CHEE 319 – Tutorial 3 Solutions

1. Using partial fraction expansions, find the causal function f whose Laplace transform
Z ∞
F (s) , f (t)e−st dt
0−

is given by:
2
(1.1) F (s) = s(s+2) ;
Solution: Note that the polynomial s(s + 2) in the denominator of F (s) is of the form
Q n
i=1 (s − pi ), where the pi are all distinct. We can therefore use the so-called “cover-up”
method. We want to write
C1 C2
F (s) = + .
s s+2
Let’s find the constants C1 and C2 . We start with C1 . We have
sC2
sF (s) = C1 + .
s+2
It follows that C1 = (sF (s))|s=0 , so that
 
2s  2  2
C1 = = = = 1.
s(s + 2) s=0 (s + 2) s=0 2

Similarly, we have

(s + 2)C1
(s + 2)F (s) = + C2 .
s
It follows that C2 = ((s + 2)F (s))|s=−2 , so that
 
2(s + 2)  2 
C2 = = = −1.
s(s + 2) s=−2 s s=−2

Hence,
1 1
F (s) = − .
s s+2
Using the Laplace table, as well as linearity of the inverse Laplace transform, we see that
f is the causal function

1 − e−2t , t ≥ 0

f (t) = .
0, t<0

10
(1.2) F (s) = s(s+1)(s+10) ;

1
 Solution: Since the polynomial s(s + 1)(s + 10) in the denominator of F (s) is of the form
Q n
i=1 (s − pi ), where the pi are all distinct, we can use the “cover-up” method as we did
in (1.1). We want to write
C1 C2 C3
F (s) = + + .
s s + 1 s + 10
Let’s find the constants C1 , C2 , and C3 , starting with C1 . We have
sC2 sC3
sF (s) = C1 + + .
s + 1 s + 10
It follows that C1 = (sF (s))|s=0 , so that
 
10s  10 
C1 =  =  = 1.
s(s + 1)(s + 10) s=0 (s + 1)(s + 10) s=0


Similarly, for C2 we have

(s + 1)C1 (s + 1)C3
(s + 1)F (s) = + C2 + ,
s s + 10
It follows that C2 = ((s + 1)F (s))|s=−1 , so that
 
10(s + 1)  10  10
C2 =  =  =− .
s(s + 1)(s + 10) s=−1 s(s + 10) s=−1
  9

Finally, for C3 we have

(s + 10)C1 (s + 10)C2
(s + 10)F (s) = + + C3 .
s s+1
It follows that C3 = ((s + 10)F (s))|s=−10 , so that
 
10(s + 10)  10  10 1
C3 = = = = .
s(s + 1)(s + 10) s=−10 s(s + 1) s=−10 90
  9

Hence,
1 10 1 1 1
F (s) = − · + · .
s 9 s + 1 9 s + 10
As in (1.1), using the Laplace table, as well as linearity of the inverse Laplace transform,
we see that f is the causal function

10 −t
+ 91 e−10t , t ≥ 0

1− 9 e
f (t) = .
0, t<0

3s+2
(1.3) F (s) = s2 +4s+20
;
Solution: Denoting 2 + 4i by z, we see that the denominator of F (s) factors as s2 +
4s + 20 = (s + z)(s + z). (Here the overline denotes complex conjugation. That is, if

2
z = a + bi, then z , a − bi.) Since z, z are distinct, we can proceed as in (1.1) and (1.2).
We want to write
C1 C2
F (s) = + .
s+z s+z
Let’s find C1 . We have C1 = ((s + z)F (s))|s=−z , so that
 
