TOPIC 2-LAPLACE TRANSFORM

2.0 LAPLACE TRANSFORM

2.1 Definition of Laplace Transform

Laplace transform converts a time domain f(t) function to s-domain (frequency domain) F(s)
function by integration from zero to infinity of the time domain function, multiplied by e-st.
t 
L [ f (t )]   f (t )e  st dt
t 0

Laplace Transform operator/symbol

L  f (t )  F (s),

2.1.1 Laplace Transform by using direct integration

Example:

i. f (t) = k

 f (t ) e
 st
L f (t )  dt
0

L (k )   k e st dt
0


 k  e st dt
0


 e -st 
k 
 - s 0

 e-s() e  s ( 0) 
k 
 -s  s 

0 1 
k 
 - s  s 

 1 
k
  s 

 k
  
 s

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ii. f (t) = eat iii. f (t) = e-at

+ve
-ve
at -at
Le L e
 

 f (t ) e  f (t ) e
 st  st
L f (t )  dt L f (t )  dt
0 0

 
L (e )   e e )   e e  st dt
 st  at at
at at
dt L (e
0 0
-ve -ve +ve
 
 e ( s  a) t
dt   e ( s  a ) t dt
0 0

 
 e- (s - a)t   e- (s  a)t 
     
 - (s - a) 0  - (s  a) 0

 e-(s - a)( ) e  ( s  a )( 0)   e-(s  a)( ) e ( s  a )( 0) 

       
 - (s - a)  ( s  a)   - (s  a)  ( s  a) 

 0 1   0 1 
       
 - (s - a)  ( s  a)   - (s  a)  ( s  a) 

 1   1 
     
  ( s  a)    ( s  a) 

 1   1 
   L eat    L e-at
 ( s  a)   ( s  a) 
* coefficient of ‘t’ +ve * coefficient of ‘t’ -ve

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Exercise: Solve the Laplace Transform of the following function by using Direct Integration:

i. f (t )  10 Answer

i. F(s) = 10
ii. f (t )  2e 2t s


iii . f (t )  e t  e 2t  ii. F(s) = 2
(s  2

iv. f (t )  3e 2t  5e7t iii. F(s) = 1 1


( s  1) ( s  2)
s e j t  e  j t
v. Show that L {cos t } = and given : cos t = iv. F(s) =
s2   2 2 3

5
( s  2) ( s  7)

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2.1.2 Laplace Transform by using Table of Laplace Transform

Example :

i. f(t) = t

L f (t )  L (t )

Refer table of Laplace Transform :

1
L (t ) =
s2

ii. f(t) = 4t

L f (t )  L (4t )

L (4t ) = 4 L (t )

Refer table of Laplace Transform :

1
4 L (t ) = 4  2 
s 

4
=
s2

iii. f(t) = t4

Refer table of Laplace Transform

 n! 
L (t n ) =  n  1 
s 

 4! 
L (t 4 ) =  4  1 
s 

 4.3.2.1 
=  
 s 
5

 24 
=  5 
s 

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iv. f(t) = cos 4t

L f (t )  L (cos 4t )

Refer table of Laplace Transform

s
L (cos at ) 
s  a2
2

s
 L (cos 4t ) 
s  42
2

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Exercise : Solve the Laplace Transform of the following function by using Table of
Laplace transform

 
Answer
i . L 3t  6t 2
i. F(s) = 3 12
 3
ii. L 6 sin 3t  4 cos 5t  s2 s

ii. F(s) = 18 4s
iii . L (   3e 4t ) 
s 2  9 s 2  25

iii. F(s) =  3

s ( s  4)

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2.1.3 Laplace Transform use the first shift theorem

L eat f (t )  F (s  a)

Example:

i. L e3t cosh 4t

Refer table of Laplace Transform:

s a
L eatcosh bt 
(s  a )2  b2

s 3
 L e3t cosh 4t 
( s  3)2  42

s 3

s  6s  9  16
2

s 3
 L e3t cosh 4t 
s  6s  25
2

ii. L t 3et

Refer table of Laplace Transform:

n!
L t n e-at 
(s  a )n  1

3!
 L t 3 et 
( s  1)3 1

3.2.1

( s  1) 4

6

( s  1) 4

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Exercise : Determine the Laplace Transform of the following function:


i. f (t )  e 2t sin 6t  4e 5t  Answer

i. F(s) = 6

4
ii. f (t )  e 3t (1  t 2 ) ( s  2) 2  36 ( s  5)

ii. F (s) = 1

2
( s  3) ( s  3) 3

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2.1.4 Determine the Inverse Laplace Transforms

1. Laplace transform converts a time domain f(t) function to s-domain (frequency domain)
F(s) function.

L f (t )  F (s)

2. Inverse Laplace transform converts s-domain (frequency domain) F(s) function to a time
domain f(t) function.

L-1 F (s)  f (t )

3. Inverse Laplace transforms are obtained by using :

i. Tables of Laplace Transform pairs (table conversion)

ii. Completing the square
iii. Partial Fraction.
iv. the Laplace Transform of first and second derivatives.

