The Transform and Its Inverse: Prerequisites

The Transform and
its Inverse
20.2
Introduction
In this Block we formally introduce the Laplace transform. The transform is only applied to
causal functions which were introduced in Block 20.1. We nd the Laplace transform of many
commonly occurring signalsand produce a table of standardLaplace transforms.
We also consider the inverse Laplace transform. To begin with, the inverse Laplace transform is
obtained by inspection using a table of transforms. This approach is developed by employing
techniques such as partial fractions and completing the square.
Prerequisites
Before starting this Block you should . . .
x understand what a causal function is
y understand how to use partial fractions
z be familiar with integration by parts
{ understand the technique of completing the
square
Learning Outcomes
After completing this Block you should be able
to . . .
nd the Laplace transform of many
commonly occurrring causal functions
obtain the inverse Laplace transform
using
(i) a table of transforms,
(ii) partial fractions,
(iii) the method of completing the square
Learning Style
To achieve what is expected of you . . .
allocate sucient study time
briey revise the prerequisite material
attempt every guided exercise and most
of the other exercises
1. The Laplace Transformation
If f(t) is a causal function then the Laplace transform of f(t) is written L{f(t)} and dened
by:
L{f(t)} =
_

0
e
st
f(t)dt.
Clearly, once the integral is performed and the limits substituted the resulting expression will
involve the s-parameter alone since the dependence upon t is removed in the integration process.
This resulting expression in s is denoted by F(s); its precise form is dependent upon the form
taken by f(t)
Key Point
The Laplace Transform L{f(t)} =
_

0
e
st
f(t)dt F(s)
To begin, we determine the Laplace transform of some simple causal functions. For example, if
we consider the ramp function f(t) = t.u(t) with graph
f(t) = u(t)
t
t
we nd:
L{t u(t)} =
_

0
e
st
t u(t)dt
=
_

0
e
st
t dt since in the range of the integral u(t) = 1
=
_
t e
st
(s)
_
_

0
e
st
(s)
dt using integration by parts
=
_
te
st
(s)
_
_
e
st
(s)
2
_
0
Now we have the problem of substituting in the limits of integration. The only problem arises
with the upper limit (). We shall always assume that the parameter s is so chosen that no
contribution ever arises from the upper limit (). In this particular case we need only demand
that s is real and positive Using this rule of thumb:
L{t u(t)} = [0 0]
_
0
_
1
(s)
2
__
=
1
s
2
Engineering Mathematics: Open Learning Unit Level 1
20.2: The Laplace Transform
2
Thus, if f(t) = t u(t) then F(s) = 1/s
2
.
A similar, but more tedius calculation, yields the result that if f(t) = t
n
u(t) in which n is a
positive integer:
L{t
n
u(t)} =
n!
s
n+1
We remember n! n(n 1)(n 2) . . . (3)(2)(1).
Try each part of this exercise
Find the Laplace transform of the step function u(t).
Part (a) Begin by obtaining the Laplace integral
Answer
Part (b) Now complete the integration
Answer
As a second example consider the decaying exponential f(t) = e
at
u(t) where a is a positive
constant. This function has graph:
f(t) = e
at
u(t)
t
In this case,
L{e
at
u(t)} =
_

0
e
st
e
at
dt
=
_

0
e
(s+a)t
dt
=
_
e
(s+a)t
(s + a)
_
0
=
1
s + a
zero contribution from the upper limit
Therefore, if f(t) = e
at
u(t) then F(s) =
1
s + a
.
Following this approach we can develop a table of Laplace transforms which records, for each
causal function f(t), its corresponding transform function F(s). Table 1 gives a limited table of
transforms.
3 Engineering Mathematics: Open Learning Unit Level 1
The Linearity Property of the Laplace Transformation
If f(t) and g(t) are causal functions and c
1
, c
2
are constants then
L{c
1
f(t) + c
2
g(t)} =
_