(s + z)(3s + 2)  3s + 2  −3z + 2 −3(2 + 4i) + 2 −4 − 12i
C1 = = = = = ,
(s + z)(s + z) s=−z
 s + z s=−z
 −z + z −2 − 4i + 2 − 4i −8i

or C1 = 3/2 − i/2. Similarly, C2 = ((s + z)F (s))|s=−z , so that

 
(s + z)(3s + 2)  3s + 2  −3z + 2 −3(2 − 4i) + 2 −4 + 12i
C2 = = = = = ,
(s + z)(s + z) s=−z s + z s=−z −z + z −2 + 4i + 2 + 4i 8i

or C2 = 3/2 + i/2. Hence

3/2 − i/2 3/2 + i/2

F (s) = + .
s+z s+z
As in (1.1) and (1.2), it follows that f is the function given by

f (t) = (3/2 − i/2)e−zt + (3/2 + i/2)e−zt

= (3/2 − i/2)e(−2−4i)t + (3/2 + i/2)e(−2+4i)t
= e−2t [3/2 · (e−i4t + ei4t ) − i/2 · (e−i4t − ei4t )]
ei4t + e−i4t e−i4t − ei4t
 
−2t
=e 3· −i·
2 2
ei4t + e−i4t ei4t − e−i4t
 
= e−2t 3 · +i·
2 2
i4t −i4t i4t −i4t
 
−2t e +e e −e
=e 3· −
2 2i
= 3e−2t cos(4t) − e−2t sin(4t)

when t ≥ 0. (Here we have used Euler’s identity for the sine and cosine functions in the
last line.) Hence f is the causal function

3e−2t cos(4t) − e−2t sin(4t), t ≥ 0


f (t) = .
0, t<0

OR
Solution 2: Noting the Laplace transform pairs
ω
e−at sin ωt →
(s + a)2 + ω 2
s+a
e−at cos ωt →
(s + a)2 + ω 2

3
 and completing the square on the denominator of F (s):
3s + 2
F (s) =
(s + 2)2 + 42
we see that
   
3s + 2 s + 2/3 s + 2 − 4/3
F (s) = =3 =3
(s + 2)2 + 42 (s + 2)2 + 42 (s + 2)2 + 42
 
s+2 4
=3 −
(s + 2)2 + 42 (s + 2)2 + 42
and the solution f (t) follows.
3s2 +9s+12
(1.4) F (s) = (s+2)(s2 +5s+11)
;
Solution: The denominator of F (s) factors as (s + 2)(s2 + 5s + 11) = (s + 2)(s + z)(s + z),
where
√
5 19
z , +i .
2 2
Since 2, z, z are distinct, we can proceed as in (1.1)–(1.3). We want to write
C1 C2 C3
F (s) = + + .
s+2 s+z s+z
Let’s find C1 . We have C1 = ((s + 2)F (s))|s=−2 , so that
(s + 2)(3s2 + 9s + 12)  3s2 + 9s + 12 
 
6
C1 = 2
= 2 = .
(s + 2)(s + 5s + 11) s=−2
 s + 5s + 11 s=−2 5


For C2 , we have C2 = ((s + z)F (s))|s=−z , so that

(s + z)(3s2 + 9s + 12)  3s2 + 9s + 12  51 √
 
9
C2 = = = − · i 19.
(s + 2)(s + z)(s + z) s=−z (s + 2)(s + z) s=−z 10 190
Similarly, C3 = ((s + z)F (s))|s=−z , so that
(s + z)(3s2 + 9s + 12)  3s2 + 9s + 12  51 √
 
9
C3 = = = + · i 19.
(s + 2)(s + z)(s + z) s=−z (s + 2)(s + z) s=−z 10 190
It follows that f is the function given by
51 √ 51 √
   
6 −2t 9 −zt 9
f (t) = e + − · i 19 e + + · i 19 e−zt
5 10 190 10 190
51 √ √ 51 √ √
   
6 −2t 9 (−5/2−i 19/2)t 9
= e + − · i 19 e + + · i 19 e(−5/2+i 19/2)t
5 10 190 10 190
√ √ 51 √ √ √
 
6 −2t −5t/2 9 i 19t/2 −i 19t/2 i 19t/2 −i 19t/2
= e +e (e +e )+ · i 19(e −e )
5 10 190
" √ √
i 19t/2 + e−i 19t/2
√ √ √ #
6 −2t −5t/2 9 e 51 19 ei 19t/2 − e−i 19t/2
= e +e · − ·
5 5 2 95 2i
√
6 9 √ 51 19 −5t/2 √
= e−2t + e−5t/2 cos( 19t/2) − e sin( 19t/2)
5 5 95

4
 when t ≥ 0. Hence f is the causal function
(
6 −2t
√ √ √
e + 95 e−5t/2 cos( 19t/2) − 51 19 −5t/2
95 e sin( 19t/2), t≥0
f (t) = 5 .
0, t<0

(1.5) F (s) = s16 .

