The Laplace Transform of step functions (Sect. 6.3).

I Overview and notation.

I The definition of a step function.
I Piecewise discontinuous functions.
I The Laplace Transform of discontinuous functions.
I Properties of the Laplace Transform.

Overview and notation.

Overview: The Laplace Transform method can be used to solve
constant coefficients differential equations with discontinuous
source functions.

Notation:
If L[f (t)] = F (s), then we denote L−1 [F (s)] = f (t).

Remark: One can show that for a particular type of functions f ,

that includes all functions we work with in this Section, the
notation above is well-defined.

Example
1
From the Laplace Transform table we know that L e at =
 
.
h 1 i s − a
−1
Then also holds that L = e at . C
s −a
The Laplace Transform of step functions (Sect. 6.3).

I Overview and notation.

I The definition of a step function.
I Piecewise discontinuous functions.
I The Laplace Transform of discontinuous functions.
I Properties of the Laplace Transform.

The definition of a step function.

Definition
A function u is called a step function at t = 0 iff holds
(
0 for t < 0,
u(t) =
1 for t > 0.

Example
Graph the step function values u(t) above, and the translations
u(t − c) and u(t + c) with c > 0.

Solution:
u(t) u(t − c) u(t + c)

1
1 1

0 t 0 c t −c 0 t

C
The definition of a step function.
Remark: Given any function values f (t) and c > 0, then f (t − c)
is a right translation of f and f (t + c) is a left translation of f .

Example
at a(t−c)
f(t) f(t)= e f(t) f(t)= e

1 1

0 t 0 c t

at a(t−c)
f(t) f(t)= u(t)e f(t) f(t)= u(t−c) e

1 1

0 t 0 c t

The Laplace Transform of step functions (Sect. 6.3).

I Overview and notation.

I The definition of a step function.
I Piecewise discontinuous functions.
I The Laplace Transform of discontinuous functions.
I Properties of the Laplace Transform.
Piecewise discontinuous functions.
Example
Graph of the function b(t) = u(t − a) − u(t − b), with 0 < a < b.

Solution: The bump function b can be graphed as follows:

u(t −a) u(t −b)

1 1

0 a b t 0 a b t

b(t)

0 a b t
C

Piecewise discontinuous functions.

Example
Graph of the function f (t) = e at u(t − 1) − u(t − 2) .
 

Solution:

at
y f(t)=e [ u ( t −1 ) − u ( t −2 ) ]
at
e

1 [ u ( t −1 ) − u ( t −2 ) ]

1 2 t

Notation: The function values u(t − c) are denoted in the

textbook as uc (t).
The Laplace Transform of step functions (Sect. 6.3).

I Overview and notation.

I The definition of a step function.
I Piecewise discontinuous functions.
I The Laplace Transform of discontinuous functions.
I Properties of the Laplace Transform.

The Laplace Transform of discontinuous functions.

Theorem
Given any real number c, the following equation holds,

e −cs
L[u(t − c)] = , s > 0.
s

Proof:
Z ∞ Z ∞
−st
L[u(t − c)] = e u(t − c) dt = e −st dt,
0 c

1 −Ns
e −cs
L[u(t − c)] = lim − e − e −cs = , s > 0.
N→∞ s s

e −cs
We conclude that L[u(t − c)] = .
s
The Laplace Transform of discontinuous functions.
Example
Compute L[3u(t − 2)].
e −2s
Solution: L[3u(t − 2)] = 3 L[u(t − 2)] = 3 .
s
3e −2s
We conclude: L[3u(t − 2)] = . C
s
Example
h e 3s i
−1
Compute L .
s
h e 3s i h e −(−3)s i
−1 −1
Solution: L =L = u(t − (−3)).
s s
h e 3s i
−1
We conclude: L = u(t + 3). C
s

The Laplace Transform of step functions (Sect. 6.3).

I Overview and notation.

I The definition of a step function.
I Piecewise discontinuous functions.
I The Laplace Transform of discontinuous functions.
I Properties of the Laplace Transform.
Properties of the Laplace Transform.
Theorem (Translations)
If F (s) = L[f (t)] exists for s > a > 0 and c > 0, then holds

L[u(t − c)f (t − c)] = e −cs F (s), s > a.

Furthermore,
L[e ct f (t)] = F (s − c), s > a + c.
Remark:
 

I L translation (uf ) = (exp) L[f ] .
 

I L (exp) (f ) = translation L[f ] .

Equivalent notation:
I L[u(t − c)f (t − c)] = e −cs L[f (t)],
I L[e ct f (t)] = L[f ](s − c).

Properties of the Laplace Transform.

