LAPLACE TRANSFORMATION 22t Eq. (636) is referred to as the exponential shift, This imme~ diately yields the following new Laplace Transforms : From Eq. (6°10), Sle! ma (631 When a=I, ste de A637 ab From Eq. (6'14), Lfer* sin ar]= wore ...(6°38) From Eq. (615), £le cos w= pete +639) From Eq. (6'12), £fe* sinh ar. (6°40) From Eq. (6°13) Sle cosh alge (641) (vi) Inverse Laplace of derivative of F(s). On differentiating Eq. (6°) with respect to s, we get oS tem pode 622) |p otro =£[-1 fa) (6°43) Similarly F(S)= Le fo) +-(6°44) pint d s P(e . In general. F™{ jae Fs (ar fa (6°45) Ea. 45) immediately yields the following new Laplace transforms . gu -Va¥ From Eq. (6'14), ie. MoU Vv v¥ Slr sin at] (6-46)322 NETWORK ANALYSIS From Eq, (6115). d sr c0s ari=—4 [ a ; = Gar A647) From Eq. (612), Stesinh a= [25 | (6°48) 65, Application of Laplace Transformation in Analysing Simple Networks Here we take up the analysis of a few simple networks making use of Laplace transformation and the theorems regarding Laplace transformation. (A) Step Respoase of Series R-L Circuit. Consider she series AL circuit of Fig. 65. Let the switch K be closed at time 1=0. Application of Kirchhofi’s voltage law to the circuit yields the Following differential equation : tH RimVe ut) (6°49) dt 7 ‘ The corresponding Laplace Fig, 6°5. Series RL circuit. transform equation is, L [suo-io+) J-ar = -{6°50) We now insert the initial condition. Because of the presence of inductance L, (O+)=0. Inserting this initial condition in Eq. (6°50), we get (65D)LAPLAGE TRANSFORMATION 223 Table 61 Table of Laplace Transforms Ky 41, we) r 1” (nis integer) est e IRI a neat sin at cos at sinh i cosh at evttsin of ent cos we sin (we cos (wt+0) tcos at rein at $a at sin at tosh at Fa) Gay alee C= 1 GF MEFONSTS) sig =a a ae paces Fat sat £003 8-w sin 8 Frat224 NETWORK ANALYSIS Now inverse Laplace transform of from the Table of s(s—a) Laplace transforms:is, — De. In this case a=. Hence Eq. (6°51) yields, ~=an)| 1 ] Be | + 2.16°52) Re This is the same solution as given by Eq. (3°32) obtained by classical method. It may be noted that Eq. (6°52) gives the complete solution directly. Here is the steady state response, i.e. the Re vy z ss Particular integral while ~—Q e is the transient response, te. the complementary function. Alternatively. With reference to Eq. (6°51) instead of using the Laplace transform table to find the inverse Laplace transform 1 for the function Ey We may break the quantity aay st into several parts. Thus let. Val Tateosr Kies s( ee Wes) (# AN foie Va where K, and K, are unknown coefficients. Eq. (6°53) may be put as, (6°53) +=(6°54) Hence «,( +2) Kos (6°55) Equating coefficients of Tike functions, we get the following braic equations, and Equaticas (6 a (6°57)LAPLACE TRANSFORMATION 225 Substituting these values of K, and K; into Ea. (6°53), we get Lod ge 8s 5 Ros R StRILe (6°58) fel - Hence n= [4-1] 46°59) Taking the inverse Laplace transformation, we get Ty Re -4f | (66D) Eq. (6°61) gives the complete particular solution. (B) Step Response of Series R-C Circuit. Consider next “the series R-C circuit of Fig. 6°6. Let the switch be closed at time t=0. Application of Kirchhoff’s voltage law to the circuit yields the following integro-differential equa tion: a er) Fig. 66. Series R-C circuit. +++(6°62) This may be put as, : 0 ls idee bf td Rim Peale (6°63) The corresponding Laplace transform equation becomes IPI) VL 5 CLs [Pe LGO+ + RUG) or zi + MOD as (6°64) Now (0+) is the charge on the capacitor C at time 0+. If the capacitor in initially uncharged, then q(0-+)=0. Hence Eq. (6°64) reduces to the following form : Xs) le +R F % (6°65) Hence j= «--(6'66) le RE ea226 NETWORK ANALYSIS Eq, (6°66) gives, what may be called, the revised transform, ‘On taking the inverse Laplace transform Eq. (6°66) may be put as, sorny=sf el (667) ST RG ee eels or @=z e RC +++(6°68) Eq. (6°68) is the complete particular solution. (C) Step Response of Series R-L-C Circuit. In the series R-L-C circuit of Fig. 6°7, let the switch K be closed at time ‘=0, applying a d.c. voltage V» to the circuit. Application of Kil chhoff’s voltage law to the circuit i L( then yields the following integro- a differential equation c4ary st 3f itt dt Fig. 6-7. Series R-L-C circuit. =Vout) — ».