Grae Introduction to Laplace 61.1. Introduction ‘The solution of most electrical circuit problems can be reduced ultimately to the solution of differential equations. The use of Laplace transforms provides an alternative method to those discussed in Chapters 46 to 51 for solving linear differential equations. Cera Dre eran) ‘The Laplace transform of the function /() is defined by the integral {Se f() dr, where sis a parameter assumed to be a real number. Common notations used for the Laplace transform ‘There are various commonly used notations for the Laplace transform of (7) and these include: @ LFW) ort FO} i) LEN orty Gil) FOS) oF FO) Also, the letter p is sometimes used instead of s as, the parameter, The notation adopted in this book will be (7) for the original function and £{ f(7)) for its Laplace transform. Henee, from above: ets) fiat a transforms ity property of the cen From equation (1), cern} = [ ee pdr =«/ "sear ie LR SISK} Q where k is any constant Similarly, ceases) [ Ma fe) + bei) ar =a, ev soar +6 [eee [ootsow ie, Clas +beM=allfOr+eclem) 8) where @ and b are any real constants. ‘The Laplace transform is termed a linear operator because of the properties shown in equations (2) and (3), Beery era Using the definition of the Laplace transform in equa- tion (1) a number of elementary functions may be ‘ansformed. For example:Introduction to Laplace transforms 583 (@) f(Q=1, From equation (1), cays [Perna (0,ie.s>a) (fl =cosat (where ais a teal constant) From equation (1), teas) = [eM sosana =| reese scvean| (= : by integration by parts twice (see page 423), ee) [5 pF lasinaos) —s eosa(oo)) 0 zigesat- soa 5 Fat (Provided s > 0) (©) fl) =t. From equation (1), eins [Pera = [= a _ [= by integration by parts, Fh 1 Fi (Provided s>0) (D) f()=e" (where n=O, 1, 2. 3, ...). By sin meod to (ei may be shown tht £02) 2, and £10) = 22) 2 thee resus ean Be extended (0 » BEng a posite ince n Thus Cte") = 2 provided s = 0) (@) fl) =sinhat. From Chapter 5, sinhat = ee), Hence, etsinar)= c [Se - } 1 pgeaty dp yenat = pete") pete") from equations (2) and (3), alsbalzs from (€) above, = prtig (oovited > A lst of elementary standard Laplace transforms are summarized in Table 61.1 Ceo) ee ek cuca Problem 1. Using a standard list of Laplace transforms determine the following: @ efism -4 } (6) £(5e% —364) 3‘584 Higher Engineering Mathematics ‘Table 61.1 Elementary standard Laplace transforms - 3 Cy Py eee ed s-2 541 iO YAO ed aC a) G-DG+D ett “Fad Problem 2. Find the Laplace transforms of: (@) 6sin3r —4eos5t_(b) 2cosh2 —sinh36. Gy) sinar (a) £{6sin3r —4e0s51) =1(xix) +(xtx): wit = P+ 45 from (iv) and (v) of Table 61.1 ce 7 -Fa5 +9 F425 (vill) = 1,2,3,..9 at (b) £(2cosh20— sinh30) 2£(cosh 26) — C{sinh30) ~(es)-(=) from (ix) and (x) of Table 61.1 (9) sinbar La @ cfisa-ie} Lines = eu) +201) - £004, from equations (2) and (3) =7"()-3G): (© Leoshar from (i), (vi) and (viii) of Table 61.1 a (4 3.2. ‘) (a) From equation (1), 128 etsinar)= [etsinarae “staos 2° lo (b) £{Se" — 30-1) = SL(€) —3.£("4}, by integration by parts, from equations (2) and (3) (e-" (~ssinaloc) os(2) af reel ()=(=5): "pave rnd from (iii) of Table 61.1 —acos0))Introduction to Laplace transforms S85 31) 10-4] (provided s> 0) +e (b) From equation (1), cury= rtd Is et dent ett TLS eI by integration by parts twice, -[r-o-0- (8-3) 2 =F (rovided s>0) (6) From equation (1), [ae crooner) =e 4 © from Chapter S 1 eeaty y Leena, = pele + 5ele*), equations (2) and (3) (=z) from (ii) of Table 61.1 ] Problem 4. Determine the Laplace transforms of: (@) sin?) cosh? 3x. —2sin* thea, (a) Since cos2r= yd sin? = 5 (1 c0s21). Hence, ets) =e{ 5a—coe2n} 2 1 1 = FLU) ~ 5£(co824) ~3(3)-2(=2) from (i) and (v) of Table 61.1 ra—e 4 WER WEA 2 © 544) (b). Since cosh 2x =2cosh®x —1 then cots so fom Chater f fence cosh? 3x = =(1+cosh6x) rin cnt) =e cae} = 2214 Actcosnsx) IAs) 3\ Fe _wtase us 2s(s? 36) s(s?