Calculus For Engineers (MAT1011) Module 2: Laplace transform

Laplace transform The Laplace transform of 𝑓(𝑡) defined for 𝑡 ≥ 0, is given by

∞
𝐿*𝑓(𝑡)+ = ∫0 𝑓(𝑡) 𝑒 −𝑠𝑡 𝑑𝑡 = 𝐹̅ (𝑠).
The function 𝑓(𝑡) is called the inverse of the transform 𝐹̅ (𝑠).

Table 1 Laplace transform – Power Function

𝑓(𝑡) 𝐹̅ (𝑠) = 𝐿 *𝑓(𝑡)+

1 1/𝑠

t 1/𝑠 2

𝑡2 2 !/𝑠 3
Integer powers
𝑡3 3 !/𝑠 4

⋮ ⋮

𝑡𝑛 𝑛 !/𝑠 𝑛+1

Γ (𝑝 + 1)/𝑠 𝑝+1 , where

𝑝
𝑡 ,p>0 ∞
Positive real Γ (𝑝 + 1) = ∫0 𝑥 𝑝 𝑒 −𝑥 𝑑𝑥
powers
3 1 1 1 1 √𝜋
√𝑡 Γ. /
2 𝑠3/2
= Γ. /
2 2 𝑠3/2
=
2 𝑠3/2

Table 2 Laplace transform – Exponential and Trigonometric Functions

𝑓(𝑡) 𝐹̅ (𝑠) = 𝐿*𝑓(𝑡)+

𝑒 𝑎𝑡 1
𝑠−𝑎
Exponential
𝑒 − 𝑎𝑡 1
𝑠+𝑎

𝑎
Trigonometric sin 𝑎𝑡
𝑠2 +𝑎2

𝑠
cos 𝑎𝑡
𝑠2 +𝑎2

Linearity property: 𝐿 *𝑎𝑓(𝑡) + 𝑏𝑔(𝑡)+ = 𝑎𝐹̅ (𝑠) + 𝑏𝐺̅ (𝑠), where 𝐹̅ (𝑠) and 𝐺̅ (𝑠) are the
Laplace transforms of 𝑓(𝑡) and 𝑔(𝑡).

Dr. T. Phaneendra (SAS) (SJT, 511 – A10) phaneendra.t@vit.ac.in

 2
Calculus For Engineers (MAT1011) Module 2: Laplace transform

Table 3 Laplace transform – Hyperbolic Functions

Function Laplace transform

− 1 1 1 𝑎
sin 𝑎𝑡 = .
2 𝑠−𝑎
− 𝑠+𝑎/ = 𝑠2 −𝑎2
2

+ 1 1 1 𝑠
cos 𝑎𝑡 = .
2 𝑠−𝑎
+ 𝑠+𝑎/ = 𝑠2 −𝑎2
2

Table 4 Examples on Linearity

Function Laplace transform

− 1
𝑎− (𝑠−𝑎)(𝑠− )

𝑎 − 𝑠
𝑎− (𝑠−𝑎)(𝑠− )

( − ) +(𝑎− ) +( −𝑎) 1
(𝑎− )( − )( −𝑎) (𝑠−𝑎)(𝑠− )(𝑠− )

𝑎2
1 − cos 𝑎𝑡 = 2 sin2 ( 2 )
𝑠(𝑠2 +𝑎 2 )

𝑎3
𝑎𝑡 − sin 𝑎𝑡 𝑠2 (𝑠2 +𝑎 2 )

3 𝑎𝑡− 3𝑎𝑡 6𝑎 3
sin3 𝑎𝑡 = 4 (𝑠2 +𝑎 2 )(𝑠2 +9𝑎2 )

