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LESSON OUTCOMES

3.1 Definition and notation

INTRODUCTION :
Laplace transform methods have a key role to play in the modern

approach to the analysis and design of engineering systems.
The attraction of the Laplace transform is that it transforms differential

equations in the t (time) domain into algebraic equations in the s
(frequency) domain. Ex:
L { f (t )}  F ( s )
L {g (t )}  G ( s )
L { y (t )}  Y ( s )
The Laplace transform operator.
In general, the function to be transformed is denoted by a lowercase

letter, while its Laplace transform will be denoted by the
corresponding upper case letter.
The Laplace transform is a one-to-one function.

INTRODUCTION :
Advantage of using the Laplace transform for solving differential

equations is that initial conditions play an essential role in the
transformation process, so they are automatically incorporated into
the solution.
This contrasts with the classical approach considered previously,

where the initial conditions are only introduced when unknown
constants of integration are determined.
The laplace transform is therefore an ideal tool for solving initial-

value problems such as those occurring in the investigation of
electrical circuits and mechanical vibrations.

LAPLACE TRANSFROM via DEFINITION
Definition and Notation:

The Laplace transform of a function f  t  by the expression

L  f  t    e  st f  t  dt
0
s : complex variable
e  st : kernel of transformation
Represent the Laplace transform of a function by the corresponding capital letter


L  f  t   F  s    e  st f  t  dt
0
 T
 e  st
f  t  dt  lim  f  t  dt
e  st
T 
0 0

By using definition, find Laplace transform of f (t )  a

  
e 
 st
a
L a    ae  st dt  a  e  st dt  a    ,s  o
0 0  s 0 s e   0
Example 1: Find the Laplace transform of f (t )  1
Solution :
 
 e  st
 1 1
L {1}   1e dt  
 st
   (0  1)  ,s  0
0  s  0 s s
So,
2
f (t )  2  L 2   , s  0
s
2 2 2
f (t )   L    , s  0
3  3  3s
f t   a   a
 La  , s0
s
Example 2
Find the Laplace transform of f (t )  t
Solution :
 
 t  st 1  st   1 1
L{t}   te dt    e  2 e    0  0    0  2   2 , s  0
 st
0  s s 0  s  s
2
So;
f (t )  2t  L 2t  2 , s  0
s
2 2  2
f (t )  t  L  t   2 , s  0
3  3  3s
f t   t  Lt  2 , s  0
1
s
Example 3
Find the Laplace transform of f (t )  eat .
Solution :
  
e 
 ( s a )t
1
L{e }   e e dt   e
at at  st  ( a  s )t
dt     ,s  a
0 0  ( s  a )  0 s  a
f (t )  e 2t  L e 2t  
1
So, ,s  2
s2
 L e 2t  
1 1
f (t )  e 2t  , s  2
s   2  s  2

t
  13 t  1 3 1
f (t )  e 3
 L e    ,s  
  s    1  3s  1 3
 
 3
f t   e at
 L e   at

1
sa
, sa

Example 4
Find the Laplace transform of f (t )  cos at.
Solution : 
L{cos at}   e  st cos atdt
0
 
 1  st s  st  s2
 cos atdt
 st
  e sin at  2 e cos at   2 e
a a 0 a 0

 s 2   st  s 
 
a 2  0
 1   e cos atdt  0  0   0  
  a2 
 a 2  s 2    st s
 2  e cos atdt  2 Differenti ate Integrate
 a 0 a
  e
 st
cos at

s  a 2

 cos atdt  - -se st
 st 1
e   sin at
0
a2  a2  s2  a
s   s 2 e st 1
- 2 cos at
 L cos at  2 a
s  a2
So,
s s Identities
f (t )  cos 2t  L cos 2t   ,s  0
s 2
2 2
s 4
2 Trigonometric
Functions
2  2  s 9s
f (t )  cos t  L cos t    ,s  0 (Functions of Complex Variable)
 3  2  2  9s  4
2 2
3
s   eix  e  ix
3 sin x 
s 1 2i
f (t )  cos 0t  L cos 0t  2   L 1 , s  0
s   0 eix  e  ix
2
s
cos x 
2
f t   cos at  Lcos at  2

s
, s0
s a 2

Example 5
Find the Laplace transform of f (t )  sin at.



Solution : L{sin at}  e  st sin atdt
0
 
 1  st s  st  s2
   e cos at  2 e sin at   2  e  st sin atdt
 a a 0 a 0

 s 2   st  1 
 
a 2  0
 1   e sin atdt  0  0     0 
  a 
 a 2  s 2    st 1
 2  e sin atdt 
 a 0 a Differentiate Integrate
    e st sin at
1 a 
2
0
 st
e sin atdt    1
a  a2  s2   - - se st - cos at
a
a 1
 L sin at  2    s 2e st - 2 sin at
s  a2 a

So,
2 2
f (t )  sin 2t  L sin 2t 
Identities
 ,s  0
s 2
2 2
s 4
2 Trigonometric
2 Functions
(Functions of Complex Variable)
2  2  3 6
f (t )  sin t  L sin t    ,s  0
 3  2  2  9s  4 eix  e  ix
2 2
3
s   sin x 
3 2i
0
f (t )  sin 0t  L sin 0t  2  0  L 1 , s  0 eix  e  ix
s   0
2
cos x 
2
a
f  t   sin at  L sin at  2 , s0
s a 2