—36) Problem 5. Find the Laplace transform of 3sin(or +a), where w and a are constants, Using the compound angle formula for sin(A+B), from Chapter 17, sin(wr+a) may be expanded to (Ginor cosa-+ cos sina), Hence, LGsin(or +a) = £{3(sinwr cosa + cor sina)} ScosaL{sinwr} + 3sinaL (coset), since a is a constant from (jv) and () of Table 61.1 (ocosa+ssine) a roy Now try the following exercise Exercise219 Further problems on an introduction to Laplace transforms Determine the Laplace transforms in Problems 1109.586 Higher Engineering Mathematics (a) 213 (b) 5124.41 — 23 [3 o) 31420) oats aa 1s 2 2a M4] SOs a sexe [ow (a) 5e™ (6) 28 [os os] (@)4sin31 ©) 3e0s21 2 [os coro La fos x o24] oz 10. (b) 3sint 2x ra lo 265 +2) {(@) cosh?s (b) 2sinh? 26 [ose eset] 4sin(ar +b), where a and b are constants. c [patron sca) 3 Ep prlseosa + osina) ow that £(cos? 31 — sin®37) = 5 ‘Show that C(os*31 onChapter 62 Properties of Laplace COR MTEC CU rai ‘From Chapter 1, the definition of the Laplace transform, of Sis: cron= [Peso o Tans cle pin) = [Met pone = [em rou @ lo (were ais ral constant) Hence the substitution of (s —a) for s in the transform shown in equation (1) corresponds to the multiplication, of the original function f(¢) bye", This is known as a shift theorem. 62.2 Laplace transforms of the form aig) From equation (2), Laplace transforms of the form e* (0) may be deduced, For example @ Leto) EL from (vi of Table 61.1, nt then £{e = "from equation 2) above (provided s > a) transforms Cletsinon Since C(sinot) = = 2 from dv) of Table 61.1, page 584, then Clesinai=——S fom eg tion 2) (provided sa) (ii) fe coshor) Since £{coshor} 61, page $84, from (ix) of Table then Ce cosh ot) = tion (2) (provided s> a). from equa- A summary of Laplace transforms of the form ef () is shown in Table 62.1 ‘Table 62.1 Laplace transforms of the form en fo peeetara) ern (ais a real constant @ or Gi) sino (ii) e coset (iv) eM sinboor (0) ef coshor‘588 Higher Engineering Mathematics Problem 1. Determine (a) £(2r%e*) (b) £tde¥ cost}, (2). From () of Tee 62.1, a y= actte™ =(4) Pee 2 Grae _24)3)@) 48 C= G3 (b) From (ii) of Table 62.1, Ede" cost) = 4£(e" cos Sr) (=) 45-3) ost o425 4-3) F643 Problem 2. Determine (a) £{e—* sin3r} (b) £63e? cosh40} (a) From (i) of Table 62.1, (e* sin3y): 3 * “ SO GIES CFDS 3 3 Fast Fee (b) From (¥v) of Table 62.1, £(3e° cosh 49}= 3£{e* cosh 48): 46-1) 3-1) ~Fiaii6s Fans Problem 3. Determine the Laplace transforms of (@) Se sink 2r (b) 26% (4.0821 — 5 sin2s), (a) From (iv) of Table 62.1, £{Se—™ sinh 21) = SC{e-™ sinh 2r} ‘(=ar7) NG ay =F, (b) L(2e(4eos2r — Ssin20} = 8L{e™ cost} — 10L(e sin 21) 8-3) 102) from (ii) and (ii) of Table 62.1 _ 86 =3) = 10) 3h +2 Problem 4. Show that fret |- ~ Geena sarin Since eas 2x =1—2sin’x, sintx = 3(1— cos2x) Hence, {seb sats} from (ii) of Table 61.1 (page $84) and (ii) of Table 62.1 above,Properties af Laplace transforms 589 3 6543 stl Wt eas4TT Ms? 445 +17) ~ 65+ HOS+D Gs DGP a4 10s? 419s +51 126? ~ 656s Ost DG +44 48 Ose +4417) Now try the following exercise Exercise220 Further problems on Laplace transforms of the form e*f(0) Determine the Laplace transforms ofthe following functions: 1. (a) 2re% (b) ref [ocam © gar] 0 24 2 4 wy 2 [oa 1 2. (ayarre-™ (by 3. (a)ef coss (b) 3e sin2r 6 [exter Oman] 4. (a) Se cos3e (b) 4e-* sine S42) 4 (otits Oma] 5. (a) 2'sin?t () Se cos? 6. (a)et sins (b) 3e% cosh L |~ wa” 1. cozetanss «Leen 6 a3 [*as Omer] 8, (a) 2e!(cos31 — 3sin31) (b) 3e% (sinh 2r — 2e0sh 20) 62.3 The Laplace transforms of derivatives {a) First derivative Let the first derivative of (0) be f/(0) then, from equation (1), eyo [Perrou From Chapter 43, when integrating by parts | = [ota ee ee When evaluating {56 /"@)ér, lew fo from which, Bans away [soars so G=- v= [sas Hens [er yen “sole [ nese") at = o- sons [ esd -£) +840) assuming e™™ f(F) > Oast — co,and f(0)isthe value of (0) at =0, Hence, LU OV=SLUF(0}-FO) | ay 3) ov ef} where y(0) is the value of y at x=0. LI y— HO)590 Higher Engineering Mathematics (b) Second derivative Let the second derivative of f(") be J"(?), then