Common Laplace Transform Pairs

Time Domain Function Laplace Domain

Name Definition* Function
Unit Impulse δ (t ) 1
1
Unit Step u (t )
s
1
Unit Ramp t
s2
1
Exponential e − at
s+a
Asymptotic 1 1
(1 − e −at )
Exponential a s( s + a)

Dual Exponential
1
b−a
(
e −at − e −bt ) 1
( s + a)( s + b)
1 ⎡ ⎤
Asymptotic Dual
Exponential ⎢1+
1
ab ⎣ a − b
( be− at − ae− bt ) ⎥
⎦
1
s ( s + a )( s + b)
Time multiplied 1
te − at
Exponential (s + a) 2
ω
Sine sin(ωn t)
s + ω2n
2

s
Cosine cos(ωn t)
s + ω2n
2

ω
Decaying Sine e− at sin(ωn t)
(s + a) 2 + ωn2
s+a
Decaying Cosine e− at cos(ωn t)
(s + a) 2 + ωn2
⎡ C − aB ⎤ Bs + C
Generic Oscillatory
e − at ⎢ B cos ( ωn t ) + sin ( ωn t ) ⎥
(s + a ) + ω2n
2
Decay
⎣ ωn ⎦
Prototype Second
Order Lowpass,
underdamped
ωn
1− ζ 2 (
e −ζωn t sin ωn 1 − ζ 2 t ) ω2n
s 2 + 2ζωn s + ωn2

Prototype Second
1−
1
1− ζ 2 (
e −ζωn t sin ωn 1 − ζ 2 t + φ )
Order Lowpass, ω2n
underdamped ⎛ 1− ζ 2 ⎞
- φ = tan −1 ⎜ ⎟ s(s 2 + 2ζωn s + ω2n )
⎜ ζ ⎟
Step Response ⎝ ⎠

*All time domain functions are implicitly=0 for t<0 (i.e. they are multiplied by unit step).
 Common Laplace Transform Properties
Name Illustration
f (t) ←⎯L
→ F(s)
Definition of Transform ∞
F(s) = ∫ − f (t)e −st dt
0

Linearity Af1 (t ) + Bf 2 (t ) ←⎯→ L

AF1 ( s ) + BF2 ( s)
df (t ) L
First Derivative ←⎯→ sF ( s ) − f (0 − )
dt
2
d f (t ) L
Second Derivative
2
←⎯→ s 2 F ( s ) − sf (0 − ) − f& (0 − )
dt
n n
d f (t ) L
nth Derivative
dt n
← ⎯→ s n
F ( s ) − ∑i =1
s n−i f (i −1) (0 − )

t 1
∫0 f (λ )dλ ←⎯→ s F (s)
L
Integral

dF ( s )
Time Multiplication tf (t ) ←⎯→ L
−
ds
Time Delay f (t − a)U(t − a) ←⎯→ e− as F(s)
L

Complex Shift f (t )e − at ←⎯→

L
F ( s + a)
⎛t⎞ L
Scaling f ⎜ ⎟ ←⎯→ aF (as)
⎝a⎠
Convolution Property f1 (t ) * f 2 (t ) ←⎯→
L
F1 ( s ) F2 ( s )
Initial Value lim+ f (t ) = lim sF ( s)
t →0 s →∞
Final Value lim f (t ) = lim sF ( s)
(if final value exists) t →∞ s →0