Laplace Transform

Continuous-time Systems/Circuits

 Example:
R

+ +
C y(t)
x(t) -
-

dy (t )
RC  y (t )  x (t )
dt
dy (t ) 1 1
 y (t )  x(t )
dt RC RC
Differential/Integral Equation
Continuous-time Systems/Circuits
 Time Domain Analysis
(Discussed in the last chapter)
 Zero-input Response
 Zero-state Response
 Impulse Response
 Convolution
Continuous-time Systems ...contd
 Frequency Domain Analysis
(This chapter)
 The Laplace Transform
 Using Laplace Transform to solve
problems
 Initial Value Theorem
 Final Value Theorem
 Transfer Function
 Relationship between Impulse response
and Transfer Function
Laplace Transform
 Gives us a systematic way for relating
time domain behavior of a circuit to
its frequency domain behavior
 Converts integro-differential
equations describing a circuit to a set
of algebraic equations
 Considers transient behavior of
circuits with multiple nodes and
meshes, with initial conditions
Using Laplace Transform
 The idea of using a transform is
similar to using logarithms for
multiplication
A = BC
Log A = Log B + Log C
A = Antilog (Log B + Log C)

 The use of Laplace Transform is

universal – mechanical systems,
electrical circuits and other systems –
as long as the behavior is described
by ordinary differential equations.
Laplace Transform
 The general definition of Laplace
Transform
i.e. the Two-sided Transform:

X (s)  

x(t )e  st dt

 And Inverse Transform:

c  j
1
x(t )  
st
X ( s )e ds
2 j c  j
Laplace Transform
 But we shall consider a special case –
One-Sided Transform:

X ( s)   x(t )e  st dt
0

We shall use the Table 4.1 (Lathi,

page 344) to do inverse transform
Laplace Transform: Definition

 L  x(t )   x (t ) e  st
dt
0
X ( s )  L  x(t )
 t represents time
 s has the units of 1/t since the exponent must
be dimensionless
 This is a one-sided, unilateral Laplace
Transform – i.e. it ignores negative values
of t.
 Again, the definition of Laplace Transform

is:
X ( s )  L  x(t ) 
 st
 x(t )e dt
0
Properties of Laplace Transform
 Linearity of Laplace Transform:
L  k x(t )  k X ( s )
L  x1 (t )  x2 (t )  X 1 ( s )  X 2 ( s )


since 
 1x (t )  x2 (t ) e  st
dt
0
 

 1  2
 st  st
 x (t ) e dt  x (t ) e dt
0 0
 X 1 (s)  X 2 (s)
 Uniqueness of Laplace Transform:
x(t )  X ( s )
is a one-to-one relationship
Properties ...contd
 Question: Does the integral converge?
t t2
We avoid functions like t , e , etc
 The integral converges for all the cases we shall
consider!
 Question: What happens if the function is
discontinuous at t=0?
We choose the lower limit as 0-.
In fact, we shall define the Laplace
Transform as: 

 st
x (t ) e dt
0
Properties ...contd
x(t) x(t)

e  at e at , t  0
 0, t  0
0 t 0 t
Continuous at t=0 Discontinuous at t=0

 In taking Laplace Transform, it becomes

important whether one chooses 0- or 0+
Our choice is always 0- for the lower limit!
Laplace Transform of the Unit Step

 L  u (t )   u (t )e  st dt
0 u (t )
  st  1
e
  1.e dt   st

0
s 0
0 t
 1s


 L  u (t  a)   u (t  a )e  st dt
0 u (t  a )
1
a   st 
e
  0 dt   1 e dt  st

0 a
s a
0 a t
e  as
 s
Laplace Transform of the Unit Step

 L  e  at u (t )   e  at e  st dt
0 x(t)

  e  ( s  a )t dt e  at u (t )
0
 ( s  a )t 
e 0 t

 ( s  a ) 0
1

sa

x(t)
 L   (t )    (t )e dt  st
 (t )
1
0

1
0 t
Using Step Functions
 Step functions can be used for writing
analytical expressions for illustrated
functions.
 Consider:
x (t )
1

a b t

x(t )  u (t  a )  u (t  b)
Using Step Functions ...contd

u (t  a ) u (t  b)
1 1

0 a t 0 b t
u (t  a )  0, ta u (t  b)  0, t b
 1, ta  1, t b
Subtracting, it is obvious that
x(t )  u (t  a)  u (t  b)
x (t )
1

a b t
Using Step Functions ...contd
 Consider:
1 x(t )