Example

i. Table conversion

Find the Inverse Laplace Transform of a function by using Table of Laplace Transform:

10
a. L-1
s

10 1
L-1  10 L-1
s s

Refer table of Inverse Laplace Transform:

1
L-1 1
s

1
 10 L-1 = 10(1)
s

= 10

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a
b. L-1
s  a2
2

Refer table of Inverse Laplace Transform:

a
L-1  sinh at
s  a2
2

2
c. L-1
s 4
2

Form the equation, it is similar to table of Inverse Laplace Transform:

a
We have : L-1  sinh at
s  a2
2

2 2
 L-1 
s 4
2
s  22
2

2
 L-1  sinh 2t
s  22
2

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Exercise : Determine the Inverse Laplace Transform of the function :

3 1 4  Answer
i. L-1    
 s s  2 s  3 i. f(t) = 3 – e2t + 4 e3t

 5 7  1 2t 7 2
1 ii. f(t) = 5e-3t – e + t
ii. L 
-1
  3  2 2
 s  3 2s  4 s 
7
iii. f(t) = 2 cos 5t + sin 4t
 2s 7  4
iii . L-1  2  2 
 s  25 s  16 
7
iv. f(t) = 3 cos 4t + sin 4t
 3s  7  4
iv. L-1  2 
 s  16 

ii. 1

2
( s  3) ( s  3) 3

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ii. Completing the square.

Step to solve Inverse Laplace transform using Completing the square.

i. Identify the coefficient of s

ii. Divide the coefficient of s by 2 let’s = (c)
iii. Replace all ‘s’ with s  c 
2

iv. Expand the equation of s  c  -------- (iv)

2

v. Compare the equation (iv) with denominator and nominator of the question, it must be
similar.
vi. Refer Table of Laplace Transform and find the answer

Example: Find the Inverse Laplace transform of a function

5
i. F ( s)  equation ( 1 )
s s 7
2

Step 1: Identify the coefficient of s

the coefficient of s = 1

1
Step 2: divide coefficient of s by 2 , 
2

Step 3: using first shift theorem, replace all ‘s’ with :

2
i.  s  1  ………………. equation (i)
 2

ii. expand equation (i)

2
 1  1 1
s    s   s  
 2  2  2

 s s 1
  s2    
 2 2 4

 1
  s2  s   ................ equation ( 2 )
 4

Step 4: compare denominator of equation (1) with equation (2)

the left side equation must equal to right side equation

1
s2  s2 , s  s , 7  x
4
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Step 5 : Find the value of x : (the value of left side must equal to the right side)

1
7 x
4

1
7 x
4
27
x
4

 ..... equation ( 3 )

Step 6: Refer table of Laplace Transform ,

- compare both equation ( equation from table of Laplace Transform and

equation 3)
- rearrange/change equation 3 and
- made it similar to the equation in Table of Laplace Transform
- find the answer

From Table of Laplace Transform :

 b 
L-1   = e at sin bt
 ( s  a)  b
2 2


We have :

 
 
 1 
5 L-1  2  ........... equation ( 3 )
  s  1   27 
 
 2 4 

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Change /rearrange the equation (3), made it similar to the equation in Table of
Laplace Transform

From equation (2) :

1 27
a , b
2 4
Multiply = 1

    
    27 
 1  1  
5 L-1 -1
 4 
  = 5  27 L
 
2 2
  s  1   27 1   27 
2
 
  4   s     
 
 2 4    2   4  


     
  27    27 
1    4 -1  
5 L-1  4  = 5  L  4 
27  1   27 
2 2
 27  1   27 
2 2

 
4   s     
     s     
 
   2   4      2   4  

  
  27 
 20 -1   20  2 t
1
27 
 L  4  =  e sin t
 27  1   27 
2 2
 27  4 
   s     
 
   2   4  

 5  20  12 t 27 
 L-1  2  =  e sin t
 4 
 s  s  7  27 

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Example: Find the Inverse Laplace transforms of the equation :

3s  5
ii. F(s)  ................ equation ( 1 )
4s2  4s  1

3s  5 3s  5

4s  4s  1 4( s 2  s  14 )

Divide coefficient of s by 2 :

Coefficient of s = 1
1
 Coefficient of s divide by 2 =
2

Step 3: using first shift theorem, replace all ‘s’ with :

2
 1
i.  s  
 2

ii. expand the equation :

2
 1  1 1
s    s   s  
 2  2  2
 s s 1
  s2    
 2 2 4

 1
  s 2  s   ................... equation ( 2
 4 )

