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Laplace
Transforms
5.1 INTRODUCTION
5.1.1 De nition ∞
∫e
− st
If f (t) is a function of t de ned for all t ≥ 0, f (t ) dt is de ned as the Laplace
0
transform of f(t), provided the integral exists.
Clearly the integral is a function of the parameters s. This function of s is denoted
as f (s) or F(s) or f(s). Unless we have to deal with the Laplace transforms of more
than one function, we shall denote the Laplace transform of f (t) as f(s). Sometimes
the letter ‘p’ is used in the place of s.
The Laplace transform of f (t) is also denoted as L{f (t)}, where L is called the
Laplace transform operator.
∞
Thus L { f (t )}= φ( s ) = ∫ e−st f (t ) dt.
0
The operation of multiplying f (t) by e−st and integrating the product with respect
to t between 0 and • is called Laplace transformation.
The function f (t) is called the Laplace inverse transform of f(s) and is denoted
by L−1{φ (s)}.
Note
Note
1. A function f (t) is said to be piecewise continuous in the nite interval a ≤ t ≤
b, if the interval can be divided into a nite number of sub-intervals such that
(i) f (t) is continuous at every point inside each of the sub-intervals and
(ii) f (t) has nite limits as t approaches the end points of each sub-interval
from the interior of the sub-interval.
2. A function f (t) is said to be of the exponential order, if | f (t)| ≤ M eαt, for all t ≥ 0 and
some constants M and α or equivalently, if lim{e−αt f (t )} = a finite quantity.
t →∞
Most of the functions that represent physical quantities and that we encounter in
differential equations satisfy the conditions stated above and hence may be assumed
to have Laplace transforms.
= k1 ∫ f1 (t ) ⋅ e− st dt ± k2 ∫ f 2 ( t ) ⋅ e− st dt
0 0
= k1∙L−1{φ1(s) ± k2∙L−1{φ2(s)}
−1
Thus L is also a linear operator
As a particular case of this property, we get
L−1{kf(s)} = k L−1{f (s)}, where k is a constant.
Note
1. L{f1(t) . f2(t)} ≠ L{f1(t)} . L{f2(t)} and
L−1{φ (s) . φ (s)} ≠ L−1(φ (s)} × L−1{φ (s)}
1 2 1 2
∞
e− st
=k
−s
0
k
= (0 −1)[ e− st → 0 as t → ∞ , if s > 0]
−s
k.
=
s
5.6 Mathematics II
1
In particular, L(0) = 0 and L(1) =
s
1
∴ L−1 = 1 .
s
− at 1
2. L{e } = , where a is a constant,
s+a
∞
L{e−at } = ∫ e− st ⋅ e−at d t
0
∞
∞
e−(s + a )t
= ∫ e − (s + a ) t d t =
−(s + a )
0 0
1
= (0 −1) , if (s + a) > 0
−(s + a )
1
= , if s > −a.
s+a
1
Inverting, we get L−1 = e−at .
s + a
1
3. L{e at } = , where a is a constant, if s −a > 0 or s > a.
s−a
Changing a to − a in (2), this result follows. The corresponding inverse result is
1
L−1 = e at
s − a
(n + 1)
4. L(t n ) = , if s > 0 and n > − 1.
sn + 1
∞
L(t n ) = ∫ e−st ⋅ t n dt
0
∞
x d x
n
= ∫ e− x ⋅ , on putting st = x
s s
0
∞
1
∫e
−x
= n +1
x n dx
s 0
Laplace Transforms 5.7
(n + 1) = n!
n!
∴ L (t n ) = , if s > 0 and n is a positive integer.
sn + 1
n!
Inverting, we get L−1 n + 1 = t n or
s
1 1
L−1 n + 1 = t n
s n!
1
−1 1
Changing n to n − 1, we get L n = t n− 1 , if n is a positive integer.
s (n −1)!
1 1 n− 1
If n > 0, then L−1 n = t
s (n)
1 1
In particular, L(t ) = or L−1 2 = t .
s2 s
a
5. L(sin at ) =
s 2 + a2
∞
L(sin at ) = ∫ e− st sin at dt
0
∞
e− st
= 2 ( − s sin at − a cos at )
s + a 2
0
s ∞ a ∞
2 (
=− e−st sin at ) − 2 2 (
e−st cos at )
s +a
2 0 s +a 0
a
=
s + a2
2
s
6. L(cos at ) =
s + a2
2
∞
e−st
= 2 ( − s cos at + a sin at )
s + a 2
0
s ∞ a ∞
=−
s2 + a2
(e−st cos at)0 + s 2 + a 2 (e−st sin at )0
s
= , as per the results stated above.
s 2 + a2
s
Inverting the above result we get L−1 2 2
= cos at .
s + a
Aliter
L(cos at + i sin at) = L(eiat)
1
= , by result (3).
s − ia
s + ia
=
s 2 + a2
s a
i.e., L (cos at ) + iL (sin at ) = +i 2 , by linearity property.
s +a
2 2
s + a2
s
Equating the real parts, we get L (cos at ) = .
s + a2
2
a
Equating the imaginary parts, we get L(sin at ) =
s + a2
2
a
7. L(sinh at ) =
s − a2
2
1
L(sinh at ) = L (e at − e− at )
2
1
= L (eat ) − L ( e−at ) , by linearity property.
2
1 1 1
= − , if s > a and s > − a.
2 s − a s + a
a
= , if s > |a|
s − a2
2
Laplace Transforms 5.9
Aliter
L(sinh at) = − iL(sin i at) [ ∴ sin iθ = i sinh θ]
ia
= −i ⋅ , by result (5)
s +i a
2 2 2
a
=
s −a
2 2
a
Inverting the above result we get L−1 2 = sinh at.
s − a 2
s
8. L(cosh at ) =
s −a 2 2
1
L(cosh at ) = L ( ea t + e− a t )
2
1
= L (e a t ) + L (e− at ), by linearity property,
2
1 1 1
= + , if s > |a|.
2 s − a s + a
s
= , if s > |a|.
s2 − a2
Aliter
L(cosh at) = L(cos iat) [ cos iq = cosh q]
s
= , by result (6)
s + i 2a2
2
s
=
s − a2
2
s
Inverting the above result we get L−1 2 = cosh at.
s − a 2
5.4.1 De nition
a ∞
= ∫ e−s t ua (t ) d t + ∫ e− s t ua ( t ) d t
0 a
∞
e− s t e− a s
= − S = S , assuming that s > 0.
a
1
In particular, L{u0 (t )} = , which is the same as L(1).
S
e−as
Inverting the above result, we get L−1 = ua (t ) .
s
5.4.2 De nition
lim { f (t )} , where f (t) is de ned by
h→ 0
1 h h
, when a − ≤ t ≤ a +
f (t ) = h 2 2 is called Unit Impulse
0, otherwise
= lim L{ f (t )}
h→0
= lim ∫ e−s t f (t ) dt
h→0
0
h
a+
2
1
= lim
h→0 ∫ e− s t ⋅
h
dt
h
a−
2
a+
h
1 e− s t 2
= lim ⋅
h → 0 h −s h
a−
2
Laplace Transforms 5.11
−s a − h − s a +
h
e 2 − e 2
= lim
h→ 0 sh
s h/2 −s h / 2
−e
= e−a s lim
e
h→ 0
sh
sh
2 sinh
2
= e−a s lim
h→ 0 sh
sh
s cosh
2
= e−a s lim , by L’ Hospital’s rule.
h→ 0 s
sh
= e−a s lim cosh = e−a s
h→ 0 2
Aliter
1
f (t ) = u h (t ) − u h (t ) , since
h a− 2 a+
2
h
u h (t ) = 1, when t > a − and u h (t ) = 0 ,
a− a+
2 2 2
h
when t<a+ and hence u h (t ) − u h (t ) = 1
2 a− a+
2 2
h h
when a− <t <a+
2 2
1
L{f (t )} = L u
∴ a − h (t ) − L ua + h (t )
h
2 2
− a − h ⋅⋅ s
− a + ⋅⋅ s
h
1 e 2 e 2
= −
h s s
sh
2 sinh
−a s
2
=e
sh
5.12 Mathematics II
sh
2 sinh
2
∴ L {δa (t )} = lim L { f (t)} = e−as ⋅ lim
h→0 h→ 0 sh
= e−as
Inverting the above result, we get
L−1{e−as}= δa(t). When a → 0, L−1 {1} = δ (t).
∞ x
−s d x , putting x = at and making necessary changes.
=∫ e a
f (x )
0
a
∞
1
∫e
− (s / a ) x
= ⋅ f (x ) dx (2)
a 0
∞
1
∫e
− (s / a ) t
= ⋅ f (t ) dt , changing the dummy variable x as t.
a 0
Now, comparing (1) and (2), we note that the integral in (2) is the same as the
s
integral in (1) except that ‘s’ in integral in (1) is replaced by in the integral
a
in (2).
∴ When the integral in (1) is equal to φ (s), that in (2) is equal to φ (s/a).
1
Thus L{ f ( at)} = φ ( s a ) (3)
a
1
Changing a to in (3) or proceeding as in the proof given above, we have
a
L{ f ( t a )} = a φ (as) .
Laplace Transforms 5.13
2. First Shifting Property
If L{ f (t)} = φ (s), then L{e−at f (t)} = φ (s + a)
and L{eat f (t)} = φ (s − a).
Proof
∞
= ∫ e−( s + a ) t f (t ) dt (2)
0
Note
1. The above property can be rewritten as a working rule (formula) in the fol-
lowing way:
L{e−at f (t )}=φ (s + a)
=[φ (s)]s→ s + a
= L{ f (t )}s→ s + a
‘s → s + a’ means that s is replaced by (s + a).
Thus, to nd the Laplace transform of the product of two factors, one of
which is e−at, we ignore e−at, nd the Laplace transform of the other factor as
a function of s and change s into (s + a) in it.
Similarly,
L{eat f (t)} = L{f (t)s → s −a
2. The above property can be stated in terms of the inverse Laplace operator as
follows:
−1
If L {φ (s )}= f (t ) , then L−1 {φ (s + a )}= e−at ⋅ f (t )
From this form of the property, we get the following working rule:
L−1 {φ (s + a )}= e−at ⋅ L−1 {φ (s )}
This means that if we wish to nd the Laplace inverse transform of a function
that can be identi ed as a function of (s + a), we have to nd the Laplace
inverse transform of the corresponding function of s and multiply it with e−at.
Similarly,
L−1 {φ (s − a )}= e at L−1 {φ (s )}
.
5.14 Mathematics II
3. The above property is called so, as it concerns shifting on the s-axis by a (or
− a), i.e., replacing s by s + a (or s − a).
The second shifting property, that follows, concerns shifting on the t-axis by
−a i.e., replacing t by t − a.
3. Second Shifting Property
If L{ f (t)} = φ (s), then L{ f (t − a)ua(t)} = e−asφ (s),
where a is a positive constant and ua(t) is the unit step function.
Proof
∞
= ∫ e− st f (t − a)ua (t) dt + ∫ e− st f (t − a) ua (t )d t
0 a
∞
− as
=e φ (s)
Note
1. Rewriting the above property, we get the following working rule:
L{f (t − a) ua(t)} = e−as L{f (t)}
2. The above property can be stated in terms of the inverse Laplace operator as
follows:
If L−1{φ (s)} = f (t), then L−1{e−as φ (s)} = f (t − a) ua(t).
From this form of the property, we get the following working rule.
L {e−as φ (s)} = L−1 {φ (s)}t → t − a · ua(t).
