MATHS

TUTORIAL LAPLACE and FOURIER TRANSFORMS

This tutorial is of interest to any student studying control systems and in particular the EC
module D227 Control System Engineering.

On completion of this tutorial, you should be able to do the following.

Define a Laplace Transform.
Transform some common functions of time.
Use a table of transforms to solve problems.
Conduct inverse transforms.
Define the Fourier Transform.
Transform equations into complex numbers.
Students should familiarise them selves with the tutorial on complex numbers.

D.J.DUNN

1.

INTRODUCTION

The Laplace transform is a method of changing a differential equation (usually for a variable that is a function of
time) into an algebraic equation which can then be manipulated by normal algebraic rules and then converted
back into a differential equation by inverse transforms.
This tutorial does not explain the proof of the transform, only how to do it.
2.

THE LAPLACE TRANSFORM

The Laplace transform is used to convert various functions of time into a function of s. The Laplace transform of
any function is shown by putting L in front. Hence L f(t) becomes f(s).
The transformation is achieved by solving the equation
L f(t) = f(s) = e -st f(t) dt = f(s)
The limits of integration for time is between 0 and t and for s it is between 0 and .
d
The first and possibly most difficult task is to find the Laplace transform of
where is itself a function of time.
dt
The reasons for this will become clear later.

d
d
L
= f(s) = e st
dt this can be done by integratin g by parts.
dt
dt
0
dv

u dt

dt = uv v

du
du
dv
d
dt so making u = e- st then
= se st and making
=
then v =
dt
dt
dt
dt

Substituti ng and putting in the limits we have :

d
L
= f(s) = e st
dt

st
( se )dt
0

d
L
= f(s) = e - - e 0 t = 0 se st dt
dt
0

d
L
= f(s) = 0 - e 0 t = 0 se st dt
dt
0
d
L
= f(s) = t = 0
dt

se

st

)dt

if is 0 at t = 0 then

d
= f(s) = se st dt
dt
0

d
= f(s) = s e st dt = s L
dt

The Laplace transform of the first derivative of is the Laplace transform of multiplied by the operator s. It can
be shown that the Laplace transform of the nth derivative of is sn L

D.J.DUNN

3.

THE s OPERATOR

The previous derivation leads us to conclude that a quick way of doing the transform of a derivative is to replace
d/dt with the operator s so L (d/dt) becomes s. By a similar derivation the Laplace transform of the nth
derivative dn/dtn becomes sn. The transform of on its own becomes so and the integral of becomes s-1
and so on. Here is a table that should make this clear.
2
dt s

dt

s 1

s 0
d
s
dt
d 2
s 2
2
dt
d n
s n
dt n
Now we should look at how to transform some other functions.

WORKED EXAMPLE No.1

Find the Laplace transform L H when H is a constant.
SOLUTION

L( H ) =

- st
e f ( t ) dt
0

st

e st
H dt = H

s 0

0
1
H
f(s) = H

s
s
s
H
L( H) = f(s) =
s
For a unit step H = 1 and the Laplace transform is 1/s

WORKED EXAMPLE No.2.

Find the Laplace transform of e-at
SOLUTION

( ) 0f ( t ) dt

L e -at =

( )

Le

- at

( )

L e - at

( )

L e - at

D.J.DUNN

e st e-at dt =

e (s + a)t
=
s + a
0
=

s + a
1
= f(s) =
s +

1
s + a
a

e (s + a)t dt

SELF ASSESSMENT EXERCISE No.1

1.

Find the Laplace transform for f(t) = ct and check your answer against the table.

2.

Find the Laplace Transform of f(t) = 1 + 3e-at. (Answer 1/s + 3/{s+a})

3.

Change the following differential equations into Laplace form.

i.
ii.

4.

(Answer {Ts + 1})

(Answer {T2s2 + 2Ts + 1)}

Using the table on the next page, find the Laplace Transform of the following time functions.
i.
ii.

4.

T d/dt +
T2d2/dt2 + 2T d/dt +

k sin (t)
k{1 e-t/T }

INVERSE TRANSFORMS

Inverse transforms are simply the reverse process whereby a function of s is converted back into a function of
time. For example the reverse transform of k/s is k and of k/s2 is kt.

SELF ASSESSMENT EXERCISE No.2

Find the inverse transform of the following.

i.

k
s (Ts + 1)

ii.

k2
s s2 + 2

D.J.DUNN

5.