Example
 
Compute L u(t − 2) sin(a(t − 2)) .
a
Solution: L[sin(at)] =2 2
, L[u(t − c)f (t − c)] = e −cs L[f (t)].
s +a
a
L u(t − 2) sin(a(t − 2)) = e −2s L[sin(at)] = e −2s 2
 
.
s + a2
a
We conclude: L u(t − 2) sin(a(t − 2)) = e −2s 2
 
. C
s + a2
Example
Compute L e 3t sin(at) .
 

Solution: Recall: L[e ct f (t)] = L[f ](s − c).

a
We conclude: L e 3t sin(at) =
 
, with s > 3. C
(s − 3)2 + a2
Properties of the Laplace Transform.
Example (
0, t < 1,
Find the Laplace transform of f (t) =
(t 2 − 2t + 2), t > 1.

Solution: Using step function notation,

f (t) = u(t − 1)(t 2 − 2t + 2).

Completing the square we obtain,

t 2 − 2t + 2 = (t 2 − 2t + 1) − 1 + 2 = (t − 1)2 + 1.

f(t)

This is a parabola t 2 translated to the

right by 1 and up by one. This is a 1

discontinuous function. 0 1 t

Properties of the Laplace Transform.

Example (
0, t < 1,
Find the Laplace transform of f (t) =
(t 2 − 2t + 2), t > 1.

Solution: Recall: f (t) = u(t − 1) (t − 1)2 + 1 .

 

This is equivalent to
f (t) = u(t − 1) (t − 1)2 + u(t − 1).
Since L[t 2 ] = 2/s 3 , and L[u(t − c)g (t − c)] = e −cs L[g (t)], then

2 −s 1
L[f (t)] = L[u(t − 1) (t − 1)2 ] + L[u(t − 1)] = e −s + e .
s3 s
e −s
We conclude: L[f (t)] = 3 2 + s 2 .


C
s
Properties of the Laplace Transform.
Remark: The inverse of the formulas in the Theorem above are:

L−1 e −cs F (s) = u(t − c) f (t − c),

 

L−1 F (s − c) = e ct f (t).
 

Example
h e −4s i
−1
Find L .
s2 + 9
h −4s i 1
−1 e 3 i
h
−1 −4s
Solution: L = L e .
s2 + 9 3 s2 + 9
h a i
−1
Recall: L = sin(at). Then, we conclude that
s 2 + a2
h −4s i 1
−1 e


L = u(t − 4) sin 3(t − 4) . C
s2 + 9 3

Properties of the Laplace Transform.

Example
−1
h (s − 2) i
Find L .
(s − 2)2 + 9
h s i
−1 −1
= e ct f (t).
 
Solution: L 2 2
= cos(at), L F (s − c)
s +a
h (s − 2) i
−1
We conclude: L 2
= e 2t cos(3t). C
(s − 2) + 9

Example
h 2e −3s i
−1
Find L .
s2 − 4
a i
−1
h
Solution: Recall: L = sinh(at)
s 2 − a2
and L−1 e −cs F (s) = u(t − c) f (t − c).
 
Properties of the Laplace Transform.

Example
h 2e −3s i
−1
Find L .
s2 − 4
Solution: Recall:
h a i
−1
L−1 e −cs F (s) = u(t − c) f (t − c).
 
L = sinh(at),
s 2 − a2

h 2e −3s i h 2 i
−1 −1 −3s
L =L e .
s2 − 4 s2 − 4
h 2e −3s i
−1


We conclude: L = u(t − 3) sinh 2(t − 3) . C
s2 − 4

Properties of the Laplace Transform.

Example
−1
h e −2s i
Find L .
s2 + s − 2
Solution: Find the roots of the denominator:
(
1  √  s+ = 1,
s± = −1 ± 1 + 8 ⇒
2 s− = −2.

Therefore, s 2 + s − 2 = (s − 1) (s + 2).
Use partial fractions to simplify the rational function:
1 1 a b
= = + ,
s2 + s − 2 (s − 1) (s + 2) (s − 1) (s + 2)

1 (a + b) s + (2a − b)
= a(s + 2) + b(s − 1) = .
s2 + s − 2 (s − 1) (s + 2)
Properties of the Laplace Transform.
Example
−1
h e −2s i
Find L .
s2 + s − 2
1 (a + b) s + (2a − b)
Solution: Recall: 2 =
s +s −2 (s − 1) (s + 2)
1 1
a + b = 0, 2a − b = 1, ⇒ a = , b = − .
3 3
h e −2s i 1 h 1 i 1 −1 h −2s 1 i
−1 −1 −2s
L = L e − L e .
s2 + s − 2 3 s −1 3 s +2
h 1 i
−1
= e at , L−1 e −cs F (s) = u(t − c) f (t − c),
 
Recall: L
s −a
h e −2s i 1 1
−1
L 2
= u(t − 2) e (t−2)
− u(t − 2) e −2(t−2) .
s +s −2 3 3
h e −2s i 1 h i
−1 (t−2) −2(t−2)
Hence: L = u(t − 2) e −e . C
s2 + s − 2 3