−1
Thus if we wish to nd the Laplace inverse transform of the product of two factors,
one of which is e−as, we ignore e−as, nd the Laplace inverse transform of the other
factor as a function of t, replace t by (t − a) in it and multiply by ua(t).
L{f (t )}= ∫ e− st f (t ) dt
0
1 ∞
(i) L{f (t )}= ∫ e−st ⋅ odt + ∫ (t −1) e− st dt
2
0 1
∞
2 e
− st − st
− 2 (t −1) e + 2 e
− st
= (t −1) ⋅ s − s 3
−s
2
1
2 −s 2 −s
=0+ e = 3e
s3 s
Aliter
0, for 0 < t <1
(t −1) u1 (t ) =
2
(t −1)
2
for t >1
2 −s
= e
s3
a ∞
e−(s − k )t
a
= = 1 {1− e−a (s − k ) }
− ( − )
s k 0 s − k
5.16 Mathematics II
Aliter
e k t , for 0 < t < a
Consider e kt {1− ua (t )}=
0, for t > a
Thus f (t) = e k t − e k t ua (t)
= e k t −e k (t − a) + ka · ua (t)
∴ L{f (t)} = L(e k t) −e ak · L{e k (t − a) · ua(t)}
1
= − e ak ⋅ e− as ⋅L{e kt } , by the second shifting property
s−k
1 1
−e ( ) ⋅
−a s − k
=
s−k s−k
1
{1− e ( )}.
−a s − k
=
s−k
π ω
(iii) L{f (t )}= ∫ e−st sin ωt dt
0
e− st
πω
= 2 (− s sin ωt − ω cos ωt )
s +ω 2
0
ω
= 2
s + ω2
(1+ e−π s ω )
4 ∞
4 −4 s 1 −4 s 1 5 −4 s
=− e − 2 e + 2 + e
s s s s
1 −4 s 1 −4 s 1
= e − 2e + 2
s s s
Aliter
t, for 0 < t < 4
t{1− u4 (t )} + 5u4 (t ) =
5, for t > 4
(1 2) (3 2)
= 12
+2
s s3 2
1
2⋅
π
=
π
+ 2 ∵ (1 2)= π and (n +1)= n (n)
s s s
π 1
= 1+ .
s s
( t ) +( t )
3 5
∴ ( ) 1 1
L sin t = L(t1 2 ) − L (t 3 2 ) + L(t 5 2 ) − ....∞
3! 5!
(3 2) 1 (5 2) 1 (7 2)
= − + −....∞
s3 2 3! s 5 2 5! s 7 2
1 1 1 3 1 1 15 3 1 1
= (1 2)− ⋅ ⋅ (1 2)⋅ + ⋅ ⋅ (1 2)⋅ 2 −....∞
32
s 2 3! 2 2 s 5! 2 2 2 s
π 11 1 1
2
cos t
L
1 1
= L(t ) − L(t ) + L (t )−.....∞
−1/ 2 12 32
∴
t 2! 4!
(1 2) 1 (3 2) 1 (5 2)
= − + −.....∞
s1 2 2! s3 2 4! s 5 2
π 1 1 3⋅1
= 1− + −.....∞
s 2! 2s 4! 2 ⋅ 2 s 2
π 1 1 1 1
2
= − ⋅ + ⋅ − ∞
1 . ....
s 1! 4s 2! 4s
π −1 4 s
= e
s
e at + e−at
(iv) L (cosh at cos at)= L cos at
2
1
= L (cos at )s→ s − a + L (cos at )s→ s + a
2
1 s −a s +a
= +
2 (s − a ) + a 2 (s + a) + a2
2 2
1 s −a s +a
= + 2
2 s + 2a − 2as s + 2a + 2as
2 2 2
1 (s − a ) (s + 2a + 2as) + (s + a ) (s + 2a − 2as )
2 2 2 2
=
2 ( s 2
+ 2 a )
2 2
− 4 a 2 2
s
s3
= .
s + 4a 4
4
t 3
(v) L(sinh sin t)
2 2
et 2 − e−t 2
= L sin 3 t
2 2
1 3
3
= L sin t − L sin t
2
2 s→s − 1
2 s→s + 1
2 2
=
1 3 2 3 2
−
2 ( s −1 2) + 3 4 ( s +1 2)2 + 3 4
2
3 1 1
= − 2
4 s − s +1 s + s +1
2
3 s
= ⋅ 4
2 s + s 2 +1
1 1 s+2
= +
2 s + 2 ( s + 2) + 36
2
(iii) L{et sin3 2t} = L(sin3 2t)s → s − 1
3 1
= L sin 2t − sin 6t
4 4 s → s −1
3 2 1 6
= ⋅ 2 − ⋅ 2
4 s + 4 4 s + 36 s→ s −1
3 1 1
= 2 − 2
2 s − 2s + 5 s − 2s + 37
1
= 2
5 1
− 2
2 s + 2 s + 26 s + 2 s + 2
(v) L{e3t sin 2t sin t} = L(sin 2t sin t)s → s − 3
1
= L (cos t − cos 3t )
2 s→ s−3
1 s s
= 2 − 2
2 s +1 s + 9 s→ s −3
1 s − 3 s − 3
= 2 − 2
2 s − 6 s +10 s − 6s +18
= − e−sp L(sin t)
e − sπ
=−
s 2 +1
2
s −a2 2 as
= I.P. of + i
( s 2 + a 2 )2 ( s 2
+ a 2 2
)
2 as
=
(s 2 + a 2 )
2
s2 −a2
=
(s 2 + a 2 )
2
( s + 4 + i3)
2
1
= I.P. of = I.P. of
( s + 4 − i3) {(s + 4) + 9}
2 2 2
= I.P. of
{(s + 4) −9}+ i 6 (s + 4)2
{(s + 4) + 9} 2 2
6 ( s + 4)
=
{(s + 4) + 9}
2 2
5.22 Mathematics II
Example 5.7
t
(i) Assuming L(sin t) and L(cos t), nd the Laplace transforms of Lsin and
2
L(cos 3t).
2s s 2 −1
(ii) Given that L(t sin t )= and L(t cost ) = , nd L(t sin at) and
(s 2 +1) (s 2 +1)
2 2
t
Lt cos .
a
1
(i) L (sin t )=
s +12
t 1
∴ L sin = 2 ⋅
2 ( ) +1
2 s
2
∵ L f t = a ⋅ L { f (t )} , by the charge of sccale property
a s → as
2
=
4 s +1
2
s
L (cos t )=
s 2 +1
1 s/3
∴ L (cos 3t )= ⋅
3 ( s / 3)2 +1
1
∵ L { f (a t )} = L { f (t )}s→ s , by the charge of scale property
a a
s
= .
s +92
2s
(ii) Given that L (t sin t ) =
(s +1)
2 2
1
∴ L (t sin at ) = L(at sin at )
a
1 1 2s/ a
= ⋅ ⋅ , by change of scale property⋅
a a ( s / a 2 +1)2
2
2 as
=
(s + a2 )
2 2
Laplace Transforms 5.23
s 2 −1
Given that L (t cos t )=
( s 2 +1)
2
t t t
∴ L t cos = a ⋅ L cos
a
a a
(as) −1
2
1
a4 s2 −a2 s2 −
= or a2 .
(a 2 s 2 +1)
2
2 1
2
s +
a
2
Example 5.8 Find the inverse Laplace transforms of the following functions:
1 e−2 s s e− s (3a − 4s )
(i) e− s (ii) (iii) (iv) e−bs
( s + 2) (2s −3) s 2 + a2
5/ 2
( s − 3)
3 5
( s + 4)
(v) e− 4 s
s2 − 4
(i) From the second shifting property, we have
L−1 {e−as φ (s)} = L−1 {φ (s)t → t − a ⋅ ua(t)
1 −1 1
∴ L−1 e−s ⋅ = L 5/ 2
⋅ u1 (t ) (1)
(s + 2)
5/ 2
( s + 2) t → t −1
−2t −1 1
Now L−1
1
5/ 2
=e ⋅L 5/ 2
( s + 2) s
[ L−1 {φ (s + 2) = e−2t L−1 {φ (s)}, by the rst shifting property.]
1 −1 1 1 n−1
= e−2t ⋅ ⋅ t3 / 2 ∵
=
L t
(5 / 2) s n ( n)
1
= e−2t ⋅ ⋅t3/ 2 ∵ ( n)= ( n −1) (n −1)
3 1
⋅ ⋅ (1/ 2)
2 2
3
4
= t 2 e−2t ∵ (1/ 2)= π
3 π
(2)
Inserting (2) in (1), we have
1 4
L−1 e− s (t −1) e−2(t −1) ⋅ u1 (t)
3/ 2
5/ 2
=
( s + 2) 3 π
5.24 Mathematics II
e−2 s
−1 1
(ii) L−1 = L ⋅ u (t ) (1)
(2s − 3)3 (2s − 3)3 t→ t −2 2
s
−1 (s − 3) +3
Now L−1 = L
(s − 3)5 (s − 3)5
s + 3
= e3t L−1 5
s
1 3
= e3t L−1 4 + 5
s s
1 1
= e3t t 3 + 3⋅ t 4
3!! 4!
1
= e3t (4t 3 + 3t 4 ) (2)
24
Using (2) in (1), we have
s 1 3(t −1)
L−1 e−s = e {4(t −1)3 + 3( t −1) 4 } ⋅ u1 (t )
(s − 3) 5
24
(3a − 4 s ) −bs 3a − 4s
(iv) L−1 2 e = L−1 2 ⋅ u (t ) (1)
s + a 2 s + a 2 t → t −b b
Laplace Transforms 5.25
3a − 4 s a
−1 s
−1
Now L−1 2 = 3L 2 − 4L 2
s + a 2 s + a 2 s + a 2
= 3 sin at − 4 cos at (2)
Using (2) in (1), we have
(3a − 4s ) −bs
L−1 2 e = [3 sin a (t − b) − 4 cos a (t − b )]ub (t )
s + a 2
( s + 4) −4 s s + 4
(v) L−1 2 e = L−1 2 ⋅ u (t ) (1)
s − 4 s − 4 t → t −4 4
( s + 4) −4 s
L−1 2 e ={cosh 2(t − 4) + 2 sinh 2(t − 4)}⋅ u4 (t )
s − 4
Example 5.9 Find the inverse Laplace transforms of the following functions:
e− s e− 2 s e− s e− 3 s
(i) (ii) (iii) (iv)
( s − 2) ( s + 3) s ( s 2 +1)
2
s ( s 2 + 4) s 2 + 4 s + 13
( s +1)e−π s
(v)
s 2 + 2s + 5
−1 e− s −1 1
(i) L = L ⋅ u1 (t ) (1)
( s − 2) (s + 3)
( s − 2) (s + 3) t→ t −1
1 1
Now to nd L−1 , we resolve into partial fractions
(s − 2) (s + 3) (s − 2) (s + 3)
and then use the linearity property of L−1 operator.