Step 4: compare denominator of equation (1) with equation (2)

3s  5 3 ( s  12 )  x

4( s 2  s  14 ) 4( s  12 ) 2

3s  5 3s  32  x

4( s 2  s  14 ) 4( s  12 ) 2

3
2 + x = -5

 x = -5 - 3
2

1 3
= 2

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Rewrite the equation:

13
3 ( s  12 ) 
3s  5 2

4( s 2  s  14 ) 4( s  12 ) 2

3( s  12 )   213  3( s  12 ) 13
  2
4( s  12 )2 4( s  12 )2 4( s  12 )2

3s  5 -1 3( s  2 )
1 13
L-1  L  L-1 2
4s  4s  1
2
4( s  2 )
1 2
4( s  12 )2

3( s  12 ) 13  1 
-1 3  s  2  13 1
L-1  L-1 2
 L  L-1
4( s  2 )
1 2
4( s  2 )
1 2
4  s  2   8
 1 2 
( s  12 )2

3 1  13 -1 1 3 1t 13 1t
L-1   L  e 2  te 2
4  s  2 
1 
8 ( s  12 ) 2 4 8

Example: Find the Inverse Laplace transforms of the equations:

s5
iii. F(s) 
s  8s  65
2

Divide coefficient of s by 2 :

Coefficient of s = 8

 Coefficient of s divide by 2 = 4

Rewrite the equation:

Expand the equation to check either it’s similar or not as a question:
s+4 + y = s+5
s5 ( s  4)  y
 So : 4+ y = 5
s  8s  65 ( s  4) 2  x
2 y=5-4
=1
s2 +8s +16 + x = s2 + 8s + 65

So find x : 16+ x = 65
s5 ( s  4)  1  x = 65 - 16

s  8s  65 ( s  4) 2  49
2 = 49

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( s  4)  1 ( s  4) 1
L-1  L-1  L-1
( s  4)  7
2 2
( s  4)  7
2 2
( s  4) 2  7 2

( s  4) 1 7   4t 1
L-1  L-1    e cos 7t  e 4t sin 7t
2 
( s  4)  7
2 2
7  ( s  4)  7 
2
7

e 4t cos 7t  e 4t sin 7t  e 4t cos 7t  sin 7t ) 

1
7

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Exercise : Determine the Inverse Laplace Transform for the function:

s
i. F ( s)  Answer
s  4s  7
2

i. f (t) = e-2t cos 3t

5s  6
ii. F ( s)  ii. f(t) = 5e-3t cos 4t - 9 e 3t sin 4t
s  6s  25
2
4

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iii. Partial fraction

Types of equation in partial fraction:

a. a linear factor ( s + a )
b. a repeated factor ( s + a )2
c. a quadratic/complex factor ( s2 + ps + q )

Example

a. a linear factor

Find the Inverse Laplace transforms of the equations:

3
i. F ( s) 
( s  5)

Form the equation it is similar to table of Inverse Laplace Transform:

3 1
L-1  3 L-1
( s  5) ( s  5)

1
We have : L-1  e at
( s  a)

1
 3 L-1  3e 5t
( s  5)

5s  2
ii. F ( s) 
( s 2  49)

Form the equation it is similar to table of Inverse Laplace Transform:

5s  2 5s 2
L-1  L-1  L-1
( s 2  49) (s  72 )
2
(s  72 )
2

5s 2 s 1
L-1  L-1  5 L-1  2 L-1
(s  72 )
2
(s  72 )
2
(s  72 )
2
(s  72 )
2

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s
We have : L-1  cos at
(s  a 2 )
2

a
L-1  sin at
(s  a 2 )
2

s 1 s 2 -1 7
 5 L-1  2 L-1  5 L-1  L
(s  7 2 )
2
(s  7 2 )
2
(s  7 2 )
2
7 (s  7 2 )
2

s 2 -1 7 2
5 L-1  L 2  5 cos 7t  sin 7t
(s  72 )
2
7 (s  72 ) 7

8(s  2)
iii. F ( s) 
(s  1)( s  3)( s  5)

8(s  2) 8s  16

(s  1)(s  3)( s  5) (s  1)(s  3)(s  5)

Using partial fraction :

8s  16 A B C
  
(s  1)(s  3)(s  5) ( s  1) ( s  3) ( s  5)

Simplify the partial fraction equation to determined constant A , B and C :

A B C
8s  16  ( s  1) ( s  3) ( s  5)  ( s  1) ( s  3) ( s  5)  ( s  1) ( s  3) ( s  5)
( s  1) ( s  3) ( s  5)

A B C
8s  16  ( s  1) ( s  3) ( s  5)  ( s  1) ( s  3) ( s  5)  ( s  1) ( s  3) ( s  5)
( s  1) ( s  3) ( s  5)