(6°69) This may be put as diy 0 linia i ole poem k pitt, area) (670) The corresponding aad transform equation becomes, on Ky LEsM9) “HOH I+ RUG) + FLq04)+ FAD =H 671) ¥, or List(s) ~10-4)1+RKs)+ LACH E. 10) ¥4 (672) Se Now we insert the initial conditions. Because of the presence of inductor Z, i(0-+)=0. Further q(0+) is the charge on the capacitor Cat 1=0-+. If the capacitor is initially uncharged, then q=(0-+)=0. Substituting these two initially conditions Eq. (6°72), we get Ls. 1)+R. 1449) =Le +673) or : Is) ee oe ce +(6°74) Hence Is)= (675) ---(6°76)LAPLACE TRANSFORMATION 227 where s,, s» are the roots of the equation, 1 Ls?+Rs+ ‘0 +677) , Thus 4, 4= L at R G +-(6°78) On taking the inverse Laplace transform, Bq. (6°76), yields (tj Lol pent pst 7 UO eeam) fe ene} +(6°79) (D) Step Response of Parallel R-L-C. Cirenit, In the parallel R-L-C cireuit of Fig. 6°8, let the switch K be opened at time Fig. 6:8, Parallel R-L-C Circuit. #=0, thus connecting the d.c. current source {/ to the circuit. Application of Kirchhoi’s current law to the circuit yields the following integro-differential equation, dy Lye . c-R ++ en vdt=Iy.u(t) (6°80) This may be put as, dy 1/0 if ob . oh tert HH. vate tf rdt= had) (6°81) The corresponding Laplace transform equation is, eV) WOHIFGKE)+ LMHOH+ +O =4 692) where (0+) is the flux linkage and equal Li(0+). Now we insert the initial conditions. Because of the presence “of capacitor C, (0-+)=0 since the voltage across a capacitor cannot change instantaneously. Also the current in the inductor L during the time interval —20 to 0 is zero. Hence 40+) is z2ro, Substituting’ these two initial conditions in Bg, (6°82), we get CHM)AGMO+ VO Te ---(6'83)228 ‘NETWORK ANALYSIS pre “ or vol crto+ 7 FS w(684) Hence Vv(s): ——> +-(6°85) ( c#+Gs++) “ be ! 4 (6°86) C (s+ qe) Bae BREE S 5 CGH 55H) ee here sys sy are the roots of the equation, c#8+6s++-=0 (688) asl : Cc Then sy =a * Fe Jen (6°89) om taking the inverse Laplace transform Eq. (6°87) yields, y= [ot ~e | «(6°90) a5 This is the same as Eq. (569) obtained through classical analysis. Example 6'1. In the given circuit switch K is closed at time 1=0. There is no ‘current through L prior to switching. Obtain the particular solution for i(t). (Note: This is the same as exercise 3°3 of chapter 3.) Solution. Application of Kirehhoff’s voltage law to the circuit yields, di * tHe Rim0 ul val) dt ti j= 0 ap 10 u(t)LAPLACE TRANSFORMATION 229 ‘The corresponding Laplace transform equation is, 8 1(s)—i0+)+1(s)=10 4 (2) Since the current in the inductor cannot change instaata- neously, We have (0+)=0. Putting this initial condition in Eq. (2), we get I\{1-+s}=10 4 (3) or U(s)= wear +(4) On taking inverse Laplace transform Eq, (4) yields, i)=10 (-=t}i--1 =10[1—e*]. Example 62. inthe given circuit switch K is moved from position I}to position 2 at time t=O, the steady-state current having R, 102. a0 ae i@) San Previously established in the R-L circuit. Find the particular solution for the current i(t) after switching. f Solution. Application of Kirchhoff’s voltage law to the circuit with switch X in position 2 yields, di i LG tRu+Ru=0 En di or 4 F420 i=0 -(2) or is i=0 ‘The corresponding Laplace transform equation is, 