1 A B
Let = +
( s − 2) (s + 3) s − 2 s + 3
Then A (s + 3) + B (s − 2) = 1
1 1
By the usual procedure, we get A = , B =−
5 5
∴ L−1
1 = L−1 1 5 − 1 5
( s − 2)( s + 3) s − 2 s + 3
5.26 Mathematics II
1 1 1 −1 1
= L−1 − L
s + 3
5 s − 2 5
1
= ( e 2 t − e− 3 t ) (2)
5
e− s 1 2 ( t −1)
L−1 = {e − e−3( t −1) }⋅ u1 (t )
( s − 2) ( s + 3) 5
1 1 1 1 1 1
Now = = − = 2− 2
s ( s +1) u (u +1) u u +1 s
2 2
s +1
1 −1 1 −1 1
∴ L−1 2 2 = L 2 − L 2
s ( s +1) s s +1
= t − sin t (2)
Inserting (2) in (1), we get
e−2 s
L−1 2 2 ={(t − 2) − sin (t − 2} u2 (t )
s ( s +1)
e− s −1
−1
(iii) L 2
1
= L 2 ⋅ u (t ) (1)
s ( s + 4) s ( s + 4) t →t −1 1
1 A B s +C
Let = + 2
s ( s 2 + 4) s s +4
1
= (1− cos 2t ) (2)
4
Laplace Transforms 5.27
e− s 1
L−1 2 = {1− cos 2 (t −1)}⋅u1 (t )
s ( s + 4) 4
1
= e−2t ⋅ L−1 2 , by the shifting property
s + 32
1 3
= e−2t L−1 2
3 s + 32
1
= e−2t sin 3t (2)
3
Using (2) in (1), we get
e−3 s 1 −2 (t −3)
L−1 2 = e ⋅ sin 3(t − 3) ⋅u 3 (t )
s + 4 s +13 3
−π s
−1 ( s +1) e −1 s +1
(v) L 2 = L 2 ⋅ u (t ) (1)
s + 2 s + 5 s + 2 s + 5 t →t −π π
s
= e− t ⋅ L−1 2 , by the shifting property
s + 22
= e−t cos 2t (2)
Using (2) in (1), we have
( s +1) e−π s −( t − π )
L−1 2 = e ⋅ cos 2(t − π )⋅ uπ (t )
s + 2 s + 5
Example 5.10 Find the inverse Laplace transforms of the following functions:
s2 + s−2 2 s 2 + 5s + 2 s
(i) (ii) (iii)
s ( s + 3) (s − 2) ( s − 2) 4 ( s + 1) (s 2 + 1)
2
1 s
(iv) (v) .
s ( s + 1) (s 2 + 9)
2 2
( s + 1) (s + 4) (s 2 + 9)
2 2
5.28 Mathematics II
s 2 + s − 2
(i) To nd L−1 , we resolve the given function of s into partial
s ( s + 3) ( s − 2)
fractions and then use the linearity property of L−1 operator.
s2 + s − 2 A B C
Let = + +
s ( s + 3) ( s − 2) s s + 3 s − 2
1 4 2
A= , B = and C = .
3 15 5
s 2 + s − 2 −1 1 / 3 4 / 15 2 / 5
∴ L−1 = L + +
s ( s + 3) ( s − 2) s s + 3 s − 2
1 4 2
= + e−3 t + e2 t
3 15 5
2 s2 + 5 s + 2
(ii) To resolve into partial fractions, we put s − 2 = x, so that
( s − 2) 4
s = x + 2.
2 s + 5 s + 2 2 ( x + 2) 2 + 5 ( x + 2) + 2
2
Then =
( s − 2) 4 x4
2 x 2 +13x + 20
=
x4
2 13 20
= 2+ 3+ 4
x x x
2 13 20
= + +
( s − 2) 2 ( s − 2 )3 ( s − 2 )4
−1 2 s + 5 s + 2
2 1
−1
1
−1
1
−1
∴ L = 2 L +13 L + 20 L
( s − 2) 4 ( s − 2) 2 ( s − 2)3 ( s − 2) 4
1 −1 1 −1 1
= 2 e ⋅ L−1
2t 2t
2t
s 2 +13 e ⋅ L s 3 + 20 e ⋅ L s 4
2t 13 20
= e 2⋅ t + t 2 + t 3
2! 3!
13 10
= e 2 t + t 2 + t 3
2t
2 3
Laplace Transforms 5.29
1 2t
= e (12t + 39t 2 + 20t 3 )
6
s A B C s+ D
(iii) Let = + + 2
(s + 1) ( s + 1)
2 2
s + 1 (s + 1) 2 s +1
1
into partial fractions and then replace u by s2.
u (u + 1) (u + 9)
1 A B C
Now let = + +
u (u + 1) (u + 9) u u + 1 u + 9
1 1 1
By the usual procedure, we nd that A = , B = − and C =
9 8 72
∴
L−1 2 2
1 = L−1 1 / 9 − 1 / 8 + 1 / 72
s (s + 1)(s 2 + 9) s 2 s 2 + 1 s 2 + 9
1 1 1
= t − sin t + sin 3 t
9 8 216
s
(v) To resolve 2 into partial fractions, we rst resolve
(s +1)( s + 4)( s 2 + 9)
2
1
into partial fractions as shown in (iv).
(s 2
+ 1)( s + 4)( s 2 + 9)
2
1 1
Thus =
(s 2
+ 1)( s + 4)( s + 9)
2 2
(u + 1) (u + 4) (u + 9)
A B C
= + + , say.
u +1 u + 4 u + 9
5.30 Mathematics II
1 1 1
We nd that A = , B =− and C = .
24 15 40
1 1/ 24 1/15 1/ 40
∴ = − +
(s 2
+ 1)( s + 4)( s + 9)
2 2
s 2 + 1 s 2 + 4 s2 + 9
s 1 s 1 s 1 s
∴ = ⋅ − ⋅ + ⋅
( s 2 +1)( s 2 + 4)( s 2 + 9) 24 s 2 + 1 15 s 2 + 4 40 s 2 + 9
1 s 1 −1 s
∴ L−1
s = L−1 2 − L 2 +
( s + 1)( s + 4)( s + 9) 24
2 2 2 s + 1 15 s + 4
1 −1 s
s + 9
L 2
40
1 1 1
= cos t − cos 2t + cos 3t
24 15 40
Example 5.11 Find the inverse Laplace transforms of the following functions:
14 s +10 2 s3 + 4s 2 − s +1
(i) (ii)
49 s 2 + 28 s + 13 s 2 ( s 2 − s + 2)
1 1
(iii) (iv)
−
s a3
3
s4 + 4
s
(v)
s 4 + s 2 +1
5
s+
14 s +10
14 −1 7
(i) L−1 = L
49 s 2 + 28 s + 13
49
s + s +
2 4 13
7 49
5
s+
2
= L−1 7
2
7
2
3
s + +
2
7 7
2 3
s + +
2 7 7
= L−1 2
7 2 3
2
s + +
7 7
2 s + 3
2
= e 7 ⋅ L−1 7
− t
7 2 3 2
s +
7
Laplace Transforms 5.31
2 − 72 t 3 3
= e cos t + sin t
7
7 7
2 s3 + 4s 2 − s +1 A B Cs + D
(ii) Let = + 2+ 2
s 2 (s 2 − s + 2 ) s s s −s+2
1 1 9 13
A= , B= , C = and D =
4 2 4 4
9 13
2 s 3 + 4 s 2 − s + 1 s+
L−1 2 2
= − L−1 + L−1 + L−1 4
1 1 1 1 4
∴
s 2
s 2
s (s − s + 2) 4 s 2 − s + 2
9 s − 1 + 35
4
1 t 2 8
= − + + L−1 2
4 2
s − 1 + 7
2
2 2
5 7 7
⋅
1 t 9 s 4 2
= − + + et / 2 L−1 ⋅ + 2
4 2 7 7
2
4 2
s +
s +
2
2 2
9 7
= − + + et / 2 cos
1 t 7 5 7
t+ sin t
4 2 4 2 4 2
1 1
(iii) =
s −a (s − a ) (s + as + a 2 )
3 3 2
1 A Bs + C
∴ Let = + 2
s −a
3 3
s − a s + as + a 2
1 1 2
A= ,B =− 2 and C = − .
3a 2 3a 3a
5.32 Mathematics II
1 2
− 2 s −
1 1 1
+ L−1 3a 3aa
∴ L−1 3 = L−1
s − a 3 3a 2 s − a s 2 + as + a 2
1 1 s + 2 a
= e at − 2 L−1 2
3a 2 3a
s + a + 3a
2
2 2
3
at s + a
1 1 − 2
= e at − 2 e 2 ⋅ L−1 2
3a 2 3a
2 3a
s +
2
at
=
1 e at − e− 2 cos 3 at + 3 sin 3 at
3a 2 2 2
1 1 1
(iv) = =
s 4 + 4 ( s 4 + 4 s 2 + 4) − 4s 2 ( s 2 + 2)2 − ( 2 s) 2
1
=
(s 2 + 2s + 2)(s 2 − 2 s + 2)
1 As + B Cs + D
∴Let = +
s 4 + 4 s 2 + 2s + 2 s 2 − 2 s + 2
1
= e−t (cos t + sin t ) − et (cos t − sin t )
8
1 et + e−t et − e−t
=
sin t − cos t
4 2
2
1
= (sin t cosh t − cos t sinh t )
4
s s s
(v) = =
s 4 + s 2 + 1 ( s 4 + 2s 2 + 1)− s 2 ( s 2 + 1)2 − s 2
s
=
(s 2
+ s + 1)( s 2 − s +1)
s As + B Cs + D
∴Let = +
s 4 + s 2 +1 s 2 + s +1 s 2 − s + 1
∴ (As + B) (s2 − s + 1) + (Cs + D) (s2 + s + 1) = s
By the usual procedure, we get
−1 1
A = 0, B = , C = 0 and D = .
2 2
s
1
−1 1
− 1
1
∴ L−1 4 = L 2 L−1 2
s + s + 1 2 s − s + 1 2 s + s + 1
2
1 1 1 −1 1
= L−1 − L 2
2
2
2
s − 1 + 3
2 2
s + 1 + 3
2 2
2 2
1 t / 2 −1 1 −1 1
= e L 2
−t / 2
−e ⋅ L 2
2
s 2 + 3 s 2 + 3
2 2
1 2 t / 2 3
(e − e ) sin
−t / 2
= ⋅ t
2 3 2
2 3 t
= sin t sinnh .
3 2 2 .