from equation (1), arw= [Poros optagy ps i f ep wae = [OIE +s J esa =0- f'O)+sL( FO) asin 7 /')-+ 005-90, a 0) value of f'(t) at t=0. Hence (£"O) = -f'O +sls(F) — FO], from equa- tion (3), LF" =P LUFO)—sfO-F'0) ic. @y o «= e{3] =8Lly)—sy(0)—y'(0) whee Yo rineot a anions 6 and we inpraand ae we i te Sinn eal eqn ne Chap 66 and simultaneous differential equations (Chapter 65). Problem 5. Use the Laplace transform of the frst derivative to derive: k @LH=* wLON=> © Le“! From equation (3), £(/')}=s£(/0)— FO). (@) Let (=k, then f'(=0 and fO) =k ‘Substituting into equation (3) gives £0 (b) Let (0) =2r then f'(1)=2 and f(0)=0. Substituting into equation (3) gives £(2) =s£(2r}-0 2 =s£(21) ye 2 Hence £(2)= 3 © Let so Substituting into equation (3) gives: Lae") = se“) 1 then f"(0)=—aer" and (0) =1 alle) = s£(e) = 1a slle™) +acte™) 1=6+ac(e") 1 Hence Le") = Problem 6, Use the Laplace transform of the second derivative to derive From equation (4), LEO) =PLFO}=sfO)— FO) Lat £0) = cosa, then f"(t) = —asinat and SO =—a cosat, f(0) =1 and J’) =0 Substituting into equation (4) gives: L{-a? cosat}=s?{cosat}—s(1) -0 ic. -a¥e(cosar}=s*L{cosar) —s Hence s=(? +a)L{cosar} from which, cosar}= Now try the following exercise 1. Derive the Laplace transform of the first derivative from the definition of a Laplace transform. Hence derive the transform cuy=tProperties Laplace transforms 591 2, Use the Laplace transform ofthe first deriva- tive to derive the transforms: ay! 2 & ee ©) £00) =5 3. Derive the Laplace transform of the second derivative from the definition of a Laplace transform, Hence derive the transform E{sinar) Pre 4, Use the Laplace transform of the second derivative to derive the transforms: (@) £{sinhar) (b) £fcoshar Oe May pore CORI ‘There are several Laplace transform theorems used to simplify and interpret the solution of certain problems, ‘Two such theorems are the initial value theorem and the final value theorem. {a) The initial value theorem states: Aims (0) = limit 6217009) For example, if f()=3e then £36" ‘rom (iil) of Table 61.1, page 584 By the initial value theorem, ‘gai | (2) ee) ie. 3=3, which illustrates the theorem. Problem 7. Verify the initial value theorem for the voltage function (5 -}+2cos37) volts, and state its initial valu. Let fu) =S+2c0851 4 rar es) from (ii) and () of Table 61.1, page 584. LEO) = £15 + 200851) By the initial value theorem, Limigl (©) = limitls{ FON se ts +2neiaeey[e(S+25)] tng 5255 | oo? ie se20)a34 2 ie, 7=7, which verifies the theorem in this ease, 42 ‘The initial value of the voltage is thus 7V. Problem 8. Verify the initial value theorem for the function (2r — 3)* and state its initial value. Les 4212049 Le £{ fn}= £041? - 120 +9) 2) 12.9 ~1(5)-F+? {rom (vi), (vi) and i) of Table 61.1, page 584 3 By the initial value theorem, 8 29 Limit x —3)?} =i [s (5 -oe 3] i.e, 9=:9, which verifies the theorem in this case. ‘The initial value of the given function is thus 9. {b) The final value theorem states Timit [/CO1= limit fs VO] For example, if (7) =3e~ then:592 Higher Engineering Mathematics 3 i 4c" =(0) ‘The initial and final value theorems are used in pulse ora circuit applications where the response of the circuit which illustrates the theorem. for small periods oftime, or the behaviour immediately after the switch is closed, are of interest. The final value Doble 9) -Veiythe inal value theorem forthe theorem is particularly useful in investigating the sta- function @-+30c sin dijem which oprsentsthe bili of systems (such asin automatic airrat-Janding eee eT ae aaa systems) ands concerned withthe steady state response iE ® : ¥ for large values of time r, ue afterall transient effects have died away Let f()=2+3e* singe Now try the following exercise LES O)=LO4 3e sind} y o and final value theorems 3° Gea a6 1, State the initial value theorem, Verify the theo- xem for the functions (a) 3— 4sint (b) (14)? from (ii) of Table 61.1, page $84 and Gil) of and state their initial values Table 62.1 on page 587. a) 3) 16) By the final value theorem, . 