Solution: We can simply look this one up in the table, which tells us that f is the causal
function
 t5
f (t) = 5! , t ≥ 0 .
0, t < 0

2. Find the causal function f whose Laplace transform is given by:

1
(2.1) F (s) = s(s+2)2
;
Solution:
Qn Note that the denominator s(s + 2)2 of F (s) cannot be written in the form
i=1 (s − pi ), where the pi are all distinct. As we have seen in the lectures, we must
make use of Heaviside’s theorem to find the partial fraction expansion of F (s). We want
to write
C1 C2 C3
F (s) = + + .
s s + 2 (s + 2)2
The constants C1 , C2 and C3 are given by

1  1
C1 = (sF (s))|s=0 = 2
 = ;
(s + 2) s=0 4

 
d 2 d  1 1
C2 = (s + 2) F (s) = =− ;
ds s=−2 ds s=−2 s 4

1 1
C3 = ((s + 2)2 F (s))|s=−2 =  =− ,
s
s=−2 2
so that
1/4 1/4 1/2
F (s) = − −
s s + 2 (s + 2)2
Consulting the table, we see that f is the causal function
1 −2t
− 21 te−2t , t ≥ 0
 1
f (t) = 41 − 4e .
0, t<0

2(s+2)(s+5)2
(2.2) F (s) = (s+1)(s2 +4)2
;
Solution: As in (2.1), it is clear from looking at the denominator of F (s) that we must
make use of Heaviside’s theorem. The denominator of F (s) can be written as (s+1)(s2 +
4)2 = (s + 1)(s2 + 4)(s2 + 4) = (s + 1)(s + 2i)2 (s − 2i)2 . We want to write
C1 C2 C3 C4 C5
F (s) = + + + + .
s + 1 s + 2i (s + 2i)2 s − 2i (s − 2i)2

5
 The constants C1 , C2 , C3 , C4 and C5 are given by

2(s + 2)(s + 5)2 


32
C1 = ((s + 1)F (s))|s=−1 = 2 2
= ;
(s + 4) 
s=−1 25

d  16 579
C2 = (s + 2i)2 F (s) = − + i;
ds s=−2i
 25 200
2(s + 2)(s + 5)2 

2 83 39
C3 = ((s + 2i) F (s))|s=−2i = 2
= − + i;
(s + 1)(s − 2i) s=−2i
 20 20

d  16 579
C4 = (s − 2i)2 F (s) = − − i;
ds s=2i
 25 200
2(s + 2)(s + 5)2 

83 39
C5 = ((s − 2i)2 F (s))|s=2i = = − − i,
(s + 1)(s + 2i)2 s=2i 20 20

so that
32/25 −16/25 + 579i/200 −83/20 + 39i/20 −16/25 − 579i/200
F (s) = + + +
s+1 s + 2i (s + 2i)2 s − 2i
−83/20 − 39i/20
+ .
(s − 2i)2

After performing some straightforward manipulations as in (1.4), and consulting the

table, we see that f is the function given by
   
32 −t 32 579 83 39 −2it 83 39
f (t) = e − cos(2t) + sin(2t) + − + i te + − − i te2it
25 25 100 20 20 20 20

when t ≥ 0. Using Euler’s identity again, we can write this in a more recognizable
fashion as
32 −t 32 579 83 39
f (t) = e − cos(2t) + sin(2t) − t cos(2t) − t sin(2t).
25 25 100 10 10
Hence f is the causal function