Example 6 e x  e x
sinh x 
Find the Laplace transform of f (t )  cosh at. 2
e x  e x
Solution : e at  e  at cosh x 
As we know, cosh at  2
2
 eat  e at  1
  L e   L e  
at 1 1 1 s
L{cosh at}  L   at
  2 2 ,s  a
 2  2 2 2( s  a) 2( s  a) s  a
So, s s
f (t )  cosh 2t  L cosh 2t   ,s  2
s2   2 s 4
2 2
2  2  s 9s 2
f (t )  cosh t  L cosh t    , s 
3  3  2
2
9s 2  4 3
s2   
3
s
f  t   cosh at  L cosh at  , s a
s a
2 2

Example 7 e x  e x
sinh x 
Find the Laplace transform of f (t )  sinh at. 2
e x  e x
Solution :
eat  e at cosh x 
As we know, sinh at  2
2
 eat  e at  1
L{sinh at}  L    L eat
 
1
L e  at
 
1

1

a
2(s  a) 2( s  a) s  a
2 2
,s  0
 2  2 2
So, 2 2
f (t )  sinh 2t  L sinh 2t   ,s  0
s2   2 s 4
2 2
2
2  2  3 6s
f (t )  sinh t  L sinh t    ,s  0
3  3  2
2
9 s 2
 4
s2   
3
a
f  t   sinh at  L sinh at  , s a
s a
2 2

L f  t   F s
f (t ) F (s ) f (t ) F (s )
a s
a ,s  0 cos at ,s  0
s s a
2 2
n! a
tn n 1
,s  0 sin at s a
2 2
,s  0
s
1 cosh at s
e at
,s  a ,s  a
sa s a
2 2
 at 1 sinh at a
e , s  a ,s  a
sa s a
2 2
u (t  d ) e  sd
 (t  d ) e  sd
s
3.2 Existence of Laplace Transform

Existence of Laplace Transform
Definition :
A function f  t  is said to be of exponential order as t  

if there exists a real number  and positive constants M and
T such that
f  t   Me t
for all t  T .

Existence of Laplace Transform
Theorem :
If the causal function f  t  is piecewise-continuous on 0,
and is of exponential order, with abscissa of convergence  ,
then its Laplace transform exists, with region of convergence
Re  s    in the s domain; that is

L  f  t   F  s    e  st f  t  dt , s 
0
Example :
  1 We just use this

1) f (t )  e ,   3  L e 
3t 3t
,s   3 for our purpose of
s 3 study
 3! 6
2) f (t )  t 3 ,   0  L t 3  31  4 , s    0
s s

Test your understanding….
Determine the Laplace transform for the given f(t)
by using table of Laplace transform and state its existence:
 2t 
a) sin 6t b) cos 4t c) sin  
3
 4t 
d ) cos   e)t 4 f)e 3t
3
g ) cosh 7t h) sinh 8t

3.3 Properties of the Laplace transform

LESSON OUTCOMES

PROPERTIES OF THE LAPLACE TRANSFORM
L  f  t    g  t    L  f  t    L  g  t 
  F  s    G  s  , s  max  1,  2 
Example 10
Find the Laplace transform of
(a) f (t )  3  7e  6sin 2t
3t
Solution :
L{3  7e 3t  6 sin 2t}  3L 1 7L e3t  6L sin 2t
1 1 2
 3   7 6 2
s s 3 s 4
3 7 12
   2 ,s  3
s s 3 s  4
(b) f (t )  2t  5cos 3t
Solution :
L{2t  5 cos 3t}  2L 
t  5L cos 3t
2 5s Trigonometry Identity:
 2 2 ,s  0
s s 9 cos 2 t 
1
1  cos 2t 
(c) f (t )  1  cos t 
2 2
Solution :

L 1  cos t 
2
  L 1  2 cos t  cos t
2
1
 L 1  2L cos t   L 1  L cos 2t
2
1  s  1 1 s 
  2 2     2 
s  s 1  2  s s  2 
3 2s s
  2  ,s  0

2s s  1 2 s 2  4 
Find the Laplace transform of the following functions:
a) f (t )  3t 2  4
b) f (t )  2 sin 4t  11  t
c) f (t )  2  t  2t 2 4
d ) f (t )  2 cos 3t  4 sinh 5t
e) f (t )  cos 8t  sinh 8t
f ) f (t )  sin 4t 2

 
If L  f  t   F  s  , then L e  at f  t   F  s  a  , s    Re  a 
Alternative way:
 
L e at f  t    L  f (t ) s  s  a   F ( s ) s  s  a
Example 11
Use the first shift theorem to find the Laplace Transform of
(a) f (t )  e4t t 2
Solution :
a4 and f (t )  t 2
2
F ( s)  L{ f (t )} 
s3
Therefore
2
L{e4t t 2 }  F ( s  4)  , s  4
( s  4) 3

(b) f (t )  e2t t 3
Solution : a  2 and f (t )  t 3
6
F ( s )  L{ f (t )} 
s4
Therefore 6
L{e2t t 3}  F ( s  2)  ,s  2
( s  2) 4
(c) f (t )  e5t sin 3t

Solution : a  5 and f (t )  sin 3t
3
F ( s )  L{ f (t )}  2
s 9
Therefore L{e5t sin 3t}  F ( s  5)  3

, s  5
( s  5)  9
2

Use the table of Laplace transform and the first shift theorem
to determine the Laplace transform of the following functions :
a ) 4te 2t e)e  t sin 3t Answer:

4
cos 7t a)
 s  2
2
b) 2e 4t sin 4t f ) 5t
e 8
3t
c) 2e sin 2t g )e 3t sinh 4t b) 2
s  8s  32
d )3e 2t h)e 4t cosh 5t 4
c) 2
s  6 s  13
3
d)
s2

If L f t   F s  , then Lu(t  d ) f t  d   e sd F s 
Example 12
2s
Given L{ f (t )}  . Find L{u (t  2) f (t  2)}
s 9
2
Solution :
From the expression L{u (t  2) f (t  2)} we see that d = 2
Since L{ f (t )}  2s  F ( s ), thus by using the second shift theorem
s2  9
we get
2se 2 s
L{u (t  2) f (t  2)}  e 2 s
F ( s)  2
s 9