Example 5.12
−1 s t −1
s
(i) If L = sin t , nd L
s 2 + 1 2 2 s 2 + a 2 2
( ) ( )
5.34 Mathematics II
2 2
s + 4 −1
−1 s + 1
(ii) Given that L =t cosh 2t , nd L 2
s 2 − 4 2 s −1 2
( ) ( )
−1
1 1 −1
1
(iii) Given that L = (sin 2t − 2t cos 2t ), nd L .
s 2 + 4 2 16 s 2 + 9 2
( ) ( )
(i) By change of scale property,
1 s
L{ f (at )}= φ
a a
∴ L−1 {f (s/a)} = a L−1{f (s)}t → at (1)
s = t sin t
Given L−1
s 2 + 1 2 2
( )
−1
s / a at
∴ L = a ⋅ sin at , by (1)
s 2
2
2
+ 1
a 2
3 −1
s a 2
i.e., a L = t sin at
s 2 + a 2 2 2
( )
s t
∴ L−1 = sin at .
s 2 + a 2 2 2a
( )
(ii) By change of scale property,
L{ f (t/a)} = a f (as)
1
∴ L {φ (as )}= L−1 (φ (s )}t→t / a
−1
(2)
a
2
−1 s + 4
Given L = t cosh 2t
s 2 − 4 2
( )
( 2 s ) 2
+ 4
= 1 ⋅ t cosh t , by
∴ L−1 2
(2)
[(2s ) − 4] 2 2 2
1 −1 s 2 + 1 t
i.e., L = cosh t
s 2 −1 2 4
4
( )
2
−1 s + 1
∴ L = t cosh t .
s 2 −1 2
( )
Laplace Transforms 5.35
1 1
(iii) Given L−1 = (sin 2t − 2t cos 2t )
s 2 + 4 2 16
( )
3
−1 1 −1
1
∴ L 2
= L 2
, by (2)
2
( ) t → 3 t
2 s 2
+ 4
2 s + 4
3 2
81 −1 1 = 3 (sin 3t − 3t cos 3t )
i.e. L
s 2 + 9 2 32
( )
16
1 = 1 (sin 3t − 3t cos 3t )
∴ L−1
s 2 + 9 2 54
( )
EXERCISE 5(a)
Part A
(Short Answer Questions)
1. De ne Laplace transform.
2. State the conditions for the existence of Laplace transform of a function.
3. Give two examples for a function for which Laplace transform does not exist.
4. State the change of scale property in Laplace transformation.
5. State the rst shifting property in Laplace transformation.
6. State the second shifting property in Laplace transformation.
7. Find the Laplace transform of unit step function.
8. Find the Laplace transforms of unit impulse function.
e 2t , for 0< t < 1
9. Find L{ f (t)}, if f (t ) =
0, for t > 1
2π
0, for 0< t <
3
13. Find L{ f (t)}, if f (t )=
2π 2π
cos t − ,for t >
3 3
sin t, for 0< t < π
14. Find L{ f (t)}, if f (t )=
t , for t > π
1
15. ( )
Find L t and L
π t
2s + 3 s+6
41. 42.
s2 + 4 s2 − 9
1 1
43. 44.
s (s + a ) s + 2 s +5
2
s −3
45.
s − 6 s + 10
2
Laplace Transforms 5.37
Part B
Find the Laplace transforms of the following functions:
47. e (1+ 2at ) / t
at
46. e3t(2t + 3)3
−t 3
48. e sinh t 49. sin at cosh at − cos at sinh at
cos 2t
3
s 2 −9
60. Given that L(t cos 3t) = , nd L(t cos 2t).
( s 2 + 9)
2
1 s 4 − 8s 2 + 31
65. 66.
(s 2 + s)
2
(s 2 +1)( s 2 + 4)(s 2 + 9)
2s 2s −9
67. 68.
(s +1)(s + 2)(s + 3) s + 6s + 34
2 2 2 2
s +1 ls + m
69. 70.
s + s +1
2
as 2 + bs + c
3s 2 −16 s + 26 1
71. 72.
s ( s + 4 s +13) s +1
2 3
1 s
73. 74.
s + 4a 4
4
s +4
4
s2 4s3
75. 76. 4s 4 +1
s 4 + 64
s 2 +1
77.
s + s 2 +1
4
5.38 Mathematics II
−1
s 1 −1
s
78. If L 2 = t sinh t , nd L
s −1 2 2 2 2
( ) ( s − a )
2
−1 1 1 −1
1
79. If L = (sin3t − 3t cos 3t ), nd L 2 .
s 2 + 9 2 54 s +1 2
( ) ( )
80. Given that L−1
s = t sin 3t , nd L−1 s
s 2 + 9 2 6 s 2 + 4 2
( ) ( )
Proof:
∞
By de nition, L { f (t )}= ∫ e f (t ) dt
− st
0
P ∞
= ∫ e− st f (t ) dt + ∫ e−st f (t ) dt (1)
0 P
In the second integral in (1), put t = x + P, ∴ dt = dx and the limits for x become 0 and ∞.
∞ ∞
∴ ∫ e−st f (t ) dt = ∫ e− s(x + P) f (x + P) dx
P 0
∞
[ f(x + P) = f(x)]
= e− sP ⋅ ∫ e−sx f ( x ) dx
0
Laplace Transforms 5.39
= e− sP ⋅ L { f (t )} (2)
L { f (t )} = ∫ e− st f (t ) dt + e−sP ⋅ L { f (t )}
0
P
∴ (1− e− Ps ) L { f (t )} = ∫ e− st f (t ) dt
0
P
∴ 1
L { f (t )} = ∫e
− st
f (t ) dt
1− e− Ps 0
0
5.40 Mathematics II
∫ −t e f (t ) dt = φ ′(s )
− st
i.e.
0
∞
i.e.
∫ e−st [t f (t )]dt = −φ ′(s )
0
i.e. L{t f (t )} = −φ ′ (s )
Corollary
Differentiating both sides of (1) n times with respect to s, we get
dn
L{t n f (t )} = ( −1) n φ (s ) or ( −1)n φ (n ) (s ) .
ds n
Note
1. The above theorem can be rewritten as a working rule in the following manner
d
L{t f (t )} = − φ (s )
ds
d
= − L{ f (t )}
ds
Thus, to nd the Laplace transform of the product of two factors, one of which is ‘t’,
we ignore ‘t’ and nd the Laplace transform of the other factor as a function of s;
then we differentiate this function of s with respect to s and multiply by (− 1).
Extending the above rule,
d2
L{t 2 f (t )} = ( −1)2 L{ f (t )} and in general
ds 2
dn
L{t n f (t )} = ( −1)n L{ f (t )} .
ds n
2. The above theorem can be stated in terms of the inverse Laplace operator as
follows:
If L−1{φ (s)} = f (t),
1
L−1{ φ (s)} = − L−1{ φ ′(s)}
t
This rule is applied when the inverse transform of the derivative of the given function
can be found out easily. In particular, the inverse transforms of functions of s that
contain logarithmic functions and inverse tangent and cotangent functions can be
found by the application of this rule.
Laplace Transforms 5.41
Theorem
∞
1
If L{ f (t )} = φ (s ) , then L 1 f (t ) = ∫ φ (s ) ds , provided lim f (t ) exists.
t
t→0 t
s
Proof:
Given: L{ f (t)} = φ (s)
∞
∫e
− st
i.e. f (t ) dt = φ (s ) (1)
0
Integrating both sides of (1) with respect to s between the limits s and ∞ , we have
∞
∞ ∞
e−st f (t ) dt ds = φ (s) ds
∫ ∫
∫ (2)
s 0 s
Assuming that the conditions for the change of order of integration in the double
integral on the left side of (2) are satis ed, we have
∞ ∞ ∞
e−st ds f (t ) dt = φ (s ) ds
∫ ∫
∫
0 s s
s =∞
∞
e−st ∞
i.e.
∫ −t
f (t ) dt = ∫ φ (s) ds
0 s=s s
∞ ∞
1
i.e. ∫ − (0 − e− st ) f (t ) dt = ∫ φ (s ) ds ,
t
0 s
Corollary
1 1 1
L 2 f (t ) = L f (t )
t t t
∞ ∞
= ∫ ∫ φ (s ) d s ds
s s
∞ ∞
=∫ ∫ φ (s )ds ds
s s
Note
1. The above theorem can be rewritten as a working rule as given below:
∞
1
L f (t ) = ∫ L{ f (t )}d s
t
s
1
Thus, to nd the Laplace transform of the product of two factors, one of which is ,
t
1
we ignore , nd the Laplace transform of the other factor as a function of s and
t
integrate this function of s with respect to s between the limits s and ∞ .
Extending the above rule. We get;
∞ ∞
1
L 2 f (t ) = ∫ ∫ L{ f (t )}ds ds and in general
t
s s
∞ ∞ ∞
1
L n f (t ) = ∫ ∫ …∫ L{ f (t )}(ds ) .
n
t
s s s
2. The above theorem can be stated in terms of the inverse Laplace operator as
follows:
If L−1{ φ (s)} = f (t ) ,
∞ 1
then L−1 ∫ φ (s) d s = f (t ) .
s t
From this form of the theorem, we get the following working rule:
∞
L−1{ φ (s)} = t ⋅ L−1 ∫ φ ( s) d s
s
This rule is applied when the inverse transform of the integral of the given function
with respect to s between the limits s and ∞ can be found out easily.
In particular, the inverse transforms of proper rational functions whose numerators
are rst degree expressions in s and denominators are squares of second degree
expressions in s can be found by applying this rule
Example 5.1 Find the Laplace transform of the “saw-tooth wave” function f (t)
which is periodic with period 1 and de ned as f (t) = kt, in 0 < t < 1.
The graph of f (t) is shown in Fig. 5.1 below. If the period of the function f (t) is
k
P, the function will be de ned as f (t ) = t in 0 < t < P.
P
Laplace Transforms 5.43
f (t)
t
0 1 2 3
Fig. 5.1
By the formula for the Laplace transform of a periodic function f (t) with period P,
P
1
∫e
− st
L{f (t )} = f (t ) dt
1− e− Ps 0
e−st − st
1
=
k t −1⋅ e
1 − e− s −s s 2
0
k e − s
e − s
1
= −s
− − 2 + 2
1− e s s s
k (1− e ) e− s
−s
= −
1 − e− s s 2 s
−s
k ke
= 2−
s s (1− e− s )
Example 5.2 Find the Laplace transform of the “square wave” function f (t)
de ned by
f (t) = k in 0 ≤ t ≤ a
= − k in a ≤ t ≤ 2a
f (t + 2a) = f (t) means that f (t) is periodic with period 2a. The graph of the function
is shown in Fig. 5.2.
For a periodic function f (t) with period P,
P
1
∫e
− st
L{f (t )} = f (t ) dt
1− e− Ps 0
5.44 Mathematics II
f (t)
k
t
O a 2a 3a 4a
–k
Fig. 5.2
∴ For the given function;
1 a 2a
k e− st dt + ( − k ) e−st dt
L{f (t )} =
1− e−2 as ∫ ∫
0 a
e− st a e−st 2 a
=
k −
1− e−2aas −s 0 −s a
k
= [1 − e−as − e− as + e−2 as ]
s (1− e−2 as )
k (1 − e−as ) 2
=
s (1 − e−as ) (1 + e−as )
k (1 − e−as ) k (e as / 2 − e− as / 2 )
= =
s (1 + e−as ) s (e as / 2 + e−as / 2 )
k as
= tanh
s 2
Example 5.3 Find the Laplace transform of “triangular wave function f (t) whose
graph is given below in Fig. 5.3.
y = [= f (t)]
A
a
B
t
O a 2a 3a 4a 5a
Fig. 5.3
From the graph it is obvious that f (t) is periodic with period 2a.
Let us nd the value of f (t) in 0 ≤ t ≤ 2a, by nding the equations of the lines OA
and AB.
Laplace Transforms 5.45
∴ Equation of AB is y − 0 = (− 1) (t − 2a)
or y = 2a − t in a ≤ t ≤ 2a.
f(t) = t, in 0 ≤ t ≤ a
= 2a − t, in a ≤ t ≤ 2a
and f(t + 2a) = f(a).
2a
1
∫e
− st
Now L{f (t )} = f (t ) dt
1 − e− 2 a s 0
1 a 2a
te− st dt + (2a − t )e− st dt
=
1− e−2 a s ∫ ∫
0 a
e−st
e
a 2a
e
− s t − st e− st
− 1⋅ 2 + (2a − t ) + 1⋅ 2
1
= t s −s s
1− e−2 a s 0
−s a
1 a −a s e − a s − 2 a s − a s
= − e − 2 + 12 + e 2 + a e−a s − e 2
1− e−2 a s s s s s s s
1 − 2e−a s + e−2 a s (1 − e− a s ) 2
= =
s 2 (1 − e−2 a s ) s 2 (1 − e− a s ) (1 + e−a s )
1 (1 − e−a s ) 1 e a s / 2 − e− a s / 2
= 2 =
s (1 + e−a s ) s 2 e a s / 2 + e− a s / 2
1 as
= tanh
s2 2
Example 5.4 Find the Laplace transform of the “half-sine wave recti er” function
f (t) whose graph is given in Fig. 5.4.
f (t)
π t
O π/ω 2π/ω 3π/ω 4π/ω
2ω
Fig. 5.4
5.46 Mathematics II
From the graph, it is obvious that f(t) is a periodic function with period 2π/ω. The
π
graph of f (t) in 0 ≤ t ≤ π/ω is a sine curve that passes through (0, 0), , a and
2ω
π
, 0
ω
∴ The de nition of f (t) is given by
f (t) = a sin ω t, in 0 ≤ t ≤ π/ ω
= 0, in π/ ω ≤ t ≤ 2π/ ω
2π
and f t + = f (t ) .