32 −t 32 579 83 39

25 e − 25 cos(2t) + 100 sin(2t) − 10 t cos(2t) − 10 t sin(2t), t≥0
f (t) = .
0, t<0

s2 −1
(2.3) F (s) = (s2 +1)2
.
Solution: Proceeding as in (2.2), we write the denominator as (s2 + 1)2 = (s + i)2 (s − i)2 .
We want to write
C1 C2 C3 C4
F (s) = + 2
+ + .
s + i (s + i) s − i (s − i)2

6
 The constants C1 , C2 , C3 and C4 are given by

d 
C1 = (s + i)2 F (s) = 0;
ds s=−i
s2 − 1 

2 1
C2 = ((s + i) F (s))|s=−i = 2
= ;
(s − i) s=−i 2


d 
C3 = (s − i)2 F (s) = 0;
ds s=i
s2 − 1 

1
C4 = ((s − i)2 F (s))|s=i = = ,
(s + i)2 s=i 2

so that
1/2 1/2
F (s) = 2
+ .
(s + i) (s − i)2

Consulting the table, we see that f is the function given by

e + e−it
 it 
1 −it 1 it
f (t) = te + te = t = t cos(t)
2 2 2

when t ≥ 0. Hence f is the causal function


t cos(t), t ≥ 0
f (t) = .
0, t<0

3. Solve the following scalar initial-value problems using the Laplace transform:

(3.1) ÿ(t) + ẏ(t) + 4y(t) = 0, with initial conditions y(0) = 1 and ẏ(0) = 2;
Solution: Taking the Laplace transform of both sides, and denoting the Laplace transform
of y by Y , we have

s2 Y (s) − sy(0) − ẏ(0) + sY (s) − y(0) + 4Y (s) = 0.

Plugging in the initial conditions, we obtain

s2 Y (s) − s − 2 + sY (s) − 1 + 4Y (s) = 0.

Isolating Y (s), we obtain

s+3 s+3
Y (s) = = ,
s2 + s + 4 (s + z)(s + z)

where
√
1 15
z, + i.
2 2

7
 Let’s use a partial fraction expansion to find y, as we did in Question 1. Obviously we
can use the “cover-up” method. We want to write
C1 C2
Y (s) = + .
s+z s+z
As in Question 1, we can perform straightforward calculations to show that the constants
C1 and C2 are given by
√
1 15
C1 = ((s + z)Y (s))|s=−z = − i;
2 √6
1 15
C2 = ((s + z)Y (s))|s=−z = + i,
2 6
and that
√ √ √
y(t) = e−t/2 cos( 15t/2) − 15 −t/2
3 e sin( 15t/2).

(3.2) ÿ(t) + ẏ(t) = t, with initial conditions y(0) = 1 and ẏ(0) = −1.
Solution: Taking the Laplace transform of both sides as in (3.1), we have
1
s2 Y (s) − sy(0) − ẏ(0) + sY (s) − y(0) = .
s2
Plugging in the initial conditions, we obtain
1
s2 Y (s) − s + sY (s) = .
s2
Isolating Y (s) and rearranging terms, we obtain
1
s2
+s s3 + 1 1 1
Y (s) = = 3 = + 3 .
s2 +s s (s + 1) s + 1 s (s + 1)

For the partial fraction expansion of the second term of Y (s), we want to write

1 C1 C2 C3 C4
= + 2 + 3 + .
s3 (s+ 1) s s s s+1

The constants C1 , C2 , C3 and C4 are given by

1 d2 
 
1 1 2 
C1 = 2
= 3
 = 1;
2 ds s=0 s + 1
 2 (s + 1) s=0
 
d  1 1 
C2 = = −  = −1;
ds s=0 s + 1 (s + 1)2 s=0

1 
C3 = = 1;
s + 1 s=0
 
1  1 
C4 = ((s + 1) 3 )  = = −1,
s (s + 1) s=−1 s3 s=−1

8
so that
1 1 1 1 1 1 1 1
Y (s) = + − 2+ 3− = − 2 + 3.
s+1 s s s s+1 s s s
Consulting the table, we see that

y(t) = 1 − t + 12 t2 .