Example 13
3 s
The Laplace transform of a function is
e . Find the function.
2
s
Solution :
3 s 1
The expression e shows that d = 3 and F ( s )  2 .
s2 s
We want to find the function which has the Laplace
3 s
transform
e . Therefore this function must be of the form
2
s
u (t  3) f (t  3)
1
Since F ( s )  2
 L{t} , thus f (t )  t
s
Hence
f (t  3)  t  3.
3 s
The function which has the Laplace transform
e is
2
therefore s
u (t  3)(t  3)
Find the Laplace transform of the following
functions

dn
L t n f  t    1 F  s  , s   for n  1, 2,3,...
n
n
ds
Example 14: f (t )  t cos 2t
2
Solution:
s s
F ( s )  L cos 2t   2
s 2
2 2
s 4
Therefore
d2  
L t cos 2t   1
2 2 s
 
ds 2  s 2  4 
Quotient rule: d  d  s 
  2 
f (s) ds 
 ds  s  4  
If h( s )  , then  
g (s) d  4  s2 

g ( s ) f '( s )  f ( s ) g '( s ) ds   s 2  4  2 
h '( s )   
  2 s  s 2  12 
2
g ( s )
 ,s  0
s  4
2 3

Example 15: f (t )  t 2 sin 3t

Solution:
3 3
F ( s )  L sin 3t  2  2
s 3 2
s 9
Therefore
d2  3 
L t sin 3t   1
2 2
 
ds 2  s 2  9 
d  d  3 
  2 
ds 
Quotient rule:
 ds  s  9 
f (s)
If h( s )  , then  
g (s) d  6 s 

g ( s ) f '( s )  f ( s ) g '( s ) ds   s 2  9  
2
h '( s )   
 
2
g ( s )
18s 2  45
 ,s  0
 s  9
2 3

Use the table of Laplace transform and the derivative of
transform to determine the Laplace transform of the
following functions :
a ) f (t )  t cosh 2t
b) f (t )  t sinh 2t
c) f (t )  t sin 6t
d ) f (t )  t 2 cosh 2t
e) f (t )  t 2 sinh 2t
f ) f (t )  t 2 sin 6t

Find the Laplace transform for each of the following function:
a ) L cos 3t
b) L e 2 t cos 3t
c ) L te 2 t cos 3t
d ) L te 4 t 
e) L t 5 e 4 t 

3.4 Inverse Laplace Transform

LESSON OUTCOMES

INVERSE LAPLACE TRANSFORM
 
If L f  t   F  s  then f  t   L -1 F  s  L1 
Example:
1 1 
L 1   L1    1
s s
 3 
L 3e 2t  
3
 L1    3e
2t
s2 s  2

L-1{F (s)}  f (t )
F (s ) f (t )
a
a
s
n!
s n 1 tn
1
sa e at
s
cos at
s2  a2
a
sin at
s2  a2
s
s2  a2 cosh at
a
s2  a2 sinh at

Examples :
Find the inverse Laplace transform of the following functions
2 7 3s 4 2s  7
(a) (b) (c) (d) (e)
s3 s4 s2  4 s2  9 s 2  16
Solutions :
a) 2  2!  (c) L1  3s   3L1  s 
 3 cos 2t
L  3   L-1  21   t 2
-1  2   2
s  4 s  2 
2
s  s 
7 7  3!  7 (d) L1 
4  4 1  3  4
b) L1  4   L1  31   t 3  L  2 2
 sin 3t
s  9 3 s  3  3
2
 s  3!  s  6
 2s  7  1  s  7 1  4  7
(e) L1    2 L  2 2  L  2 2  2 cos 4t  sin 4t
 s  16  s  4  4 s  4 
2
4

Find the inverse Laplace transform of :
4 12
a) b) 3
s s
2 3
c) d)
s5 2s  6
8 1
e) 2 f) 2
s 9 4s  9
Solution for (a) Cont.. Solution for (b) Cont..

Solution for (c) Cont.. Solution for (d) Cont..
Solution for (e) Cont.. Solution for (f) Cont..

Cont.. solution for (a)
4
1
L  4
s
Cont.. solution for (b)
12  1   2  
1
L  3   L 6  3  
s    s 
1  2 
 6L  3 
s 
 6t 2
Cont.. solution for (c)
 2 
1
 1 
1 
L    2L  
s  5  s   5  
5t
 2e
Cont.. solution for (d)
 3  1  3  1  
1
L  L   
 2s  6   2  s  3 
3 1  1 
 L  
2  s  3
3 3t
 e
2
Cont.. solution for (e)
 8  1  8  3  
1
L  2 L   2 
s 9  3  s  9 
8 1  3 
 L  2 
3 s 9
8
 sinh 3t
3
Cont.. solution for (f)
 
 1 
1 1  1 
L  2 L  
 4s  9  4s  4 
2 9
 
1
 
 1 2 32 
 L   s2  9 
4 3 4

 
1  1
3
 L  s2  9 
6
2
4


1 3
 sin t
6 2
INVERSION USING LINEARITY PROPERTY
Linear Property of Inverse Laplace Transform:
If  and  are any constants, then

