Time-domain ℒ s-domain

Laplace transform

∞
𝐹 𝑠 = ℒ 𝑓(𝑡) = න 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡
0
1) Simple Functions 𝐹 𝑠 =1 Polynomial function
1 Polynomial function
𝑓 𝑡 = 𝛿(𝑡) Impulse Function 𝐹 𝑠 =
𝑠
𝑓 𝑡 = 𝑢(𝑡) Step Function 1 Polynomial function
𝐹 𝑠 = 2
𝑠
𝑓 𝑡 =𝑡 Ramp Function 2 Polynomial function
𝐹 𝑠 = 3
𝑠
𝑓 𝑡 = 𝑡2 Quadratic Function
𝑛! Polynomial function
𝑛
𝐹 𝑠 = 𝑛+1
𝑓 𝑡 =𝑡 𝑠
1 Polynomial function
𝑓 𝑡 =𝑒 −𝑎𝑡
Exponential Function 𝐹 𝑠 =
𝑠+𝑎
𝜔 Polynomial function
𝑓 𝑡 = sin 𝜔𝑡 Sine Function 𝐹 𝑠 = 2
𝑠 + 𝜔2
𝑓 𝑡 = cos 𝜔𝑡 Cosine Function 𝑠 Polynomial function
𝐹 𝑠 = 2
𝑠 + 𝜔2

2) Complex Functions
4 ∗ 𝑠 4 + 35 ∗ 𝑠 3 + 220 ∗ 𝑠 2 + 1372 ∗ 𝑠 + 147
𝐹 𝑠 =
𝑠 2 ∗ 𝑠 2 + 49 ∗ 𝑠 + 3
𝑓 𝑡 = 9 + 𝑡 − 5 𝑒 −3𝑡 + sin 7𝑡

Polynomial function
 Laplace Transform
Laplace Definition:
∞
𝐹 𝑠 = ℒ 𝑓(𝑡) = න 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡
0

How to find Laplace transforms?

As follows:

1) For simple functions: Consisting of single time-domain function. Use,

❑ Tables of Laplace transform.

2) For complex functions: Consisting of two or more simple functions. Use,

❑ Properties of Laplace transform
❑ Tables of Laplace transform.

3
 s-domain ℒ −1 Time-domain
Inverse Laplace
transform

1) Simple Functions
𝐹 𝑠 =1 Polynomial function
1 Polynomial function 𝑓 𝑡 = 𝛿(𝑡) Impulse Function
𝐹 𝑠 =
𝑠
𝑓 𝑡 = 𝑢(𝑡) Step Function
1 Polynomial function
𝐹 𝑠 = 2
𝑠 𝑓 𝑡 =𝑡 Ramp Function
2 Polynomial function
𝐹 𝑠 = 3 𝑓 𝑡 = 𝑡2 Quadratic Function
𝑠
𝑛! Polynomial function
𝐹 𝑠 = 𝑛+1 𝑓 𝑡 = 𝑡𝑛
𝑠
1 Polynomial function 𝑓 𝑡 = 𝑒 −𝑎𝑡 Exponential Function
𝐹 𝑠 =
𝑠+𝑎
𝜔 Polynomial function 𝑓 𝑡 = sin 𝜔𝑡 Sine Function
𝐹 𝑠 = 2
𝑠 + 𝜔2
𝑠 𝑓 𝑡 = cos 𝜔𝑡 Cosine Function
𝐹 𝑠 = 2 Polynomial function
𝑠 + 𝜔2

2) Complex Functions
4 ∗ 𝑠 4 + 35 ∗ 𝑠 3 + 220 ∗ 𝑠 2 + 1372 ∗ 𝑠 + 147 𝑓 𝑡 = 9 + 𝑡 − 5 𝑒 −3𝑡 + sin 7𝑡
𝐹 𝑠 =
𝑠 2 ∗ 𝑠 2 + 49 ∗ 𝑠 + 3

Polynomial function
 Inverse Laplace Transform
Inverse Laplace Definition:
There is no integral definition for finding an inverse Laplace transform

How to find Inverse Laplace transforms?

As follows:
1) For simple functions: Consisting of single s-domain function.
In this case, the denominator polynomial of F(s) has one type of roots. Use,
❑ Tables of Laplace transform.

