s)t

Constant or unit step function: f (t) = u(t) (for t 0)

provided we can say est 0 as t , which is true for Re s > 0 since

|est | = |ej(Im s)t ||e(Re s)t | = e(Re s)t

Lecture 7: Laplace Transform and Its Applications 6/61

Sinusoid : first express f (t) = cos t as

Lecture 7: Laplace Transform and Its Applications 8/61

If f (t) contains impulses at t = 0 we choose to include them in the

example: impulse function, f (t) = (t)

Similarly for f (t) = (k) (t) we have

Lecture 7: Laplace Transform and Its Applications 9/61

Let f (t) be a signal and define

with respect to s to get

Lecture 7: Laplace Transform and Its Applications 10/61

f (t) = tet , g(t) = t2 et

Lecture 7: Laplace Transform and Its Applications 11/61

In principle we can recover f (t) from F (s) via

where is large enough that F (s) is defined for Re s .

In practical, no one uses this formula!.

Lecture 7: Laplace Transform and Its Applications 12/61

is difficult and tedious.

All we need is to express F (s) as a sum of simpler functions of the

Lecture 7: Laplace Transform and Its Applications 13/61

Using a cover up method:

Lecture 7: Laplace Transform and Its Applications 14/61

Using the table of Laplace transforms, we obtain

Lecture 7: Laplace Transform and Its Applications 15/61

f (t) = 2(t) + 7et 13e2t , t 0.

Lecture 7: Laplace Transform and Its Applications 16/61

6(s + 34) 6(s + 34)

Lecture 7: Laplace Transform and Its Applications 17/61

From the Figure below, we observe that

From the table pair 10b

Lecture 7: Laplace Transform and Its Applications 18/61

We have already determined that k1 = 6 by the (Heaviside) cover-up method. Therefore

6(s + 34) = 6(s2 + 10s + 34) + s(As + B)

Now, equating the coefficients of s2 and s on both sides yields

which agrees with the previous result.

Lecture 7: Laplace Transform and Its Applications 20/61

Lecture 7: Laplace Transform and Its Applications 21/61

Multiplying both sides of this equation by 45 yields

a deduction which agrees with the results we found earlier.

Lecture 7: Laplace Transform and Its Applications 22/61

Note : the general formula is { }

Lecture 7: Laplace Transform and Its Applications 23/61