L1  F  s    G  s    L1 F  s    L1 G  s 
Examples:
Find L1  F ( s ) when F ( s ) is given by
3s  2
a) 2
s 4
Solution:
 3s  2  1  3s 2 
L1  2   L  2  
 s  4   s  4 s 2
 4 
1  3s  2  1  s  1  2 
L  2   3L  2 2 
L  2 2 
s  4 s  2  s  2 
 3cos 2t  sin 2t
INVERSION USING LINEARITY PROPERTY
 7s  3 
b) Show that L1  2   4e  3e
3t 3t
s 9
Solution:
 7s  3  1  7 s 3 
L1  2   L  2  
 s  9   s  9 s 2
 9 
1  7 s  3  1  s  1  3 
L  2   7L  2 2 
L  2 2 
s 9 s 3  s 3 
 7 cosh 3t  sinh 3t
 e3t  e 3t   e3t  e 3t 
 7  
 2   2 
7e3t  7e 3t  e3t  e 3t

2
8e3t  6e 3t
  4e3t  3e 3t
2
INVERSION USING THE FIRST SHIFT THEOREM
From the first shift theorem,
since L{e  at
f (t )}  F ( s  a ) , then L1
{F ( s  a )}  e  at
f (t )
Example:
Use the first shift theorem to find the inverse Laplace transform of
the following functions
1
s4
Solution :
 1  4t 1  1 
L1  e L  
s  4 s 
 e 4t .1
 e  4t
L1 F  s  a   e at f  t 
b) 3
2s  6
Solution :
 3  1  3 
L  1
L  
 2 s  6   2 ( s  3) 
3 1  1 
 L  
2  s  3 
3 3t 1  1 
 e L  
2 s
3 3t
 e 1
2
3 3t
 e
2
c) 5 d) s 1
s  23 s  12  4
Solution :
Solution :
 5   2t 1  5 
L 
1
3
e L  3
 s  2   s   s  1  t 1  s 
L  e L  2 
1
 s  1  4  s  4
2
 2 t 1  5  2  
 e L   3 
 2  s  t 1  s 
e L  2 2
5  2t 1  2  s  2 
 e L  3
2 s   e t cos 2t
L1 F  s  a   e at f  t 
5
 e  2t t 2
2

s 1
Sometimes,in order to use the 1st shift property, for an
e)
expression in the form of rational function, the numerator
s  32  16 that contains the term s must be replaced by "( s  a )  a "

in accordance with the term s  a found in the denominator.
Solution :
The expression can be written as
s 1  s  3  3  1 s3 2
  
         16
2
 
2
 
2
 
2
s 3 16 s 3 16 s 3 16 s 3
Therefore

 s 1 
 
1  s3 
 
1  2 

L  1
  L    L  
  s  3  16    s  3  16    s  3  16 
2 2 2
     
 s  3t 1  2 
 e3t L1  2 e L  2 
 s  16   s  16 

 1  4 
 e cos 4t  e L   2
 3t  3t 1

 2  s  16 
1 3t 1  4 
 e cos 4t  e L  2
 3t

2  s  16 
1
 e 3t cos 4t  e 3t sin 4t
2

e) s3 2 2
 b   b  c
From ax  bx  c  0 to  x        0
2
s 2  6 s  13  2a   2a  a
Solution :
Completing the square of the denominator, we get
s3 s3

s 2  6 s  13  s  32  22
Therefore
 s3  
1  s3 
L  21
L  
      s  3  2 
2 2
s 6 s 13
 s 
 e 3t L1  2 2
s  2 
 e 3t cos 2t
f) 3s  2
s 2  2 s  10
Solution :
Completing the square of the denominator, we get
3s  2 3s  2

s 2  2s  10  s  12  32
Therefore
 3s  2  
1  s  1  1 1  3 
L  2
1
  3L   L  
      s  1  3    s  1  3 
2 2 2 2
s 2 s 10 3
 s  1 t 1  3 
 3e L  2 2   e L  2 2 
t 1
s 3  3 s 3 
t 1 t
 3e cos3t  e sin 3t
3
Other notation:
 
L 1  F ( s) s s  a  e  at f (t )
where F ( s)  L  f (t ) and  F ( s) s s  a denotes that
s in F ( s ) is replaced by s  a, may make the relation clearer.
Example:
 s7 
L1  2 
 s  2 s  5 
Solution:
s7

s7

 s  1  3 2
s 2  2 s  5  s  12  4  s  12  4  s  1  4
2
 s   2 
 2  3
 s  2  s  s 1  s 2  22 
2
s  s 1
.
s 2
Since 2  L cos 2t  and  L sin 2t , the 1st shift theorem
s 2 2
s 2
2 2
gives
 s7 
L1  2 t t
  e cos 2t  3e sin 2t
 s  2s  5 
Find the inverse Laplace transform of the following
functions :
a) 
4 9 3s  7
e) i)
s3 ( s  3) 2 s2  9
9 s2 s6
b) f) j)
s2 ( s  1) 2  1 s4
6 2 s7 7s  3
c)  ( s  2) 2  1
s5 s2 1 g) k) s 2  4 s  8
12 9 s 2s  3 6s  9
d)  e h)
( s  1) 2  6
l) 2
s  2 s  10
s2

EVALUATION OF INVERSE TRANSFORM
Sometimes, it is possible to write down the

inverse transform of the function F  s  directly
from the table.
But more often than not it is first necessary to
carry out some algebraic manipulation on
F s .
 s  1 
1
For example : L  2 2 
 
s s  9  
In such cases, the procedure is first to resolve
the function into partial fractions and then use
the table.

3.5 Finding The Inverse Laplace Transform
using Partial Fractions

USING PARTIAL FRACTION TO FIND THE INVERSE LAPLACE
TRANSFORM
Recall back: Partial

Fraction
• Any rational function of s, for example P  s 
Q s
where the degree of P(s) is less than the degree of Q(s),
could be expressed as a sum of relatively simpler rational
functions, called partial fractions.
• The form of the partial fractions depends on the kind of
factors in Q(s) which are real quadratic and linear.
• Before we deal with some examples in finding the
inversion, let us recall those rules of partial fractions.