2) For complex functions: Consisting of two or more simple functions.

In this case, the denominator polynomial of F(s) has two or more types of roots. Use,
❑ Decompose the complex function into two or more simple functions using Partial
Fraction Expansion (PFE)
❑ Properties of Laplace transform
❑ Tables of Laplace transform.
5
 Inverse Laplace Transform
s-domain function F(s)
In general, F(s) is expressed as a ratio of two polynomials, as
𝑁(𝑠) 𝑁𝑢𝑚𝑒𝑟𝑎𝑡𝑜𝑟 𝑖𝑛 𝑡ℎ𝑒 𝑓𝑜𝑟𝑚 𝑜𝑓 𝑎 𝑝𝑜𝑙𝑦𝑛𝑜𝑚𝑖𝑎𝑙 𝑖𝑛 𝑠 − 𝑑𝑜𝑚𝑎𝑖𝑛
𝐹 𝑠 = =
𝐷(𝑠) 𝐷𝑒𝑛𝑜𝑚𝑖𝑛𝑎𝑡𝑜𝑟 𝑖𝑛 𝑡ℎ𝑒 𝑓𝑜𝑟𝑚 𝑜𝑓 𝑎 𝑝𝑜𝑙𝑦𝑛𝑜𝑚𝑖𝑎𝑙 𝑖𝑛 𝑠 − 𝑑𝑜𝑚𝑎𝑖𝑛
Where the numerator polynomial N(s) and the denominator polynomial D(s) are given in the form
𝑁 𝑠 = 𝑎𝑚 𝑠 𝑚 + 𝑎𝑚−1 𝑠 𝑚−1 + ⋯ + 𝑎2 𝑠 2 + 𝑎1 𝑠1 + 𝑎0
𝐷 𝑠 = 𝑏𝑛 𝑠 𝑛 + 𝑏𝑛−1 𝑠 𝑛−1 + ⋯ + 𝑏2 𝑠 2 + 𝑏1 𝑠1 + 𝑏0

Roots of the polynomials

• The roots of numerator polynomial N(s) are called the zeros of F(s)
• The roots of denominator polynomial D(s) are called the poles of F(s)

Types of Roots
1. Real distinct roots ( first order terms).
2. Real repeated roots (first order terms).
3. Complex conjugate pair roots (second order terms).
4. Repeated complex conjugate roots ( second order terms). 6
 Inverse Laplace Transform
Partial Fraction Expansions (PFE)
In a partial fraction expansion, we break the complex function in s-domain F(s) into
simple functions, so that we can use the table to the function in the time domain f(t):
For example
4 ∗ 𝑠 4 + 35 ∗ 𝑠 3 + 220 ∗ 𝑠 2 + 1372 ∗ 𝑠 + 147 9 1 5 7
𝐹 𝑠 =
𝑠 2 ∗ 𝑠 2 + 49 ∗ 𝑠 + 3
PFE 𝐹 𝑠 = + 2− + 2
𝑠 𝑠 𝑠 + 3 𝑠 + 49

Methods of Partial Fraction Expansions (PFE)

1) When poles ( roots of D(s) ) are real distinct roots

𝒔𝟏 = 𝒑 𝟏 , 𝒔𝟐 = 𝒑 𝟐 , 𝒔𝟑 = 𝒑 𝟑

𝐴 𝐵 𝐶
𝐹 𝑠 = + + +⋯
𝑠 − 𝑝1 𝑠 − 𝑝2 𝑠 − 𝑝3

2) When poles ( roots of D(s) ) are real repeated roots

𝒔𝟏 = 𝒑 𝟏 , 𝒔𝟐 = 𝒑 𝟏 , 𝒔𝟑 = 𝒑 𝟏

𝐴 𝐵 𝐶
𝐹 𝑠 = + 2
+ 3
+⋯
𝑠 − 𝑝1 𝑠 − 𝑝1 𝑠 − 𝑝1
7
3) When poles ( roots of D(s) ) are Complex conjugate roots.
𝒔𝟏,𝟐 = 𝒂𝟏 ± 𝝎𝟏 𝒋 , 𝒔𝟑,𝟒 = 𝒂𝟐 ± 𝝎𝟐 𝒋