ω
2π ω
1
Now L { f (t )}=
1− e−2 π s ω ∫ e− st f (t ) dt
0
π ω
a
∫e
− st
= sin ωt dt
1− e−2π s ω 0
e− st
π ω
a
= ⋅
−2 π s ω 2
( − s sin ωt − ω cos ωt
1− e
s +ω
2
0
a ω e− π s ω + ω
= 2
(s + ω 2 ) (1− e−2 π s ω )
ω a (1+ e−π s ω ) ωa
= =
(s + ω ) (1− e
2 2 −2 π s ω
) (s + ω ) (1− e−π s ω )
2 2
Example 5.5 Find the Laplace transform of the “full-sine wave recti er” function
f (t), de ned as
f (t) = |sin ω t|, t ≥ 0
We note that f (t + π/ ω) = |sin ω (t + π/ ω)|
= |sin ω t|
= f (t)
∴ f (t) is periodic with period π/ ω.
Also f (t) is always positive. The graph of f (t) is the sine curve as shown in
Fig. 5.5.
t
O π/ω 2π/ω 3π/ω
Fig. 5.5
Laplace Transforms 5.47
π ω
1
∫e
− st
Now L { f (t )}= | sin ω t | dt
1− e−π s ω 0
π ω
1
∫e
− st
= sin ω t dt [ ∵sin ωt > 0 in 0 ≤ t ≤ π ω ]
1− e−π s ω 0
e− st
π ω
1 2
= ( − s sin ωt − ω cos ωt )
1− e−π s ω s + ω2
0
1 ω 1+ e−π s ω
=
(s 2 + ω 2 ) (1− e−π s ω )
( ω e −π s ω
+ ω ) =
s 2 + ω 2 1− e−π s ω
ω eπ s 2 ω + e−π s 2 ω
= , on integration and simpli cation
s + ω 2 eπ s 2 ω − e−π s 2 ω
2
ω πs
= coth
s2 + ω 2 2ω
1 d
=− L (e3t + 3et + 3e−t + e−3t )
8 ds
1 d 1 3 3 1
=− + + +
8 ds s − 3 s −1 s +1 s + 3
1 1 3 3 1
= + + +
8 (s − 3) 2
(s −1) 2
(s +1) 2
(s + 3) 2
Note After getting step (1), we could have applied the rst shifting property and
got the same result.
t
(ii) L (t cos 2t cos t) = L (cos 3t + cos t )
2
1 d
= − L (cos 3t + cos t )
2 ds
1 d s s
=− 2 + 2
2 ds s + 9 s +1
5.48 Mathematics II
1 s 2 + 9 − 2 s 2 s 2 +1− 2 s 2
=− +
2 (s 2 + 9) 2 (s 2 +1) 2
1 s2 −9 s 2 −1
= 2 + 2
2 (s + 9) 2
(s +1)2
3 1
(iii) L(t sin 3 t ) = L sin t − sin 3t
4 4
1 d
=− {L (3 sin t −sin 3t )}
4 ds
1 d 3 3
=− 2 − 2
4 ds s +1 s + 9
3 2s 2s
=− − 2 + 2
4 (s +1) 2
(s + 9)2
3 1 1
= s − 2 − 2 2
2 (s +1) 2
(s + 9)
∫ te−2t sin 3t dt ∫ te
−3t
(i) (ii) cos 2t dt
0 0
∫e
− st
(i) (t sin 3t ) dt = L(t sin 3t ) (by de nition) (1)
0
Laplace Transforms 5.49
d
Now L (t sin 3t ) =− L (sin 3t )
ds
d 3
=− 2
ds s + 9
6s
= (2)
( s 2 + 9) 2
∫e
− st
(ii) (t cos 2 t) dt = L(t cos 2t ) , by de nition (1)
0
Now d
L(t cos 2t ) =− L(cos 2t )
ds
d s
=− 2
d s s + 4
s2 − 4
= (2)
( s 2 + 4) 2
∞
5
∫ te
−3t
cos 2t dt = .
0
169
d
Now L(t sin 3t ) =− L (sin 3t )
ds
d 3
=− 2
d s s + 9
6s
= (2)
( s + 9) 2
2
Note The same problem has been solved by using an alternative method in
Worked Example (6) in Section 5(a).
t
(ii) L {t cosh t cos t}= L (et + e−t ) cos t
2
1
= [ L(t cos t ) s → s −1 + L (t cos t ) s → s +1 ] (1)
2
d s
Now L (t cos t ) =−
ds s 2 +1
s 2 −1 (2)
=
( s 2 +1) 2
Using (2) in (1), we have
1 ( s −1) 2 −1 ( s +1) 2 −1
L (t cosht cos t) = 2 + 2
2 ( s − 2 s + 2) 2
( s + 2 s + 2)2
1 s2 −2 s s 2 + 2 s
= 2 + 2
2 ( s − 2 s + 2) 2
(s + 2 s + 2)2
d
Now L (t sinh 3t ) =− L (sinh 3t )
ds
d 3
=− 2
ds s − 9
6s
= (2)
( s − 9) 2
2
6 ( s + 2) 6 ( s + 2)
L {te−2t sinh 3t}= =
{( s + 2) −9} ( s −1) 2 ( s + 5) 2
2 2
Aliter
1
L {te−2t sinh 3t}= L te−2t ⋅ (e3t − e−3t )
2
1
= L { tet − te−5t }
2
1 1 1
= −
2 ( s − 2) 2
(s + 5) 2
1 12 s + 24 6 ( s + 2)
= 2
=
2 ( s −1) ( s + 5) ( s −1) 2 ( s + 5) 2
2
d2
Now L (t 2 cos t ) = (−1) 2 L (cos t )
ds 2
d 2 s
= 2 2
ds s +1
d 1− s 2
=
d s ( s 2 +1) 2
2 ( s 3 − 3s ) (2)
=
( s 2 +1) 3
Using (2) in (1), we have
2{( s +1)3 −3 (s +1)}
L {t 2 e−t cos t}=
( s 2 + 2s + 2)3
Example 5.9 Find the inverse Laplace transforms of the following functions:
a s +a
2 2
(i) log 1− (ii) log
s s +b
2 2
s +1
2 s −1
(iii) log (iv) s log + k (k is a constant)
s ( s +1) s +1
1
(i) L−1 { φ( s)} =− L−1 { φ ′ ( s)} (1)
t
a s − a 1 d s − a
∴ L−1 log 1− = L−1 log =− L−1 log
s s t s
ds
5.52 Mathematics II
1 d
=− L−1 {log (s − a ) − log s }
t ds
1 −1 1 1
=− L −
t s − a s
1 1
=− (e at −1) = (1− e at )
t t
s 2 + a 2 1 d
L−1 log 2 2
=− L−1 [log(s 2 + a 2 ) − log(s2 + b2 )]
s + b t ds
1 2 s 2s
=− L−1 2 − 2
t s + a 2
s + b 2
2
= (cos bt − cos at )
t
s 2 +1
L−1 log =−1 L−1 d [log (s 2 +1) − log s − log(s +1)]]
s (s +1) t ds
1 2s 1 1
=− L−1 2 − −
t s +1 s s +1
1
=− (2 cos t −1− e−t )
t
1
= (1+ e−t − 2 cos t )
t
s −1 1 d
L−1 s log + k =− L−1 [s log(s −1) − s log (s +1)] + L−1 (k )
s +1 t ds
1 s s
=− L−1 + log(s −1) − − log(s +1) + k δ (t )
t s −1 s +1
1 s
s 1 −1
=− L−1 − − L [log(s −1) − log(s +1)] + k δ (t )
t s −1 s +1 t
1 2 s 1 1 1 1
=− L−1 2 − − L−1 − + k δ (t )
t s −1 t t s −1 s +1
Laplace Transforms 5.53
Note
−1 s
[ L and L−1 s do not exist, as s and s are improper rational
s −1 s +1 s −1 s +1
s s 2s ,
functions. Hence we have simpli ed − as 2 which is a proper
s −1 s +1 s −1
rational function. ]
2 1
=− cosh t + 2 (et − e−t ) + k δ (t )
t t
2 2
= 2 sinh t − cosh t + k δ ( t )
t t
Example 5.10 Find the inverse Laplace transforms of the following functions:
−1 s + a
(i) cot–1 (as) (ii) tan
b
2 2
(iii) cot (iv) tan −1 2
−1
s +1 s
1
(i) L−1 { φ (s)} = − L−1{ φ ′ (s )} (1)
t
1 d
∴ L−1{cot −1 (as)} = − L−1 cot −1 (as )
t d s
1 −a
= − L−1
t 1+ a s
2 2
a 1
= L−1 2 2
t 1+ a s
1 1/ a 1 t
= L−1 2 2
= sin .
t s + (1/ a) t a
1 1/ b
= − L−1
t s + a
2
1 +
b
1 b
= − L−1
(s + a ) + b
2 2
t
5.54 Mathematics II
1
= − e−at sin bt
t .
2 1 d 2
(iii) L−1 cot −1 = − L−1 cot −1
s +1
.
s + 1
t d s
1 −1 1 2
=− L − −
t 4 (s +1) 2
1+
(s +1) 2
1 2
=− L−1
t (s +1) 2 + 4
1 −t
=− e sin 2t.
t
2 1 d 2
(iv) L−1 tan −1 2 =− L−1 tan −1 2
s d s s
t
1 1 −4
=− L−1 . 3
t 1+ 4 s
s4
4 s
= L−1 4 (2)
t s +4
s s
Consider 4 =
s + 4 (s 2 + 2) 2 − (2 s) 2
s
= 2
(s − 2s + 2) (s 2 + 2s + 2)
1 1 1
= 2 − 2 ,
4 s − 2s + 2 s + 2s + 2
by resolving into partial fractions
1 1 1
= −
4 (s −1) +1 ( s +1) +1
2 2
s 1 t
∴ L−1 4 = e sin t − e−t sin t
s + 4 4
1
= sin t sinh t (3)
2
Using (3) in (2), we have
2 2
L−1 tan −1 2 = sin t sinh t
s t
Laplace Transforms 5.55
(v)
t
.