0
e
st
[c
1
f(t) + c
2
g(t)]dt
= c
1
_

0
e
st
f(t)dt + c
2
_

0
e
st
g(t)dt
= c
1
L{f(t)} + c
2
L{g(t)}
Key Point
L{c
1
f(t) + c
2
g(t)} = c
1
L{f(t)} + c
2
L{g(t)}
Table 1. Table of transforms
Causal function Laplace transform
f(t) F(s)
u(t)
1
s
t
n
u(t)
n!
s
n+1
e
at
u(t)
1
s + a
sin at . u(t)
a
s
2
+ a
2
cos at . u(t)
s
s
2
+ a
2
e
at
sin bt . u(t)
b
(s + a)
2
+ b
2
e
at
cos bt u(t)
s + a
(s + a)
2
+ b
2
That is, the Laplace transform of a linear sum of causal functions is a linear sum of Laplace
transforms. For example,
L{2 cos t . u(t) 3t
2
u(t)} = 2L{cos t . u(t)} 3L{t
2
u(t)}
= 2
_
s
s
2
+ 1
_
3
_
2
s
3
_
Obtain the Laplace transforms of the hyperbolic functions (i) sinhat, (ii) cosh at.
Part (i)(a) Begin by expressing sinh at in terms of exponential functions.
Answer
4
Part (i)(b) Now use the linearity property to obtain the Laplace transform of the causal function
sinh at.u(t)
Answer
Part (ii) Now repeat for cosh at.
Answer
Find the Laplace transform of the delayed step-function u(t a), a > 0
Part (a) Write it here in terms of an integral
Answer
Part (b) Now complete the integration
Answer
More exercises for you to try
1. Determine the Laplace transform of the following functions.
(i) e
3t
u(t) (ii) u(t 3) (iii) e
t
sin 3t.u(t) (iv) (5 cos 3t 6t
3
).u(t)
Answer
2. The Inverse Laplace Transformation
The Laplace transform takes a causal function f(t) and transforms it into a function of s, F(s):
L{f(t)} F(s)
The inverse Laplace transform operator is denoted by L
1
and involves recovering the original
causal function f(t). That is,
Key Point
Inverse Laplace transform L
1
{F(s)} = f(t) where L{f(t)} = F(s)
For example, using standard transforms from Table 1
L
1
_
s
s
2
+ 4
_
= cos 2t . u(t) since L{cos 2t . u(t)} =
s
s
2
+ 4
.
Also
L
1
_
3
s
2
_
= 3t u(t) since L{3t u(t)} =
3
s
2
.
Because the Laplace transform is linear it follows that the inverse Laplace transform is also
linear, so if c
1
, c
2
are constants:
Key Point
L
1
{c
1
F(s) + c
2
G(s)} = c
1
L
1
{F(s)} + c
2
L
1
{G(s)}
For example, to nd the inverse Laplace transform of
2
s
4

6
s
2
+ 4
we have
L
1
_
2
s
4

6
s
2
+ 4
_
=
2
6
L
1
_
6
s
4
_
3L
1
_
2
s
2
+ 4
_
=
1
3
t
3
u(t) 3 sin 2t . u(t) from the table of transforms
Note that the fractions have had to be manipulated slightly in order that the expression accord
precisely with the expressions in Table 1. Although the inverse Laplace transform can be
examined at a deeper mathematical level we shall be content with this simple minded approach
to nding inverse Laplace transforms by using the table of Laplace transforms. However, even
this approach is not always straightforward and algebraic manipulation is often required before
an inverse Laplace transform can be found. Here we consider two standard rearrangements
which often occur.
Inverting through the use of partial fractions
The function
F(s) =
1
(s 1)(s + 2)
does not appear in our table of transforms and so we cannot, by inspection, write down the
inverse Laplace transform. However, by using partial fractions we see that
F(s) =
1
(s 1)(s + 2)
=
1
3
s 1