8s  16  A (s  3) (s  5)  B (s  1) (s  5)  C(s  1) (s  3)

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To determine constant of A, the value of B and C should be equal to ‘0’

 Substitute : s = -1

8(1)  16  A (1  3) (1  5)  B (1  1) (1  5)  C(1  1) (1  3)

 8  16  A (2) (4)  B (0) (1  5)  C(0) (1  3)

8  A (8)  (0)  (0)

8
A 
8
A  1

To determine constant of B, the value of A and C should be equal to ‘0’

 Substitute : s = -3

8s  16  A (s  3) (s  5)  B (s  1) (s  5)  C(s  1) (s  3)

8(3)  16  A (3  3) (3  5)  B (3  1) (3  5)  C(3  1) (3  3)

 24  16  A (0) (2)  B (2) (2)  C(2) (0)

8  (0)  B (4)  (0)

8
B
4
B 2

To determine constant of C, the value of A and B should be equal to ‘0’

 Substitute : s = -5

8s  16  A (s  3) (s  5)  B (s  1) (s  5)  C(s  1) (s  3)

8(5)  16  A (5  3) (5  5)  B (5  1) (5  5)  C(5  1) (5  3)

 40  16  A (2) (0)  B (4) (0)  C(4) (2)

 24  (0)  (0)  C(8)

 24
C
8

 C  3

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Rewrite the partial fraction equation and substitute the value of constant A, B and C

8s  16 A B C
  
(s  1)(s  3)(s  5) ( s  1) ( s  3) ( s  5)

8s  16 1 2 3
  
(s  1)(s  3)(s  5) ( s  1) ( s  3) ( s  5)

Then, inverse the partial fraction equation using Inverse Laplace Transform

 8s  16   1   2   3 
L-1   L-1    L-1   L-1 
 (s  1)(s  3)(s  5)   ( s  1)   ( s  3)   ( s  5) 

 1  -1 2   L-1  3   e t  2e 3t  3e 5t

 L-1  L    
 ( s  1)   ( s  3)   ( s  5) 

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Exercise : Find the inverse Laplace Transform of the equation below:

4 Answer
i. F (s) 
s i. f(t) = 4
8
F ( s) 
 
ii. ii. f(t) = 8 sinh 3t
s 92
3

iii. f(t) = 3 cos 4t + sin 4t

3s  4
F ( s)  2
iii.

s  16  iv. f(t) = 5 cos 7t - 2 sin 7t
7

5s  2 v. f(t) = 2e3t – e4t

F ( s)  2
iv.

s  49  vi. f(t) = 5e2t + 4

v. F ( s) 
s - 5
s  3 s  4

(9s - 8)
vi. F ( s) 
(s 2  2s)

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b. Repeated factor

Find the Inverse Laplace transforms of the equations:

s
i. F ( s)  repeated factor
(s  1)2

By using partial fraction :

 s   A   B 
 2
  2
 ( s  1)   ( s  1)   ( s  1) 

Simplify the partial fraction equation:

 A 
s   s  12   B 2  s  12
 ( s  1)   ( s  1) 

s  A s  1  B

To determine constant of B, the value of A should be equal to ‘0’

 Substitute : s = -1

s  A s  1  B

 1  A  1  1  B

1  B

To determine constant of A, substitute the value of B = -1 and let’s s = 0

s  A s  1  B

0  A 0  1  (1)

0  A  (1)

1A

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Rewrite the partial fraction equation and substitute the value of constant A and B

 A   B   1   1 
   2
  2
 ( s  1)   ( s  1)   ( s  1)   ( s  1) 

Then, inverse Laplace Transform the partial fraction equation :

 1  -1  1   et  te t
L-1  L  2
 ( s  1)   ( s  1) 

ii. 5s2  14s  2

F (s) 
(s  2)(s  3)2

using partial fraction:

 5s 2  14s  2   A   B   C 
 ( s  2)(s  3)2    ( s  2)    ( s  3)    ( s  3) 2 
       

Simplify the partial fraction equation:

 A   B   C 
5s 2  14s  2    ( s  2) ( s  3)  
2
 ( s  2) ( s  3)  
2
2
( s  2) ( s  3)2
 ( s  2)   ( s  3)   ( s  3) 

5s 2  14s  2  A(s  3)2  B (s  2) (s  3)  C (s  2)

Determine constant of A, the value of B and C should be equal to ‘0’

 Substitute : s = 2

5(2)2  14(2)  2  A(2  3)2  B (2  2) (2  3)  C (2  2)

20  28  2  A(25)  B (0) (5)  C(0)

50  A(25)

50
A
25

A 2

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Determine constant of C, the value of A and B should be equal to ‘0’

 Substitute : s = -3

5s 2  14s  2  A(s  3)2  B (s  2) (s  3)  C (s  2)