0 1 2 t
2

t
1
t  2

0 1 2 t
x(t )  t  u (t )  u (t  1)   (t  2)  u (t  1)  u (t  2) 
 x(t )  tu (t )   2t  2  u (t  1)   t  2  u (t  2)
Using Step Functions ...contd
 Consider: x (t )
2

a b c t
x(t )  u (t  a )  u (t  b)  2  u (t  b)  u (t  c) 
 u (t  a )  u (t  b)  2u (t  c)
Alternative way:
x(t )   u (t  a )  u (t  c)    u (t  b)  u (t  c) 
 u (t  a )  u (t  b)  2u (t  c)
e  as e  bs e  cs
X (s )   2
s s s
A Reminder

j
 cos   j sin   e
 j
 cos   j sin   e
j  j
e e
 sin  
2j
e j  e  j
 cos  
2
Laplace Transforms of Sinusoids


 L  (sin t ) u (t )   sin t e  st dt
0

e jt  e  jt  st
 e dt
0
2j

e  ( s  j )t  e  ( s  j )t
 dt
0
2j
1  1 1 
   
2 j  s  j s  j 

 2
s  2
Laplace Transforms of Sinusoids …contd


 L  (cos t ) u (t )   cos t e  st dt
0

e jt  e  jt  st
 e dt
0
2

e  ( s  j ) t  e  ( s  j )t
 dt
0
2
1 1 1 
   
2  s  j s  j 
s
 2
s  2
Laplace Transform of Ramp
 2
x(t ) t u (t )
1

0 1 2 3
t
Laplace transform of tu(t) :

L  t u (t )   t e  st dt
0
 st  
e e  st
t  1 dt
s 0 0
s

1  st 1
  e dt  2
s 0 s
Inverse Laplace Transform
 Most functions of interest to us are rational
functions – ratios of polynomials in s.
P0 ( s )
X ( s) 
Q0 ( s ) Watch out – I have put
subscripts so that it does
 Roots of P0(s) are the zeros of X(s) not conflict with later
notation
 Roots of Q0(s) are the poles of X(s)
 Assume the degree of the numerator is less
than that of the denominator – Otherwise,
divide! PNew ( s )
X ( s )  Polynomial 
Q0 ( s )
 Expand into partial fractions and use the
table
Roots: Real and Distinct
96  s  5   s  12  k1 k2 k3
 X ( s)    
s  s  8  s  6  s s 8 s 6

Multiply both sides by s and let s=0

96  s  5   s  12  k2 s k3 s
 k1  
 s  8  s  6  s 0
s  8 s 0 s  6 s 0
 k1  120
Similarly, for k2 and k3 ,
96  s  5   s  12  k1  s  8  k3  s  8 
  k2 
s  s  6 s 8
s s 8
s6 s 8

 k2  72
Roots: Real and Distinct ...contd
96  s  5   s  12  k1  s  6  k2  s  6 
   k3
s  s  8 s 6
s s 6
s 8 s 6

 k3  48
Therefore,

96  s  5   s  12  120 72 48
  
s  s  6   s  8 s s 8 s 6
Identify: s  5
Substitute and the two sides become equal

Inverse: x(t )   120  72e 8t  48e6t  u (t )

Laplace Transform

Linear Systems and Signals – Lectures 10

Dr. J. K. Aggarwal
The University of Texas at Austin
Another Example
 2 s  12
X (s) 
 s  1  s  2   s  3
A B C
  
s 1 s  2 s  3
Multiply both sides by (s+1), evaluate at s= -1
2 s  12 10
A  5
 s  2   s  3 s 1
(1)(2)

Multiply both sides by (s+2), evaluate at s= -2

2 s  12 8
B   8
 s  1  s  3 s 2
(1)(1)
Another Example ...contd
Multiply both sides by (s+3), evaluate at s= -3
2 s  12 6
C  3
 s  1  s  2  s 3
(2)(1)

