ENGS 22 — Systems

Laplace Transform Table

Largely modeled on a table in D’Azzo and Houpis, Linear Control Systems Analysis and Design, 1988

F (s)
1. 1
2.

1
s

3.

1
s2

1
4.
sn
1 −as
5. e
s
1
−as
(
1

e
)
6.
s
7.

1
s+a
1
( s + a) n
1
s ( s + a)

f (t) 0 ≤ t
δ (t )
unit impulse at t = 0
1 or u(t )
unit step starting at t = 0
t ⋅ u(t) or t

ramp function

1
t n −1
( n − 1)!

n = positive integer

u (t − a )

unit step starting at t = a

u(t) − u(t − a)

rectangular pulse

e −at

exponential decay

s( s + a)(s + b)
1
12. (s + a)(s + b)

1
t n−1e −at n = positive integer
(n − 1)!
1
(1 − e −at )
a
1
b −at
a −bt
(1 −
e +
e )
ab
b−a
b−a
1
b(α − a) −at a(α − b) −bt
[α −
e +
e ]
ab
b−a
b−a
1
(e − at − e −bt )
b−a

s
13. ( s + a )( s + b)

1
( ae − at − be −bt )
a−b

8.
9.

1
10. s(s + a)(s + b)
s +α
11.

Laplace Table

Page 1

ENGS 22 — Systems

F(s)

s +α
14. ( s + a )( s + b )

1
15. ( s + a)(s + b)(s + c)
s +α
16. (s + a)(s + b)(s + c)

ω
17. 2
s + ω2
s
18. 2
s + ω2

s+α
19. 2
s +ω2

0≤t
f(t)
1
[(α − a)e −at − (α − b)e −bt ]
b−a
e−at
e−bt
e−ct
+
+
(b − a)(c − a) (c − b)(a − b) (a − c)(b − c)

(α − a)e−at
(α − b)e−bt
(α − c)e−ct
+
+
(b − a)(c − a) (c − b)(a − b) (a − c)(b − c)
sin ω t

cos ω t
α 2 + ω2
sin(ωt + φ )
ω

s sin θ + ω cos θ
20.
s2 + ω2

sin(ωt + θ )

1
21. s ( s 2 + ω 2 )
s+α
22. s ( s 2 + ω 2 )

1

1
23. (s + a)(s 2 + ω 2 )

ω2

φ = atan2(ω, α )

(1 − cosωt )

α
α2 +ω2

cos( ω t + φ )
φ = atan2(ω,α )
ω2
ω2
e − at
1
+
sin(ωt − φ )
2
2
2
2
a +ω
ω a +ω

φ = atan2(ω, α )

1
24. (s + a) 2 + b 2
1
24a. 2
2
s + 2ζω n s + ω n
s+a
25. ( s + a ) 2 + b 2
Laplace Table

1 − at
e sin(bt )
b

1

ωn 1 − ζ 2

e −ζωnt sin(ωn 1 − ζ 2 t )

e − at cos( bt )
Page 2

ENGS 22 — Systems

F(s)

s +α
26. ( s + a ) 2 + b 2
26a.

(α − a ) 2 + b 2 − at
e sin( bt + φ )
b

(

α
ωn

s +α

s2 + 2ζωns +ωn

0≤t

f(t)

− ζωn

)

1−ζ 2

2

2

+1

⋅ e −ζωnt sin(ω n 1 − ζ 2 t + φ )

φ = atan2(ωn 1 − ζ 2 ,α − ζωn )
1
1
−at
+
e
sin(bt −φ)
2
2
2
2
a +b b a +b

27.

1
s[(s + a)2 + b2 ]
27a.

1

1
s(s 2 + 2ζωn s + ωn

2

ωn

2

φ = atan2(b,α − a)

1

ωn 2 1 − ζ 2

φ = atan2( b,− a )

e−ζωnt sin(ωn 1 − ζ 2 t + φ )

φ = cos − 1 ζ

28.

1 (α − a) 2 + b2 −at
+
e sin(bt + φ)
2
2
2
2
a +b b
a +b
φ = atan2( b , α − a ) − atan2( b , − a )

28a.

