Laplace Transform and s-Shifting 1 J(0) isa tunction detined tor ott > 0 ks Laplace trans form isthe megrat ot f(t) tmes e~* tomt = 0000.18 Is atunction 6, soy, F(s). ands denoted by £(f); Fe)=cn=fetnoe 0 Here we must assume that f(t) I such thot the integral exists (that is has some finite value). This assumption Is usualy satsied in applications ‘Not oniy isthe resut Fs) cated he Laplace transform but the operation just described which yields F(s) trom a given F(t), tts cao cated the Laplace Trans from. itis an Mntegral transform’ Fl) = f * nasty s(tyat witn Komal k(s,t) = e-¥. Furthermore, the given function f(t) I (1 scaled the inverse transtorm of F(s) ands denoted by £-"(F); thats, we anol wrte I(t) = £18) @ Note that (1) and (2) together imply £°*(L(f)) = fond C(C*(F)) = F. NOTATION Cigna unetions depend on and thst transforms ons (Kop this in mind). Original unetions are denoted by owercose {ettrs and their transtorms by the some letters h copial so that F's) denotes the transtorm of f(t), ond ¥(s) denotes the transform of y(t),and son Given f(t) ona g(t) mnen, Clas (t) + ba(é)] = al s(t) + bLo(t) torony constants a ond «-shting or Fret siting Theorem: Replacing by sa ‘The Laplace Transform hos the very ust property that two know he wansform at f(t) we ean immediately get hat of (0,08 'otows. 1 f(t) nate transform Fs) (whore tor some, hen e% f(t) has thetranstorm F's — a) (where s-or).n tormules, Lett f(t) = F(s—a) x if we take the verse on both sides, et y(t) = £1 F(s—a) This s-Shiting i in the table below n forms (tan (12) Retort the table below fr some functions f(#) and ther Laplace Transform £(f).example: tot f(t) = te™ wnent > 0.Find F(s). Solution: L(f) = £(te™) At ee st (pekt ~ ks), L(te") [ en" (te!) at [ teat Using integration by parts, let u=t du=dt vu = el sdt Integration by parts formula is a fs f[ tet!)dt — F(s) Ib mab Fe) =F (answer) coe-2) pects) ]FiggHtte)—gh-#) Ras irl - = ee, Example for S-shifting: Find the inverse transform of F(s) = 5 Solution: £+F(s) = s(t) = — co fsa f= ra +400 o+1)-7020) S(t) = £" poe =3c2)_—s1 | _ 7g-1|__20 = 20" i] - 1" Lt From the table, using formulas (7) and (8) but replace 8 with § — a, then J(t) = 3e~tcos(20t) — Te~‘sin(20t) S(t) = e-* (3cos(20t) — 7sin(20t)) (answer)Another Example 1 Find the Laplace transform of f(t) = 6e~* + e*# + 543 — 9. Solution: Using the table below, formulas (1), (3), and (6), then P(s) =6[ ty] + As + 5[ gx] -94 F(s)= 2 +2,4+ 2-2 (Answer)Another Example 2 Find the Laplace transform of f(£) = 4cos(4t) — 9sin(4t) + 2cos(10#) Solution: Using formulas (7) and (8) F(s) =4—4, -9-4, +2 5 ee ee #10? 4s _ 36 2s (8) = Sh — pa + aH (answer)Another Example 3 Find the Laplace transform of f(t) = e* + cos(6t) — e*cos(6t). Solution: Using the formulas (6), (7), and (11), then 1 3 Ps) = 3 + ae ~ Ga —1 sa 8 FO) = y+ aim > oa =k s s-3 F(s)= 5+ s3 - Se (Answer) what it f(#) does not in the table? The solution will be in the first example. You will solve the problem using F(s) = Lf(t) = [ f(t)e— dt or the s-Shifting Theorem.Inverse Laplace Transform Finding the Laplace Transform of «function isnot terribly cificut # weve got a table of transforms infront of us to use at we savin the last saction What we would ke to do now is go the other way. We are going to be given a transtorm, F(s), an ask what function (or functions) diel we have originally. As you wll see this can be a more complicated and lengthy process than taking transforms. In these cases we say that we are finding the inverse Laplace Transform of (8) and use the folowing notation, S() = £7 F(s) [As with Laplace transforms, weve got the following fact to help us take the Inverse transform, ven the two Lapiace transforms F(#) and G(s) then L"[aF(s) +bG(s)] = aL 1F(s) +0£ G(s) for any constants @ and b. So, we take the inverse transform of the individual transforms, put any constants back in ond then add or subtract the results back up. Example | Find the Ivers transform of F(s) = $ — hy + ay Solution: From the denominator ofthe frst term Itlooks lke the fist term is ust @ constant. The correct numerator for this term isc * 1” sowell just factor the 6 out before taking the inverse transform. The second term appesrs to be an exponential with @ = 8and the numerator is exactly what it needs to be. The third term also appears to be an exponential, only this time ‘a = 3 and well need to factor the 4 out betore taking the Inverse transforms So, with a little more detail than we'll usually put into these, (8) =62 — 2 1 a ae tay Use the table below, the formulas (1) and (6) F(t) = 6(1) — e + de f(t) =6-e* + 4e* (answer)Another Example 1 Find the inverse transform of F(s) = Solution: The first term in this case looks lke an exponential with a = —2 and welll need to factor out the 19. Be careful with negative signs in these problems, Its very easy to lose track of them. The second term almost looks like an exponential, except that I's got a 33 instead of just an $ inthe denominator. ts. an exponential, but in this case, we'll need to factor a 3 out of the denominator before taking the inverse transform. ‘The denominator of the third term appears to be formula (4) in the table with n — 4. The numerator however, is not correct for this. There is currently a 7 in the numerator and we need a4! = 24 in the numerator. This is very easy to fh Whenever a numerator is off by a multiplicative constant, as in this case, all we need to do Is put the constant that we need in the numerator. We will Just need to rememiber to take it back out by dividing by the same constant. So, lets rewrite the transform. + att (answer)Another Example 2 Find the inverse transform of F(8) = is + a5 Solution: In this part we've got the same denominator in both terms and our table tells us that we've either got formulas (7) and (8). The numerators will tell us which we've actually get. The first one has an & in the numerator and 30 this means that the first erm must be formula (7) and welll need te factor the 6 out ef the numerator in this case. The second term has only a constant in the numerator and so this term must be formula (8), however, in order for this to be exactly formula (8) we'll nod to muttiply/divide a 5 in the numerator to got it correct for the table. ae Taking the inverse transform gives, f(t) = 6cos(5t) + $sin(5t) (answer)Another Example 3 Find the inverse transtorm of F(s) = 8(qx8sq) + 4g Solution: In this case the first term will be a sine once we factor a 3 cut of the denominator, while the second term appears to be a hyperbolic sine formula (10). Again, be careful withthe diference between these two. Bath ofthe terms will also need to have their numerators fixed up. Here isthe transform once we're done rewriting It =3(Fa) + 40) =3(ga ae aie) +4 a) Notice that inthe first term we took aclvantage of the fact that we could get the 2 in the numerator that we needled by factoring the 8. he inverse transform is then, S(t) = 4sin(2é) + Ssinh(7t) (answer)