2𝑎 2 𝑠
cos 𝑎𝑡 − cos 𝑎𝑡
𝑠4 −𝑎4

2𝑎 3
sin 𝑎𝑡 − sin 𝑎𝑡
𝑠4 −𝑎4

2𝑎 𝑠
sin 𝑎𝑡 sin 𝑏𝑡 ,𝑠2 +(𝑎− )2 - ,𝑠2 +(𝑎+ )2 -

𝑎𝑡− 𝑡 𝑠
2 −𝑎 2 (𝑠2 +𝑎 2 )(𝑠2 + 2 )

Laplace transform through Multiplication by t: If 𝐹̅ (𝑠) is the Laplace transform of 𝑓(𝑡),

then
𝑑 ̅𝐹 (𝑠) 𝑑 2 ̅𝐹 (𝑠) 𝑑 𝑛 ̅𝐹 (𝑠)
𝐿 *𝑡 𝑓(𝑡)+ = − , 𝐿 *𝑡 2 𝑓(𝑡)+ = , … , 𝐿*𝑡 𝑛 𝑓(𝑡)+ = (−1)𝑛 ∙
𝑑𝑠 𝑑 𝑠2 𝑑 𝑠𝑛

Dr. T. Phaneendra (SAS) (SJT, 511 – A10) phaneendra.t@vit.ac.in

 3
Calculus For Engineers (MAT1011) Module 2: Laplace transform

Table 5 Examples on Multiplication by t

Function Laplace transform

𝑑 1 1
𝑡𝑒 𝑎𝑡 − . /
𝑑𝑠 𝑠−𝑎
=
(𝑠−𝑎)2

𝑑 𝑠 𝑠2 −𝑎2
𝑡 cos 𝑎𝑡 − 𝑑𝑠 .𝑠2 +𝑎2 / = (𝑠2 +𝑎2 )2

𝑑 𝑎 2𝑎𝑠
𝐿*𝑡 sin 𝑎𝑡+ − . / =
𝑑𝑠 𝑠2 +𝑎 2 (𝑠2 +𝑎 2 )2

𝑎 𝑎(𝑠2 −𝑎 2 ) 2𝑎 3
𝐿*sin 𝑎𝑡 − 𝑎𝑡 cos 𝑎𝑡+ − =
𝑠2 +𝑎2 (𝑠2 +𝑎 2 )2 (𝑠2 +𝑎 2 )2

𝑎 𝑎(𝑠2 −𝑎 2 ) 2𝑎𝑠2
sin 𝑎𝑡 + 𝑎𝑡 cos 𝑎𝑡 𝑠2 +𝑎2
+ (𝑠2 +𝑎2 )2 = (𝑠2 +𝑎2 )2

Laplace transform through Division by t: If 𝐹̅ (𝑠) is the Laplace transform of 𝑓(𝑡), then
𝑓(𝑡) ∞
𝐿2 3 = ∫ ̅𝐹 (𝑢) 𝑑𝑢 = 𝐺̅ (𝑠). Hence
𝑡 𝑢=𝑠

∞ 𝑓(𝑡) ∞ 𝑓(𝑡)
∫0 2 𝑡
3 𝑒 −𝑠𝑡 𝑑𝑡 = 𝐺̅ (𝑠)  ∫0 𝑡
𝑑𝑡 = lim 𝐺̅ (𝑠).
𝑠→0

Table 6 Examples on Division by t

Function Laplace transform

∞ 1 1 𝑢 ∞ 𝑠+𝑎
1−
∫𝑢 = 𝑠 .𝑢 − 𝑢+𝑎/ 𝑑𝑢 = |log .𝑢+𝑎/| = log .
𝑠
/
𝑡 𝑢=𝑠

∞ 1 1 𝑢+𝑎 ∞ 𝑠+
∫𝑢=𝑠 .𝑢+𝑎 − 𝑢+ / 𝑑𝑢 = |log .𝑢+ /| = log .𝑠+𝑎/
− 𝑢=𝑠
𝑡 ∞ − 𝑠+
 ∫0 . 𝑡
/ 𝑑𝑡 = lim𝑠→0 log .𝑠+𝑎/ = log .𝑎/