5U)-i(0+)+5 Is)=0 or A(s\(s+5)=i(0-+) Now current at =0—is 72 =m] ampere, After switeh- ‘ing the current /(0-+) must also be | ampere because of the presence of inductor ZL. a230 NETWORK ANALYSIS. Thus Eq. (4) becomes, D WW=s3 +5) On taking inverse Laplace transform, we get =e ; Example 63. _{n the given circuit, switch Kis closed at time 0. Obtain particular solution for current i(t) after the switch is K R 22 closed. Assume that there is no charge the capacitor C before switching. ye tov Solution, Application of Kirchhofi’s voltage law to the circuit yields the following equation : af. i dt+Ri=Vo. ult) o() This may be put as, Le; 1 Ef, a+ 2) ‘The corresponding Laplace transform equation is # AIO 41 org eye Cog TG QOH 1) =h0-5 x6) Now q(0+) is the charge on the capacitor C at time i=0-+, Since the charge at ‘=0— is zero, the charge at ‘=0+ is also zero Since the charge across a capacitor cannot change instantaneously. Thus 9(0+)=0. Hence Eq. (3) reduces to the following form : us [ ate Jevet ce Te —R an peo Re ‘Taking the inverse Laplace transform, t ' Ko RC _10V g 3x01 (=H € 2a fe or M5 er".LAPLACE TRANSFORMATION 237 veecchtng A ba t) ...(6°91) ‘The corresponding Laplace transform equation may be put as, S{v(s)]+Initial condition terms 1()= "7 9h-ba, obanastan -(6°92) tn general this Laplace transform equation is a quotient of polynomials in s. ‘Thus we may write, N(s) - 19= Dey +(6'93), where M(s) and D(s) are polynomials in 5. it may be noted that D(s)=0 is nothing but the characteristic equation in classical method. In general, the transform expression for J(s) namely we is required to be split into simpler terms be~ fore use of Laplace transform table may be made to obtain the Inverse Laplace transform. Before the partial fraction expansion is done, it is necessary to ensure that the order of the polynomial N(s) is less than the order of the polynomial D(s). If the order of the polynomial N(s) equals Cr exceeds that of D(s), then we divide the numerator by the denominator to obtain an expansion of the following form: NOs) Nils) H ae Dae 94) where 7 is the order of the numerator and d is the order of the denominator. ort Ags Ags eee Anas Now the principle: of a partial fraction expansion may be Mls), applied on the term P5~ ‘The first step consists in factorising the denominator poly- * nomial D(s) Thus —_D(s)=ags4-bays 2+ pads tau 70851) (S—Sa) +(s—sa) ++(6°95) sa are the d roots of the equation D(s)=0. where Sy, Saees These roots may assume the following three possible forms (i) real and simple roots (if) conjugate complex roots (ii) multiple roots. Ifthe roots are real and simple, then the partial fraction expansion is as follows :238 NETWORK ANALYSIS sls sa) meses sis=se where Kj, X;, etc, are real constants, called residues. If the roots are such that two roots form a complex conjugate pair, then the partial fraction expansion is as follows : MGs See ae DNs 2— Boe I@) (SB) (a+ 7B) where A and K;’ form complex conjugate pair. 6°97) Thus when the roots form a conjugate pair, the partial fraction expansion coefficients also form a conjugate pair. If the roots are repeated r times, then the partial fraction expansion is as follows : NGOs & s sy "G-)* Gs) + CaF Similar terms will appear for another repeated root, if any. Be (6°98), 67. Heaviside’s Partial Fraction Expansion Theorem ____, This theorem provides the method for evaluation of coefficients in K,, Ky etc. in the partial fraction expansion. Case 4 ; Real and simple roots. Reverting to the case of teal and simple roots, partial fraction expansion is given by Eq. (6°96) reproduced here : MG) __ x ; Ds) ss ssa ei) The coeflicients K;, Ky----; Ka are required to be evaluated. Then any coefficient say Ke is given by nmultiplying the