𝐴𝑠 + 𝐵 𝐶 𝑠 + 𝐷
𝑰𝒇 𝒂 = 𝟎 𝐹 𝑠 = + +⋯
𝑠 2 + 𝜔12 𝑠 2 + 𝜔22

𝐴𝑠 + 𝐵 𝐶𝑠+𝐷
𝑰𝒇 𝒂 ≠ 𝟎 𝐹 𝑠 = + +⋯
(𝑠 − 𝑎1 )2 +𝜔12 (𝑠 − 𝑎2 )2 +𝜔22

4) When poles ( roots of D(s) ) are Repeated complex conjugate roots

𝒔𝟏,𝟐 = 𝒂𝟏 ± 𝝎𝟏 𝒋 , 𝒔𝟑,𝟒 = 𝒂𝟏 ± 𝝎𝟏 𝒋

𝐴𝑠 + 𝐵 𝐶𝑠+𝐷
𝑰𝒇 𝒂 = 𝟎 𝐹 𝑠 = + +⋯
𝑠 2 + 𝜔12 𝑠 2 + 𝜔12 2

𝐴𝑠 + 𝐵 𝐶𝑠+𝐷
𝑰𝒇 𝒂 ≠ 𝟎 𝐹 𝑠 = + +⋯
(𝑠 − 𝑎1 )2 +𝜔12 (𝑠 − 𝑎1 )2 +𝜔12
2

8
 Inverse Laplace Transform
1) When poles are real distinct roots.
Example 1: Apply inverse Laplace transforms to find the time-domain function 𝑥(𝑡) if 𝑋(𝑠) is given by
s2 +1
𝑋 𝑠 =
𝑠(𝑠 2 +3 𝑠+2)
1) Determine N(s) and D(s) of X(s)
4) Determine the method of Partial Fraction Expansions
2
𝑁 𝑠 =s +1
𝐷 𝑠 = 𝑠(𝑠 2 + 3 𝑠 + 2) Since All the poles are real distinct roots, the partial
fraction expansions of X(s) is given in the form
2) Fine X(s) poles or D(s) roots s2 + 1 𝐴 𝐵 𝐶
𝑋 𝑠 = = + +
• To find the poles, we let D(s)=0 𝑠(𝑠 + 1)(𝑠 + 2) 𝑠 𝑠 + 1 𝑠 + 2

𝐷 𝑠 = 0 ⇒ 𝑠 𝑠2 + 3 𝑠 + 2 = 0 • We multiply all terms by 𝑠(𝑠 + 1)(𝑠 + 2)

⇒ 𝑠 𝑠 + 1 (𝑠 + 2) = 0
s2 + 1 = 𝐴 𝑠 + 1 𝑠 + 2 + 𝐵(𝑠)(𝑠 + 2) + 𝐶(𝑠)(𝑠 + 1)
• The poles are
• 𝐼𝑓 𝑠 = 0
𝑠1 = 0, 𝑠2 = −1, 𝑠3 = −2
02 + 1 = 𝐴 0 + 1 0 + 2 + 𝐵(0)(0 + 2) + 𝐶(0)(0 + 1)
3) Determine the poles types 1
⇒ 𝐴=
The poles 𝑠1 , 𝑠2 𝑠3 are real distinct roots 2
• 𝐴𝑡 𝑠 = −1 ⇒ 𝐵 = −2
5
• 𝐴𝑡 𝑠 = −2 ⇒ 𝐶= 9
2
 Inverse Laplace Transform
1) When poles are real distinct roots.
Example 1: Apply inverse Laplace transforms to find the time-domain function 𝑥(𝑡) if 𝑋(𝑠) is given by
s2 +1
𝑋 𝑠 =
𝑠(𝑠 2 +3 𝑠+2)
• The partial fraction expansions of X(s) is given by
1 5
2 −2 2
𝑋 𝑠 = + +
𝑠 𝑠+1 𝑠+2