Fraction
Case 1: The denominator Q (s) is a product of distinct linear factor
If Q  s    a1s  b1  a2 s  b2   an s  bn  ,
P s A1 A2 An
   
 Examples Q  s   a1s  b1   a2 s  b2   an s  bn 
ALGEBRAIC FRACTION PARTIAL FRACTIONS

7 A B

s  s  5 s s 5
s  10 A B

 s  1 2s  3 s  1 2s  3
s 2  2s  3 A B C
 
 s  2  s  3 s  5 s2 s3 s5

Fraction
Case 2: The denominator Q (s) is a product of repeated linear factors
If Q  s    as  b  ,
n
P s A1 A2 An
   
 Examples Q  s   as  b   as  b  2
 as  b 
n

4s A B

 3s  2  3s  2  3s  2 2
2
s 2  8s  10 A B C
 
 s  1 s  3
2
s  1 s  3  s  32
5s  3 A B
 2
C

D
s 2 ( s  2) 2 s s s  2  s  2 2

Fraction
Case 3: The denominator Q (s) contains irreducible quadratic factors
If Q  s    as 2  bs  c  ,
P s As  B

 Examples
Q  s   as 2  bs  c 
3 A Bs  C
 2
 s  2   s 2  1 s  2 s 1
s6 A B Cs  D
  2

s  2s  5 2s 2  3s  4  s 2s  5 2s  3s  4
4s  1 A B Cs  D
 2 2

s2 s2  s  3  s s s s3
Fraction
Case 4: The denominator Q (s) contains repeated irreducible
quadratic factors
If Q  s    as  bs  c  ,
2 n
P s A1s  B1 An s  Bn
  
 Example: Q  s   as  bs  c 
2
 as 2
 bs  c 
n

3 As  B Cs  D

s   
2
2
1 s2  1 s2  1 2
s6 As  B Cs  D Ds  E
 
 2s  2 s  3s  4    2s 
3 2 2 3
2
 3s  4 2 s 2  3s  4  3s  4
2

TRANSFORM
Examples:
Find the inverse Laplace transform of the following expressions.
a) 4s  1 b) 3s  4
s2  s s 2  3s  2
Solution :
a) We express the given expression as partial fractions
4s  1 4s  1 A B
  
s 2  s s( s  1) s s  1
4s  1  A( s  1)  Bs
coeff. s 0 : A 1
coeff. s 1 : A B  4 B  3

TRANSFORM
Hence 4 s  1  1  3
s2  s s s 1
Therefore L1  4s  1   1  3e t
 2 
s  s
b) We express the given expression as partial fractions

3s  4 3s  4 A B
  
s 2  3s  2 ( s  1)( s  2) s  1 s  2
3s  4  A( s  2)  B ( s  1)
coeff. s :
0
2A  B  4
coeff. s 1 : A  B  3  A  1, B  2
 3s  4  1  1 2 
L 
1
  L   t
  e  2e
 2t
 ( s  1)( s  2)  s 1 s  2

TRANSFORM
Example:
 s  1  B Cs  D 
1 1  A
L  2 2   L    2 
 s  s  9     
2
s s s 9
1 1  1  1  1  s  1 
 L1    L1  2   L1  2 
9 s  9 s  9 s  9

TRANSFORM
Find the inverse Laplace transform of :

1 Solution for (a)
a)
s ( s  1)
2s 2  s  1
b) Solution for (b)
 s  1  s 2  1
s
c)
s  1 s  4 
Solution for (c)
2 2
5s 3  6 s  3
d) Solution for (d)
s 3  s  1
2

1
Resolving into partial fractions gives
s  s  1
1 A B
 
s  s  1 s s  1
1  A  s  1  Bs
when s  1; 1  B
when s  0; 1=  A  A  1
1 1 1
  
s  s  1 s s  1
then
 1 
1 1  1  1  1 
L     L    L  
 s  s  1   s   s  1 
 1  et
 et  1
70 E XCE LLE NT DOE S NOT AN ACCIDE NT, BUT IT COMES THR OUGH
A HAR D WORK!
2s 2  s  1
 s  1  s 2  1
2s 2  s  1 A Bs  C
 
 s  1  s 2  1 s  1 s 2  1
2s 2  s  1  A  s 2  1   Bs  C  s  1
when s  1; 2  2 A  A  1
s2 : 2  A B  B 1
s: 1 B C  C  0
2s 2  s  1 1 1s  0 1 s
    
 s  1  s 2  1 s  1 s  1 s  1 s  1
2 2
then
 2s 2  s  1 
1 1  1  1  s 
L    L    L  
  s  1   
s 2
 1  s  1   s 2
 1 
 e  t  cos t
A HAR D WORK!
Cont.. solution for (c)
s
s 2
 1 s 2  4 
s As  B Cs  D
  2
s 2
 1 s 2  4  s2 1 s 4
s   As  B   s 2  4    Cs  D   s 2  1
 As 3  4 As  Bs 2  4 B  Cs 3  Cs  Ds 2  D
  A  C  s3   B  D  s 2   4 A  C  s  4B  D
s0 : 0  4 B  D  D  4 B
s: 1  4A  C  C  1 4A
s2 : 0  B  D  D   B substitute into equation for s 0
we get B  0 and D  0
s3 : 0  AC  C   A substitute into equation for s 3
1 1
 A  1 4A  A
and from this we know that C  
3 3
1 1 1 1
s0  s0 s s
s 3 3 3  3
 2   
 s  1 s 2  4  s 2  1 s 2  4 s 2  1 s 2  4
then