f (t ) ∞
(i) L = ∫ L {f (t )}ds (1)
t s
∞
sinh t
∴ L = ∫ L (sinh t ) ds
t s
∞
1
=∫ ds
s
s −1
2
∞
1 s −1
= log
2 s +1 s
1 s −1 1 s −1
= log − log
s +1
2 s +1
s→∞ 2
1
1−
1 s +1
= log s
1
+ log
2
+
1
2 s −1
s
1
s →∞
1 1 s +1 1 s +1
= log 1 + log = log
s −1
2 2 s −1 2
(ii) L = ∫ L (e − e ) d s , by rule
− at − bt
(1)
t
s
∞
1 1
= ∫ − d s
s
s + a s + b
s + a s + a
= log − log
s + b
s + b s → ∞
a
1+ s + b
= log s + log
1+
b s + a
s s →∞
5.56 Mathematics II
s + b
= log1+ log
s + a
s + b
= log
s + a
e at −cosbt
∞
∞
1 s
= ∫ − 2 2
ds
s
s − a s + b
∞
1
= log ( s − a ) − log ( s 2 + b 2 )
2 s
s − a s − a
= log − log
s 2 + b2 s 2 + b 2
s→∞
s 2 + b 2
1− a /s
= log + log
2 2
1+ b /s s − a
s →∞
s2 + b2
= log 1 + log
( s − a )2
s 2 + b 2
= log
1
2 ( s − a ) 2
∞
2 sin 2t sin t
(iv) L ∫ L (2 sin 2t sin t ) ds, by rule (1)
=
t s
∞
1 s 2 +1 1 s 2 +1
= log − log
2 s 2 + 9 s →∞ 2 s 2 + 9
Laplace Transforms 5.57
1
1+ 2
1 s 1 s 2 + 9
= log + log
2 1 + 9/ s 2 2 s 2 +1
s→∞
1 1 s 2 + 9
= log1 + log 2
2 2 s +1
1 s 2 + 9
= log 2
2 s +1
∞ ∞
f (t )
(v) L 2 = ∫ ∫ L{ f (t )} ds ds (2)
t
s s
sin 2 t
∞ ∞
∴ L 2 = ∫ ∫ L (sin 2 t ) ds ds
t
s s
∞ ∞
1− cos 2t
=∫ ∫ L 2
ds ds
s s
1
∞ ∞
1 s
=
2 ∫ ∫ s − s 2
ds ds
+ 4
s s
∞
s2 + 4
log 2 ds ,
1 1
= ∫
2 s 2 s
by putting a = 0 and b = 2 in (iii) above.
∞
1 s 2 + 4 2 s 2
∞
s s 2 −1 ∞
s
= L + log 2 − cot , say
4 s + 4 2 s
s s 2 s
= L + log 2 + cot−1 (3)
4 s + 4 2
4
s/4
1
s 2 /4 s
4
= log 1+ 2
s
1
s
s 2 /4
lim ( L ) = log lim 1+ 2
4
s →∞
s→∞ s
= log (e ) = log 1 = 0
0
(4)
Using (4) in (3), we have
sin 2 t s s 2 s
L 2 = log 2 + cot−1 .
t 4 s + 4 2
∞ −t ∞ sin 3 t
d t = ∫ e−st
e sin 3 t d t
(i) ∫ t 0
t
0 s =1
sin 3 t
= L (1)
t
s =1
sin 3 t ∞
Now L = ∫ L(sin 3 t ) ds
t
s
∞
3
=∫ ds
s s + ( 3 )2
2
∞
1 s
= 3 − cot−1
3 3
s
s
= 0 + cot−1 (2)
3
∞
sin 2 t
∞
sin 2 t
(ii) ∫ d t = ∫ e−t dt
t
t
0
te 0
∞ sin 2 t
= ∫ e−st dt
0 t s =1
sin 2 t
= L (1)
t
s =1
1
∞
1 s
=
2 ∫ s − s 2
d s
+ 4
s
∞
1 s
= log
2 s 2 + 4
s
1 s
2
1 s
= log 2 − log
2 s + 4 2 s 2 + 4
s→ ∞
s 2 + 4
1
= log
1 1
2 + log
2 1 + 4 /s s → ∞ 2 s
s 2 + 4
1 1
= log 1+ log
2 2 s
s 2 + 4
1
= log
2 s (2)
∞
cos at − cos bt ∞
e−st cos at − cos bt dt
(iii) ∫ t
dt = ∫ t
0 0 s = 0
cos at − cos bt
=L (1)
t s = 0
5.60 Mathematics II
cos at − cosbt ∞
Now L = ∫ L(cos at − cos bt ) ds
t
s
∞
s s
= ∫ 2 − 2 ds
s
s +a
2
s + b 2
∞
1 s 2 + a 2
= log 2 2
2 s + b s
1 s 2 + a 2 1 s 2 + a 2
= log 2 2
− log
s 2 + b 2
2 s + b
s→∞ 2
s2 +b2
= log (2)
s2 + a2
∞
e−2t − e−4t ∞ −2t −4 t
e− st e − e dtt
(iv) ∫ t ∫ t
d t =
0 0 s =0
e − e
− 2 t −4 t
= L (1)
t
s =0
e−2t − e−4t ∞
Now L = ∫ L (e−2t − e−4t ) ds
t
s
∞
1 1
= ∫ − ds
s + 2 s + 4
s
∞
s + 2
= log
+
s 4 s
s + 2 s + 2
= log − log
s + 4 s→∞ s + 4
s + 4
= log (2)
s + 2
∞
e−2t − e−4t
∫ t dt = log 2
0
Laplace Transforms 5.61
Example 5.13 Find the inverse Laplace transforms of the following functions:
s s
(i) (ii)
(s 2 + a 2 ) 2 (s 2 − 4) 2
4(s −1) s2 −3
(iii) (iv)
(s − 2s + 5) 2
2
(s + 4 s + 5)2
2
s +1
(v)
(s 2 + 2 s − 8)2
∞
∞
s s
∴ L−1 2
= t ⋅ L−1
∫ ds
(s + a )
2 2
(s + a 2 )2
2
s
∞
1 dx
= t L−1
2
∫ 2 2 x
2 2
2 , on putting s + a = x
s +a
∞
t −1 1
= L −
2 x 2 2
s +a
t −1 1
= L 2 2
2 s + a
t
= sin at.
2a
∞
L−1 2
s s
∫
−1
(ii) = t ⋅ L ds
(s − 4)
2
(s − 4) 2
2
s
t 1
= L−1 2 , as in (i) above.
2 s − 4
t
= sinh 2t
4
Note The inverse transform in this case can also found out by resolving the
given function into partial fractions.
4(s −1) s −1
(iii) L−1 2 = 4 L−1
(s − 2s + 5) 2 (s −1) 2 + 22 2
s
= 4et L−1 2 , by the rst shifting property
(s + 22 ) 2
5.62 Mathematics II
t
= 4e t sin 2t , as in problem (i)
4
= tet sin 2t.
s 2 −3 −1 (s 2 + 4s + 5) − (4s + 8)
(iv) L−1 2 = L
(s + 4 s + 5)2 (s 2 + 4 s + 5) 2
1
−1 s+2
= L−1 2 − 4 L 2 2
s + 4 s + 5 (s + 4 s + 5)
1 s+2
= L−1 − 4 L
−1
2
(s + 2) +1
2 2
{(s + 2) +1}
t
= e−2t sin t − 4e−2t sin t , as in problem (i)
2
= e−2t (1−2t) sin t.
s +1 s +1
(v) L−1 2 2
= L−1 2 2
(s + 2s −8) [(s +1) − 3 ]
2
= e−t ⋅ L−1 2
s ,
2 2
(s − 3 )
t
= e−t ⋅ sinh 3t ,proceeding as in problem (ii)
6
t
= e−t sinh 3t
6
EXERCISE 5(b)
Part A
(Short Answer Questions)
1. State the formula for the Laplace transform of a periodic function.
2. Find the Laplace transform of f(t) = t, in 0 < t < 1 if f (t + 1) = f(t)
3. State the relation between the Laplace transforms of f(t) and t · f(t).
4. State the relation between the inverse Laplace transforms of φ (s) and φ′ (s).
1
5. State the relation between the Laplace transforms of f(t) and f (t ) .
t
6. State the relation between the inverse Laplace transform of φ (s) and its
integral.
Find the Laplace transforms of the following functions:
1
7. t sin at 8. t cos at 9. sin kt − kt cos kt
2a
Laplace Transforms 5.63
t
10. sin kt + kt cos kt 11. (1− cos at )
a2
1
12. cos kt − kt sin kt .
2
Find the inverse Laplace transforms of the following functions:
s + 1 s + 1 a
13. log 14. log 15. log 1 +
s −1 s s
s + a s s + 1
2
16. log 17. log 18. log 2
s + b s −1 s + 4
a
19. cot −1 s 20. tan −1
s
Find the Laplace transforms of the following functions:
sin at 1− e−t 1 − et
21. 22. 23.
t t t
1− cos at sin 2 t
24. 25.
t t
Part B
Find the Laplace transforms of the following periodic functions:
1
26. f (t ) = E , in 0 ≤ t <
E
1 2π
= 0, in ≤ t <
E n
2π
given that f t + = f (t )
n
T
27. f (t ) = E , in 0 ≤ t <
2
= − E, in T/2 ≤ t < T
given that f (t + T) = f (t)
28. f (t) = et, in 0 < t < 2π and f (t + 2π) = f (t)
t
29. f (t ) = sin , in 0 < t < 2 π and f (t + 2π) = f (t)
2
30. f (t) = |cos ωt|, t ≥ 0
π/ω π / 2ω
Hint: f (t )is periodic with period ( π ω ) and e− st | cos ω t | dt =
∫ ∫ e−st cos ωt dt
0 0
π/ ω
+ ∫ e−st ( − cos ωt ) dt
π / 2ω
5.64 Mathematics II
a2 s2 + a2 ( s − 2)2
46. log 1 + 2 47. log 48. log
s ( s + b)
2
s 2 +1
s − a −1 1 −1 s + 2
49. s log +a 50. tan 51. tan
s + a 2s 3
−1 a
52. cot 53. tan-1 (s2)
s + b
Find the values of the following integrals, using Laplace transforms:
∞ ∞ ∞
e−t − e−3t
∫te
−2 t
54.
0
cos 2t dt 55. ∫ t 2 e−t sin t dt 56. ∫ t
dt
0 0
Laplace Transforms 5.65
∞ ∞ ∞
(1− cost ) e−t e−at − cosbt e− 2t sint sinht
57. ∫ dt 58. ∫ dt 59. ∫ dt
0
t 0
t 0
t
Find the Laplace transforms of the following functions:
1− e−t sin2t
2
1− cosat
60. 61. 62.
t t t
Proof:
The given conditions ensure the existence of the Laplace transforms of f(t) and f ′(t).
∞
∫
By de nition, L{f ′ (t )} = e−st f ′(t ) dt
0
∞
= ∫ e− st d [f (t )]
0
∞
= e−st ⋅ f (t )
∞
− ∫ (−s ) e− st f (t ) dt ,on integration by parts.
0
0
− st
= li [e f (t )] − f (0) + s ⋅ L{f (t )}
t →∞
Corollary 1
In result (1) if we replace f (t) by f ′(t) we get
L{f″ (t)}= sL {f ′ (t)} − f ′(0)
= s [sL {f(t)} − f (0)] −f ′(0), again by (1)
= s2 L{f (t)}−s f (0) −f ′(0) (2)
Note
1. Result (2) holds good, if f(t) and f′(t) are continuous in t ≥ 0,f″ (t) is piecewise
continuous in every nite interval in the range t ≥ 0 and f(t), f ′ (t) and f″ (t) are
of the exponential order.
Corollary 2
Repeated application of (1) gives the following result:
L{ f(n)(t)} = sn L{f(t)}−s n−1 f (0) −sn−2 f ′ (0) − − f (n−1) (0) (3)
Note
2. Result (3) holds good, if f(t) and its rst (n − 1) derivatives are continuous in
t ≥ 0, f(n) (t) is piecewise continuous in every nite interval in the range t ≥ 0
and f(t), f ′(t), … , f (n) (t) are of the exponential order.
t 1
L ∫ f (t ) d t = L{ f (t )} .