5) Apply inverse Laplace transforms

𝑥 𝑡 = ℒ −1 𝑋 𝑠

1 −1 1 1 5 1
𝑥 𝑡 = ℒ − 2 ℒ −1 + ℒ −1
2 𝑠 𝑠+ 2 𝑠+2

6) Using Table of Laplace transforms

1 5
𝑥 𝑡 = 𝑢 𝑡 − 2 𝑒 −𝑡 + 𝑒 −2𝑡
2 2

10
 Inverse Laplace Transform
2) When poles are real repeated roots.
Apply inverse Laplace transforms to find the time-domain function y(𝑡) if 𝑌(𝑠) is given by
s2 +1
𝑌 𝑠 =
𝑠(𝑠 2 +4 𝑠+4)
1) Determine N(s) and D(s) of Y(s)
4) Determine the method of Partial Fraction Expansions
2
𝑁 𝑠 =s +1
𝐷 𝑠 = 𝑠(𝑠 2 + 4 𝑠 + 4) The partial fraction expansions of Y(s) is given in the form
s2 + 1 𝐴 𝐵 𝐶
2) Fine Y(s) poles or D(s) roots 𝑌 𝑠 = = + +
𝑠 𝑠+2 2 𝑠 𝑠+2 2 𝑠+2
• To find the poles, we let D(s)=0 2
• We multiply all terms by 𝑠 𝑠 + 2
𝐷 𝑠 = 0 ⇒ 𝑠 𝑠2 + 4 𝑠 + 4 = 0
s2 + 1 = 𝐴 𝑠 + 2 2
+ 𝐵(𝑠) + 𝐶(𝑠)(𝑠 + 2)
2
⇒𝑠 𝑠+2 =0
1
• 𝐴𝑡 𝑠 = 0 ⇒ 𝐴 =
4
• The poles are
5
𝑠1 = 0, 𝑠2 = −2, 𝑠3 = −2 • 𝐴𝑡 𝑠 = −2 ⇒ 𝐵=−
2

3) Determine the poles types • 𝐴𝑡 𝑠 = 1

The poles 𝑠1 is real distinct roots 1 5
12 + 1 = 1+2 2
+ − (1) + 𝐶(1)(1 + 2)
4 2
The poles 𝑠2 𝑎𝑛𝑑 𝑠3 are real repeated roots
3
⇒ 𝐶= 11
4
 Inverse Laplace Transform
2) When poles are real repeated roots.
Apply inverse Laplace transforms to find the time-domain function y(𝑡) if 𝑌(𝑠) is given by
s2 +1
𝑌 𝑠 =
𝑠(𝑠 2 +4 𝑠+4)
• The partial fraction expansions of Y(s) is given by
1 5 9
−
4 2 12
𝑌 𝑠 = + 2
+
𝑠 𝑠+2 𝑠+2

5) Apply inverse Laplace transforms

𝑦 𝑡 = ℒ −1 𝑌 𝑠

1 −1 1 5 1 9 −1 1
𝑦 𝑡 = ℒ − ℒ −1 2
+ ℒ
4 𝑠 2 𝑠+2 12 𝑠+2

6) Using Table of Laplace transforms

1 5 3
𝑦 𝑡 = 𝑢 𝑡 − 𝑡 𝑒 −2𝑡 + 𝑒 −2𝑡
4 2 4

12
 Inverse Laplace Transform
3) When poles are Complex conjugate roots.
Apply inverse Laplace transforms to find the time-domain function 𝑓(𝑡) if 𝑋(𝑠) is given by
s2 +1
𝐹 𝑠 =
𝑠(𝑠 2 +2 𝑠+10)
1) Determine N(s) and D(s) of F(s)
4) Determine the method of Partial Fraction Expansions
2
𝑁 𝑠 =s +1
𝐷 𝑠 = 𝑠(𝑠 2 + 2 𝑠 + 10) The partial fraction expansions of F(s) is given in the form
s2 + 1 𝐴 𝐵𝑠+𝐶
2) Fine F(s) poles or D(s) roots 𝐹 𝑠 = = +
𝑠 𝑠 2 + 2 𝑠 + 10 𝑠 𝑠 2 + 2 𝑠 + 10
• To find the poles, we let D(s)=0
• Since 𝑎 ≠ 0 the general form of the complex part
𝐷 𝑠 = 0 ⇒ 𝑠 𝑠 2 + 2 𝑠 + 10 = 0
𝐵𝑠+𝐶 𝐵𝑠+𝐶
=
• The poles are 𝑠 2 + 2 𝑠 + 10 (𝑠 + 𝑎)2 +𝜔 2
𝑠1 = 0, 𝑠2,3 = −1 ± 3𝑗 • To find 𝜔 𝑎𝑛𝑑 𝑎

