Tehniko veleuilite u Zagrebu, Elektrotehniki odjel, Matematika 2 c c s c

Laplaceova transformacija
Z

L(f ) = F,

gdje je

F (s) :=
0

est f (t) dt

Tablica L transformacije elementarnih funkcija

1 t tn1 (n 1)! tn 1 t 2n tn 2 1 3 5 (2n 1) eat teat tn1 eat (n 1)! eat ebt ab aeat bebt ab (b c)eat + (c a)ebt + (a b)ect (a b)(b c)(c a) eat ebt 2(a b) t3 eat ebt 2(a b) t3 e 1e a
at
1

1 s 1 s2 1 , nN sn n! , nN sn+1 1 s s[n+ 2 ] 1 sa 1 (s a)2 1 (s a)n nN

1

t sin at 2a sin at + at cos at 2a cos at 1 at sin at 2 t cos at cos at cos bt b2 a2 eat sin bt b eat cos bt sh at a ch at eat (1 + 2at) t eat sh bt b eat ch bt at ch at sh at 2a3 t sh at 2a sh at + at ch at 2a ch at + 1 at sh at 2 t ch at 3 a2 t2 sin at 3 at cos at 8a5 t sin at at2 cos at 8a3 1 + a2 t2 sin at at cos at 8a3 3 t sin at + a t2 cos at 8a 3 a2 t2 sin at + 5 at cos at 8a t2 sin at 2a t2 cos at 2

s (s2 + a2 )2 s2 (s2 + a2 )2 (s2 s3 + a2 )2

s 2 a2 (s2 + a2 )2 s (s2 + a2 ) (s2 + b2 ) 1 (s a)2 + b2 sa (s a)2 + b2 1 s2 a2 s s2 a2 s (s a)3/2 1 (s a)2 b2 sa (s a)2 b2 1 (s2 a2 )2 s (s2 a2 )2 (s2 s2 a2 )2

1 (s a)(s b) s (s a)(s b) 1 (s a)(s b)(s c) 1 s+a+ s+b 1 s+a+ s+b 1 s+a 1 s(s + a) 1 s2 (s + a) 1 s3 (s + a) 1 s(s + a)(s + b) 1 s2 + a2 s s2 + a2 1 s2 a2 s s2 a2 1 s(s2 + a2 ) 1 s2 (s2 + a2 ) 1 (s2 + a2 )2

at

1 a2

eat + at 1 a2 1 at 1 t+ eat a 2 a

2

s3 (s2 a2 )2 s 2 + a2 (s2 a2 )2 1 (s2 + a2 )3 s (s2 + a2 )3 s2 (s2 + a2 )3 (s2 s3 + a2 )3

1 ab

1+

be

at

ae ab sin at a sh at a

 bt

cos at

ch at 1 cos at a2 at sin at a3 sin at at cos at 2a3

s4 (s2 + a2 )3 3 s2 a2 (s2 + a2 )3 s 3 3 a2 s (s2 + a2 )3

3 + a2 t2 sh at 3 at ch at 8a5 at2 ch at t sh at 8a3 at ch at + a2 t2 1 sh at 8a3 3 t sh at + a t2 ch at 8a 3 + a2 t2 sh at + 5 at ch at 8a t sh at 2a t2 ch at 2

2

1 (s2 a2 )3 s (s2 a2 )3 s2 (s2 a2 )3 (s2 (s2 s3 a2 )3 s4 a2 )3

2 2

eat/2 3 a2 eat/2 3a

 

3 sin 3 sin

3at cos 2 3at + cos 2

3at e3at/2 2 3at 2

1 s3 a3 s s3 a3 ea/s s ea/s s3 1 eas (r) , r>0 sr (r) , r>0 (s a)r

e3at/2 cos 2 at t sin 2 at a (t) Diracova funkcija; (t) (t a) (t) Gama funkcija; tr1

3s + a (s2 a2 )3 s2 + 3 a2 s (s2 a2 )3
f(t)

tr1 eat

f(t) 1 t 0 2a 4a

1 t 0 -1 a 2a 3a 4a

trokutna periodina funkcija c  as  1 f (t) 2 th as 2

pravokutna periodina funkcija c  as  1 th f (t) as 2

Tablica svojstava L transformacije

1. 2. 3. f1 (t) + f2 (t) F1 (t) + F2 (t) f (at) 1 s F , a a F (bs) 1 f b
 

LINEARNOST t b MNOZENJE VARIJABLE KONSTANTOM PRIGUSENJE ORIGINALA POJACANJE ORIGINALA POMAK ORIGINALA

eat f (t) F (s + a) eat f (t) F (s a) f (t a) eas F (s) f (t) sF (s) f (0) f (t) s2 F (s) sf (0) f (0) f (n) (t) sn F (s) sn1 f (0) sn2 f (0) . . . f n1 (0) tf (t) F (s) t2 f (t) F (s) (1)n tn f (t) F (n) (s)
Z
t

4.

5.

DERIVIRANJE ORIGINALA

6.

DERIVIRANJE SLIKE

7.
0

f (u) du f (t) t
Z
s

F (s) s

INTEGRIRANJE ORIGINALA

8.

F (u) du

INTEGRIRANJE SLIKE KONVOLUCIJA

Z
t

9.

(f1 f2 ) (t) F1 (s)F2 (s) 1 1 esT

Z
0 T

(f1 f2 ) (t) :=
0

f1 (u)f2 (t u) du

10.

f (t)

est f (t) dt

SLIKA PERIODICNE FUNKCIJE f perioda T HEAVISIDEOV RAZVOJ: original racionalne funkcije Pm (s) F (s) = , m<n Qn (s)

n X Pm (ak )

11.

Pm (s) eak t , Qn (ak ) Qn (s) k=1 gdje su a1 , a2 , . . . , an jednostruke realne nultoke polinoma Qn c