 s 
 1 1  s  1 1  s 
L1  2  L  2  L  2 

  s  1 s 2
 4  

3  s  1  3  s  4 
1 1
 cos t  cos 2t
3 3
A HAR D WORK!
Cont.. solution for (d)
5s 3  6 s  3
s  s  1
3 2
5s 3  6 s  3 A B C D E
  2 3 
s 3  s  1 s s s s  1  s  12
2
A  3, B  0, C  3, D  3and E  2
5s 3  6 s  3 3 0 3 3 2
  2 3 
s 3  s  1 s s  1  s  12
2
s s
3 3 3 2
  3 
s s s  1  s  12
then
 5s 3  6s  3  1  3  1  3  1  3  1  2 
1
L  3 2 
 L   L  3  L   L  2
 s  s  1   
s  
s  s  1    s  1 
3
 3  t 2  3e t  2te t
2
A HAR D WORK!
Express the following expressions as partial fractions
and hence find their inverse Laplace transform.
a) 3s  4 6s  5
e)
( s  2)( s  3) ( s  3)( s  5)
b) 7s  3 4s  1
f)
s( s  4)( s  3) s( s  2)( s  3)
c) 6s  7 3s  5
g)
s( s  2)( s  4) ( s  1)( s 2  3s  2)
d) 8s  5 2s  8
h)
( s  1)( s  2)( s  3) ( s  2)( s 2  7 s  6)

3.6 The Convolution Theorem

The Convolution Theorem
If L1 F ( s)  f (t ) and L1 G ( s )  g (t )

then
L1 F ( s )G ( s )  f (t ) * g (t )
t
  f (u) g (t  u) du.
0

1
Example: (a)
( s  1)( s  2)
Solution:
1 1 1
 .
( s  1)( s  2) s  1 s  2
Choose
1 1
F ( s)  and G ( s) 
s 1 s2
from which
 1  t 1  1 
f (t )  L1    e and g (t )  L  e
2t
 s  1 s  2
f (u )  e  u and g (t  u )  e 2(t u )
Hence
 1  t  u 2( t u )
L1    0 e e du
 ( s  1)( s  2) 
t
 1 3u  1 2t
 
t
e
3u t
e 2t
du  e 2t
  3 e   3 e  e
0
0

By using convolution theorem, find the inverse Laplace transforms of the following
functions:
(a)
1
Solution for (a)
s ( s  4)
2 2
(b)
1 Solution for (b)
( s 2  1) 2

1 1 1
 .
s 2 ( s 2  4) s2 s2  4
Choose
1 1
F (s)  2 and G (s) 
s s2  4
from which
 1   1  1
f (t )  L1  2   t and g (t )  L1  2   sin 2t
s   s  4  2
1
f (u )  u and g (t  u )  sin 2(t  u )
2
Hence
 1  1 t
L1  2 2 
 s ( s  4) 

2  0
u sin 2(t  u )du
t
1  1 
  u cos 2(t  u )  sin 2(t  u ) 
4  2 0
1
 (2t  sin 2t )
8

1 1 1
 2 . 2
( s  1)
2 2
s 1 s 1
Choose
1 1
F (s)  2 and G ( s )  2
s 1 s 1
from which
 1  1  1 
f (t )  L1  2   sin t and g (t )  L  2   sin t
 s  1  s  1
f (u )  sin u and g (t  u )  sin(t  u )
Hence
 1  t
L1  2 2 
 ( s  1) 
 
0
sin u sin(t  u )du
1
 cos(2u  t )  cos t du
t

2 0
t
1 1 
  sin(2u  t )  u cos t 
2 2 0
1
 (sin t  t cos t )
2
The result is obtained by using identity
1
sin A sin B   cos( A - B ) - cos( A  B ) 
2

Find the inverse of the given Laplace Transform
by using Convolution theorem.
2
(a) ans: e t  e 3t
( s  1)( s  3)
5 5
(b) ans: (1  cos 3t )
s ( s 2  9) 9
(c )
2
s2  s  6
ans:
5

2 2t 3t
e e 

LESSON OUTCOMES

3.6 Transform of derivatives

TRANSFORM OF DERIVATIVES
If we use Laplace transform methods to solve the differential equations,

we need to find convenient expressions for the Laplace transforms of
derivative.
Such as
dx d 2 x or in general
dnx
, 2
dt dt dt n
 By definition L  df    e  st df dt
  0
 dt  dt
 Integrating parts, we have  df   

L    e f (t )    e  st f (t )dt
 st
 dt  0 0
  f (0)  sF ( s )
 df 
 That is L    sF ( s)  f (0)
 dt 
 And, this also gives


 d 2 f    st d 2 f   st df  
 st df
L 2   e dt   e   s  e dt
 dt  0
2
 dt  0 dt 0 dt
 df   df 
     sL  
 dt  t 0  dt 
 df 
     s  sF ( s)  f (0)
 dt  t 0
 That is
d2 f  2
L  2   s F (s)  sf (0)  f (1) (0)
 dt 

if L  f (t )  F ( s ) then L F (s)  f (t )
1
if L  y (t )  Y ( s ) then L1 Y (s )  y (t )
if L  x(t )  X ( s) then L1  X (s )  x(t )

If L  f (t )  F ( s)
L  f '(t )  sF ( s)  f (0)
L  f ''(t )  s 2 F ( s)  sf (0)  f '(0)
L  f '''(t )  s 3 F ( s)  s 2 f (0)  sf '(0)  f ''(0)
. . . .
. . . .
. . . .
Then, generally
 
L f ( n ) (t )  s n F ( s)  s n 1 f (0)  s n 2 f '(0)  ...  f ( n 1) (0)

If L  y (t )  Y ( s)
L  y '(t )  sY ( s)  y (0)
L  y ''(t )  s Y ( s)  sy (0)  y '(0)
2
L  y '''(t )  s Y ( s)  s y (0)  sy '(0)  y ''(0)

