1 _________________ 3 __________________

___________________ ___________________
B0001 B0001

Inverse Laplace Example 1: Linear

Transformation ___________________ Combination ___________________
Inverse Laplace Transformation maps back
___________________ Consider the transform function
___________________
___________________ ___________________
 
the function into the original domain. 1
f (t ) = L -1 [F ( s )] F ( s) =
s2 − 4
=
1 σ 1 + j∞
j 2π ∫σ1 − j∞
F ( s )e st ds ___________________  The inverse transform is obtained by
noting that this can be written as
___________________

for any σ1 in the region of convergence.
The integral, called the Bromwich ___________________ F ( s) = −
0.25 0.25
+
s+2 s−2
___________________
integral, is a contour integral along the
path σ1—j∞ to σ1+j∞. ___________________  Hence,

1  1  1 −1  1 
f (t ) = − L −1  + L 
___________________
 s + 2  4  s − 2 
s-plane jω
abscissa of
convergence
RoC
___________________ 
4

Using the transform pair table gives

___________________
σ1 σ
___________________ 1 1
f (t ) = − e − 2t + e 2t
4 4
___________________
path of
___________________ 1
[
= e 2t − e − 2t
4
] ___________________
___________________ ___________________
integration

Inverse Laplace Transformation * Property of STI Inverse Laplace Transformation * Property of STI
Page 1 of 24 Page 3 of 24

2 _________________ 4 __________________
___________________ ___________________
B0001 B0001

Example 2: Linear
Linear Combination ___________________ Combination ___________________
The inverse Laplace transformation is a
___________________ Consider the transform function
___________________
___________________ ___________________
 
linear operation, hence
1 + e − πs
F ( s) =
L −1 [F ( s )] = L −1 [aF1 ( s ) + bF2 ( s )] s2 + 1
= aL −1 [F1 ( s )] + bL −1 [F2 ( s )] ___________________  The inverse transform is obtained by
noting that this can be written as
___________________

where a and b are scalar quantities.
Proof
___________________ F ( s) = 2
1
s +1
+ e − πs 2
1
s +1
___________________
L -1 [aF1 ( s ) + bF2 ( s )] ___________________  Hence,

 1  
f (t ) = L −1  2  + L −1 e − πs 2 
1  ___________________
[aF1 ( s) + bF2 ( s)]e st ds
___________________ ___________________
1 σ 1 + j∞  s + 1  s + 1
j 2π ∫σ1 − j∞
=
 1   1 
1 σ 1 + j∞ 1 σ 1 + j∞ = L −1  2  + L −1  2 

___________________ ___________________
 s + 1  s + 1 t →t − π
j 2π ∫σ1 − j∞ j 2π ∫σ1 − j∞
= aF1 ( s )e st ds + bF2 ( s )e st ds
 Using the transform pair table gives
1 σ 1 + j∞ 1 σ 1 + j∞ f (t ) = sin t u (t ) + [sin t u (t )]t →t − π
j 2π ∫σ1 − j∞ j 2π ∫σ1 − j∞
___________________ ___________________
=a F1 ( s )e st ds + b F2 ( s )e st ds
= sin t u (t ) + sin(t − π ) u (t − π )
= aL −1 [F1 ( s )] + bL −1 [F2 ( s )] = sin t u (t ) − sin t u (t − π )

Inverse Laplace Transformation * Property of STI

___________________ = sin t [u (t ) − u (t − π )]
Inverse Laplace Transformation * Property of STI
___________________
Page 2 of 24 Page 4 of 24
 5 _________________ 7 __________________
___________________ ___________________
B0001 B0001

Convolution Theorem ___________________ Partial Fraction Expansion ___________________

The convolution operation, denoted by ∗,
___________________ Rational functions can be expressed as a
___________________
___________________ ___________________
 
is defined by sum of simple fractions called partial
t fractions.
f (t ) ∗ g (t ) = ∫ f ( τ ) g (t − τ ) dτ

