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Laplace Transform: General Formulas: F(S) e F
Laplace Transform: General Formulas: F(S) e F
ⴥ
F(s) ⫽ l{ f (t)} ⫽ 冮
0
eⴚstf (t) dt Definition of Transform
6.1
f (t) ⫽ lⴚ1{F(s)} Inverse Transform
l( f r ) ⫽ sl( f ) ⫺ f (0)
t
( f * g)(t) ⫽ 冮 f (t)g(t ⫺ t) dt
0
t
⫽ 冮 f (t ⫺ t)g(t) dt
0
Convolution 6.5
l( f * g) ⫽ l( f )l(g)
t-Shifting
ⴚ1 6.3
l {eⴚasF (s)} ⫽ f (t ⫺ a) u(t ⫺ a) (Second Shifting Theorem)
p 6.4
l( f ) ⫽
1
1 ⫺ eⴚps
冮
0
eⴚstf (t) dt f Periodic with Period p Project
16
c06.qxd 10/28/10 6:33 PM Page 249
F (s) ⫽ l{ f (t)}
˛ f (t) Sec.
1 1>s 1
2 1>s 2 t
3 1>s n (n ⫽ 1, 2, Á ) t nⴚ1>(n ⫺ 1)!
t 6.1
4 1> 1s 1> 1pt
5 1>s 3>2 2 1t> p
6 1>s a (a ⬎ 0) t aⴚ1>⌫(a)
1
7 eat
s⫺a
1
8 teat
(s ⫺ a)2
1 1 t 6.1
9 (n ⫽ 1, 2, Á ) t nⴚ1eat
(s ⫺ a) n (n ⫺ 1)!
1 1 kⴚ1 at
10 (k ⬎ 0) t e
(s ⫺ a) k ⌫(k)
1 1
11 (a ⫽ b) (eat ⫺ ebt)
(s ⫺ a)(s ⫺ b) a⫺b
s 1
12 (a ⫽ b) (aeat ⫺ bebt)
(s ⫺ a)(s ⫺ b) a⫺b
1 1
13 sin vt
s ⫹v
2 2 v
s
14 cos vt
s 2 ⫹ v2
1 1
15 sinh at
a
s ⫺a
t 6.1
2 2
s
16 cosh at
s2 ⫺ a2
1 1 at
17 e sinh vt
(s ⫺ a)2 ⫹ v2 v
s⫺a
18 eat cos vt
(s ⫺ a) ⫹ v 2 2
1 1
19 (1 ⫺ cos vt)
s(s ⫹ v )
2 2
v2
x 6.2
1 1
20 (vt ⫺ sin vt)
s 2(s 2 ⫹ v2) v3
(continued )
c06.qxd 10/28/10 6:33 PM Page 250
F (s) ⫽ l{ f (t)}
˛ f (t) Sec.
1 1
21 (sin vt ⫺ vt cos vt)
(s ⫹ v )
2 2 2
2v3
s t
22 sin vt t 6.6
(s 2 ⫹ v2) 2 2v
s2 1
23 (sin vt ⫹ vt cos vt)
(s ⫹ v )
2 2 2 2v
s 1
24 (a 2 ⫽ b 2) (cos at ⫺ cos bt)
(s 2 ⫹ a 2)(s 2 ⫹ b 2) b 2 ⫺ a2
1 1
25 (sin kt cos kt ⫺ cos kt sinh kt)
s ⫹ 4k
4 4
4k 3
s 1
26 sin kt sinh kt
s 4 ⫹ 4k 4 2k 2
1 1
27 (sinh kt ⫺ sin kt)
s4 ⫺ k 4 2k 3
s 1
28 (cosh kt ⫺ cos kt)
s4 ⫺ k 4 2k 2
1
29 1s ⫺ a ⫺ 1s ⫺ b (ebt ⫺ eat)
22pt 3
a⫺b
eⴚ(a⫹b)t>2I0 a
1
30 tb I 5.5
1s ⫹ a 1s ⫹ b 2
1
31 J0(at) J 5.4
2s ⫹ a 2 2
s 1
32 eat(1 ⫹ 2at)
(s ⫺ a) 3>2
1pt
kⴚ1>2
1p t
a b
1
33 (k ⬎ 0) Ikⴚ1>2(at) I 5.5
(s 2 ⫺ a 2)k ⌫(k) 2a
1 ⴚk>s
36 e J0(2 1kt) J 5.4
s
1 ⴚk>s 1
37 e cos 2 1kt
1s 1pt
1 1
38 ek>s sinh 2 1kt
s 3>2
1pk
k >4t
eⴚk1s eⴚk
2
39 (k ⬎ 0)
3
22pt
(continued )
c06.qxd 10/28/10 6:33 PM Page 251
F (s) ⫽ l{ f (t)}
˛ f (t) Sec.