5(3)2  14(3)  2  A(3  3)2  B (3  2) (3  3)  C (3  2)

45  42  2  A(0)2  B (5) (0)  C (5)

5  C (5)

5
C 
5

C  1

Determine constant of B, substitute the value of A and C and let’s; s = 0

5s 2  14s  2  A(s  3)2  B (s  2) (s  3)  C (s  2)

5(0)2  14(0)  2  2(0  3)2  B (0  2) (0  3)  (1)(0  2)

2  2(3)2  B (2) (3)  (1)(2)

2  18  B (6)  (2)

2  20  B (6)

 18
B 
6

B 3

Rewrite the partial fraction equation and substitute the value of constant A , B and C

 5s 2  14s  2   2   3    1 
 2
   2
 ( s  2)(s  3)   ( s  2)   ( s  3)   ( s  3) 

Then, inverse Laplace Transform the partial fraction equation:

 5s 2  14s  2   2   3   1 
L-1  2
 L-1    L-1    L-1  2
 ( s  2)(s  3)   ( s  2)   ( s  3)   ( s  3) 

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 2   3   1   1   1   1 
L-1    L-1    L-1  2
 2 L-1    3 L-1    L-1  2
 ( s  2)   ( s  3)   ( s  3)   ( s  2)   ( s  3)   ( s  3) 

 1   1   1 
2 L-1    3 L-1    L-1  2
 2e2t  3e3t  te 3t
 ( s  2)   ( s  3)   ( s  3) 

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Exercise : Find the Inverse Laplace transforms of the equations:

s
i. F ( s)  Answer
s(s  3 ) 2
i. f(t) = te3t
3s
ii. F ( s) 
s  12 ii. f(t) = 3e-t -3te-t

iii. f(t) = 5t + 2t2

5s  4
iii . F ( s) 
s3 iv. f(t) = 5 t3e-t
3

10
iv. F ( s) 
s   4

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c. Quadratic /complex factor

Find the Inverse Laplace transforms of the equations:

5s  1
i. F ( s) 
( s  s  12)
2

Factories the denominator:

5s  1 5s  1

( s  s  12) ( s  4) ( s  3)
2

Using partial farction:

5s  1 A B
 
( s  4) ( s  3) ( s  4) ( s  3)

Simplify the partial fraction equation:

A B
5s  1  ( s  4) ( s  3)  ( s  4) ( s  3)
( s  4) ( s  3)

5s  1  A (s  3)  B(s  4)

Determine constant of A, the value of B should be equal to ‘0’

 Substitute : s = 4

5(4)  1  A (4  3)  B(4  4)

21  A (7)  B(0)

21
A
7

A3

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Determine constant of B, substitute the value of A equal to ‘3’

 Substitute : s = -3

5s  1  A (s  3)  B(s  4)

5(3)  1  3 (3  3)  B(3  4)

 14  3 (0)  B(7)

 14
B
7

B2

Rewrite the partial fraction equation and substitute the value of constant A and B

5s  1 3 2
 
( s  4) ( s  3) ( s  4) ( s  3)

Then, inverse the partial fraction equation using Inverse Laplace Transform:

5s  1 3 2
L-1  L-1  L-1
( s  4) ( s  3) ( s  4) ( s  3)

3 2 1 1
L-1  L-1  3 L-1  2 L-1
( s  4) ( s  3) ( s  4) ( s  3)

1 1
3 L-1  2 L-1  3e4t  2e3t
( s  4) ( s  3)

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Exercise : Find the inverse Laplace Transform of the equations:

2s  7
i. F(s) 
(s  1) (s2  3s  10) Answer

i. f(t) = 3 e-t + 1 e5t - 11 e-2t

600
ii. Fs 
2 4 7

s  40s2  300s
3
 ii. f(t) = 2 + e-30t -3e-10t

iii. f(t) = 2e-6t + 3cos 4t – 3sin 4t

5 s 2  6s  40
iii. F(s )=

 s  6 s 2  16  iv. f(t) =  4 e2t + 4 cos 1.732t - 1.072 sin 1.732t
7 7

2 - 3s
iv. Fs 
 
s  2 s 2  3

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iv. The Laplace Transform of first and second derivatives.

Laplace transform of a derivative

Derivative is deferential of function.