0 s
Proof:
t
Let
g (t ) = ∫ f (t ) d t
0
∴ g′(t) = f (t)
Under the given conditions, it can be shown that the Laplace transforms of both f(t)
and g(t) exist.
Now by the previous theorem,
L{g′(t)}=sL{g(t)} − g(0)
t 0
s⋅ L ∫ f (t ) dt − ∫ f (t ) dt = L{ f (t )}
i.e.,
0 0
t 1
∴ L ∫ f (t ) d t = L{ f ( t )} (1)
0 s
Corollary
t t 1
L ∫ ∫ f (t ) dt dt = 2 L{ f (t )} , as explained below.
0 0 s
Let ∫ f (t ) dt = g (t )
.
0
t t 1 t
i.e., L
∫ ∫ f (t ) dt dt = L ∫ f (t )dt
0 0 s 0
1 1
= ⋅ L{ f (t )} , again by (l)
s s
1
= L{ f (t )} (2)
s2
Generalising (2), we get
t t t 1
L ∫ ∫ ∫ f (t ) (dt ) = s n L{f (t )}
n
(3)
0 0 0
5.68 Mathematics II
Note
1. If we put L{ f (t)} = f (s), result (1) becomes
t 1
L ∫ f (t ) d t = φ (s) (4)
0 s
1 t (5)
L−1 φ (s ) = ∫ f (t ) dt
s 0
Thus, to nd the inverse Laplace transform of the product of two factors, one of
1 1
which is , we ignore , nd the inverse transform of the other factor and integrate
s s
it with respect to t between the limits 0 and t.
2. In a similar manner, from (2) above, we get
1 t t
L−1 2 φ (s) = ∫ ∫L
−1
{ φ (s )} dt dt .
s 0 0
t 1 1
0
L ∫ f (t ) d t = L{ f (t )} + ∫ f (t ) dt
3. a s s a
t
g (t ) = ∫ f ( t) dt and g ′(t ) = f (t ),
If we let
a
t 1 1
0
or L ∫ f (t ) d t = L{ f (t )} + ∫ f (t ) dt .
a s s a
We shall now consider two results, which are derived by applying the theorem on
Laplace transform of the derivative of a function.
Laplace Transforms 5.69
The rst result, known as the initial value theorem, gives a relation between
lim[ f (t )] and lim[sφ (s )], where φ (s ) = L { f (t )}
t →0 s →∞
The second result, known as the nal value theorem, gives a relation between
lim[ f (t )] and lim[sφ (s )] .
t →∞ s→0
5.9.1 Initial Value Theorem
If the Laplace transforms of f (t) and f ′(t) exist and L{ f(t)} = f (s), then
lim[f (t )] = lim[sφ (s )]
t →0 s →∞
Proof:
We know that L{f ′(t)} = sf (s) − f (0)
∴ sf (s) = L{f ′(t)} + f (0)
∞
= ∫ e− st f ′(t ) dt + f (0)
0
∫e f ′ (t ) dt + f (0),
− st
∴ lim [sφ (s ) = lim
s →∞ s →∞
0
assuming that the conditions for the interchange of the operations of integration
and taking limit hold.
i.e. lim [sφ (s )] = 0 + f (0)
s →∞
= lim [ f (t )].
t→0
5.9.2 Final Value Theorem
If the Laplace transforms of f(t) and f ′(t) exist and L{f (t)} = f (s), then
lim [ f (t )] = lim [sφ (s )] , provided all the singularities of {sf (s)] are in the left
t →∞ s→ 0
= ∫ e− st f ′(t ) dt + f (0)
0
5.70 Mathematics II
= [ f (t )]0∞ + f ( 0)
∫ f (u ) g (t − u ) du
0
i.e. f (t ) * g (t ) = ∫ f (u ) g (t − u ) du
0
t t
∫ φ (u ) du = ∫ φ (t − u ) du
0 0
t
= ∫ g (u ) f (t − u ) du
0
= g (t )* f (t ).
Laplace Transforms 5.71
5.10.1 Convolution Theorem
If f (t) and g (t) are Laplace transformable,
then L{f (t) * g(t)} = L{f (t)}∙L{g (t)}
Proof:
∞
=∫ ∫e
− st
f (u ) g (t − u )du dt (1)
0 0
The region of integration for the double integral (1) is bounded by the lines u = 0,
u = t, t = 0 and t = ∞ and is shown in the Fig. 5.6.
u
t
=
t=∞
u
t=0
(u, u)
(∞, u)
t
u=0
Fig. 5.6
Changing the order of integration in (1), we get,
∞ ∞
L{f (t ) * g (t )} = ∫ ∫e
− st
f (u ) g (t − u ) dt du (2)
0 u
In the inner integral in (2), on putting t − u = v and making the consequent changes,
we get,
∞ ∞
L{f (t ) * g (t )} = ∫ ∫e
− s (u + v )
f (u ) g (v ) dv du
0 0
∞ ∞
=∫ e − su
f (u ) ∫ e−sv g (v )dv du
0 0
5.72 Mathematics II
∞ ∞
∞ ∞
L{f (t )* g (t )} = f (s ) ⋅ g (s ) (3)
In terms of the inverse Laplace operator, result (3) can be written in the following
way.
L−1{f (s ) ⋅ g (s)} = f (t ) * g (t )
= ∫ f (u ) g (t − u ) du (4)
0
Result (4) means that the inverse Laplace transform of the ordinary product of two
functions of s is equal to the convolution product of the inverses of the individual
functions.
WORKED EXAMPLE 5(c)
n!
∴ L (t n ) =
s n+1
t 1
Example 5.2 Find the Laplace transform of and hence nd L .
π πt
t 1 1 (3 / 2)
L = L (t 1 / 2 ) = = 3/ 2
π π π s
1
(1 / 2)
=
1 1
⋅ 2 3/ 2 = 3 / 2 ( (1/2) = π )
π s 2s
In the result L{f ′(t)} = sL {f(t)} − f (0), we put
t
f (t ) = , we get
π
1 1
L = s ⋅ 3/ 2 − 0
2 πt 2s
5.74 Mathematics II
1
=
2 s
1
L
1
∴ = .
πt s
Aliter
1 1
L = L ⋅ t / π
πt t
∞
= ∫ L( t / π ) ds
s
∞
1
=∫ ds
s
2s 3/ 2
∞
1 1
= − = .
s s s
2a 2
= 1−
s + a2
2
s2 − a2
= 2
s + a2
s2 − a2
∴ L(t cos at ) =
(s 2 + a 2 )2
a a(s 2 − a2 )
Now L(sin at − at cos at ) = −
s 2 + a 2 (s 2 + a 2 ) 2
Laplace Transforms 5.75
a {(s 2 +a 2 ) − (s 2 − a 2 )}
=
(s 2 + a 2 )2
2a 3
=
(s 2 + a 2 )2
Taking f (t) = t cos at in the result
L{f ′(t)} = sL{f(t)} − f(0), we get
L{cos at − at sin at} = sL (t cos at) − 0
s (s 2 − a 2 )
=
(s 2 + a 2 )2
2as
∴ L(t sinh at) =
(s 2 − a 2 ) 2
In the result L{f ′(t)} = sL {f(t)} − f(0), if we put f(t) = t sinh at, we
have
2as 2
L(sinh at + at cosh at )= [ f(0) = 0]
(s − a 2 ) 2
2
1
Now L (cosh at + at sinh at )
2
a
= L (cosh at ) + L (t sinh at)
2
s a 2as
= 2 + ⋅
s − a 2 2 (s 2 − a 2 ) 2
s (s 2 − a 2 ) + a 2 s s3
= = .
(s 2 − a 2 ) 2 (s 2 − a 2 )2
Example 5.4 Find the inverse Laplace transforms of the following functions:
s s2
(i) (ii)
(s + 2) 4 (s − 2 ) 3
5.76 Mathematics II
s s
(iii) (iv)
s + 4s + 5
2
(s + 2)(s + 3)
s
(v)
(s + 1)(s 2 + 4)
2
d −1
(i) L−1 {sφ(s )} = L {φ(s )} , provided L−1{f (s)} vanishes at t = 0 (1)
dt
s 1
To nd L−1 4
, let us rst nd f (t ) = L−1 and then apply
(s + 2) (s + 2) 4
rule (1)
1
Now f (t ) = e−2t L−1 4
s
1 3 1 3 −2t
= e−2t t = te
3! 6
1
= ( − 2t 3 e−2t + 3t 2e −2t )
6
1
= t 2 e−2t (3 − 2t ).
6
d 2 −1
(ii) L−1 {s 2φ(s )} = L {φ(s )} , provided
dt 2
f(0) = 0 f ′(0) = 0, where f(t) = L−1 {f (s)}. (2)
s 2 1
To nd L−1 3
, we shall nd f (t ) = L-1 and then apply rule (2).
(s − 2) (s − 2)3
1
Now f (t ) = e 2t L−1 3
s
1 2 1 2 2t
= e 2t ⋅ t = t e
2! 2
1 2 2t
f ′(t ) = (2t e + 2te 2t )
2
We note that f(0) = 0 and f ′(0) = 0
s 2 d 2 1 2 2t
∴ By (2), L−1 = t e
(s − 2)3 dt 2 2
Laplace Transforms 5.77
d 2
= [(t + t )e 2t ]
dt
= 2(t 2 + t )e 2t + ( 2t + 1)e 2t
= (2t 2 + 4t + 1)e2 t
s
(iii) To nd L−1 2 ,
s + 4s + 5
1
we shall nd f (t )=L−1 2 and then apply the rule (1).
s + 4 s + 5
1
Now f (t ) = L−1
(s + 2) +1
2
= e−2t sin t
and f(0) = 0.
s d −2t
∴ By (l), L−1 2 = (e sin t )
s + 4 s + 5 d t
= e−2t cos t − 2e−2t sin t
= e−2t (cos t − 2 sin t)
s
−1 1
(iv) To nd L−1 , we shall nd f (t ) = L and
(s + 2) (s + 3) (s + 2) (s + 3)
then apply the rule (1).
1
Now f (t ) = L−1
(s + 2) (s + 3)
1 1
= L−1 − ,
s + 2 s + 3
by resolving the function into partial fractions.
= e−2t − e−3t
and f(0) = 0.
s d −2t
∴Βy (1), L−1 −3t
= (e − e )
(s + 2) (s + 3) dt
= 3e−3t − 2e−2t
s
−1 1
(v) To nd L−1 2 , we shall nd f (t ) = L 2
(s +1) (s + 4)
2
(s + 1) (s + 4)
2
1 / 3 1 / 3
Now f (t )=L−1 2 − ,
s + 1 s 2 + 4
by resolving the function into partial fractions.
1 1
= sin t − sin 2t
3 6
and f(0) = 0
s d 1 1
∴ By (1), L−1 2 = sin t − sin 2t
(s + 1) (s 2 + 4) dt 3 6
1
= (cos t − cos 2t )
3
Note We have solved the problems in the above example by using the working
rule derived from the theorem on Laplace transforms of derivatives. They can be
solved by elementary methods, such as partial fraction methods, discussed in Section
5(a) also.