TABLE OF COMMON LAPLACE TRANSFORMS

Note that the use of the letters for constants is arbitrary and that often the solution is found by interchanging a
with 1/T and . H and k are arbitrary constants.
Time domain f(t)

Frequency domain f(s)

1
2
3

e-at f(t) dt

ct

f(s + a)
1
H
s
c
s2
e sT
H
s
1 - e sT
s
k
s + a
k
(s + a) 2
k(b a)
(s + a)(s + b)
k
2
s + 2
2k 2s
(s 2 + 2 ) 2
ks
2
s + 2
k
(s + a) 2 + 2
s + a
(s + a) 2 + 2
ka
a = 1/T
s(s + a)

H(t - T)

6
7

k e-at

kt e-at

K(e-at - e-bt)

k sin (t)

10

k t sin(t)

11

k cos (t)

12

k e-at sin (t)

13

k e-at cos (t)

14

k 1 e T

k t 1 e T

k(1-cost)

15
16
17

k sin (t + )

D.J.DUNN

Description

Unit Impulse
Step H
Ramp
Delayed Step
Rectangular pulse
Exponential

Sinusoidal

Co sinusoidal
Damped sinusoidal
Damped co sinusoidal
Exponential growth

ka
s (s + a)
2

k 2
s(s 2 + 2 )
k{ cos + s sin }
s2 + 2

6.

FOURIER TRANSFORM

Suppose x = Aej t then dx/dt = jAe j t In Laplace form s x = jAe j t = j x

It seems that s x = j x so the operator s is the same as j and this substitution is the Fourier Transform.
j is the complex operator j = -1. When this transform is done, G(s) is changed into G (j)

WORKED EXAMPLE No.3

Transform G(s) = Ts + 1 into a complex number. Given T = 0.4 seconds, evaluate the magnitude of G(s)
when = 15 rad/s.
SOLUTION
Substitute s = j and G(s) = Ts + 1 becomes G (j) = jT + 1 or G (j) = 1 + jT
The usual form for a complex number is A + jB. The complex number may be represented on an Argand
Diagram as shown.

The magnitude is {(T)2 + (12)} = {(15 x 0.4)2 + 12} = {(36 + 1} = 6.08

WORKED EXAMPLE No.4

Transform G(s) = T2s2 + 2Ts + 1 into a complex number. Given T = 0.4 seconds, evaluate the magnitude
of G(s) when = 15 rad/s and = 0.5.
SOLUTION
Substitute s = j and G(s) = (T2s2 + 2Ts + 1) becomes
G (j) = T2(j)2 + 2T(j) + 1 = -T22 + j 2T + 1 = (1 - T22) + j 2T
The usual form for a complex number is A + jB. The complex number may be represented on an Argand
Diagram as shown.

The magnitude is {(1 - T22)2 + (2T)2} = {(1 - 0.42 x 152 )2 + (2 x 0.5 x 0.4 x 15)2}
The magnitude = {(-352 + 62} = {(-352 + 62} = 35.51
D.J.DUNN

WORKED EXAMPLE No.5

Convert G(s) = 1/(T2s2 + 2Ts + 1) into a complex number of the form A + jB
SOLUTION
1
T s + 2T s + 1
1
G(j ) = 2
2
T ( j ) + 2T j + 1
1
G(j ) =
2 2
1 T + 2T j
1
G(j ) =
A + jB
G(s) =

2 2

where A = 1 T 2 2 and B = j2T

Multiply t he top and bottom line by the conjugate number A - jB

A jB1
(A + jB)(A jB )
A jB
G(j ) =
= C jD
A 2 + B2
G(j ) =

C =

A
=
2
A + B2

(1 2T 2 )
{(1 2 T 2 ) + (2 T )2 }

D =

B
=
A + B2
2

SELF ASSESSMENT EXERCISE No.3

Convert G(s) = 1/(Ts + 1) into a complex number of the form A + jB.
The solution is shown on the next page.

D.J.DUNN

2 d T

{(1 T )
2

2 2

+ ( 2 T )2

SOLUTION TO S.A.E. 3
1
G(s) =
Ts + 1
For a sinusoidal response replace s with j
1
G (j ) =
j T + 1
This is converted into a complex number by multiplying the top and bottom by the conjugate number.
G(j ) =

(1 j T )
(1 j T)
1
j T
=
=

2
2
2
2
(1 + j T )(1 j T) (1 T ) 1 T
1 2T2

1
1 + 2T2
T
B =
1 + 2 T2
A =

D.J.DUNN