2. Verify the initial value theorem forthe voltage limit FO] = Limits CC FOU functions: (a) 4+2cost (6) — cos3 and state : their initial values. [@)6 @)=1) ie. imit(2 + 3e-% sin] theorem forthe function 4-+e~™ (sin + cost) eee i a ee = tig [2 whe 7a se ayo-240 ee eee i.e. 2=2, which verifies the theorem in this case. 317e—# and determine its steady state value. ‘The final value of the displacement is thus 2em. (01Chapter 63 Inverse Laplace transforms CORB CUCU Tey rod eel If the Laplace transform of a function f(t) is Fis), ie. C(s()}=Fe), then f(t) is called the inverse Laplace transform of F(s) and is written as SO= LMF) For example, since £(1}= 2 eien c-"{ 2} <1 7 So then Similaly, since C(sinat) ==" e{ ytg} ana acon 63.2 Inverse Laplace transforms of Bead ‘Tables of Laplace transforms, such as the tables in Chapters 61 and 62 (see pages $84 and 587) may be used to find inverse Laplace transforms. However, for convenience, a summary of inverse Laplace transforms is shown in Table 63.1, Problem 1. Find the following inverse Laplace transforms: ‘Table 63.1 Inverse Laplace transforms594 Higher Engineering Mathematics from (ii) of Table 63.1 Problem 2. Find the following inverse Laplace transforms: ofS} om eif3} (@) From i of tabie6s1.£-1{ Hence £~! { s} asco! { 4 (b)_ From (viii) of Table 63.1, ifs is to have a power -1{3! mw ef Problem 3. Determine 1s wea 5 cfs @ of 7y from (¥) of Table 63.1 mesial 'lsta| = 4cosh4t, from (x) of Table 63.1 Problem 4. Find pent? af 2 @c {= wooly (a) From (ix) of Table 63.1, (b) From (xi) of Table 63.1, Thus £7! {=} Let Goat tae Problem 5. Determine il 3 al e=cr| asf 26+ Oe 425410Inverse Laplace transforms 595 3 ap oo(saas}--l[—as} =e sin3t, from (xi of Table 63.1 seo | pof eH +25+10 sie +P = 2e cos3t, from (xii) of Table 63.1 wef Problem 6. Determine @ et 2 Pea 'sinh2r, {from (xiv) of Table 63.1 tera] 1 [_46-2) (sea 5 26 3) eae =e cosh + £7 feom (0) of Table 63.1 = 4 cosh3t + Fe sinh 3, from (xiv) of Table 63.1 Now try the following exercise Exercise223 Further problems on inverse Laplace transforms of simple functions Determine the inverse Laplace transforms of the following 1 2 1 @ b) [(a) 7 (b) 2e*] 3 as 2 Os Om, (b) 2cos2r 3 wy 2 31 (oy $ sina 4 5.8 5 4 5 O35 OF [o 2 Ose596 Higher Engineering Mathematics ° © Tyas © ayer cos 31 Pen sin [aero « Seman] 1 10. (a) Syd 3 Tse (eon tat 1 @ aya ©) Baeeas (0) 25 coshr4 Le sinh 0926 cont a ins ew ete ir) Petit ‘Sometimes the function whose inverse is required is not recognisable as a standard type, such as those listed in Table 63.1. In such cases it may be possible, by using partial fractions, to resolve the function into simpler fractions which may be inverted on sight, For example, the function, 26-3 Fe s(s—3) ccannot be inverted on sight from Table 63.1, However, 3 by using partial fractions, > = 2h ‘may beinvertedas 1 +e from ({)and (ii) of Table 61.1 Partial fractions are discussed in Chapter 2, and a sum- ‘mary of the forms of patil fract ‘on page 13. G-DEtD ~G-D* GD _ AGH + 86-2) “G=DesD Hence 4s—5 = A(s +1)-+B(—2). When s=2, 3=34, from which, A When s=—1, -9=~38, from which, B=3, Hjecf{s. sa)" |e = 243%, from (ii) of Table 63.1 Problem 8 Fina ent 5° HAS? G—IE+D? c D or ar (Aegrypteygeee ) +C@—3)6-+1)+DE-9) GIES Hence BP 4s 41264 2S Als + 1P + Ble — 35-4 7 HCE =354) FDU =3) When s=3, 128=64A, from which, A=2. When s= ,-12=~4D, from which, D= Equating s* terms gives: 3 =. +.B, from which, B= Equating constant terms gives: 2=A-38-3C-30, ie 2=2-3-30-9, from which, 3C-=—12 and Hence cs wares) 3+ DF (Zaman from (iii) and (xi) of Table 63.1Inverse Laplace transforms 597 Problem 9. Determine Ss°485—1 Ie 5248-1 es wD At Hass Oe49 Fae Hence Ss°485—1=AG? 4+) + (Bs $V +3) When s=—3,20=104, from which, A=2 Eequating s? terms gives: S=A4 since A- B, from which, B=3, Equating # terms gives: 8=3B+C, from which, C==l, since B=3. Ss2+ 85-1 Hence co { “5-1 waa | “la} {3 =i} from (ii), (v) and (iv) of Table 63.1 + 3cost — sin. Problem 10, Find ¢-#{ 7418 _ sa ras Fs) Wt _ A, Bste aD) s) Feasts A(t 445413) 4 (Bs CV) Sas + 1B) Hence 75-413 = A(s? +45-+13)+ (Bs +O). When s=0, 13=134, from which, A=1 Equating s* terms gives: O=A+B, from which, B=-1 Equating s terms gives: 7=44 + C, from which, C=3. sence £1 Is413 ies =s43 } rays 1f__s+2 cif{_st2 {ae} “taal ™ sin3r from (i, (xiii) and (xii) of Table 63.1 Now try the follo wgexercise Exercise224 Further problems on inverse Laplace transforms using partial fractions. Use partial fractions to find the inverse Laplace transforms of the following functions: L [2c Se] 2s 95-35 2 ES ert — 304 +0 (+ DG=-2643) i ae 3. [2e—¥ 4 3ef — etn] 3624 16s-415 oe » 4 (o*G-2r-3)) Ise +$s413 papi @4+D64D 3 2e0s V31-+ Se sin V3r + Se | leas 346s+4s?—25° i) [241+ V3sinV31—4008 V3]‘598 Higher Engineering Mathematics 26. 5G? $4413) [2nsetoonar— 3 ina] Cee Meru Ecce 1 we nt vio at a smn gn, eh fm Je)~ $2 hi trae frase oo ont sone ep igo sar non ig ees te coqets as qvenpare emis suet Sala tute Let @ function in the ¢ domain be given by: 9) FO ea aa Wine OC is of tse degree than the denominator. Poles: The values a, b ¢,..that makes the denomi- nator zero, and hence f(s) infinite, are called the system poles of f(s) If there are no repeated factors, the poles are simple poles, If there are repeated factors, the poles are ‘multiple poles. ‘Values of «that make the numerator $ (s) zet0, and hence f(s) zero, arc called the system zeros of (8). For example has simple ples a 43 5 ‘apes h simple pole at s=— 5 ad double poles at 4 2 se Des Aare) 1 1,4, and = and a zero al 4 3 q a4 G=DG-D and s=+2, and a zero at $=: 1, and zero at has simple poles ats Pole-zero diagram ‘The poles and zeros of a function are values of complex frequency s and can therefore be plotted on the complex frequency or s-plane, The resulting plotis the pole-zero diagram or pole-zero map. On the rectangular axes, the real partis labelled the o-axis and the imaginary part the jo-axis. ‘The location of a pole in the s-plane is denoted by a cross (%) and the location of a zero by a small circle (0). This is demonstrated in the following examples. From the pole-zero diagram it may be determined that the magnitude of the transfer function will be larger when itis closer tothe poles and smaller when itis close tothe zeros. This is importantin understanding what the system does at various frequencies and is crucial in the study of stability and control theory in general, Problem 11, Determine for the transfer function: 400(s-+10) SEF GF 105-4 125) (@) the zero and (b) the poles. Show the poles and ‘zero on a pole-zero diagram. Ris)= (a) For the numerator to be zero, (#4 10) =0. Hence, s=—10 isa zero of R(s). (b) For the denominator to be zero, s=0 or ors? +10s-+125=0. ‘Using the quadratic formula. los VIOLAS) _ — 104 VAG 2 2 104 720 ae = (54/19) Hence, poles occur at s=0, s=—28, (—5-+/10) and (-§—j10) “The pole-zeto diagrarn is shown in Figure 63.1, Figure 63.1Inverse Laplace transforms $99 Problem 12, Determine the poles and zeros for Now try the following exercise (+362) G49G 44D Exercise225 Further problems on poles and zeros the function: F ( ‘and plot them on a pole-zero map. 1, Determine for the transfer function: For the numeratorto be 2e0, (64-3) =Oand (¢-2)=0, RO 50(5+4) hence zeros occur at s=—3 and at s=+2 Poles occur S(s 4 2)(6? = 85425) when the deoninstoris 0, i. when 6 4) =0, 46 (@ the zero and (b) the poles. Show the poles peed, and when 425420, and zeros on apole-zero diagram (@)s=—4 (b)1=0,8=-2, S=44)3,s=4—j3 Determine the poles and 2210s forthe function: (= D642) HCl eID PO GaGa ‘a pole-zero map. ‘The poles and zeros are shown on the pole-2e10 map of poles at s=~3, (3) in Figure 63.2. zeros at s=+1, 5: O@ 2 2 2 and plot them on. +j2,s=1- 2, 2 1 rere) determine the poles and zeros and show them ‘ona pole-zero diagram. 