∞
∞ 𝑢 𝑢 1 𝑢2 +𝑎2 1 𝑠2 + 2
∫𝑢=𝑠 .𝑢2 +𝑎2 − 𝑢2 + 2 / 𝑑𝑢 = 2 |log .𝑢2 + 2 /| = 2 log .𝑠2 +𝑎2 /
𝑎𝑡− 𝑡 𝑠
𝑡 ∞ 𝑎𝑡− 𝑡 1 𝑠2 + 2
 ∫0 . 𝑡
/ 𝑑𝑡 = 2 lim𝑠→0 log .𝑠2 +𝑎2 / = log .𝑎/

∞ 1 𝑢 𝑢 ∞ √𝑠2 +𝑎 2
∫𝑢=𝑠 .𝑢 − 𝑢2 +𝑎2 / 𝑑𝑢 = |log .√𝑢2 +𝑎2 /| = log ( 𝑠
)
1− 𝑎𝑡 𝑠
𝑡 ∞ 1− 𝑎𝑡 √𝑠2 +𝑎 2 √ 2 +𝑎2
 ∫0 . 𝑡
/ 𝑒 − 𝑡 𝑑𝑡 = lim𝑠→ log ( 𝑠
) = log ( )

Dr. T. Phaneendra (SAS) (SJT, 511 – A10) phaneendra.t@vit.ac.in

 4
Calculus For Engineers (MAT1011) Module 2: Laplace transform

Table 6 Examples on Division by t (Continued)

Function Laplace transform

2 𝑎𝑡 1 √𝑠2 +4𝑎2 ∞ 2 𝑎𝑡

2
log ( 𝑠
)  ∫0 . 𝑡
/ 𝑒 − 𝑡 𝑑𝑡 =
𝑡
1− 2𝑎𝑡 1 √ 2 +4𝑎2
= 2
log ( )
2𝑡

∞ 𝑎 𝑢 ∞ π 𝑠
∫𝑢 = 𝑠 .𝑢2 +𝑎2 / 𝑑𝑢 = |tan−1 .𝑎 /| = − tan−1 . /
2 𝑎
𝑎𝑡 𝑢=𝑠
𝑡 ∞ 𝑎𝑡 π 𝑠 π
 ∫0 𝑡
𝑑𝑡 = lim𝑠→0 0 2 − tan−1 .𝑎/1 = 2

∞ 1 𝑢 𝑢 ∞ √𝑠2 −𝑎2
1− 𝑎𝑡
∫𝑢=𝑠 .𝑢 − 𝑢2 −𝑎2 / 𝑑𝑢 = |log .√𝑢2 −𝑎2 /| = log ( 𝑠
)
𝑡 𝑠

1 √𝑡 √π ∞ 1 √π 2 ∞ π
= ∫ .
2 𝑢=𝑠 𝑢3/2
/ 𝑑𝑢 = 2
|− | = √𝑠
√𝑡 𝑡 √𝑢 𝑠

First Shifting Property (s-Shifting): If 𝐹̅ (𝑠) is the Laplace transform of 𝑓(𝑡), then
𝐿 *𝑒 𝑎𝑡 𝑓(𝑡)+ = 𝐹̅ (𝑠 − 𝑎).
Table 7 Examples on First Shifting Property
Function Laplace transform
𝑡 𝑛 𝑒 𝑎𝑡 𝑛 !/(𝑠 − 𝑎)𝑛+1