Symbol of derivative

d 
i. L  f (t )  sF ( s)  f (0)
 dt 

Or

 
L f ' (t )  sF (s)  f (0) (1st derivative)

ii.  
L f '' (t )  s 2 F (s)  sf (0)  f ' (0) (2nd derivative)

Step to solve differential equation by Laplace transforms :

i. Re-write the equation in term of Laplace transform.

ii. Rearrange the equation algebraically to give the transform of the solution.
iii. Insert the given initial conditions
iv. Determine the inverse transform to obtain the particular solution

Example 1 : Laplace Transform of First Derivative

dy
 4y  8 : given t = 0 , y = 0, or t(0) , y(0) = 0
dt

i. Re-write the equation in term of Laplace transform (insert Laplace Transform

operator)

 dy 
L   L4 y  L 8
 dt 

8
sY ( s)  y (0)  4Y ( s) 
s

8
sY ( s)  4Y ( s)  y(0) 
s

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Insert initial condition: t = 0 , y = 0, or t(0) , y(0) = 0

Y ( s) s  4  (0) 
8
s

Y ( s) s  4 
8
s

8 1 
Y ( s)     
 s   ( s  4) 

8
Y ( s) 
s( s  4)

 8 
L-1Y ( s)  L-1  
 s( s  4) 

Using partial fraction:

 8  A B
 s( s  4)   s  ( s  4)
 

A B
8 ( s( s  4))  ( s( s  4))
s ( s  4)

8  A(s  4)  B(s)

Let’s : s = 0

8  A(0  4)  B(0)

8  A(4)

8
A
4

2

Let’s : s = 4

8  A(4  4)  B(4)

8  A(0)  B(4)

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8  B(4)
8
B
4

B2

 8 
 L-1Y ( s)  L-1  
 s( s  4) 

A B
L-1Y ( s)  L-1  L-1
s s4

Insert value of constant A and B

2 2
L-1Y ( s)  L-1  L-1
s s4

1 1
y (t )   2 L-1  2 L-1
s s4

  2(1)  2e4t

  2  2e4t

Example 2 : Laplace Transform of second derivative

y ''  3 y '  2 y  4e3t : given t = 0 , y = 0 , y’ = 5

Ly ''  L3 y '  L2 y  L4e3t

s Y (s)  sy(0)  y' (0)  3sY (s)  y(0)  2 Y (s)  4 s 1 3 

2

 

Insert initial condition:

s Y (s)  (0)  (5)  3sY (s)  (0)  2 Y (s)  4 s 1 3 

2

 

Simply the equation:

s Y (s)  3sY (s)  2Y (s)  5  4  s 1 3 

2

 

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   1 
Y ( s) s 2  3s  2  4  5
 s  3 


Y ( s) s 2  3s  2   4  5( s  3)
s 3

 
Y ( s) s 2  3s  2 
4  5s  15
s 3

 
Y ( s) s 2  3s  2 
5s  11
s 3

 5s  11   1 
Y ( s)     2 
 s  3   s  3s  2 

5s  11
Y ( s) 
( s  3)( s 2  3s  2)

Using partial fraction: - factories the denominator

5s  11 A B C
  
( s  3)(s  3s  2) ( s  3) ( s  1) ( s  2)
2

A B C
5s  11  ( s  3)(s  1)(s  2)  ( s  3)(s  1)(s  2)  ( s  3)(s  1)(s  2)
( s  3) ( s  1) ( s  2)

5s  11  A(s  1)(s  2)  B(s  3)(s  2)  C(s  3)(s  1)

When s = 3 :

5(3)  11  A(3  1)(3  2)  B(3  3)(3  2)  C(3  3)(3  1)

15  11  A(2)(1)  B(0)(1)  C(0)(2)

4  2A

A2

When s = 1 :

5(1)  11  A(1  1)(1  2)  B(1  3)(1  2)  C(1  3)(1  1)

 6  A(0)(1)  B(2)(1)  C (2)(0)

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 6  2B

B3

When s = 2

5(2)  11  A(2  1)(2  2)  B(2  3)(2  2)  C(2  3)(2  1)

10  11  A(1)(0)  B(1)(0)  C(1)(1)

1   C

C 1

5s  11
L-1Y ( s)  L-1
( s  3)(s 2  3s  2)

5s  11 A B C
L-1  L-1  L-1  L-1
( s  3)(s  3s  2)
2
( s  3) ( s  1) ( s  2)

5s  11 2 3 1
L-1  L-1  L-1  L-1
( s  3)(s  3s  2)
2
( s  3) ( s  1) ( s  2)

1 1 1
L-1 Y ( s)  2 L-1  3 L-1  L-1
( s  3) ( s  1) ( s  2)

y(t )  2e3t  3et  e2t

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Exercise : Determine y(t) for differential equation below by using Laplace Transform.

dx
i.  36 x  0 , given t = 0 , x = -1
dt

ii. x ''  4 x '  4 x  0 , given t = 0 , x = 2 , x’ = 2

d 2y dy , with initial condition y(0) = 10 , y,(0) =0

iii . 2
 3  2 y  24
dt dt

y ''  3 y '  3 y  3e 2t with initial condition y(0) = 0 , y (0) =5

,
iv.