Therefore,
5 8 3
X (s)   
s 1 s  2 s  3

Inverse:
x(t )   5e  t  8e 2t  3e 3t  u (t )
Still Another Example
 s 2  6s  7
X ( s) 
 s  1  s  2 
s 2  6s  7
 2
s  3s  2
3s  5
 1 2
s  3s  2
3s  5
 1
 s  1  s  2 
3s  5 A B
 
 s  1  s  2  s  1 s  2
Still Another Example ...contd
3s  5 2
A  2
s  2 s 1 1
3s  5 1
B  1
s  1 s 2 1

2 1
Therefore, X (s)  1  
s 1 s  2

Inverse: x(t )   (t )   2e  t  e 2t  u (t )

Roots: Complex and Distinct
100  s  3
 X (s) 
 s  6    6s  25
s 2

s 2  6s  25   s  3  j 4   s  3  j 4 
100  s  3 k1 k2 k3
  
 s  6   s 2  6s  25  s  6 s  3  j4 s  3  j4
k1  12
100  s  3
k2 
 s  6  s  3  j4 s 3 j 4

100  j 4 
  6  j8
 3  j 4  j8
k3  6  j 8
Roots: Complex and Distinct …contd
Substitutingk1, k2, k3 :
100  s  3 12 6  j8 6  j8
  
 s  6   s  6s  25 
2
s  6 s  3  j4 s  3  j4
12 10  53.13o 1053.13o
  
s6 s  3  j4 s  3  j4
Inverse:


x(t )  12e 6 t
 10e  j 53.13o
e   3 j 4  t
 10e j 53.13o

e  (3 j 4) t u (t )

Simplifying,

x(t )   12e 6t  20e 3t cos  4t  53.13o   u (t )

Generalization
For complex root pairs,

1 k k* 
L   
 s    j s    j 
  k e j e(   j  )t  k e  j e(   j  )t  u (t )

 k e  t  e j (  t  )  e  (  t  ) 
 k e  t 2 cos   t    u (t )

 k k* 
1
L     2 k e  t
cos   t    u (t )
 s    j s    j 
where k  k e j
Another Example
6 s 2  100 s  4150
 X ( s) 
s 2  14s  625

16s  400
X (s)  6  2
s  14s  625
k k*
 6 
s  7  j 24 s  7  j 24
k k*
Let F1 ( s )  
s  7  j 24 s  7  j 24

16 s  400 16s  400

k k* 
s  7  j 24 s 7  j 24 s  7  j 24 s 7 j 24

Complete the problem!

Repeated Roots
 180  s  30  k1 k2 k3 k4
   
s  s  5  s  3 s s  5  s  3 s3
2 2

k1  120
...as before
k2  225
For k3, multiply by (s+3)2 and evaluate at s=-3

180  s  30  k1  s  3 k2  s  3
2 2

   k3  k 4  s  3 
s  s  5 s 3
s s5 s 3
s 3 s 3

 k3   8
10
Repeated Roots ...contd
Now, for k4 :
Multiply by (s+3)2, differentiate with respect to s
and evaluate at s=-3
d 180  s  30  
   k4
ds  s  s  5  
s 3

 s  s  5   1   s  30   2s  5  
180    k4  105
s  s  5
2 2
  s 3

Therefore,
180  s  30  120 225 810 105
   
s  s  5   s  3 s  5  s  3 2 s  3
2
s
 180  s  30  
1
L     120  225e 5 t
 810te 3 t
 105e 3 t
 u (t )
 s  s  5   s  3 
2
Repeated Roots ...contd
 Another method:
180  s  30  k1 k2 k3 k4
   
s  s  5   s  3 s s  5  s  3 s3
2 2

Let s  1  0, 5, 3
180  31 120 225 810 k4
   
1 6   16  1 6 16 4
5580  120  96   225  16   810  6   6  4   k4 
5580  11520  3600  4860  24k4
2520  24k4
 k4  105
Laplace Transform

Linear Systems and Signals – Lectures 11

Dr. J. K. Aggarwal
The University of Texas at Austin
Properties of Laplace Transform
 Again,
 Definition:

X ( s)  
0
x(t ) e  st dt
 Uniqueness:
x(t )  X ( s)
 Linearity :
X 1 ( s )  X 2 ( s )  L  x1 (t )  x2 (t )
where X 1 ( s )  x1 (t )
X 2 ( s )  x2 (t )
Shifting in Time
 We have already noticed
u (t )
1
 1
s
0 t

u (t  a)
1
1  as
 e
s
0 a t

 In general,
x(t )  X ( s )
x(t  t0 )  X ( s) e  st0
Shifting in Time …contd
 It is better to carry u(t)
x(t )u (t )  X ( s)
x(t  t0 )u (t  t0 )  X ( s ) e  st0