1
40 ln s ⫺ln t ⫺ g (g ⬇ 0.5772) g 5.5
s
s⫺a 1 bt
41 ln (e ⫺ eat)
s⫺b t
s 2 ⫹ v2 2
42 ln (1 ⫺ cos vt) 6.6
s2 t
s2 ⫺ a2 2
43 ln (1 ⫺ cosh at)
s 2 t
v 1
44 arctan sin vt
s t
1 App.
45 arccot s Si(t)
s A3.1
31. y s ⫺ y r ⫺ 2y ⫽ 12u(t ⫺ p) sin t, y(0) ⫽ 1, 42. Find and graph the charge q(t) and the current i(t) in
y r (0) ⫽ ⫺1 the LC-circuit in Fig. 151, assuming L ⫽ 1 H, C ⫽ 1 F,
32. y s ⫹ 4y ⫽ d(t ⫺ p) ⫺ d(t ⫺ 2p), y(0) ⫽ 1, v(t) ⫽ 1 ⫺ eⴚt if 0 ⬍ t ⬍ p, v(t) ⫽ 0 if t ⬎ p, and
y r (0) ⫽ 0 zero initial current and charge.
33. y s ⫹ 3y r ⫹ 2y ⫽ 2u(t ⫺ 2), y(0) ⫽ 0, y r (0) ⫽ 0 43. Find the current i(t) in the RLC-circuit in Fig. 152, where
R ⫽ 160 ⍀, L ⫽ 20 H, C ⫽ 0.002 F, v(t) ⫽ 37 sin 10t V,
34. y1r ⫽ y2, y2r ⫽ ⫺4y1 ⫹ d(t ⫺ p), y1(0) ⫽ 0,
and current and charge at t ⫽ 0 are zero.
y2(0) ⫽ 0 C
35. y1r ⫽ 2y1 ⫺ 4y2, y2r ⫽ y1 ⫺ 3y2, y1(0) ⫽ 3,
y2(0) ⫽ 0
36. y1r ⫽ 2y1 ⫹ 4y2, y2r ⫽ y1 ⫹ 2y2, y1(0) ⫽ ⫺4, C L R L
y2(0) ⫽ ⫺4
37. y1r ⫽ y2 ⫹ u(t ⫺ p), y2r ⫽ ⫺y1 ⫹ u(t ⫺ 2p),
y1(0) ⫽ 1, y2(0) ⫽ 0 v(t) v(t)
Fig. 151. LC-circuit Fig. 152. RLC-circuit
38–45 MASS–SPRING SYSTEMS, CIRCUITS,
NETWORKS 44. Show that, by Kirchhoff’s Voltage Law (Sec. 2.9), the
Model and solve by the Laplace transform: currents in the network in Fig. 153 are obtained from
38. Show that the model of the mechanical system in the system
Fig. 149 (no friction, no damping) is Li 1r ⫹ R(i 1 ⫺ i 2) ⫽ v(t)
m 1 y1s ⫽ ⫺k 1 y1 ⫹ k 2( y2 ⫺ y1) 1
˛˛ ˛˛˛
˛˛
R(i 2r ⫺ i 1r ) ⫹ i 2 ⫽ 0.
C
m 2 y2s ⫽ ⫺k 2( y2 ⫺ y1) ⫺ k 3y2).
˛˛
˛˛
˛
i1 i2
v(t) R C
Fig. 149. System in Problems 38 and 39
Switch
R C
Fig. 154. Network in Problem 45
v(t)
Fig. 150. RC-circuit
c06.qxd 10/28/10 6:33 PM Page 253
SUMMARY OF CHAPTER 6
Laplace Transforms
The main purpose of Laplace transforms is the solution of differential equations and
systems of such equations, as well as corresponding initial value problems. The
Laplace transform F(s) ⫽ l( f ) of a function f (t) is defined by
ⴥ
(1) F(s) ⫽ l( f ) ⫽ 冮0
eⴚstf (t) dt (Sec. 6.1).
This definition is motivated by the property that the differentiation of f with respect
to t corresponds to the multiplication of the transform F by s; more precisely,
l( f r ) ⫽ sl( f ) ⫺ f (0)
(2) (Sec. 6.2)
l( f s ) ⫽ s 2l( f ) ⫺ sf (0) ⫺ f r (0)
Here, in obtaining the transform l(r) we can get help from the small table in Sec. 6.1
or the larger table in Sec. 6.9. This is the first step. In the second step we solve the
subsidiary equation algebraically for Y(s). In the third step we determine the inverse
transform y(t) ⫽ lⴚ1(Y), that is, the solution of the problem. This is generally
the hardest step, and in it we may again use one of those two tables. Y(s) will often
be a rational function, so that we can obtain the inverse lⴚ1(Y) by partial fraction
reduction (Sec. 6.4) if we see no simpler way.
The Laplace method avoids the determination of a general solution of the
homogeneous ODE, and we also need not determine values of arbitrary constants
in a general solution from initial conditions; instead, we can insert the latter directly
into (4). Two further facts account for the practical importance of the Laplace
transform. First, it has some basic properties and resulting techniques that simplify
the determination of transforms and inverses. The most important of these properties
are listed in Sec. 6.8, together with references to the corresponding sections. More
on the use of unit step functions and Dirac’s delta can be found in Secs. 6.3 and
6.4, and more on convolution in Sec. 6.5. Second, due to these properties, the present
method is particularly suitable for handling right sides r(t) given by different
expressions over different intervals of time, for instance, when r(t) is a square wave
or an impulse or of a form such as r(t) ⫽ cos t if 0 ⬉ t ⬉ 4p and 0 elsewhere.
The application of the Laplace transform to systems of ODEs is shown in Sec. 6.7.
(The application to PDEs follows in Sec. 12.12.)