1452, 1=j2, 3. For the funtion G(s) Figure 632 the s-plane It is seen from these problems that poles and zetos & a s=0,5=4 j2,s ae always real or complex conjugate. zeros at s=—1,Grae The solution of differential equations using Laplace cr Titer An alternative method of solving differential equations to that used in Chapters 46 to 51 is possible by using Laplace transforms, CPM ero ol Peewee crs cores pen cuL’ (Take the Laplace transform of both sides of the differential equation by applying the formulae for the Laplace transforms of derivatives (i. equations (3) and (4) of Chapter 62) and, where necessary, using alist of standard Laplace trans- forms, such as Tables 61.1 and 62.1 on pages $84 and 587. i) Put in the given initial conditions, ie. y(0) and yO). Git) Rearrange the equation to make £{y} the subject. Gv) Determine y by using, where necessary, partial fractions, and taking the inverse of each term by using Table 63.1 on page $93, transforms eT) Securit) Peer e cats Problem 1. Use Laplace transforms to solve the differential equation This is the same problem as Problem 1 of Chapter 50, page 478 and a comparison of methods can be made. ‘Using the above proceduce: fy) spf. ® 2e{ Be} +s¢{ 2} -seor-cm AP LIy} —sy(0)— y" CO] + SLsL69} = yO) =3L1y) from equations (3) and (4) of Chapter 62,The solution of dtferental equations using Laplace transforms 601 ) yO=4 and y'@=9 ‘This is the same as Problem 3 of Chapler 50, page 479, Using the above proceduse: Thus 2[s*L{y) 45-9] + S[sL(y)—4] =3£(y}=0 o ie, 2s*L{y) Bs — 18+ SsL{y}—20 =3£0)}=0 Gi) Rearanging gives (2s? 45s —3)L{y}=85 +38 w 8438 he CONS arses 85438 wy yer eat} Was -3 iy 8438 8438 Ut 4 5s Qs-Ds +3) 4 © 25-1 3 A434 BQ5—1) ww) Ges Hence 85-+38=A(e+3)4B@s—D, 1 When s=5, 42-354, from whieh, A= 12. Whens 3, 14=—7B, from which, B=—2, 8438 Tass sels ac! 2 Hence y= 6e*—2e"**, from (ili) of Horse y= "tf fs} sse{ 2} seo-e0 Hence — (s*£{y)—59(0)—y'O)] +6[se(y)—yO)]+ 13209) =0. from equations (3) and (4) of Chapter 62 (0) =3 and y'()=7 Tus PL(}—36—7 4 65209} =18+ 1369) =0 Rearranging gives (PF 465+ 1D)L{y) = 35-425 35425 . Fy6sB 35425 act s[_38+28 aco {38735 a] =f 82 lat] = 307 cos2r + 8e7™ sin2r, from (xii) and (xii) of Table 63.1 Hence y= (3 cos 21-+8 sin 21) Table 63.1 Problem 3, Use Laplace transforms to solve the disferemial equation Problem 2. Use Laplace transforms to solve the ey 4d differential equation: &; dy 5 46 8.415)<0,gven nat when x= given that when x=0, y=0 and This is the same problem as Problem 2 of Chapter S1, page 485. Using the procedure:{602 Higher Engineering Mathematics @ Hence [s?£(y}— sy(0)—y'O)] 9 sty) — yO) = = Gi) y()=O and y’(0)=0 Hence #?L{y)—3s£{y) = 2 (ii) Rearanging gives: @=39c0)=2 9 ‘ 9 ie LO)= 1 9 o se Lag] Fea Hence 9 = A()(s 3) + Bs—3) +08" When s=0,9=—3B, from which, B When =: '=9C, from whick, 1, since C=1. Hence, 3x1 ie ye 2 +20, given that when Equating s* terms gives: 0=A-+ C, from which, = 3rte™ from), (vi) and (ii) of Table 63.1 Problem 4. Use Laplace transforms to solve the differential equation: ao Gi) wo) Using the procedure: @&y dy a 2x 23} ref 2] neon -ete san Hence [s°£(y} —sy y= TsL(y =v) +19¢0)=—4, y(0) =O and y’(0) Hence s°£(y}-0- ) ~Ts£(y)+0 21s —40 +1029) 21-401 t+ 1MLO}= TS 5 _ 3021 =s? +655 - 120 Ss) =# 1 655 120 Henee L(y) 3G De T+ 1) 1 ~3|5G-3e _ Aas? 4650120 3|56-5e=a, 1 por fo#24655— 120 23 | seem ae = 4655120 56=5e = A oe AG = 55 = 2)? + B(s)(6 = 2)? _\ Fes = 96-94 DW -5) 505 = 5s — 2)? Hence = +.65s— 120 As —5)(5 = 2)? + BUSN(s — 2 + Cs —S)(s = 2) + De =5)The solution of dtferential equations using Laplace transforms 603 When s=0, -120= ~ 204, from which, A=6. 