LAPLACE

TRANSFORMS

Chapter 3

Learning Outcomes
Upon the completion of this chapter, students are able
to:
Convert
Ordinary Differential Equation, ODE
equations to algebraic equations using Laplace
Transform

Laplace Transforms (LT)

1. Standard notation in dynamics and control
2. Converts ordinary differential equation to algebraic operations
3. Laplace transforms play a key role in important process
control concepts and techniques.
Examples:
Transfer functions
Frequency response
Control system design
Stability analysis

Definition
The Laplace transform of a function, f(t), is defined as

F ( s ) L f (t ) f t e st dt
0

(3-1)

where F(s) is the symbol for the Laplace transform, L is the

Laplace transform operator, and f(t) is some function of time, t.

Definitions and Properties of

LT

Laplace Transform

F(s) L(f (t))= f (t)e -st dt

0

Inverse Laplace Transform

f t L1 F s

Both L and L-1 are linear operators. Thus,

x t bL y t
L ax t by t aL
aX s bY s
Similarly,

L1 aX s bY s ax t b y t

(3-3)

LT of Common Functions
Constant
Function

a
L(a)= ae dt e st
s
0
-st

Exponential
Function
Derivative
Function

L(e )= e e dt e
-bt

-bt -st

-(b+s)t

a
a
0
s
s

1
-e ( b s)t
dt
b+s

3.4

s+b

3.16

L(f ) L

dnf
L n
dt

df
df -st
e dt sL(f) f(0) sF(s) - f(0)
dt
dt
0

Usually define
Higher order
Derivative
Function

f(0) = 0

(e.g., the error)

s n F(s) s n 1f(0) s n 2 f (1) (0)

sf (n 2) (0) f (n 1) (0)

3.9

Step Function

0 for t 0
S (t )
1 for t 0
1
L S t
s

(3-6)

Rectangular Pulse
Function

0 for t 0

f t h for 0 t t w
0 for t t
w

h
F s 1 e t w s
s

(3-20)
f t

(3-22)

tw

Time, t

Table 3.1 Laplace Transforms for Various Time-Domain Functionsa

Example 3.1
Solve the ODE,

dy
5 4y 2
dt

y 0 1

(3-26)

First, take L of both sides of (3-26),

2
s
5s 2
Rearrange, Y s
s 5s 4
5 sY s 1 4Y s

(3-34)

5s 2

Take L-1, y t L
s
5
s

From Table 3.1,

y t 0.5 0.5e 0.8t

(3-37)

Example 3.2
Solve the ordinary differential equation

With initial condition y(0)=y(0)=y(0)=0

Solution
Take LTs,term by term,using Table 3.1

Rearranging and factoring out Y(s) ,we obtain

Partial Fraction Expansion

(PFE)

Basic idea: Expand a complex expression for Y(s) into simpler

terms, each of which appears in the Laplace Transform table. Then
you can take the L-1 of both sides of the equation to obtain y(t).

Consider a general PFE (purposely for no complex and repeated

factors appear)

Y s

N s
D s

N s

s bi

(3-46a)

i 1

Here D(s) is an n-th order polynomial with the roots all being real
numbers which are distinct so there are no repeated roots.
The PFE is:

Y s

N s

s bi

i 1

i 1 s bi

(3-46b)

Three methods to solve PFE

Calculate the value of

for the below equation

Method 1 : by multiply both side by

Method 2:Because the above eq must be valid for all value if s,we can specify
two values of s and solve for the two constant
Method 3:The fastest and most popular method is call HEAVISIDE EXPANSION.
In this method multiply both side of the equation by one of the denominator
term (s+bi) and then set s=-bi, which causes all terms except one to be multiplied
by zero.

Method 1 : by multiply both side by

Method 2:Because the above eq must be valid for all

value if s,we can specify two values of s and solve for
the two constant

Method 3:The fastest and most popular method is call HEAVISIDE EXPANSION.
In this method multiply both side of the equation by one of the denominator
term (s+bi) and then set s=-bi, which causes all terms except one to be multiplied
by zero.

Example 3.3
d3y
d2y
dy

11
6y 4
3
2
dt
dt
dt
y( 0 )= y( 0 )= y ( 0 )= 0
Step 1

Take L.T. (note zero initial conditions)

s 3Y(s)+ 6s 2Y(s)+11sY(s) 6Y ( s ) =

4
s

Rearranging

Y(s)=

4
( s 3 6 s 2 11s 6) s

Step 2a. Factor denominator of Y(s)

s(s 3+6s 2+11s+6 )=s(s+1 )(s+2 )(s+3 )

Step 2b. Use partial fraction decomposition

3
1 2
4
4

s(s +1 )(s + 2 )(s + 3 ) s s 1 s 2 s 3

Multiply by s, set s = 0

3
4
4
2
1 s

(s +1 )(s + 2 )(s + 3 ) s 0
s 1 s 2 s 3

s 0

4
2
1
1 2
3
3
For 2, multiply by (s+1), set s=-1 (same procedure for 3, 4)

2 2 , 3 2 , 4

2
3

Step 3. Take inverse of L.T.

2
2
2
2/3
(Y(s)=

)
3s
s 1 s 2
s3
2
2 3t
t
2 t
y(t)= 2e 2e e
3
3
2
t
y(t)
t 0 y (0) 0.
3

Exercise
Using partial fraction expansion where required, find x(t) for

Solutions

Repeated Factor
If a term s+b occurs r times in the denominators terms must be included
in the expansion that incorporate the s+b factor

Example for repeated factor problem

Eq A

To find value of

,multiplying eq A by

To find value of

,multiplying eq A by s and letting s=0 yields

To find value of

and letting s=-2 yields

,substituting the values=-1 in eq A yields

Exercise: Using partial fraction expansion where required,find x(t)

for

Solution

Eq 1

Important Properties of LT
A.

Final value theorem

y()= lim sY(s)

s 0

Example:
5s 2
Y s
s 5s 4

(3-34)

5s 2
y lim y t lim
0.5

t
s 0 5s 4
B.

Time-shift theorem
y t

time delay

L y t e sY s

C. Initial value theorem

lim y(t)= lim sY(s)
t 0

Example:
For Y(s)=
y( 0 )=0
y()=

1
3

4s+2
s(s+1 )(s+2 )(s+3 )

by initial value theorem

by final value theorem