Inverse Laplace transform

Examples
PERFORMING THE INVERSE TRANSFORM Simple, complex conjugate poles

FACT: Most of the Laplace transforms

that we encounter are proper rational
functions of the form

mn
Zeros = roots of numerator C1 ( s +  ) C2 
Poles = roots of denominator = + + ...
(s +  ) + 
2 2
(s +  ) + 
2 2

KNOWN: PARTIAL FRACTION EXPANSION

If Q ( s ) = Q1 ( s )Q2 ( s ) is a COPRIME factorizat ion
of the denominator with
Pole with multiplicity r
deg( Qi ) = ni (  ni = n), then
P1 ( s ) P2 ( s )
F ( s) = K 0 + + ; deg( Pi )  ni
Q1 ( s ) Q2 ( s )
If m<n and the poles are simple

THE INVERSE TRANSFORM OF EACH

PARTIAL FRACTION IS IMMEDIATE.
WE ONLY NEED TO COMPUTE THE
VARIOUS CONSTANTS
 SIMPLE POLES

 /( s + pi )

LEARNING EXAMPLE
12( s + 1)( s + 3)
F ( s) =
s( s + 2)( s + 4)( s + 5) Get the inverse of each term and write
the final answer
Write the partial fraction expansion
9 36 32 
K K K K f (t ) =  + e −2t + e −4t − e −5t u(t )
F ( s) = 1 + 2 + 3 + 4  10 8 5 
s s+2 s+4 s+5
Determine the coefficients (residues) The step function is necessary to make
the function zero for t<0
12 1 3 9
K1 = sF ( s) s =0 = =
2  4  5 10
12(−1)(1) “FORM” of the inverse transform
K 2 = ( s + 2) F ( s) s =−2 =
(−2)(2)(3)
=1
( )
f (t ) = K1 + K 2e −2 t + K 3e −4 t + K 4e −5t u(t )
12(−3)(−1) 36
K 3 = ( s + 4) F ( s) s =−4 = =
(−4)(−2)(1) 8
12(−4)(−2) 32
K 4 = ( s + 5) F ( s) s =−5 = =−
(−5)(−3)(−1) 5
 COMPLEX CONJUGATE POLES

=| K1 |  =| K1 | e j

Euler' s Identity
e j + e − j
cos  =
f (t ) = 2 | K1 | e −t cos(  t +  ) + ...
2

USING QUADRATIC FACTORS

P1 ( s) C1 ( s +  ) C2 
= = + + ...

Q1 ( s) ( s +  ) + 
2

2
(s +  ) + 
2 2
(s +  ) + 
2 2

f (t ) = C1e −t cos  t + C 2e −t sin  t + ... Avoids using complex algebra.
Must determine the coefficients in different way
The two forms are equivalent !
 LEARNING EXAMPLE Y ( s ) = 10( s + 2)
s ( s 2 + 4 s + 5)
f (t ) = 2 | K1 | e −t cos(  t +  ) + ...
s 2 + 4 s + 5 = ( s + 2 − j1)( s + 2 + j1)
= ( s + 2) 2 + 1
10( s + 2) K0 K1 K1*
Y ( s) = = + +
s( s + 2 − j1)( s + 2 + j1) s s + 2 − j1 s + 2 + j1
10(2) 20 MUST use radians in
K 0 = sY ( s) s =0 = = =4 exponent
(2 − j1)(2 + j1) 5
10( j1) 5
K1 = ( s + 2 − j1)Y ( s) s =−2+ j1 = = − j 2.678
(−2 + j1)( j 2) 5153.43 = 2.236 − 153.43 = 2.236e
y (t ) = ( 4 + 2  2.236e −2t cos(t − 2.678) ) u (t )
Using quadratic factors
10( s + 2) C0 C1 ( s + 2) C2 C (( s + 2) 2
+ 1) + C1 ( s + 2) s + C 2 s
Y ( s) = = + + = 0
s( s + 4 s + 5) s ( s + 2) + 1 ( s + 2) + 1
2 2 2
s ( s 2 + 4 s + 5)
10( s + 2) = C0 (( s + 2) 2 + 1) + C1 ( s + 2) s + C 2 s Alternative way to determine coefficients
s 2 : 0 = C 0 + C1  C1 = −C0 = −4 For s = 0 : 20 = 5C0
For s = −2 : 0 = C0 − 2C2
s :10 = 4C 0 + 2C1 + C 2  C2 = 2
For s = −1 : 10 = 2C0 − C1 − C2
s 0 : 20 = 5C 0  C0 = 4
y(t ) = (C0 + C1e−2t cos t + C2e−2t sin t )u(t )
  1  1 n−1 − pt
MULTIPLE POLES L-1  n
= t e
 ( s + p)  (n − 1)!

 /( s + p1 ) r

The method of identification of coefficients, or even the method of selecting

values of s, may provide a convenient alternative for the determination of the
residues
 LEARNING EXAMPLE

 1  
f (t ) =  K11e −t + K12 te −t + K13  t 2e −t  + K 2e −2t u(t ) Using identification of coefficients
 2  
10( s + 3)
10(1) ( s + 1 ) 3
F ( s ) =
K 2 = ( s + 2) F ( s ) s =−2 = = −10 ( s + 2)
(−1) 3

10 ( 2 ) K ( s + 1 ) 2
( s + 2) + K ( s + 1)( s + 2) + K ( s + 2) + K ( s + 1) 3
= 20 =
11 12 13 2
K13 = ( s + 1)3 F ( s) =
s = −1 (1) ( s + 2)

K12 =
d
ds
(
( s + 1)3 F ( s) ) s = −1
= 
d  10( s + 3) 
ds  s + 2  s =−1
 s 3 : 0 = K11 + K 2

10( s + 2) − 10( s + 3) −10 s 2

: 0 = 4 K11 + K12 + 3K 2
= = = −10
( s + 2)2 s =−1
( s + 2) 2
s =−1 s1: 10 = 5 K + 3K + K + 3K
11 12 13 2

( ) 1 d − 10
2
1 d
K11 = ( s + 1)3 F ( s) = s 0 : 30 = 2 K11 + 2 K12 + 2 K13 + K 2
2! ds 2
s = −1
2! ds ( s + 2)2
1 10(2( s + 2) ) 10
K11 = = = 10
2 ( s + 2)4 s =−1 ( s + 2)3 s =−1
LEARNING EXAMPLE LEARNING EXTENSION
10( s + 1) ( s + 1) 2
Given F ( s ) = . Given F ( s) = .
s ( s + 2 s + 2)
2
s( s + 2)( s 2 + 2 s + 2)
Determine the initial and final values for f (t ) Determine the initial and final values for f (t )
Clearly, f(t) has Laplace transform. And
sF(s) -f(0) is also defined.
f (0) = lims→ sF ( s)
10( s + 1) ( s + 1) 2
f (0) = lims→ 2 =0 f (0) = lim s → =0
s + 2s + 2 ( s + 2)( s 2 + 2 s + 2)

F(s) has one pole at s=0 and the others

have negative real part. The final value
theorem can be applied.
limt → f (t ) = lims→0 sF ( s)
( s + 1) 2 1
10( s + 1) limt → f (t ) = lim s →0 =
limt → f (t ) = lims→0 =5 ( s + 2)( s 2 + 2 s + 2) 4
s + 2s + 2
2

NOTE : Computing the inverse one gets

3
f (t ) = 5 + 5 2e −t cos( t − ) Laplace
4