quotient NX, oe by the denominator of coefficient K;, ie. by the factor i—s») and setting s tothe root ss. Thus coefficient Ky is given by, a [BP o-») ]L, +-(6'100) = 4 Case B. Repeated roots. Let there be r repeated roots each fal to 5p. Let then, MGs) __PG) _ Ks D(s) there » is any term in the partial fraction expansien and is less mrLAPLACE [RANSFORMATION 239 P(s) is given by, NS) (5—s)r ‘ P(s)= Ds) + (ss) ++-(6°102) Multiplying Eq. (6°101) by quantity (s—sy)’, we get PL) Ki s— 59)" 24 Kals— 52) HF one Re (Sp) + Ke ++-(6°103) Now if we let s=se, all terms on the right hand side of Eq, (6103) vanish except the term Kr. This gives the value of Kr as, af oe |, (6104) Now on differentiating Eq. (6103) once with respect to s, serm K; vanishes but the coefficient Kr-, remains without a multi- plying function of s. In this differential equation if we let s=s», all terms on the right hand side of the differential equation disappear except the term Kr. This gives the value of Kruz Gm -( dP(s) a (6108) By successive differentiation we may thus find value of each of the coefficients K,, K, etc. The general term Ka may be obtained by differentiating Bq, (6103), (r—n) times and letting s=se. Then we get -at-* Ps) ; Seas lee ++-(6'106) or es)" ],_, 6109 Examaple 610. Current I(3) in a network is given by asts 1" Fh gs t8 At is required to expand this quotient of polynomials by the method of Partial fractions. Solution, The quotient of oa may be put as, 2545 2sk5 PESs+6 ~ G42) FS) ts al To find X,, we multiply Eq. (1) by (s+2). Thus we get 2545642) _ pw Gres) MTR oy ie) 2s 5o_ sha or PK, +k, 2 (3)240 NETWORK ANALYSIS Let s=—2, we get 2(—2) 45 (—)+3 To find Ks, we multiply Eq. (1) by (s+3). Thus, we get . al4) (5) Putting s Ky (6) Hence, we get 2st+5 P+S+6 ) Example 611, Current I(3) in a network is given by eat a 19= GF It is required to expand this quotient of polynomials by.the method of partial fractions. Solution. In this case, the denominator has repeated factor (s+). Hence the quotient of polynomials may be put as, s+3 Ky Ky GE AHH GE ee} On multiplying by (s-+1)%, Eq. (1) yields, (st3)=Kys+D+K, -s(2), Putting —1, in Eq, (2), we get 3) Differentiating Eq. (2) with respect to s yields, d(st3) |, dst) i ds ds i) Hence x ' Hence the part/al fraction expansion is, st3 0 pe . GED FT TG Example 612, Let a quotient of polynomials that results on 4 = Laplace transformation of a fetwork equation be!» tis 4 ue of Matton 08 SE4sto required to expand this quotient of polyfemials by the method of partial fraction.LAPLACE TRANSFORMATION 241 Solution, The quotient of aaa may be put as, 1 KX Sate = EE +o seed Multiplying Eq. (1) by (s-+2+J2), we get ++(2) or (3) we(4) Putting s=—2+4)2 in Eq, (4), we get apa K, ae « ese(5}: Hence the desired expansion is, Bel enamel hee (6)! Stds+8 Sa tee s+2—j2 Example 613, Let the quotient of polynomials resulting on Laplace transformation of a network equation be FASE? 7, jg required to expand this quotient of polynomials by the method of partial fractions. Solution, The quotient of polynomials may be written as, nes cae = ey a 5 TF a Multiplying Eq. (1) by (s+1)8, we get P(s)=(2s°-+5s+2) SK sHIP+K (stl) +K, (2) Puttin 1, in Eq. (2), we get Ky=(2—5+2)=—1 +3) Differentiating Eq, (2) with respect to s, we get (s+5)=2K, (+1) +K; wld) 1 in Eq. (4), we get Putting s= “ ma (5):242 : NETWORK ANALYSIS Differentiating Eq. (4) with respect to s, we get 4=2K, Hence K,=2. Hence the partial fraction expansion is given by, 25-55 2 1 L GED! stl + GH Gth i» Example 614, The quotient of polynomials resulting on Laplace transformation of a network equation Goer It is required to expand this quotient of polynomials by the method of partial fractions. Solution. In this case the polynomial in