α
1
α
−ζω t
2
2
2
+
(

ζ
)
+
(
1

ζ
)

e
sin(
ω
1

ζ
t +φ)
n
2
2
ωn ωn 1−ζ ωn

α

s +α
s[(s + a)2 + b2 ]

s +α

n

s(s2 + 2ζωn s + ωn )
2

29.

1
(s + c)[(s + a)2 + b2 ]

Laplace Table

φ = atan2(ωn 1 − ζ 2 ,α − ω nζ ) − atan2( 1 − ζ 2 ,−ζ )

e −ct
e −at sin(bt − φ )
+
(c − a) 2 + b 2 b (c − a) 2 + b 2

φ = atan2(b, c − a)

Page 3

ENGS 22 — Systems

F(s)
30.

1
s(s + c)[(s + a)2 + b2 ]
31.

s +α
s(s + c)[(s + a)2 + b2 ]

0 ≤1

f(t)

1
e−ct
e−at sin(bt − φ)

+
c(a2 + b2 ) c[(c − a)2 + b2 ] b a2 + b2 (c − a)2 + b2
φ = atan2(b,−a) + atan2(b, c − a)
(c − α )e −ct
α
+
c(a 2 + b 2 ) c[(c − a) 2 + b 2 ]
(α − a) 2 + b 2

+

e −at sin(bt + φ )

b a 2 + b 2 (c − a) 2 + b 2
φ = atan2(b, α − a) − atan2(b,−a) − atan2(b, c − a)

1
32. s 2 ( s + a )

1
33. s(s + a)2
s +α
34. s(s + a)2

s 2 + α1s + α 0
35. s(s + a)(s + b)

s 2 + α1s + α 0
36. s[(s + a) 2 + b 2 ]

1
(at−1+ e−at )
2
a
1
(1− e−at − ate−at )
2
a
1
−at
−at
[
α

α
e
+
a
(
a

α
)
te
]
2
a

α0 a2 −α1a + α0
+

e

−at

b2 −α1b + α0 −bt
e

b(a − b)

ab
a(a − b)
α0 1 2 2
2
+
[(
a

b

α
a
+
α
)
1
0
c 2 bc
1
2 2

+ b (α1 − 2a) ] e−at sin(bt + φ)
φ = atan2[ b(α 1 − 2a ), a 2 − b 2 − α 1 a + α 0 ] − atan2( b,− a )
2

c2 = a2 +b2

Laplace Table

Page 4

ENGS 22 — Systems

0 ≤1

F(s)

f(t)

37.

(1 / ω ) sin(ωt + φ1 ) + (1 / b)e − at sin(bt + φ 2 )

1
(s2 +ω2 )[(s + a)2 +b2 ]

38.

s +α
(s2 +ω2 )[(s + a)2 +b2 ]

s +α
39. s2[(s + a)2 + b2 ]

s 2 + α1s + α0
40. s 2 (s + a)(s + b)

2

2

2

φ1 = atan2(−2aω, a2 + b2 − ω2 )
φ2 = atan2(2ab, a 2 − b 2 + ω 2 )

1 α 2 + ω2 2
(
) sin(ωt + φ1 )
ω
c
1
1 (α − a)2 + b2 2 −at
+ [
] e sin(bt +φ2 )
b
c
c = (2aω)2 + (a2 + b2 −ω2 )2
1

φ1 = atan2(ω , α ) − atan2( 2aω , a 2 + b 2 + ω 2 )
φ2 = atan2(b,α − a) + atan2(2ab, a 2 − b 2 − ω 2 )
1
2

1
2α a
[b + (α − a ) ] − at
(α t + 1 −
)+
e sin( bt + φ )
c
bc
c
2

2

c = a 2 + b2
φ = 2atan2(b, a) + atan2(b,α − a)
α1 +α0t α0 (a + b) 1
α1 α0
ab

Laplace Table

1
2 2 2

[ 4a ω + ( a + b − ω ) ]
2

(ab)

2

a −b

(1−

a

+

2

a

)e−at

α α
1
(1− 1 + 20 )e−bt
b−a
b b

Page 5

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