___________________ If the order of the numerator P(s) is less

___________________
0

 The convolution theorem states that than the order of the denominator Q(s),
convolution in the time domain is then
equivalent to multiplication in the Laplace
domain. ___________________ F ( s) =
P( s)
Q( s)
___________________
Proof
f (t ) ∗ g (t ) ⇔ F ( s )G ( s )
___________________ =
P( s)
( s − a1 ) k1 ( s − a2 ) k 2 ( s − an ) k n
___________________
___________________ ___________________

F ( s )G ( s ) =  ∫ f ( x)e − sx dx   ∫ g ( y )e − sy dy 
∞ ∞ k1 kn
A1k Ank
 0   0  =∑ ++ ∑
k =1 ( s − a ) k
k =1 ( s − an )
k

___________________ ___________________
1
∞ ∞
=∫ ∫ f ( x) g ( y )e − s ( x + y ) dxdy
0 0 where ai are the roots of Q(s), ki is the
Let τ = x and t = x + y order of root ai, and Aik are called the
=∫
∞

0 ∫
t

0
f (τ ) g (t − τ )e − st dτ dt ___________________ residues.
___________________
= L  ∫ f ( τ ) g (t − τ )dτ 
___________________ ___________________
t

 0 
Inverse Laplace Transformation * Property of STI Inverse Laplace Transformation * Property of STI
Page 5 of 24 Page 7 of 24

6 _________________ 8 __________________
___________________ ___________________
B0001 B0001

Example: Convolution
Theorem ___________________ Simple Roots ___________________
Consider the transform function
___________________ If all the roots of Q1(s) are simple, then
___________________
___________________ ___________________
 

s
F (s) = 2 P1 ( s ) P1 ( s )
( s + 1) 2 =

___________________ ___________________
Q1 ( s ) ( s − a1 )( s − a2 )( s − an )
 The inverse transform is obtained by A1 A2 An
noting that this can be written as = + ++

___________________ ___________________
s − a1 s − a2 s − an
 s  1 
F ( s) =  2  2  If all the coefficients of P1(s) are real,
 s + 1  s + 1  

 Hence,
 s   1 
f (t ) = L −1  2  ∗ L −1  2 
___________________ 
then all the residues will be real.
Taking the inverse Laplace transform
results in
___________________
___________________ ___________________
 s + 1  s + 1
 Using the transform pair table and  A A2 An 
performing the convolution gives f1 (t ) = L −1  1 + ++ 
 s − a1 s − a2 s − an 
f (t ) = cos t ∗ sin t
t
___________________ = A1e a1t + A2e a 2 t +  + An e a n t ___________________
= ∫ cos τ sin(t − τ )dτ

= 1
2
0

[τ sin t + 12 cos(2τ − t )]t0 ___________________ ___________________

= t sin t
Inverse Laplace Transformation
1
2

* Property of STI
___________________ Inverse Laplace Transformation * Property of STI
___________________
Page 6 of 24 Page 8 of 24
 9 _________________ 11 _________________
___________________ ___________________
B0001 B0001

Example: Simple Roots ___________________ Repeated Roots ___________________

 Consider the transform function
___________________ If a root of Q2(s) is of multiplicity n, then
___________________
___________________ ___________________


1
F ( s) = 2 P2 ( s ) A
= 1 +
A2
++
An
s −4 ( s − a)n s − a ( s − a)2 (s − a)n
 Factoring the denominator and expanding
into partial fractions results in
___________________ If all the coefficients of P2(s) are real,
___________________
___________________ ___________________

1 then there will be similar terms for every
F (s) =
( s + 2)( s − 2) other repeated root.