 L  x(t  t0 ) u (t  t0 )   x  t  t0  u  t  t0  e dt
 st

0
Let t  t0   ; dt  d 

x  u  e
 s    t0 
 
 t0
d

 e  st0  u    x    e  s d 
0
 e  st0 X ( s)
Example 1
 Exercise E 4.3, Lathi, page 363

2
slope = -2
x(t ) x (t )  2t  c
0  6  c
c6
0 1 2 3 t

x(t )  t  u (t )  u (t  2)    2t  6   u (t  2)  u (t  3) 
Expanding the expression,
x(t )  t u (t )  t u (t  2)  2t u (t  2)  6 u (t  2)
2t u (t  3)  6 u (t  3)
Example 1 ...contd
x(t )  t u (t )  t u (t  2)  2t u (t  2)  6 u (t  2)
2t u (t  3)  6 u (t  3)

= t u(t) - (t-2) u(t-2) -2 u(t-2)

- 2 (t - 2) u (t - 2) + 2 u (t - 2)
+ 2 (t - 3) u (t - 3)
= t u(t) – 3(t-2) u (t - 2)+ 2 (t - 3) u (t - 3)

1 3 2 s 2 3s
 X ( s)  2  2 e  2 e
s s s
Example 2

x(t )
2

0 1 2 3 4
t

 Linear segments with breakpoints at 1,3

and 4 seconds x(t )
 Slope of line at t=0 is 2; (0,0) 2t
 Slope of line at t=1 is -2; (2,0) 2t  4
 Slope of line at t=3 is 2; (4,0) 2t  8
Example 2 ...contd
x(t )  2t  u (t )  u (t  1) 
  2t  4   u (t  1)  u (t  3) 
  2t  8   u (t  3)  u (t  4) 
Collecting terms
 2t u (t )  4  t  1 u  t  1  4  t  3 u  t  3
2  t  4  u  t  4 

Laplace Transform:
1 e s e 3 s e 4 s
X (s)  2 2  4 2  4 2  2 2
s s s s
Example 2 ...contd
 Another way of looking at the expression
for x(t):

x(t ) 2t u (t ) 4  t  3 u  t  3
2

0 1 2 3 4
t

4  t  1 u  t  1 2  t  4  u  t  4 
Example 3
10

x(t )

0 1 2
t

x(t )  10sin  t  u (t )  u (t  2) 
 10sin  t u (t )  10sin  t u (t  2)
 10sin  t u (t )  10sin  (t  2) u (t  2)

Laplace Transform:
  2 s
X ( s )  10 2  10 e
s  2 s2   2
Frequency Shifting
 x (t )  X ( s )
x(t ) e s0t  X ( s  s0 )


 Proof: L  x(t ) e s0t    x(t ) e s0t e  st dt

0

 s  s0  t
  x(t ) e dt
0
 X ( s  s0 )
 Examples: s
 cos bt u (t ) 
s 2  b2
 at sa
 e cos bt u (t ) 
( s  a)2  b 2
Time Differentiation Property
 x (t )  X ( s )
dx
 sX ( s )  x(0 )
dt

 dx  dx(t )  st
 L    e dt
 dt  0 dt

 st 
 x(t ) e  s  x(t ) e  st dt
0
0
  x(0 )  sX ( s )  x ( ) e  s
 0
Example: Time Differentiation Property
 2H

3u(t) + 4 Initial conditions:

- i(t) i (0 )  5 A

di (t )
2  4i (t )  3u (t )
dt
3
Taking LT: 2  sI ( s )  i (0 )   4 I ( s)  s


3
Solving, 2 s I ( s)  10  4 I ( s) 
s
3
I ( s )  2s  4   10
s
Example ...contd
1.5 5 1.5  1 1  5
I (s)       
s ( s  2) s  2 2  s s  2  s  2
0.75 4.25
I ( s)  
s s2
Inverse: i(t )  0.75 u (t )  4.25 e 2t u (t )