3 2
. . . .
. . . .
. . . .
Then,generally
 
L y ( n ) (t )  s nY ( s )  s n 1 y (0)  s n  2 y '(0)  ...  y ( n 1) (0)

 And, this procedure may be extended to obtain the Laplace transform of
dn f
f (n)
(t )  n in the form
dt
 
L f ( n ) (t )  s n F ( s)  s n 1 f (0)  s n  2 f '(0)  ...  f ( n 1) (0)
n
 s F ( s)   s n i f ( i 1) (0)
n
i 1
where F ( s )  L  f (t )

EXAMPLE(1):
The Laplace transform of y (t ) is, Y (s ) .Find the Laplace transforms of
the following expressions if given y (0)  4, y '(0)  1 :
(a) y'
(b) y' '
d2y dy
(c) 3 2  6  8y
dt dt

EXAMPLE(2):
The Laplace transform of w(t) is W(s), w(0) = 3, w’(0) = 1. Find the

Laplace transform of the following expressions.
(a) w '' 2 w ' 3w

(b)  4 w '' 5w ' 3w

Solving First ODE by using Laplace Transform
Given problem Using Laplace transform convert the

ay '(t )  by (t )  f (t ) equation into
F ( s )  ay0
with y (0)  y0 Y (s) 
as  b
Invert the transform

The solution y(t)
is found  F ( s)  ay0 
y (t )  L1  
 as  b 
Steps for solving first order linear differential equations

Source: Abd. Wahid Md. Roji and Mohd Nor Mohamad
Differential Equations for Engineering Students

Example:
dy
Solve  y  9e 2t with subject to y (0)  3
dt
Solution:
Taking the Laplace transform of both side of the equation
 
L  y '(t )  L  y  9 L e 2t
9
sY ( s )  y (0)  Y ( s ) 
s2
9
sY ( s )  3  Y ( s ) 
s2
9 3( s  1)
( s  1)Y ( s )  3 
s2 s2
3
Y ( s) 
s2
Taking the inverse Laplace transform yields
 3 
y (t )  L1    3e
2t
s  2

Solve the differential equations :
(a) dy
 y  cos t subject to y(0)  0. Solution : a
dt
1 1 1
Ans: y(t )   e t  cos t  sin t.
2 2 2
(b) dy
 y  te2t subject to y(0)  1. Solution : b
dt
Ans: y(t )  2et  e2t  te2t

Solution : a
dy
 y  cos t subject to y(0)  0.
dt
Solution:
Taking the Laplace transform
L  y '  L  y  L cos t 
s
sY ( s )  y (0)  Y ( s ) 
s 1 2
Substituting the initial condition

s
( s  1)Y ( s )  2
s 1
s
Y ( s)  ......(i )

( s  1) s 2  1 
(We can solve Eqn (i) by partial fraction or convolution theorem)
By partial fraction, Equation(i) can be written as
1 s 1
Y ( s)    
2( s  1) 2( s  1)
2
2( s  1)
2
Taking the inverse of Y(s)

 1 s 1 
y (t )  L1     
 2( s  1) 2( s  1) 2( s  1) 
2 2
1  1  1 1  s  1 1  1 
y (t )   L1   L  2  L  2 
2  ( s  1)  2  ( s  1)  2  ( s  1) 
1 t 1 1
y (t )   e  cos t  sin t
2 2 2
A HAR D WOR K!
Solution : b
dy
 y  te 2t subject to y(0)  1. By partial fraction, Equation(i) can be written as
dt
2 1 1
Solution: Y (s )   
s  1 s  2 ( s  2) 2
Taking the Laplace transform
Taking the inverse of Y(s)
 
L  y '  L  y  L te 2t  2 1 1 
y (t )  L1    2
sY ( s )  y (0)  Y ( s) 
1  s  1 s  2 ( s  2) 
 s  2
2
 2  1  1  1  1 
y (t )  L1   L   L  2
Substituting the initial condition  s  1   s  2   ( s  2) 
1 y (t )  2et  e 2t  te 2t
sY ( s )  1  Y ( s ) 
 s  2
2
1
( s  1)Y ( s )  1 
 s  2
2
1 1
Y (s )   .....(i )
s  1 ( s  1)  s  2  2
A HAR D WOR K!
Solving Second ODE by using Laplace Transform
Given problem Using Laplace transform convert the

ay ''(t )  by '(t )  cy  f (t ) equation into
with y (0)  y0 F ( s )  (as  b) y0  ay1
Y ( s) 
and y'(0)  y1 as 2  bs  c
Invert the transform

The solution y(t)
is found  F ( s)  (as  b) y0  ay1 
y (t )  L1  
 as 2  bs  c 
Steps for solving first order linear differential equations

Source: Abd. Wahid Md. Roji and Mohd Nor Mohamad
Differential Equations for Engineering Students

Example:
Solve y '' y  t 2 with subject to y (0)  2, y '(0)  0
Solution:
Taking the Laplace transform of both side of the equation 2( s 2  1)( s 2  1) 2( s 2  1)
Y ( s)  

L  y ''  L  y  L t 2 s ( s  1)
3 2
s3
2s 2 2
2
s 2Y ( s )  sy (0)  y '(0)  Y ( s )    3  3
s3 s s
2 2
s 2Y ( s )  2 s  Y ( s )   3
2   3
s s s
2 Taking the inverse Laplace transform yields
( s 2  1)Y ( s )   3  2 s
s 2 2 
y(t )  L1   3 
2( s 4  1) s s 

s3 2 2
2( s 2  1)( s 2  1)
 L1    L1  3 
 s s 
s3
 2  t2

Solve the differential equations :
(a) d 2x
2
 4 x  4e 2t
subject to x(0)  1 and x '(0)  5
dt
 
Ans: x(t )  1  t  e4t e 2t
(b) d 2 y dy t
2
  e cost subject to y (0)  0 and y '(0)  0
dt dt
1

Ans: y (t )  1  et cos t  et sin t
2


Simultaneous differential equations:
 In engineering we frequently encounter systems whose

characteristics are modeled by a set of simultaneous linear
differential equations with constants coefficients.
 The method of solution is essentially the same as that adopted for

solving a single differential equation in one unknown.
 Now, let us discuss how to solve simultaneous differential equation

by looking at application problems.