=
A
s+2 s−2
+
B
___________________  Taking the inverse Laplace transform
results in ___________________
 Equating the expressions gives
1 A( s − 2) + B( s + 2)
___________________  A
f1 (t ) = L −1  1 +
A2
 s − a ( s − a)
2
++
An 
( s − a) n  ___________________
=

or
( s + 2)( s − 2) ( s + 2)( s − 2)
___________________ = A1e at + A2te at +  +
An n −1 at
(n − 1)!
t e
___________________
1 = A( s − 2) + B ( s + 2)
= ( A + B) s + (−2 A + 2 B)
___________________ ___________________
Inverse Laplace Transformation * Property of STI
___________________ Inverse Laplace Transformation * Property of STI
___________________
Page 9 of 24 Page 11 of 24

10 ________________ 12 _________________
___________________ ___________________
B0001 B0001

Example: Simple Roots

(cont’d) ___________________ Example: Repeated Roots ___________________
 Comparing coefficients results in
___________________  Consider the transform function
___________________
A + B = 0 for s1
− 2 A + 2 B = 1 for s 0
___________________ F ( s) =
s +1
( s − 2)3
___________________
 Solving the simultaneous equations gives ___________________  Expanding into partial fractions results in ___________________
A=− and B =
___________________ ___________________
1 1 A B C
4 4 F (s) = + +
s − 2 ( s − 2) 2 ( s − 2)3
Hence 

___________________ ___________________
− 1/ 4 1/ 4  Equating the expressions gives
F ( s) = +
s+2 s−2 s +1 A( s − 2) 2 + B ( s − 2) + C
The inverse Laplace transform can then =

___________________ ___________________

( s − 2) 3 ( s − 2)3
be obtained.
or
1  1  1 −1  1 

___________________ ___________________
f (t ) = − L −1  + L  s + 1 = A( s − 2) 2 + B ( s − 2) + C
4  s + 2  4  s − 2 
1 − 2t 1 2t = A( s 2 − 4s + 4) + B ( s − 2) + C
=− e + e
4
= 12 sinh 2t
4
___________________ = As 2 + (−4 A + B ) s + (4 A − 2 B + C )
___________________
Inverse Laplace Transformation * Property of STI
___________________ Inverse Laplace Transformation * Property of STI
___________________
Page 10 of 24 Page 12 of 24
 13 ________________ 15 _________________
___________________ ___________________
B0001 B0001

Example: Repeated Roots Example: Complex

(cont’d) ___________________ Conjugate Roots ___________________
 Comparing coefficients results in
___________________  Consider the transform function
___________________
− 4A + B = 1
A = 0 for s 2
for s1
___________________ F (s) =
2s − 2
s 2 + 6 s + 25
___________________

4 A − 2B + C = 1
Solving the simultaneous equations gives
for s 0
___________________  Factoring and expanding into
fractions results in
partial ___________________
A = 0, B = 1, and C = 3 ___________________ F (s) =
2s − 2
( s + 3 + j 4)( s + 3 − j 4) ___________________
___________________ ___________________
 Hence A B
= +
F ( s) =
1
+
3 s + 3 + j4 s + 3 − j4
( s − 2) 2 ( s − 2)3

 The inverse Laplace transform can then

___________________  Equating the expressions gives
2s − 2
=
A( s + 3 − j 4) + B( s + 3 + j 4)
___________________
be obtained.
 1 
f (t ) = L −1  2
 3 
+ L −1  3
___________________ or
s 2 + 6 s + 25 ( s + 3 + j 4)( s + 3 − j 4)
___________________
 ( s − 2) 
= te + t e2t 3 2 2t
2
 ( s − 2) 
___________________ 2 s − 2 = A( s + 3 − j 4) + B( s + 3 + j 4)
= ( A + B) s + (3 − j 4) A + (3 + j 4) B
___________________
Inverse Laplace Transformation * Property of STI
___________________ Inverse Laplace Transformation * Property of STI
___________________
Page 13 of 24 Page 15 of 24