Supposing the input was 3 u (t )   (t ),

di (t )
2  4 i (t )  3 u (t )   (t )
dt
3
2  s I ( s )  i (0 )   4 I ( s )   1
s
3 s 3  11s
I ( s)  2s  4    10 
s s
1.5 5.5
I ( s)   …Complete the problem!
s ( s  2) s  2
Higher Order Derivatives
 dx(t )
g (t ) 
dt
G ( s )  s X ( s )  x(0 )

 dg (t ) d 2 x(t )

dt dt 2
 dg (t )  
L   s G ( s )  g (0 )
 dt 
 s 2 X ( s )  s x(0 )  x '(0 )
 Similarly for nth order derivative
Properties: Integration
 t    t   st
 L   x( ) d       x( )d   e dt
0  0  0 

 st t 
e e  st

s  x ( ) d  
s
x(t )dt
0 0 0
uv v du

X (s)

s
Scale Change
 x(t )  X ( s )
1 s
x(at )  X   for a>0
a  a


 L  x(at )   x ( at ) e  st
dt
0
 s
  d
 e a
x ( )
0
a

1  as 
  e x ( ) d 
a 0
1 s
 X 
a a
Convolution
 Time Convolution:
If x1 (t )  X 1 ( s ) , x2 (t )  X 2 ( s)
then x1 (t ) * x2 (t )  X 1 ( s ) X 2 ( s )
convolution product

 Frequency Convolution:
1
x1 (t ) x2 (t )   X 1 ( s) * X 2 ( s) 
2 j
product convolution
Review

 Definition: L  x(t )   x (t ) e  st
dt
0

1
 Step function: L  u (t ) 
s

 Delta function: L   (t )  1

1
 Exponential function: L  e u (t )   at

sa
Review ...contd

 Differentiation: L 
d x(t )  
  s X ( s )  x(0 )
 dt 
 t  X ( s )
 Integration: L   x(t ) dt  
0  s

 Time Shifting: L  x(t  a ) u (t  a )  e  as X (s )

 Frequency Shifting: L  e  at x(t )  X ( s  a )

Zero-Input/Zero-State Response
 Consider the system
2H

3u(t) + 4
- i(t)

di (t )
2  4i (t )  3 u (t )
dt
di (t ) 3
or  2i (t )  u (t )
dt 2
31
Taking LT: s I ( s )  i (0 )  2 I ( s) 
2s
i (0 ) 3 1
Part due to initial I (s)   Part due to input :
conditions : s  2 2 s( s  2) Zero-State Response
Zero-Input Response
Laplace Transform

Linear Systems and Signals – Lectures 12-??

Dr. J. K. Aggarwal
The University of Texas at Austin
Transfer Functions
 Consider the system
Q( D) y (t )  P( D) x(t )
D N
 a1 D N 1    aN 1 D  aN  y (t )
  b0 D N  b1 D N 1    bN 1 D  bN  x (t )
If the initial conditions are zero,
i.e. y (0 )  y (0 )    y N 1 (0 )  0
and x(t) is causal so that
x(0 )  x (0 )    x N 1 (0 )  0
and y (t )  Y ( s ) x(t )  X ( s )
P(s)
Then, Y (s)  X (s)
Q( s)
Transfer Functions ...contd

 A Transfer Function is a ratio of

Laplace Transform of y (t )  Y ( s) to the
Laplace Transform of x(t )  X ( s )
When the initial conditions are all zero

LT of Output
H ( s) 
LT of Input
Transfer Functions: An Example
 2
di (t )
 4 i (t )  x(t )
dt
di (t ) 1
 2 i(t )  x(t )
dt 2
1
Taking LT: s I (s)  2 I (s)  X (s)
2
1
P( s)
Transfer function: H (s)   2
Q( s) s  2
1
In time-domain: h(t )  e 2t u (t )
2
Transfer Functions ...contd
 If x(t) is the input and y(t) is the output
(assuming zero initial conditions)
then, Y ( s )  H ( s ) X ( s )
P( s)
 H (s) 
Q( s)
 Also, if the input is  (t )  1
then the output is y (t )  h(t )
 L  h(t )  H ( s)