1
3
s + 1
and so
L
1
_
1
(s 1)(s + 1)
_
= L
1
_
1
3
s 1
_
L
1
_
1
3
s + 1
_
=
1
3
e
t
1
3
e
2t
Find the inverse Laplace transform of
3
(s 1)(s
2
+ 1)
.
Part (a) Begin by using partial fractions to write the given expression in a more suitable form
Answer
Part (b) Now continue to obtain the inverse
Answer
6
Inverting using completion of the square
The function:
F(s) =
4s
s
2
+ 2s + 5
does not appear in the table of transforms and, again, needs amending before we can nd its
inverse transform. In this case, because s
2
+2s +5 does not have nice factors, we complete the
square in the denominator:
s
2
+ 2s + 5 (s + 1)
2
+ 4
and so
F(s) =
4s
s
2
+ 2s + 5
=
4s
(s + 1)
2
+ 4
Now the numerator needs amending slightly to enable us to use the table of standard transforms:
F(s) =
4s
(s + 1)
2
+ 4
= 4
_
s + 1 1
(s + 1)
2
+ 4
_
= 4
_
s + 1
(s + 1)
2
+ 4

1
(s + 1)
2
+ 4
_
=
4(s + 1)
(s + 1)
2
+ 4
2
_
2
(s + 1)
2
+ 4
_
Hence
L
1
{F(s)} = 4L
1
_
s + 1
(s + 1)
2
+ 4
_
2L
1
_
2
(s + 1)
2
+ 4
_
= 4e
t
cos 2t . u(t) 2e
t
sin 2t . u(t)
= e
t
[4 cos 2t 2 sin 2t]u(t)
Find the inverse Laplace transform of
3
s
2
4s + 6
.
Part (a) Begin by completing the square in the denominator of this expression
Answer
Part (b) Now continue to obtain the inverse
Answer
More exercises for you to try
Determine the inverse Laplace transforms of the following functions.
(i)
10
s
4
(ii)
s 1
s
2
+ 8s + 17
(iii)
3s 7
s
2
+ 9
(iv)
3s + 3
(s 1)(s + 2)
(v)
s + 3
s
2
+ 4s
(vi)
2
(s + 1)(s
2
+ 1)
Answer
3. Computer Exercise or Activity
For this exercise it will be necessary for you to access the
computer package DERIVE.
To obtain Laplace transforms using DERIVE it is neces-
sary to load what is called a Utility File named In apps.
To do this is simple. Proceed as follows: In DERIVE,
choose File:Load:Math and select the le (double click) on
the Int apps icon. This will load a number of commands
which enable you to obtain many specialised integrals includ-
ing Laplace transforms. You can use the Help facility to learn
more about these if you wish.
Of particular relevance here is the DERIVE command laplace (y, t, s) which is dened by
laplace (y, t, s) :=
_

0
e
st
y dt
For example, to nd the Laplace transform of t
2
sin 2t.u(t) you would key (after declaring a
suitable range for s: see below): Author:Expression
laplace(t 2 sin(2t), t, s)
Now for the integral
_

0
e
st
y dt to exist the function y(t) must not grow faster than e
st
as t . For most functions of interest you need only declare that s > 0. (Use the
Declare:Variable Domain button in the Algebra toolbar. Choose s for the variable and then
choose the nonnegative option. DERIVE responds with s :Real [0, ). However, for some
functions this will not be sucient to ensure that the integral
_
c
0
e
st
y dt converges as c .
For example if y = cosh(at) with a > 0 being a constant then as cosh(at) =
e
at
+ e
at
2
you will
need to declare that s > a for convergence to occur and in order that DERIVE will produce the
correct expression for the integral. Even so, in some cases (particularly those involving expo-
nentials) DERIVE will fail to determine the Laplace transform. In these cases try and split your
function into simpler functions and try again. Alternatively use a more sophisticated symbolic
algebra program such as MAPLE (see below).
As an exercise use DERIVE to check the validity of the transforms listed in the table of trans-
forms.
DERIVE does not nd inverse Laplace transforms. However, it can help with the inversion by
using the Simplify:Expand command to obtain a partial fraction expansion of your function of
s. Then you are expected to nd the inverse transforms of the simplied expressions using a
look-up table.
MAPLE will determine Laplace and inverse Laplace transforms. Before you attempt either you
must load the inttrans library. Then, the laplace transform takes on an identical form to that
used in DERIVE. To obtain an inverse use the invlaplace(expr, s, t) command. What follows
8
is a simple MAPLE program segment to determine the inverse Laplace transform of
1
s
2
and
3
(s 1)(s
2
+ 1)
.
> with (inttrans): loading library
> invlaplace (1/(s 2), s, t);
t
> invlaplace (3/((s 1) (s 2 + 1)), s, t);
3
2
e
t
3
2
cos(t)
3
2
sin(t)
End of Block 20.2
10
You should obtain
_