Answer

i. x(t) = -e-36t

ii. x(t) = 2e2t + 2te2t

iii. y(t) = 12 – 4e-t + 2e2t

iv. y(t) = 2e3t - 3et + e2t

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2.1.12 Laplace Transform in RLC circuit analysis:

a. RLC Series circuit

b. RLC Parallel circuit

Circuit solution using Laplace Transform

Step1: Write the equation using Kirchoff’s voltage law (series circuit) and Kirchoff’s
current law (parallel circuit)

Step 2 : Use Laplace transform to solve the equation

 Refer RLC Laplace Transform Table , write the equation

 Insert the given initial condition
 Simplify the equation and solve the equation in term of frequency domain

Step 3 : Use partial fraction or Laplace Transform Table to solve the equation from
frequency domain (s) to time domain (t).

Table of time domain and frequency domain for RLC

Component Time Domain Frequency Domain

V(t) = R V(s) = R I(s)

Resistor (R)
= I(s) =

V(t) = V(s) = +

Capasitor (C) I(s)

q0
V( s )  
sC sC
I(s) = C { sV(s) - }
=C

Inductor =L V(s) = L { sI(s) - i }

= I(s) = +

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a. RLC series circuit:

Example:

i. Find the value of i(t) in RLC series circuit, given i (0) = 4A, v(0) = 8v

Using Kirchoff’s voltage law:

V  VR  VL  VC

t
di(t ) 1
2e  3t
 Ri (t )  L   i(t ) dt  v(0)
dt C0

t
di(t ) 1
L2e  3t
 LRi (t )  LL  L  i(t ) dt  v(0)
dt C0

t
di(t ) 1
2 Le  3t
 RLi(t )  L L  L  i(t ) dt  v(0)
dt C 0

 1 
  RI ( s)  L sI ( s)  i(0)  
I ( s) v(0)
2 
 s  3 sC s

Insert the given initial condition:

 2 
  3I ( s)  1 sI ( s)  4)  
I ( s) (8)
 
 s 3 s(0.5) s

 2 
  3I ( s)  1 sI ( s)   4 
2 I ( s) 8
 
 s 3 s s

 2   2 8
   I ( s) 3  s    4 
 s  3  s s
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 2 8  2 
I ( s) 3  s    4    
 s s  s 3

 3s  s 2  2  4( s( s  3)  8( s  3)  2( s)
I ( s)   
 s  s( s  3)

 3s  s 2  2  4s 2  12s  8s  24  2s
I ( s)   
 s  s( s  3)

 3s  s 2  2  4s 2  6s  24
I ( s)   
 s  s( s  3)

 4s 2  6s  24   s 
I ( s)     2 
 s( s  3)   s  3s  2) 

 4s 2  6s  24   1 
I ( s)     2 
 ( s  3)   s  3s  2) 

 4s 2  6s  24 
I ( s)   
 ( s  3)( s  3s  2) 
2

Factories the denominator:

 4s 2  6s  24 
I ( s)   
 ( s  3)( s  1) ( s  2) 

Using partial farction:

 4s 2  6s  24  A B C
    
 ( s  3)( s  1) ( s  2)  ( s  3) ( s  1) ( s  2)

4s 2  6s  24  A(s  1) (s  2)  B(s  3) (s  2)  C (s  1) (s  3)

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Determine the coefficient of A,B and C

When s = -3:

4(3) 2  6(3)  24  A(3  1) (3  2)  B(3  3) (3  2)  C (3  1) (3  3)

4(9)  18  24  A(2) (1)  B(0) (1)  C(2) (0)

36  18  24  2 A

 6  2A

6
A
2

A  3

When s = -1:

4(1) 2  6(1)  24  A(1  1) (1  2)  B(1  3) (1  2)  C (1  1) (1  3)

4(1)  6  24  A(0) (1)  B(2) (1)  C(0) (2)

4  6  24  2B

 26  2B

 26
B
2

B  13

When s = -2:

4(2) 2  6(2)  24  A(2  1) (2  2)  B(2  3) (2  2)  C(2  1) (2  3)

4(4)  12  24  A(1) (0)  B(1) (0)  C(1) (1)

16  12  24  C

 20  C

C  20

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Rewrite the equation ,insert the value of A,B and C and inverse Laplace transform of
the equation:

 4s 2  6s  24  A B C
    
 ( s  3)(s  1) ( s  2)  ( s  3) ( s  1) ( s  2)

 -1 4s 2  6s  24  3  13 20
 L   L-1  L-1  L-1
 ( s  3)(s  1) ( s  2)  ( s  3) ( s  1) ( s  2)

3  13 20
L-1 I s   L-1  L-1  L-1
( s  3) ( s  1) ( s  2)

1 1 1
  3 L-1  13 L-1  20 L-1
( s  3) ( s  1) ( s  2)

i(t )   3e 3t  13e t  20e 2t

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Exercise : Find the value of i(t) for t > 0, in RLC series circuit, assuming initial condition are
zero.