the denominator contains both simple and repeated roots. Hence a combination of both rules of partial fraction expansion may be used. Thus let, padre -oal ae Ri aK GFIGTO~ GED TGF a0) Multiplying Eq. (1) by (s+2), we have g (2543) _ Kilst2) , Bals+2) Gr GED + Gt th 3@ Putting s=—2 in Eq. (2), we get (=A Key BAe) Next, multiplying Eq. (1) by (s+1)%, we get (2s+3) Lx, tbe RE TR ADEE “Ey (4) Putting s=—1 in Eq. (4), we get i+ Kare +5) | Differentiating Eq. (4) with respect to S, we get (42)2— (2543) _ AsHIWs+N—(+I) cient ae (+2 i) s 1 - (st Is3) or Gogh. “Ga GM Putting s=—1 in Eq. (7), we get ei Keak (3) ealste2)LAPLACE TRANSFORMATION 243 Hence the partial fraction expansion is given by, 2 a eee a GFD%S2) ~S+T 1 GEDE Gta Fzample 615. Find the inverse Laplace transform of each of the following function FCs) 2543 (@)) HOSES (ay _asttd © S55 (crete © Tey Solution, 2s+3 243, SH SEs PGES ~O Multiplying Eq. (1) by s, we get aet-3y wa 343 -Q) Putting s=0 in Eq. (2), we get (a) 1=K, (3) Multiplying Eq. (1) by s+-3, we get 23 Ae eoet3 Rese ae (4) Putting s=—3 in Eq. (4), we get ct (5) aie: rs rt ytE it Multiplying Eq, (1) by (s+2), we get 2st 6s4+5) 1s 42 2. (erpe eT Ee gape th =. (2) Putting s=—2 in Eq. (2), we get or f — | 6) w u cigs eee (4)244 NETWORK ANALYSIS Putting s=—1 in Eq. (4), we get Us vdy av +2-645 x Vv vee =i or K,=1 ses) Differentiating Eq. (4) with respect to s, we get (etd +O)—Ost4 6045) 2 x4 x, EFDA Doe EOE (+2 (oe - 2st 8547 (s+1)Qs+3) =K SS wl er Gia TR Gra a Putting s=—1 in Eq. (6), we get 28-47 ' wor or Ky wil + 65+5 1 L 1 Hence PETE TFT GEE PR eae) wai2$6545 ety ett Hence ©" raery TE oe By Ky ie Pte aa Multiplying Eq. (1) by's, we get > atts ame ey te Gag te Sa Putting s=0 in Eq. (2), we get a K, or Ky=1 Perf) Multiplying Eq. (1) by.(s+j2), we get (3s?-+4) sti2 BE hk Rt he 2G) Putting s=—2 in Eq. (4), we get ' k= +=(5) Multiplying Eq. (1) by (s—72), we et G44) go set 3 TE rks a Putting s=j2 in Eq. eo we get +4 82 K= pea =8 () aR ai ale geil Henet(s¢4) 5 siz $ --@) & »LAPLACE TRANSFORMATION of 3st = ( E(u e | Hence ed) ety ker(t z)+2 sate a( dep us +2 cos 22 | Example 616. Using Laplace transformation, solve the following diferential equation : a tim sule) Gien that “i(0+)=3 and # a E Cot y= 4. Solution, The La, s place transformation of this differential equation is [s1—s0+)—# (04 |] 4010) -1 0-4 1+8K0)—8 4 (1) or gr Lor +404) ...2) Putting 1(0-+)=3 and fH =—4in in Eas (2), we get owe +3s+8 3s*+8s+8 Saag (3) 357+ 8s+8 ce MO SPs) sat) This equation may be expanded by the method of partial fractions. Thus let, 3s? +85+8 Ky Ky Ut sores ear aUrse ES heres oer To evaluate K, we ee Bg. (5) by 3. 3s8+85+8 Sada Ks srasta ht apy te. (3) Thus, we get 5 ar. Putting s=0 in Eq. (6), we get Katai wD) To evaluate X;, we Imultiply &q. (5) by (s+2+/2). Thus we getNETWORK ANALYSIS Gs?+8s+8) _ st2+j2 % s+24j2 4 ES eae nse ay 2/2) in Eq. (8), we get __(H2 =f 8(—2=j)+8 kD =O) To evaluate KX, we multiply Eq. (5) by (s+2—j2). Thus, aon Putting s= 3285+ st2-j2 st2—j2 sSF2-4) K. aes SHIA? +Ky +(10) Putting s=(—2+,2) in Eq. (10), we get Kye SDAA H2HIDAB _ (BFF 2 4 G24 2492) Hence the complete partial fraction expansion becomes, ite aaa fie ee W=> typaqp tT sFIye 12) inverse Laplace transformation Eq. (12) yields, alter atat Slte tebe] oe(13) =142e" cos 2t (14) 1) 68. Response of Series R-L Cirenit to Exponential Driving Voltage ‘The exponential driving force voltage Vje"** is applied to the series R-L circuit at time 1=0 by closing the switch K. Ve and a Fig. 69. R-L series circuit with exponential driving voltage. ~ are constants. It is required to find the particular solution for current i(1) using Laplace transformation. \ Application of Kirchhoff’s voltage law to the network yields tf Riare (6108)