APPLICATION OF LAPLACE TRANSFORM
Two cylindrical water tanks are connected as

shown in Figure 1. Initially there are 250 litres
in the top tank and 50 litres in the bottom tank.
At time the valve between the two tanks are
opened. The flow rate through each of these
valves is proportional to the volume of the
water in the tank immediately in the valve.
The differential equations of volume for both
tanks are denoted as follows
dv1
 0.1v1
Glyn James, Modern Engineering dt
Mathematics 3rd ed
dv2
Figure 1 : Cylindrical Tanks  0.1v2  0.1v1  cosh 2t
dt
where and denote the volume in the top tank
and the volume in the bottom tank respectively.
By using inverse Laplace transforms, find
v1 (t ) and v2 (t )
APPLICATION OF LAPLACE TRANSFORM
Glyn James, Modern Engineering Mathematics 3rd ed
At time t  0, with no currents flowing, a voltage v  t   10sin t is applied to

the primary circuit of a transformer that has mutual inductance of 1 H, as
shown in Figure 2. Denoting the current flowing at time t in the secondary
circuit by i2  t  .Applying Kirchhoff 's second law to the primary and
secondary circuits respectively gives
di di
R1i1  1  L1 2  v  t 
dt dt
di di
R2i2  L2 2  1  0
dt dt
Determine i1  t  and i2  t  for t  0.
Solve the system (simultaneous equation)
dx dy
2 2  9 y  e 2 t
dt dt
dx dy
2 4  4 x  37 y  0 t>0
dt dt
with the initial conditions 1

x(0)  0 and y (0) 
4
Answer :
1 15 3t 11 t 
x(t )   e  e  e 2t 
4 4 4 
1 3t
y (t )  (3e  et )
8

Solve the system (simultaneous equation)
dx dy
  5 x  3 y  et
dt dt
dx dy
2   x y 3
dt dt
with the initial conditions x(0)  2, y (0)  1
Answer :
9 11 2t 25 t
x(t )    e  e
2 6 3
15 1  t 11 2t 25 t
y (t )   e  e  e
2 6 2 2

TRANSFORM OF INTEGRAL
dg
Let g  t    f   d  f t  , g 0  0
t
we have
0 dt
Taking Laplace Transforms,
 dg 
L    L  f  t 
 dt 
 df 
From the previous lecture, we know L    sF  s   f  0 
 dt 
 dg 
L    sG  s   g  0  and L  f  t   F  s 
 dt 
Then sG  s   F  s 
F s
or L  g  t   G  s  
s
So, obviously
L  0
t
f   
d  L  f  t   F  s 
1
s
1
s
Example 1 :

Applying Kirchhoff’s second law to the circuit in the previous figure :
di 1
Ri  L 
dt C  i dt  e  t 
Solution :
di 1
Ri  L   i dt  e  t  , R  160, L  1, C  104 and e  t   20
dt C
di
160i   104  i dt  20
dt
Taking Laplace Transforms,
I  s  20
160I  s    sI  s   i  0    104 
s s
 104  20
I  s  160  s     I  s  
160 s  s 2
 10 4
  20
 s  s
20 20
I s  
160 s  s 2  104   s  80  2  602

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Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Laplace transform methods have a key role to play in the modern

The attraction of the Laplace transform is that it transforms differential

In general, the function to be transformed is denoted by a lowercase

Excellent does not an accident, but it comes through a hard work!!

Advantage of using the Laplace transform for solving differential

This contrasts with the classical approach considered previously,

The laplace transform is therefore an ideal tool for solving initial-

Excellent does not an accident, but it comes through a hard work!!

Definition and Notation:

Represent the Laplace transform of a function by the corresponding capital letter

Excellent does not an accident, but it comes through a hard work!!

By using definition, find Laplace transform of f (t )  a

Find the Laplace transform of f (t )  t

Excellent does not an accident, but it comes through a hard work!!

Find the Laplace transform of f (t )  cos at.

f t   cos at  Lcos at  2

Excellent does not an accident, but it comes through a hard work!!

Find the Laplace transform of f (t )  sin at.

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

A function f  t  is said to be of exponential order as t  

Excellent does not an accident, but it comes through a hard work!!

  1 We just use this

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Use the first shift theorem to find the Laplace Transform of

Excellent does not an accident, but it comes through a hard work!!

(c) f (t )  e5t sin 3t

Therefore L{e5t sin 3t}  F ( s  5)  3

Excellent does not an accident, but it comes through a hard work!!

a ) 4te 2t e)e  t sin 3t Answer:

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Example 15: f (t )  t 2 sin 3t

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Find the Laplace transform for each of the following function:

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Excellent does not an accident, but it comes through a hard work!!

Find the inverse Laplace transform of the following functions

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Solution for (a) Cont.. Solution for (b) Cont..

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Linear Property of Inverse Laplace Transform:

If  and  are any constants, then

From the first shift theorem,

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s  32  16 that contains the term s must be replaced by "( s  a )  a "

Excellent does not an accident, but it comes through a hard work!!