0
e
st
dt since
L{u(t)} =
_

0
e
st
u(t) dt =
_

0
e
st
dt
and, in the range of integration, t > 0 and so u(t) = 1.
Back to the theory
You should have obtained:
L{u(t)} =
_

0
e
st
dt
=
_
e
st
(s)
_
0
= 0
_
1
(s)
_
=
1
s
where, again, we have assumed the contribution from the upper limit is zero.
Back to the theory
12
sinh at =
1
2
(e
at
e
at
)
Back to the theory
You should obtain a/(s
2
a
2
) since
L{sinh at.u(t)} = L
_
e
at
e
at
2
.u(t)
_
=
1
2
L{e
at
.u(t)}
1
2
L{e
at
.u(t)}
=
1
2
_
1
s a
_
1
2
_
1
s + a
_
=
1
2
_
2a
(s a)(s + a)
_
=
a
s
2
a
2
Back to the theory
14
You should obtain
s
s
2
a
2
since
L{cosh at.u(t)} = L
_
e
at
+ e
at
2
.u(t)
_
=
1
2
L{e
at
.u(t)} +
1
2
L{e
at
.u(t)}
=
1
2
_
1
s a
_
+
1
2
_
1
s + a
_
=
1
2
_
2s
(s a)(s + a)
_
=
s
s
2
a
2
Back to the theory
You should obtain L{u(t a)} =
_

a
e
st
dt (note the change in the lower limit) since:
L{u(t a)} =
_

0
e
st
u(t a)dt
=
_
a
0
e
st
u(t a)dt +
_

a
e
st
u(t a)dt
In the rst integral 0 < t < a and so (t a) < 0, therefore u(t a) = 0. In the second integral
a < t < and so (t a) > 0, therefore u(t a) = 1. Hence
L{u(t a)} = 0 +
_

a
e
st
dt.
Back to the theory
16
L{u(t a)} =
_

a
e
st
dt
=
_
e
st
(s)
_
a
=
e
sa
s
Back to the theory
1. (i)
1
s + 3
(ii)
e
3s
s
(iii)
3
(s + 1)
2
+ 9
(iv)
5s
s
2
+ 9

36
s
4
Back to the theory
18
3
(s 1)(s
2
+ 1)
=
3
2
s 1

3
2
s +
3
2
s
2
+ 1
Back to the theory
You should obtain:
L
1
_
3
(s 1)(s
2
+ 1)
_
=
3
2
L
1
_
1
s 1
_
3
2
L
1
_
s
s
2
+ 1
_
3
2
L
1
_
1
s
2
+ 1
_
=
3
2
_
e
t
cos t sin t
u(t)
Back to the theory
20
3
s
2
4s + 6
=
3
(s 2)
2
+ 2
Back to the theory
You should obtain:
L
1
_
3
(s 2)
2
+ 2
_
= L
1
_
3
2
_

2
(s 2)
2
+ 2
__
=
3
2
e
2t
sin
2t.u(t)
Back to the theory
22
(i)
10
6
t
3
(ii) e
4t
cos t 5e
4t
sin t (iii) 3 cos 3t
7
3
sin 3t (iv) 2e
t
+ e
2t
(v)
3
4
u(t) +
1
4
e
4t
u(t) (vi) (e
t
cos t + sin t)u(t)
Back to the theory

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