H ( s )   h(t ) e  st dt
0
 P(s) 
h(t )  L  H ( s )  L 
1 1

 Q(s) 
Laplace Transform & Circuit Analysis
 The Laplace Transform provides a
systematic method for analyzing circuits.
 It converts integro-differential equations
into algebraic equations.
 In addition, it takes into account the initial
conditions.
 One may write differential equations or go
directly to the algebraic equations. The
latter is the desirable route.
Circuit Elements in s-Domain
 Resistor
+
v  Ri v
R is constant R i
-
Taking Laplace Transform,
V ( s)  R I ( s) +
V(s)
or V  RI
R I(s)
where V  L  v (t )
I  L  i (t ) -
v and i are really v (t ) and i (t )
Circuit Elements in s-Domain ..contd
 Inductor +
I0
di
vL i v L
dt I0: initial current
-
Taking Laplace Transform,
 + +
V ( s )  sL I ( s )  L i (0 )
I sL
or V  sLI  LI 0 V i v L
LI0 -+ When initial
-
- condition I0 is
zero
Rewriting, I
sL I  V  L I 0
I0
V I0 sL
I  s
sL s
Circuit Elements in s-Domain ..contd
 Capacitor +
dv i
iC V0 C V0: initial voltage
dt
-
Taking Laplace Transform,
I ( s )  s CV ( s )  C V (0 ) +
1 V CV0
or I  s CV  CV0 sC
-
Rewriting, +
I +
s C V  I  CV0 1
sC I
1
I V0 V V
V  + V0
- s
sC When initial
condition V0
sC s - - is zero
Ohm’s Law for s-Domain
 If no “initial” energy is stored in a
capacitor or inductor,
V ZI
where V is voltage transform
I is current transform
Z is the s  domain impedance
R, s L, 1sC -All rules as before for combining, etc

 Kirchoff’s Laws
I  0 V  0
Ohm’s Law for s-Domain ...contd
 + +
v v  Ri V(s)
R i R I(s)
V ( s)  R I ( s)
- -

 di (t ) +
I
+
I0
vL I
dt sL
sL I0
i v L V (s)  s L I (s)  L I 0 -+
V s

- V ( s) I 0 LI0
I (s)   -
I0: initial current sL s
 Ohm’s Law for s-Domain ...contd


dv +
+ iC I I
i dt 1 +
V0 sC 1
C I ( s )  s CV ( s )  CV0 V
sC
V CV0
+ V0
-
I ( s ) V0
- s -
V0: initial voltage V (s)   -
sC s
 Example 1
 + t=0
+

V0 C iˆ(t ) R vˆ  v for 0  t
- -
Equivalent circuit: V0 1
 I (s)  R I ( s)  0
I (s) Iˆ(s) s sC
+ + V0
1 CV0 R
V (s) I (s)   
sC
Vˆ ( s )
sRC  1 s 1
I V0 R RC
V  +
- V0 V0  t RC
sC s
s
i(t )   e u (t )
- - R
 Example 1 ...contd

V0 1 ˆ
 I ( s )  R Iˆ( s )
I (s) Iˆ(s) s sC
1

+ + ˆI ( s )   1  R  V0
1  
V (s)
sC
 sC  s
Vˆ ( s ) C V0
I V0 R 
V  + s RC  1
sC s - V0
s V0 R
- - 
s  1 RC
ˆi (t )  V0 e 
t
RC u (t )
R
 Example 1 ...contd

V0 1  V0 R 
I (s) Iˆ(s) V ( s)   
s sC  s  1 
+ +  RC 
V (s) 1
sC V0 V0  1 
Vˆ ( s )    
I V0 R s s  s RC  1 
V  +
sC s - V0
s V0
- - 
s 1
RC
 t RC
v(t )  V0 e u (t )
Notice Iˆ( s )   I ( s )
Example 2
 For the circuit below, switch is in position
‘a’ for a long time. At t=0, switch is
changed to position ‘b’
10 k  a b

t=0
+
+ V1 - C1 3k 
60 V - +
C1  0.5  F
V2 - C2 C2  1.0  F

V1  V2  60
C1V1  C2V2  Before the switch,
V01  40V
0.5V1  V2
V0 2  20V
V1  2 V2
Example 2 ...contd
i
dv1 dv
+
C1 C1  i, C2 2  i
v1 (t ) V01  40V dt dt
-
v2 (t ) V0 2  20V
+
C2
3k 
 