𝑠 2 + 2 𝑠 + 10 = (𝑠 + 𝑎)2 +𝜔2
3) Determine the poles types
⇒ 𝑠 2 + 2 𝑠 + 10 = (𝑠 2 + 2 𝑎 𝑠 + 𝑎2 ) + 𝜔2
The poles 𝑠1 is real distinct root
• 2𝑎 = 2 ⇒ 𝑎 = 1
The poles 𝑠2 𝑎𝑛𝑑 𝑠3 are complex roots
• 𝑎2 + 𝜔2 = 10 ⇒ 𝜔 = 3
13
 Inverse Laplace Transform
3) When poles are Complex conjugate roots.
Apply inverse Laplace transforms to find the time-domain function 𝑓(𝑡) if 𝑋(𝑠) is given by
s2 +1
𝐹 𝑠 =
𝑠(𝑠 2 +2 𝑠+10)

• Thus, the partial fraction expansions • The final form of the partial fraction expansions of
of F(s) is given by F(s) is given by
1 9 2
s2 + 1 𝐴 𝐵𝑠+𝐶 2
s +1 10 10
𝑠 + −
10
𝐹 𝑠 = = + 𝐹 𝑠 = = +
𝑠 𝑠 2 + 2 𝑠 + 10 𝑠 (𝑠 + 1)2 +9 𝑠 𝑠 2 + 2 𝑠 + 10 𝑠 (𝑠 + 1)2 +9

• We multiply all terms by𝑠 𝑠 2 + 2 𝑠 + 10 1 1 9𝑠−2

𝐹 𝑠 = +
10 𝑠 (𝑠 + 1)2 +9
s2 + 1 = 𝐴 𝑠 2 + 2 𝑠 + 10 + (𝐵 𝑠 + 𝐶) (𝑠)
2
1 1 𝑠−
• 𝐴𝑡 𝑠 = 0 ⇒ 𝐴 =
1
𝐹 𝑠 = +9 9
10 10 𝑠 (𝑠 + 1)2 +9
7 2
• 𝐴𝑡 𝑠 = 1 ⇒ 𝐵 + 𝐶 = 1 1 (𝑠 + 1) − 1 −
10 9
𝐹 𝑠 = +9
11 10 𝑠 (𝑠 + 1)2 +9
• 𝐴𝑡 𝑠 = −1 ⇒ 𝐵 − 𝐶 =
10
9 2
⇒ 𝐵= 𝑎𝑛𝑑 𝐶 = − 1 1 (𝑠 + 1) 11 3
10 10 𝐹 𝑠 = +9 −
10 𝑠 (𝑠 + 1)2 +9 27 (𝑠 + 1)2 +9
 Inverse Laplace Transform
3) When poles are Complex conjugate roots.
Apply inverse Laplace transforms to find the time-domain function 𝑓(𝑡) if 𝑋(𝑠) is given by
s2 +1
𝐹 𝑠 =
𝑠(𝑠 2 +2 𝑠+10)

1 1 (𝑠 + 1) 11 3
𝐹 𝑠 = +9 −
10 𝑠 (𝑠 + 1)2 +9 27 (𝑠 + 1)2 +9

5) Apply inverse Laplace transforms

𝑓 𝑡 = ℒ −1 𝐹 𝑠

1 1 (𝑠 + 1) 11 −1 3
𝑓 𝑡 = ℒ −1 + 9 ℒ −1 − ℒ
10 𝑠 (𝑠 + 1)2 +9 27 (𝑠 + 1)2 +9

6) Using Table of Laplace transforms

1 11
𝑓 𝑡 = 𝑢(𝑡) + 9 𝑒 −𝑡 cos 3𝑡 − 𝑒 −𝑡 sin 3𝑡
10 27

15
 Inverse Laplace Transform
4) When poles are Repeated complex conjugate roots
Apply inverse Laplace transforms to find the time-domain function 𝑔(𝑡) if 𝐺(𝑠) is given by
s2 +1
𝐺 𝑠 =
𝑠 𝑠 2 +4 𝑠+8 2

Solved By Students

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