Table A–1 Laplace Transform Pairs

f(t) F(s)

1 Unit impulse d(t) 1

1
2 Unit step 1(t)
s

1
3 t
s2

tn - 1 1
4 (n = 1, 2, 3, p )
(n - 1)! sn

n!
5 tn (n=1, 2, 3, p)
sn + 1
1
6 e–at
s + a

1
7 te–at
(s + a)2

1 1
8 tn - 1e-at (n = 1, 2, 3, p )
(n - 1)! (s + a)n
n!
9 tne–at (n=1, 2, 3, p)
(s + a)n + 1
v
10 sin vt
s2 + v2
s
11 cos vt
s2 + v2
v
12 sinh vt
s - v2
2

s
13 cosh vt
s - v2
2

1 1
14 A1 - e-at B
a s(s + a)
1 1
15 Ae-at - e-bt B
b - a (s + a)(s + b)

1 s
16 Abe-bt - ae-at B
b - a (s + a)(s + b)
1 1 1
17 c1 + Abe-at - ae-bt B d
ab a - b s(s + a)(s + b)
(continues on next page)

Appendix A / Laplace Transform Tables 863

 Table A–1 (continued)

1 1
18 A1 - e-at - ate-at B
a2 s(s + a)2

1 1
19 Aat - 1 + e-at B
a2 s2(s + a)

v
20 e–at sin vt
(s + a)2 + v2

s + a
21 e–at cos vt
(s + a)2 + v2

vn v2n
22 e-zvn t sin vn 21 - z2 t (0 6 z 6 1)
21 - z2 s + 2zvn s + v2n
2

1
- e-zvn t sin Avn 21 - z2 t - fB
21 - z2
s
23 21 - z2
f = tan-1 s + 2zvn s + v2n
2

z
(0 6 z 6 1, 0 6 f 6 p!2)

1
1 - e-zvn t sin Avn 21 - z2 t + fB
21 - z2
v2n
24 21 - z 2
f = tan-1 sAs2 + 2zvn s + v2n B
z

(0 6 z 6 1, 0 6 f 6 p!2)
v2
25 1-cos vt
sAs + v2 B
2

v3
26 vt-sin vt
s2 As2 + v2 B
2v3
27 sin vt-vt cos vt 2
As + v2 B
2

1 s
28 t sin vt 2
2v As2 + v2 B

s2 - v2
29 t cos vt 2
As2 + v2 B
1 s
30 Acos v1 t - cos v2 tB Av21 Z v22 B
v22 - v21 2
As + v21 B As2 + v22 B

1 s2
31 (sin vt + vt cos vt) 2
2v As + v2 B
2

864 Appendix A / Laplace Transform Tables

Table A–2 Properties of Laplace Transforms
1 lC Af(t)D = AF(s)

2 l Cf1(t) ; f2(t) D = F1(s) ; F2(s)

d
3 l; c f(t) d = sF(s) - f(0 ; )
dt

d2 #
4 l; c 2
f(t) d = s2F(s) - sf(0 ; ) - f(0 ; )
dt

n f(t) d = s F(s) - a s
dn n
n (k - 1)
n-k
5 l; c f(0 ; )
dt k=1
(k - 1) dk - 1
where f(t) = f(t)
dt k - 1

F(s)
3 s 3
1
6 l; c f(t) dt d = + c f(t) dt d
s t = 0;

+ a n - k + 1 c p f(t)(dt)k d
F(s) n

3 3 3 3
p 1
7 l; c f(t)(dt)n d = n
s k=1 s t = 0;

t F(s)
30
8 lc f(t) dt d =
s
q q

30 30
9 f(t) dt = lim F(s) if f(t) dt exists
sS0

10 l Ce-atf(t) D = F(s + a)

11 lCf(t - a)1(t - a) D = e-asF(s) a!0

dF(s)
12 l Ctf(t) D = -
ds
d2
13 l C t2f(t) D = F(s)
ds2
dn
14 l Ctnf(t) D = (-1)n F(s) (n = 1, 2, 3, p )
dsn
q

3s
1 1
15 lc f(t) d = F(s) ds if lim f(t) exists
t tS0 t

1
16 l c f a b d = aF(as)
a
t

30
17 lc f1(t - t)f2(t) dt d = F1(s)F2(s)

c + jq

2pj 3c - jq
1
18 lCf(t)g(t)D = F(p)G(s - p) dp

Appendix A / Laplace Transform Tables 865

 Finally, we present two frequently used theorems, together with Laplace transforms
of the pulse function and impulse function.

Initial value theorem f(0+) = lim f(t) = lim sF(s)

tS0+ sSq

Final value theorem f(q) = lim f(t) = lim sF(s)

tSq sS0

Pulse function
A A A A - st0
f(t) = 1(t) - 1(t - t0) lCf(t) D = - e
t0 t0 t0s t0s

Impulse function
A A
g(t) = lim , for 0 6 t 6 t0 lCg(t) D = lim c (1 - e - st0) d
t0 S 0 t0 t0 S 0 t0s
= 0, for t 6 0, t0 6 t d
[A(1 - e - st0)]
dt0
= lim
t0 S 0 d
(t s)
dt0 0
As
= = A
s

866 Appendix A / Laplace Transform Tables