14 ________________ 16 _________________
___________________ ___________________
B0001 B0001

Example: Complex
Complex Conjugate Roots ___________________ Conjugate Roots (cont’d) ___________________
If all coefficients of a polynomial are real,
___________________  Comparing coefficients results in
___________________
___________________ ___________________

complex roots occur in conjugate pairs. A+ B = 2 for s1
 If roots form complex conjugate pairs, so (3 − j 4) A + (3 + j 4) B = −2 for s 0
do their residues.
P(s) ___________________  Solving the simultaneous equations gives ___________________
___________________ ___________________
Q1 ( s ) ( s − (α + jω))( s − (α − jω)) A = 1 − j1 and B = A∗ = 1 + j1
A A∗ Hence
= + + 

___________________ ___________________
s − (α + jω) s − (α − jω) 1 − j1 1 + j1
F (s) = +
s + 3 + j4 s + 3 − j4
Taking the inverse Laplace transforms of
___________________ ___________________

the pair results in  The inverse Laplace transform can then
be obtained.
 A∗ 
___________________ ___________________
A
L −1  + 
 s − (α + jω) s − (α − jω)  A = 12 + (−1) 2 = 2
= Ae ( α + jω ) t ∗ ( α − jω ) t
+Ae θ A = tan −1 ( −11 ) = − π4
= 2 A eαt cos(ωt + θ A ) ___________________ f (t ) = 2 2e − 3t cos(− 4t − π4 ) ___________________
= 2 2e − 3t cos(4t + π4 )

Inverse Laplace Transformation * Property of STI

___________________ Inverse Laplace Transformation * Property of STI
___________________
Page 14 of 24 Page 16 of 24
 17 ________________ 19 _________________
___________________ ___________________
B0001 B0001

Heaviside’s Expansion
Order Reduction ___________________ Theorem ___________________
Partial fraction expansion is applicable
___________________ Consider a rational function with a
___________________
___________________ ___________________
 
only when the order of numerator P(s) is denominator root with a multiplicity of n
less than the order of denominator Q(s). P( s)
F ( s) =
 Else, the transform function may first be
rewritten as the sum of a polynomial and
a rational function using division.
___________________ Q1 ( s ) ( s − a ) n

=
A1
+
A2
++
An
+
___________________
F ( s) =
P( s)
Q( s)
___________________ 
s − a ( s − a)2 (s − a)n
The residues of the partial fractions can ___________________
P (s)
= B( s) + 1
Q( s)
___________________ be obtained by

Ak =
1 d n−k
[
( s − a) n F ( s) s = a ] ___________________
___________________ ___________________
(n − k )! ds n − k
 The inverse Laplace transform of B(s) can
then be obtained by noting that 1 d  P( s) 
n−k
=
(n − k )! ds n − k  Q1 ( s )  s = a
L −1 [1] = δ (t )

L −1 [s ] = L [1]
d −1
___________________  For unique roots, ___________________
A = [( s − a ) F ( s )]s = a
dt
d
= δ (t )
___________________ =
P( s) ___________________
___________________ ___________________
dt Q1 ( s ) s = a
=∞
Inverse Laplace Transformation * Property of STI Inverse Laplace Transformation * Property of STI
Page 17 of 24 Page 19 of 24

18 ________________ 20 _________________
___________________ ___________________
B0001 B0001

Example 1: Heaviside’s
Example: Order Reduction ___________________ Expansion Theorem ___________________
Consider the transform function
___________________  Consider the transform function
___________________
___________________ ___________________


s 2 + 2s + 3 1
F (s) = 2 F ( s) =
s + 3s + 2 s2 − 4

 Since the order of the numerator is not

less than the order of the denominator,
___________________  Factoring the denominator and expanding
into partial fractions results in
___________________
direct division is performed to get

F (s) = 1 + 2
− s +1
___________________ F (s) =
1
( s + 2)( s − 2)
___________________
s + 3s + 2

Partial fraction expansion then results in

___________________ =
A
s+2 s−2
+
B
___________________
___________________ ___________________

 The residues are then
2 3
F ( s) = 1 + − 1 1
s +1 s + 2
___________________ ___________________
A= B=
s − 2 s = −2 s + 2 s=2
 The inverse Laplace transform can then be
1 1