𝑡 𝑝 𝑒 𝑎𝑡 , p > 0 Γ (𝑝 + 1)/(𝑠 − 𝑎)𝑝+1

√𝜋
√𝑡 𝑒 𝑎𝑡 2(𝑠−𝑎)3/2

1 π
𝑒 𝑎𝑡 √𝑠−𝑎
√𝑡

𝑒 𝑎𝑡 sin 𝑏𝑡
(𝑠−𝑎)2 + 2

𝑠−𝑎
𝑒 𝑎𝑡 cos 𝑏𝑡
(𝑠−𝑎)2 + 2

𝑒 𝑎𝑡 sin 𝑏𝑡
(𝑠−𝑎)2 − 2

𝑠−𝑎
𝑒 𝑎𝑡 cos 𝑏𝑡
(𝑠−𝑎)2 − 2

Dr. T. Phaneendra (SAS) (SJT, 511 – A10) phaneendra.t@vit.ac.in

 5
Calculus For Engineers (MAT1011) Module 2: Laplace transform

0 𝑡<𝑎
Heaviside Unit Step Function: For 𝑎 ≥ 0, 𝐻(𝑡 − 𝑎) = 𝑈𝑎 (𝑡) = 2
1 𝑡≥𝑎
1 𝑡<𝑎
Note: 1 − 𝐻(𝑡 − 𝑎) = 𝑈𝑎 (𝑡) = 2
0 𝑡≥𝑎
Second Shifting Property (t -shifting): If 𝐹̅ (𝑠) is the Laplace transform of 𝑓(𝑡), then
𝐿 *𝐻(𝑡 − 𝑎) 𝑓(𝑡 − 𝑎)+ = 𝑒 −𝑎𝑠 𝐹̅ (𝑠).
Table 8 Examples on Second Shifting Property
Function Laplace transform
𝑠
𝐻(𝑡 − 𝑎) = 𝐻(𝑡 − 𝑎). 1 𝑒 −𝑎𝑠 𝐿*1+ = 𝑠

1 − 𝑒 −𝑎𝑠
1 − 𝐻(𝑡 − 𝑎)
𝑠

π 1 2π π𝑠/2
π π π
𝐻 .𝑡 − 2 / cos 𝑡 = 𝐻 .𝑡 − 2 / sin .𝑡 − 2 / ∙ ∙ 𝑒 − π𝑠/2 =
2 𝑠2 +(π/2)2 𝑠2 +π2

Rectangular Pulse 𝑠− 𝑠

𝑅(𝑡; 𝑎, 𝑏) = 𝐻(𝑡 − 𝑎) − 𝐻(𝑡 − 𝑏) 𝑠

Think about It Suppose that

𝑔(𝑡), 𝑎 ≤ 𝑡 < 𝑏
𝑓(𝑡) = {
0, elsew ere.
What is the Laplace transform of f(t)?

Think about It Suppose that

𝑔(𝑡) 0 ≤ 𝑡 < 𝑎
𝑓(𝑡) = {
𝑕(𝑡) 𝑡 ≥ 𝑎.
What is the Laplace transform of f(t)?

Dirac Delta Function: For arbitrarily small 0, and 𝑎 ≥ 0, we have the pulse function
1
𝑎≤𝑡<𝑎+
 (𝑡 − 𝑎) = {
0 elsew ere.
1
Then  (𝑡 − 𝑎) = ,𝐻(𝑡 − 𝑎) − 𝐻(𝑡 − 𝑎 − )-
𝑠− ( )𝑠 𝑠 (1− 𝑠)
 𝐿* (𝑡 − 𝑎)+ = 𝑠
= 𝑠
∙

The Dirac Delta function is defined by (𝑡 − 𝑎) = lim →0  (𝑡 − 𝑎).

+∞ 𝑡 = 𝑎
Thus (𝑡 − 𝑎) = 2
0 𝑡 ≠ 𝑎.
Now,
𝑠 (1− 𝑠)
𝐿*(𝑡 − 𝑎)+ = lim →0 𝐿* (𝑡 − 𝑎)+ = lim = 𝑒 −𝑎𝑠 for 𝑎 ≥ 0.
→0 𝑠
In particular, 𝐿*(𝑡)+ = 1.

Dr. T. Phaneendra (SAS) (SJT, 511 – A10) phaneendra.t@vit.ac.in