5, 180=45B, from which, B=4 When s: When s=2,6=—6D, from wiaich, D=—1. Equating s° terms gives: 0=A+B4C, from which, C=—10. ~# 4658-120 563 Hence fen 3 = He-+4e%— 102 — xe] Problem 5. The current flowing in an electrical ‘circuit is given by the differential equation Ri+L(di/an) =E, where E, Land R are constants, Use Laplace transforms to solve the equation for current i given that when 1 i=0. Using the procedure: le) cee ® cnn c{nS} ce be, REFLEC) 10) == G10) =0,nence REL + Eset) == ii) Rearranging gives: Loci == oy nerf eo] FR+EH A(R 4 Ls) + Bs RY Lay Hence E=A(R4Ls)+Bs When 1=0,B=AR, from which, A= When {Ea wets) differential equations using Lay transforms 1. A first order differential equation involving See erties one aa eee ek centre oer veh eed when (a) E=20 (b) E=40e~* and and i=0 at time 1=0. (©) E=50sin5 (@) i= 20 - e*) (b) = 10(e- — oF) [toi = Fee —cossr+sinsn |{604 Higher Engineering Mathematics InProblems 210 9, use Laplace transforms o solve the given differential equations. yee @x 3. FF + 100x=0, given 1()=2 and x'(0)=0. le ai ai 4. Sat 1000 + 2500001 =0, given i(@)=0 and i'(0)=100. [i =1001e-°] cos 100] @x ode SX os 8x=0, given x0)=4 an Sito ge TSO, given x(0)=4 and xO=8 [x=4Ge-*— 20-49) @y dy ae 2 6 gata trie sen 70 and y(O)=45 1 Gx Det se perete] 10. 1. 4+16y=l0e084x, given y(0)=3 and ~2y=3cos3x— 11 sin3x, given (0) =0 and y') = LyseF— e+ sindx] @y dy x Gea ge tay=BeF cos2x, given y(0)=2 and y'(0)=5 [y= 3et(oone + sins) — ofeos2s] Solve, using Laplace transforms, Problems 4 to 9 of Exercise 187, page 480 and Problems 1 t0 5 of Exercise 188, page 482, Solve, using Laplace transforms, Problems 3 to 6 of Exercise 189, page 486, Problems 5 and 6 of Exercise 190, page 488, Problems 4 and 7 of Exercise 191, page 490 and Problems 5 and 6 of Exercise 192, page 492.Chapter 65 The solution of simultaneous differential equations using Laplace transforms CRMC ry It is sometimes necessary to solve simultaneous differ- ential equations. An example occurs When two electrical circuits are coupled magnetically where the equations relating the two currents iy and ip are typically: ig | pit ta ME 4 Rain =0 2Gp MSE + Rain where L represents inductance, R resistance, M mutual inductance and E; the pt, applied to one of the circuits, eM eo Toure differential equations using ere Ue (@) Take the Laplace transform of both sides of each, simultaneous equation by applying the formu- Jae for the Laplace transforms of derivatives (ce. equations (3) and (4) of Chapter62, page 589) and using alist of standard Laplace teansforms, a8 in ‘Table 61.1, page $84 and Table 62.1, page 587 (Gi) Putin the initial conditions, i. x(0), y(0), x"), yO. ii) Solve the simultaneous equations for £{y) and ‘£{x) by the normal algebraic method, (iv) Determine y and x by using, where necessary, partial fractions, and taking the inverse of each term, Ce ee ar) Peet hecicrl perenne td eae Problem 1. Solve the following pair of simultancous differential equations given that at 1=0, x=0 and y=0. Using the above proceduce: ey _ 0 ef 2} +em~ew o{606 Higher Engineering Mathematics a Gi) e{tt}-eorescer—o0 ® Equation (1) becomes Geo-yO)Fe)=2 W) from equation (3), page 589 and Table 61.1, page 584. Equation (2) becomes: is£(x) x] - £0} = 2 x(0)=0 and y(0)=0 hence Equation (1') becomes: sey) +e) =4 ay and equation (2°) becomes: s£(x) £9 or Liy} + st e 1 x equation 1") and sx equation (2) gives SL} + Lt} -1 8 sly) 47) Cy Adding equations (3) and (4) gives: 14s eoe-T (== 504s) —1 (new Ast ts GD As? 5-1 fromwhic ED Ltn) Using partial fractions mistts-1 A,B iG-D@ aD 5 GD AG D+ D+Bse? +1) +(Cs+D)ss 1) De FD cstD D ww) Hence 4? $51 AG ++ Bse? +1) + (Cs+D)s(e—1) Whens=0, -I=-A hence A=1 Whens=1, —4=28 hence B=—2 Equating s* coctficients: O=AFB+C hence € (since A=1 and B=-2) Equating s? coetticients: -A+D=C hence D: (ince A=1 and C=1) m4stts—t Tus chy 2 (= Gea -1 2 “Fup wep Hence 12 2 xsety i ——— {eaintesn} woe} Fay sD from Table 63.1, page 593 From the second equation given in the question, Sy y at from which, (1—2e! +eost —2sini) +4e! 2e! —sinr —2cost +40! ic. y= 2e!