___________________ ___________________
determined. = =
(−2) − 2 2+2
−t −2 t
f (t ) = δ (t ) + 2e − 3e = − 14 = 1
4

Inverse Laplace Transformation * Property of STI

___________________ Inverse Laplace Transformation * Property of STI
___________________
Page 18 of 24 Page 20 of 24
 21 ________________ 23 _________________
___________________ ___________________
B0001 B0001

Example 2: Heaviside’s Example 4: Heaviside’s

Expansion Theorem ___________________ Expansion Theorem ___________________
 Consider the transform function
___________________  Consider the transform function
___________________
F (s) = 2
2s − 2
s + 6 s + 25
___________________ F ( s) =
s2 + s − 3
( s + 2)( s + 1) 2
___________________
 Factoring and expanding into
fractions results in
partial ___________________  Expanding into partial fractions results in ___________________
___________________ ___________________
A B C
2s − 2 F (s) = + +
F (s) = s + 2 s + 1 ( s + 1) 2
( s + 3 + j 4)( s + 3 − j 4)

___________________ ___________________
A B  The residues are
= +
s + 3 + j4 s + 3 − j4 s2 + s − 3
A= = −1

___________________ ___________________
( s + 1) 2 s = −2
 The residues are then
d  s2 + s − 3
B=  =2
2s − 2 2s − 2 ds  s + 2  s = −1
___________________ ___________________
A= B=
s + 3 − j 4 s = −3− j 4 s + 3 + j 4 s = −3+ j 4
s2 + s − 3
C= = −3
2(−3 − j 4) − 2 2(−3 + j 4) − 2 s + 2 s = −1
___________________ ___________________
= =
(−3 − j 4) + 3 − j 4 (−3 + j 4) + 3 + j 4  The inverse Laplace transform then give
= 1 − j1 = 1 + j1
f (t ) = −e −2t + 2e − t − 3te − t

Inverse Laplace Transformation * Property of STI

___________________ Inverse Laplace Transformation * Property of STI
___________________
Page 21 of 24 Page 23 of 24

22 ________________ 24 _________________
___________________ ___________________
B0001 B0001

Example 3: Heaviside’s Exercise: Inverse Laplace

Expansion Theorem ___________________ Transformation ___________________
 Consider the transform function
___________________ Determine the inverse Laplace transform
___________________
___________________ ___________________

s +1 of each of the following.
F ( s) =
( s − 2)3

___________________ ___________________
2 s 3 + 5s 2 + 7 s + 10
1.
 Expanding into partial fractions results in ( s + 1)( s − 2)( s + 3)

___________________ ( ) ( ) ___________________
A B C
F (s) = + + 5s 2 + 12 − 2 3 s + 23 − 6 3
s − 2 ( s − 2) 2 ( s − 2)3 2.
( s + 3)( s 2 + 2 s + 5)

___________________ ___________________
 For roots with multiplicity greater than 1,
it is typically easier to work from the s 3 − 4 s 2 − 16 s + 46
3.
highest order. ( s 2 + s − 2)( s 2 − 8s + 16)
C = ( s + 1) s = 2
d
= 2 +1 =3 ___________________ 4.
s 2 + 2s − 1
___________________
___________________ ___________________
B = ( s + 1) = 1 s=2 =1 ( s 2 + 4 s + 5)( s 2 + 2 s + 1)
ds s=2
1 d2 1
A= ( s + 1) = (0) s = 2 =0 s 3 − 55s 2 + 503s − 1169
___________________ 5.
___________________
2
2 ds 2
s=2 ( s 2 + 2s + 17)( s 2 + s − 6)( s 2 − 2 s + 1)

Inverse Laplace Transformation * Property of STI

___________________ Inverse Laplace Transformation * Property of STI
___________________
Page 22 of 24 Page 24 of 24