Exercise : Find the value of i(t) when the switch is closed using Laplace transform.
Assuming t = 0, Vo = 0, io = 0

Answer

i. i(t) = 50 [e- t - e-2 t ]

ii. i(t) = 100 e-t - 100 e-4t

3 3

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b. RLC parallel circuit:

Example : Find the value of V (t) by using Laplace transform,

given t = 0, V(0) = 0

Using Kirchoff’s current law:

u(t )  I R  IC

v(t ) dv(t )
u (t )  C
R dt

v(t ) dv(t )
u (t )   0.5
0.5 dt

dv(t )
L[u (t )]  2 Lv(t)  0.5 L
dt

 2V ( s)  0.5 sV ( s)  v(0)

1
s

Insert the given initial condition:

 2V ( s)  0.5 sV ( s)  (0)

1
s

 V ( s) 2  0.5s 
1
s

1
V ( s) 
s(0.5s  2)

1
L V ( s)  L
(0.5) s( s  4)

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Using partial fraction:

1 A B
 
( s(0.5s  2)) s (0.5s  2)

A B
1 ( s(0.5s  2))  ( s(0.5s  2))
s (0.5s  2)

1  A(0.5s  2)  B(s)

Determine the constant of A and B.

When s = 0

1  A(0  2)  B(0)

1  2A

1
A
2

When s = -2

1  A(2(0.5)  2)  B(2)

1  A(1  2)  B(2)

1
1  (1)  B(2)
2

1
2B  1
2

11
B  
22

1
B
4

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Rewrite the equation ,insert the value of A and B and inverse laplace transform of
the equations:

1 A B
 
( s(0.5s  2)) s (0.5s  2)

1 1
1
L-1  L-1 2  L-1 4
( s(0.5s  2)) s (0.5s  2)

1 -1 1 1 -1 1 1 1
L  L   e  4t
2 s 4 0.5( s  4) 2 4(0.5)

1 1  4t
v(t )   e
2 2

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Exercise : Find the value of V (t) by using Laplace transform, given t > 0, i(0) = 0

1 1  4t
Ans : v(t )   e
2 2

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TABLE OF LAPLACE TRANSFORMS

No. Time domain, f(t) [ L ] Frequency domain, F(s) [ L-1 ]

1
1 δ(t)
U(t) unit step 1
2
s
1
3 1
s

4 e at 1
sa

5 t 1
s2

6 t n (n = 1,2,3,…..) n!
sn 1

7 t n e  at n!
( s  a) n  1

8 Sin at a
s  a2
2

9 Cos at s
s  a2
2

10 Sinh at a
s2  a2

11 Cosh at s
s  a2
2

12 e  at sin bt b
( s  a) 2  b 2

13 e  at cos bt ( s  a)
( s  a) 2  b 2

14 e at cosh bt ( s  a)
( s  a) 2  b 2

e at sinh bt b
15
( s  a) 2  b 2

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16 e  at sinh bt b
( s  a) 2  b 2

No. Time domain, f(t) [ L ] Frequency domain, F(s) [ L-1 ]

17 1 1
(e at  e bt )
ab ( s  a ) ( s  b)

18 1 s
(a e at  b e bt )
ab ( s  a ) ( s  b)

TABLE OF INVERSE LAPLACE TRANSFORMS

No. Frequency domain, F(s) [ L-1 ] Time domain, f(t) [ L ]

1 t n 1
1
sn n  1 !

2 1 t n 1 e a t
s  a n n  1 !

3 1
s  a  s  b
1
a b

e at  ebt 

4 s
s  a  s  b
1
a b

ae at  bebt 

5 1 1
sin at
s  a2
2
a

6 1 1
sinh at
s  a2
2
a

7 1 1 at
e sin bt
s  a 2  b 2 b

8 sa
s  a 2  b 2 e a t cos bt

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CIRCUIT SOLUTIONS USING LAPLACE TRANSFORM

STEP 1. Replace all the circuit elements of the modified equivalent circuit into
domain frequency (s)

STEP 2. Circuit analysis solution using Kirchhoff’s law to obtain I (s) or V (s)

STEP 3. Change the solution from frequency domain (s) to time domain (t)
using partial fraction or Laplace transform table.

FORMULA

1. Resistor (R) Time Domain Frequency Domain

R V(t) = R V(s) = R I(s)

V(t) = I(s) =

2. Capasitor (C)
C V(t) = V(s) = +

V(t) =C I(s) = C { sV(s) -

}

Where = initial voltage at t = 0

3. Inductor
L =L V(s) = L { sI(s) - i }

V(t) = I(s) = +

Where i = initial current at t = 0

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