C1 sV1 ( s )  v01   I ( s )
- C  sV ( s )  v    I ( s )
2 2 02

V1 ( s)  V2 ( s )  R I ( s )

I V01 I V0 2
V1    V2   
s C1 s s C2 s
V01 V0 2  1 1 
 I   I R
s s  s C1 s C2 
Example 2 ...contd
60 I 1 
R    1   10 6
 3  10 3
(I )
s s  0.5 
1 60
s C1
I s
+ V01 3 106
- s i (t )  3  103
s
1
60 1
s C2 
+ 3  103 s  103
- V0 2 0.02
s 
s  103

i (t )  0.02 e 1000t u (t ) A
Example 2 ...contd

R 0.02 106 V01

V1   
1 s  10 s
3
s
s C1 2
+
-
V01 40  103 
s i (t )    1
1
s  s  10 3

s C2 40
+ 
- V0 2 s  103
s 10 3t
v1 (t )  40 e u (t )
Example 3
i

t=0
+ 8.4 H -
+
336V u (t ) +
- 42 
-

di
336 u (t )  L  i R
dt
336
 8.4  s I ( s )  i (0 )   42 I ( s)
s
336

Let i (0 )  0,  I ( s )  42  8.4 s
s
336 40
I ( s)  
s  42  8.4 s  s(5  s)
Example 3 ...contd
40 A B
I (s)   
s( s  5) s s  5

40
A 8
s  5 s 0
40
B  8
s s 5

40 8 8
 
s ( s  5) s s  5
i(t )  8 u (t )  8 e 5t u (t ) A
Example 3 ...contd
Suppose the current i (0 )  I 0
336
 8.4  s I ( s)  i (0  )   42 I ( s)
s
336
 8.4 I 0  I ( s )  42  8.4 s
s
336 8.4 I 0
I (s)  
s (42  8.4 s) 42  8.4 s
40 I0
 
s ( s  5) s  5
i (t )  8 u (t )  8 e 5t u (t )  I 0e 5t u (t )
Notice initial current changes
 Example 4
i1 i2

t=0 8.4 H 10 H Given:
i1 (0 )  0 Amp
336 V u (t ) +
- 42  48 i2 (0 )  0 Amp
I1 ( s ) I 2 (s)

336  (42  8.4 s ) I  42 I

s 1 2

0  42 I1  (90  10 s) I 2
Solving for I1 and I2 :

40  s  9  168
I1  I2 
s ( s  2)( s  12) s ( s  2)(s  12)
i1   15  14 e 2t  e12t  u (t ) i2   7  8.4 e2t  1.4e12t  u (t )
Example 4 ...contd
 Writing these equations
336
 I1  8.4s    I1  I 2  42
s
0   I1  I 2  42  10 s I 2  48 I 2

i1 (0 )  0
i2 (0 )  0
i1 ()  15 A
i2 ()  7 A

Are these the currents that should be there?

 Example 4A
i1 i2

t=0 8.4 H 10 H Given:
i1 (0 )  5 Amp
336 V u (t ) +
- 42  48 i2 (0 )  3 Amp
I1 ( s ) I 2 (s)

336  (42  8.4 s ) I  8.4(5)  42 I

s 1 2

0  42 I1  (90  10 s) I 2  10(3)

Solving for I1 and I2 :

5  s 2  20s  72  168  36s  3s 2

I1  I2 
s ( s  2)( s  12) s ( s  2)( s  12)
i1   15  9e 2t  e12t  u (t ) i2   7  5.4 e2t  1.4e12t  u (t )
Example 4A ...contd
 Writing these equations
336
 I1  8.4s   8.4(5)   I1  I 2  42
s
0   I1  I 2  42  10 s I 2  10(3)  48 I 2

i1 (0 )  5
i2 (0 )  3
i1 ()  15 A
i2 ()  7 A

Are these the currents that should be there?