—sint—2eost [Altematively, to determine y, equations (1”) and (2")] return toThe solution of simultaneous differential equations using Laplace transforms 607 Problem 2. Solve the following pair of simultaneous differential equations 5 3S -sP ar a at o_o aa <8 and given that at -=0, Using the above procedure: o sefF]—se[P}+2ca—cy [| _ fee 2e{B}-c{S} -eo-e-n @ Equation (1) becomes: S[s£(x}—x(0)] = SteL{y} — y(O)] +2e0)=8 from equation (3), page $89, and Table 61.1, page 584 ie. 3e£{x) —3x(0) —SsL(y) 6 +59) +20(0)=2 ie. Gs +2)£(x)—3x(0) —5eLy} 6 +5yO) => a Equation (2) becomes: Asety) - yO = [L(x}- ¥(0)] 1 = Liy=-7 from equation (3), page $89, and Table 61.1, page 584, ie. 2slty)—2y(0) — tx} + xO) L(y) ie. 2s DL(y}—2y0) Lx) HO= G x()=8 and y(O)=3, hence equation (1’) becomes Ge+ L(x) 38) - S5L(y) +sa=5 a’) and equation (2') becomes Qs—DL}- 28) —sLtx) +8=-2 @) 6 ie, Gs $2)E(4)—SeLty) = % a G54 2600) = S960) 6 =f49 a” ‘ “a =s£(x) + Qs —DLty} ee” (iii) equation (1) and Gs +2) x equation (2”) tives: 10142000150) =4(5+9) ° 20 +2.0(0) + 6242-20) = (+2) ) ie. sQs+2)£(x)-Ss°L{y) =6+9s (3) =#3s + 2).£ (x) + (69? +4 - DLO) 2 =-6s— « Adding equations (3’) and (4’) gives: Gaeneypactew? $352 ¢ = I+ Bs(s — 4 Cs(s +2) ses ae-D{608 Higher Engineering Mathematics = A+ 26-1) + Bsls D+ Cs(5 +2) When s=0, = 2A, hence A=L When s=1,0=3C, hence C=0 When s=-2,12=6B, hence B=2 Thus Cty) = srs 9 tes ye Returning to equations (A) to determine C(x) and hence « (2s =1) x equation (1") and 5s (2") gives Qs—DGs+2L4) S605 — DLO} =an (+9) 6 and ~9(58)£{x} + 55028 — L(y) =3(- ® ie, (6s? +5 -2L{x)—Ss(2s - DL{y} snvin $9 « and —Ss*£{x} +5sQs — L(y} 10s @) Adding equations (5') and (6!) gives: (P4s—2DL0) from which, L(x 802-25 -6 “TeFae-D Using partial fractions 822-296 ye D A, Bc 5 ' Gan GD _ Als 4266 = 1) 4 Bee =) Cals 42) e+ DE-D ie 8-2-6 = AG 426-0) + Be(s—1) + Cal +2) When s=0,-6=-2A, hence A=3 When s=1,0=3C, hence C=0 When s=-2,30=68, hence BS B26 3 5 Thus cya soe W3 S ‘ s(+26-D 5 (+2) ifS._5 x Hones v= c71{=4 | 234507 Ger + Therefore the solutions of the given simultancous dif- ferential equations are yel42e% and xa345e% (These solutions may be checked by substituting the expressions for x and y into the original equations.) Problem 3. Solve the following pair of simultaneous differential equations 0,‘The solution of simultaneous differential equations using Laplace transforms Using the procedure @ [FLb)-sx)—¥' O]-LE}=LO} [°£(y9}- sy) - y+ Ly) =-C) @) from equation (4), page 590 Gi) x0)=2, yO) ==1, x") =0 and y'0)=0 hence s?£(x}— 25 — £fx) = ty) w PLY }+s+£y}=—Lix} 2) ii) Rearranging gives (F — DLE} L(y} = 2s 8 £09467 + DLO) oy Equation (3)x(s?-+1) and equation (4) x1 ives! (+ DU —DE—)- + DLO) =@4pw L(x) +(s? +DL0) =-5 o ‘Adding equations (5) and (6) gives: (@ + DG — 1) + ee) =? + Das—s ie C(x) 228 +5 =528 41) aston 2 from which, (x)= 22°) iv) Hence x = Returning 0 equations (3) and (4) to deter- rine : 1 x equation (3)and (s?~ 1) x equation (4) gives: (8? — L(x) L(y} =2s o (NL) +? — DF EDLY) ep Equation (7)—equation (8) gives: Liew pe + nico adds? =1) Now try the following exercise Exercise227 Further problems on solving simultaneous differential equations using Laplace transforms Solve the following pairs of simultaneous differ- ential equations: ax, dy Lo 24+ = f at dy a given that when #=0, x=0 and y= bese 1-1 and y=21-3-43¢) ax 2 yates % sein = yeep SB seine 4 3 ven tht at =0, 1 =0 and y=0. Scost +Ssint —e* — et 4 2e —3—Ssint Bx 3. Spteeay @y wt ven that at 0 30st + cos(¥/31) and 3eos t — cos(V3t)cad ‘This Revision Test covers the material contained in Chapters 61 to 65. The marks for each question are shown in brackets atthe end of each question 1 Find the Laplace transforms of the following functions: (@) 284145 (b) 3e —4sin2v (©) Beosh2r (a) 24“ (©) Se cos3t (f) 2e¥ sinh4r (18) Find the inverse Laplace transforms of the follow- ing functions: 3 12 Br = @ wef se DG+9) Bee = 0 aaa In a galvanometer the deflection @ satisfies the differential equation: #e | 38 Grieptona {se Laplace tasforms to suve the equation for ven that when s=0,0=0 and =0. (13) Solve the following pair of simultaneous differen- tial equations: (ay st given that when 20) Determine the poles and zeros forthe transfer func (+2)6-3) PEER Ea MMU Pot them on apole-zero diagram, ao)