Initial and Final Value Theorems
 Again, the definition:

X ( s )  L  x(t )   x(t ) e
 st
dt
0

 One can examine the limiting

behavior of x(t) by observing the
behavior of sX(s) at  and at 0

 These results are called Initial Value

and Final Value Theorems
Initial Value Theorem

 dx  dx  st
 L    s X ( s)  x(0 )   e dt


 dt  0
dt
Taking limit s  ,
lim  sX ( s )  x(0 ) 
s 

dx  st
 lim  e dt
s 
0
dt

 0 dx 0 
dx  st 
 lim   e dt   e dt 
s 
 0 dt 0
dt 
 x(0 )  x(0 )
 
Since x (0 ) is independent of s, subtracting x (0 ),
lim s X ( s )  x(0 )  lim x(t )
s  t 0
Final Value Theorem
 
dx  st 
 lim  s X ( s )  x(0 )   lim   e dt 

s 0 s 0
 0 dt 
 

dx
RHS  
lim e  st dt
dt s 0
0

  dx
0

 lim  x(t )  x(0 ) 

t 

Thus, lim  sX ( s )  x(0 )   lim  x(t )  x(0  ) 

s 0 t 

lim sX ( s)  lim x(t )

s 0 t 

This is useful only if as t  , x () exists

 Initial and Final Value Theorems
 Initial Value Theorem:
lim x(t )  lim sX ( s )
t 0 s 

 Final Value Theorem:

lim x(t )  lim sX ( s)
t  s 0
1
 Example: L  u (t )  s
1
lim x(t )  1  lim s s  1
t 0 s 

lim x(t )  1  lim s 1s  1

t  s 0
Initial & Final Value Theorems: Example
  96  s  5   s  12  
   120  48 e  72 e  u (t )
1 6 t 8 t
L 
 s  s  8   s  6  
 5  12 
96 1  1  
 s  s 
 lim sX ( s )   96
s   8  6 
1  s  1  s 
  
As t  0  , x(t )  120  48  72  96
96  5 12
 lim sX ( s )   120
s 0 8 6
As t  , x(t )  120
 In earlier example,
i ()  8 A
i (0 )  0
40 40
s I (s)  s 
s ( s  5) s  5
lim s I ( s)  8 A
s 0

lim s I ( s)  0
s 

For steady state, is the current correct?

Example 3A
 I0
+ 8.4 H - + 8.4 H -
+
336 V u (t ) +
- 42 
-
di di
336 u (t )  L1  L2  i R
dt dt
336
 8.4  s I ( s)  i (0 )   8.4 s I ( s)  42 I ( s)
s
336
 8.4 I 0  I ( s )  16.8s  42
s
336 8.4 I 0
  I (s)
s  16.8s  42   16.8s  42 
Example 3A ...contd
1 I
20 2 0
  I (s)
s  s  2.5  s  2.5
1 I
20  1 1  2 0
    I (s)
2.5  s s  2.5  s  2.5
8u (t )  8e 2.5t  1 I 0 e2.5t  i (t )
2

Therefore,

At t  0 , i  I 0 , i  0  Flux  8.4  I 0  8.4 I 0

1 I
At t  0 , i I 0 ( for both)  Flux  16.8  0  8.4 I 0
2 2
Example 5

I dc  24 mA
t=0
C  25 nF
I dc C R L iL
R  625 
L  25 mH

V
IL 
sL
I dc 1 R sL IL V V I dc
sC s CV   
R sL s
I dc C
V
s 1
s 
2

RC LC
Example 5 ...contd
I dc LC
IL 
 2 s 1 
ss   
 RC LC 
384 105

s ( s 2  64000 s  16  108 )
384 105

s ( s  32000  j 24000)( s  32000  j 24000)
k1 k2 k2*
  
s s  a  jb s  a  jb
Solving,
k1  24  103 ; k2  24 10 3 126.87
iL   24  40 e 32000t cos  24000 t  126.87   u (t ) mA
Example 6
 ig  I m cos t
I m  24 mA
t=0   40000 rad / s
ig C R L iL C  25 nF
R  625 
L  25 mH

s Im
Ig  2
s  2
V V s Im Ig 1 R sL IL
s CV    2 sC
R s L s  2
s2  I m / C 
V
2  2 s 1 
 s 2
    RC LC 
s  
Example 6 ...contd
V s  Im / C 
IL  
2  2 s 1 
sL
 s 2
    RC LC 
s  

384 105 s
 2
 s  16 108   s 2  64000 s  16 108 
k1 k1*
 
s  j 40000 s  j 40000
k2 k 2*
 
s  32000  j 24000 s  32000  j 24000
Solving,
k1  7.5 103   90 ; k2  12.5 10 3   90

 iL   15sin 40000 t  25 e 32000t sin 24000 t  u (t ) mA