Example 5.5 Find the inverse Laplace transforms of the following functions.
s2 s3
(i) (ii)
(s 2 + a 2 ) 2 (s + a 2 ) 2
2
(s + 1)2 s2
(iii) (iv)
(s 2 + 2 s + 5) 2 (s − 4) 2
2
(s − 3)2
(v)
(s 2 − 6s + 5) 2
s
(i) Let f (t ) = L−1 2 2 2
(s + a )
t
=sin at [Refer to Worked Example (13) (i) in Section 5(b)]
2a
We note that f (0) = 0
d −1
Now L−1{sφ (s )} = L {φ (s )} , provided f (0) = 0,
dt
where f(t) = L−1 {φ (s)} (1)
s2 s
∴ L−1 2 2 2
= L−1 s ⋅ 2 2 2
(s + a ) (s + a )
d t
= sin at , by rule (1)
dt 2a
Laplace Transforms 5.79
1
= (sin at + at cos at ) (2)
2a
s2
(ii) Let f (t ) = L−1 2
(s + a 2 ) 2
1
= (sin at + at cos at ) , by (2)
2a
we note that f(0) = 0
s3
−1 s2
Now L−1 2 = L s ⋅ 2 2
(s + a )
2 2
(s + a )
2
d1
= (sin at + at cos at ) , by rule (l)
dt 2 a
1
= (2 cos at − at sin at ) .
2
(s + 1) 2 (s + 1) 2
(iii) L−1 2 = L−1
(s + 2s + 5)
2 {(s + 1) + 2 }
2 2 2
s2
= e−t L−1 2 2 2 , by the rst shifting property
(s + 2 )
1
= e−t (sin 2t + 2t cos 2t ) , by (2)
4
s
(iv) Let f (t ) = L−1 2 2
(s − 4)
t
= sinh 2t
4
[Refer to Worked Example (13) (ii) in Section 5(b)]
We note that f(0) = 0.
s 2 s
Now L−1 2 2
= L−1 s ⋅ 2 2
(s − 4) (s − 4)
d −1 s
= L 2 2 , by rule (1)
dt (s − 4)
d t
= sinh 2t
dt 4
1
= (sinh 2t + 2t cosh 2t ) (3)
4
5.80 Mathematics II
(s − 3)2
= L−1 (s − 3)
2
(v) L−1 2
(s − 6 s + 5)
2
{(s − 3) − 4}
2 2
s2
= e3t L−1 2
(s − 4)2 , by the rst shifting property.
1
= e3t (sinh 2t + 2t cosh 2t ) , by (3).
4
Example 5.6 Find the Laplace transforms of the following functions:
t t
t
e−t sin t
t
(iii) t ∫ e−4t sin 3t dt (iv) ∫ dt
0 0
t
t t
sin t 1
t ∫0
(v) e−t ∫ dt (vi) e−t sin t dt
0
t
t 1
(i) L ∫ f (t ) dt = L{ f (t )} (1),
0 s
by the theorem on Laplace transform of integral
t
∴ L ∫ t e−4t sin 3t dt
0
1
= L{te−4t sin 3t}
s
6(s + 4)
=
s (s 2 + 8s + 25)2
[Refer to Worked Example 8(i) in Section 5(b)].
t t
(ii) L e−4t ∫ t sin 3t dt = L ∫ t sin 3t dt (2), by the rst shifting property
0 0 s → s + 4
t
1
Now L ∫ t sin 3t dt = L(t sin 3t) , by rule (l)
0
s
1 d
= − L(sin 3t )
s ds
1 d 3
= − ⋅ 2
s ds s + 9
Laplace Transforms 5.81
1 −3× 2s 6
=− × 2 = 2 (3)
s (s + 9) 2
(s + 9) 2
6
= 2
(s + 8s + 25)2
t
(iii) L t ⋅ ∫ e−4t sin 3t d t
0
d
t
1
= [L (sin 3t )]s→ s + 4
s
1 3
= ⋅
s (s + 4) 2 + 9
3
= 3 (5)
s + 8s 2 + 25s
Using (5) in (4), we get
t d 3
L t ∫ e−4t sin 3t dt = − 3
0 ds s + 8 s + 25 s
2
3(3s 2 + 16 s + 25)
= 3
(s + 8s + 25s) 2
3(3s 2 + 16 s + 25)
=
s 2 (s 2 + 8 s + 25) 2
e−t sin t ∞
Now L = ∫ L(e−t sin t) ds
t s
∞
ds
=∫
s
(s + 1) 2 + 1
5.82 Mathematics II
= {− cot −1 (s + 1)}∞
s
(7)
= cot −1 (s + 1)
Using (7) in (6), we get
e−t sin t
t
1
L∫ dt = cot−1 (s + 1)
0
t s
t
sin t
t
sin t
(v) L e−t ∫ dt = L ∫ dt (8)
0
t 0 t s→ s +1
1 sin t
t
sin t
Now L∫ dt = L , by (1)
0
t s t
∞
1
s ∫s
= L(sin t ) ds
∞
1 ds 1
= ∫ = cot−1 s
s s s +1 s
2
(9)
1 t ∞ t
(vi) L ∫ e−t sin t d t = ∫ L ∫ e−t sin t d t d s (10)
t 0 s 0
t
1
Now L ∫ e−t sin t dt = L{e−t sin t } , by (1)
0
s
1 1
= ⋅ (11)
s (s + 1) 2 + 1
Using (11) in (10), we get
1 t ∞ ds
L ∫ e sin t d t = ∫
−t
t
0 s
s (s 2
+ 2s + 2 )
∞
1 1 s+2
=∫ − 2 ds ,
s
2 s s + 2s + 2
on resolving the integrand into partial fractions.
1
∞
1 s +1 1
− ds
2 ∫s
= −
s (s + 1) 2 + 1 (s + 1) 2 + 1
Laplace Transforms 5.83
∞
1 1
= log s − log {(s +1)2 +1} + cot−1 (s + 1)
2 2 s
∞
1
= log
s + cot −1 (s + 1)
2 s 2 + 2s + 2
s
1 s + 2s + 2 1 −1
2
= log − cot (s + 1).
4 s2 2
Example 5.7 Find the inverse Laplace transforms of the following functions:
1 54 1
(i) ; (ii) ; (iii) .
s (s + 2)3 s 3 (s − 3) s (s + 4s + 5)
2
1 1 s + 1 5s − 2
(iv) ; (v) ; (vi) ;
s (s + a 2 )
2 2
s 2 s 2 + 1 s 2 (s −1)(s + 2)
1
(vii)
(s + 2) (s 2 + 4s + 13)
Note All the problems in this example may be solved by resolving the given
functions into partial fractions and applying elementary methods. However we shall
solve them by applying the following working rule and its extensions.
1 t
L−1 φ(s) = ∫ L−1 (φ(s) dt (1)
s
0
1 t
1
(i) L−1 L−1
s (s + 2)3 ∫
= dt , by (1)
(s + 2)3
0
t
1
= ∫ e−2t L−1 3 dt
s
0
t
1 2
= ∫ e−2t t dt
0
2
by Bernoulli’s formula.
1 t2 t 1 1
= −e−2t + + +
2 2 2 4 4
1
= [1 − (2t 2 + 2t + 1)ee−2t ]
8
5.84 Mathematics II
54
= 54 ∫ ∫ ∫ L−1 1 dt dt dt , by the extension of rule (1).
t t t
(ii) L−1 3
s (s − 3)
s − 3
0 0 0
t t t
= 54 ∫ ∫∫ e 3 t dt d t d t
0 0 0
t
t t
e3t
= 54 ∫ ∫ 3 dt dt
0 0 0
t t
=18∫ ∫ (e
3t
−1) dt dt
0 0
e3t
t t
= 6 ∫ (e3t − 3t −1) dt
0
e3t 3t 2
t
= 6 − − t
3 2
0
= 2e3t − 9t 2 − 6t − 2.
Aliter
We can avoid the multiple integration by using the following alternative method.
54 54
L 3
−1
=L −1
s (s − 3)
( s − 3 + 3) (s − 3)
3
1
= 54e3t L−1 ,
s (s + 3)3
1
t
t
1
= 54e3t ∫ e−3t ⋅ L−1 3 dt
s
0
t
1 2 −3t
= 54e3t ∫ t e dt
0
2
Laplace Transforms 5.85
e−3t −3t
t
− 2t e + 2 e
−3t
= 27e t 2
3t
9 −27
−3 0
−3t
= e [2 − e (9t + 6t + 2)]
3t 2
= 2e3t − 9t 2 − 6t − 2
−1
t
1 1
(iii) L−1 2 = ∫ L 2 dt ,
s (s + 4s + 5 s + 4s + 5
0
by rule (1).
t
1
= ∫ L−1 dt
(s + 2) +1
2
0
t
= ∫ e−2t sint d t
0
−e−2t
t
= (2 sin t + cos t )
5
0
1
= [1− e−2t (2 sin t + cos t )]
5
t t
1
L−1 2 2
1
s (s + a ) ∫0 ∫L
−1
(iv) 2
= ,
s 2 + a 2 dt dtt
0
1 −cosat
t t
a ∫0 a 0
= dt
t
1
=
a2 ∫ (1− cos at )ddt
0
1 sin at
t
= 2 t −
a a 0
1
= 3 (at − sin at ).
a
1 s +1 t t
s +1
L−1 2 2
s s +1 ∫0 ∫L
−1
(v) = dt dt ,
s 2 +1
0
t t
=∫ ∫ (cos t + sin t ) dt dt
0 0
t
= ( − cos t −sin t + t ) t0
= 1+ t − cos t − sin t.
5s − 2 t t
5 s − 2
L−1 2
s (s −1) (s + 2) ∫ ∫L
−1
(vi) = dt dt,
(s −1) (s + 2)
0 0
=∫ ∫ (e + 4 e
t −2 t
) dt dt
0 0
t
= ∫ (et − 2e−2t + 1) dt
0
1
(vii) L−1
(s + 2) (s 2 + 4 s +13)
1
= L−1
(s + 2){(s + 2) 2 + 9}
1
= e−2t ⋅ L−1 2 , by the first shifting property.
s (s + 9)
t
1
= e−2t ∫L
−1
dt , by rule (1),
s 2 + 9
0
t
1 −2t
=
3
e ∫ sin 3t dt
0
Laplace Transforms 5.87
1 −2t −cos 3t
t
= e
3 3 0
1
= e−2t (1− cos 3t )
9
Example 5.8 Find the inverse Laplace transforms of the following functions:
1
1 1
(i) ; (ii) ; (iii) (s 2 + 2 s + 5) 2 ;
(s 2 + a 2 ) 2 s (s 2 + a 2 )2
1 1 1
(iv) ; (v) ; (vi) .
(s 2 − 4) 2 s (s 2 − 4) 2 (s 2 − 2 s − 3) 2
1 −1 1 s
(i) L−1 2 = L ⋅ 2
(s + a 2 )2 s (s + a 2 )2
t
s
= ∫ L−1 2 2 2
d t ,as
(s + a )
0
1 t
L−1 φ (s ) = ∫ L−1 { φ ( s)} d t (1)
s 0
t
t
=∫ sin at dt
0
2a
= t −
2 a a a 2 0
1
= 3 (sii n at − at cos at ) (2)
2a
1 1 s
(ii) L−1 2 = L−1 2 ⋅ 2
s (s + a 2 ) 2 s (s + a 2 )2
t t
s
=∫ ∫ L−1 2 2 2
dt dt ,
0 0
(ss + a )
by the extension of rule (1)
t t
t
=∫ ∫ 2 a sin at dt dt
0 0
t
1
=∫ (sin at − at cos at ) dt , by (2)
0
2 a3
5.88 Mathematics II
− a t
1
= 3 −
2a a
a a 2
0
1
= (−2 cos at − at sin at )t0
2a 4
1
= 4 (2 − 2 cos at − at s in at ).
2a
1 −1 1
(iii) L−1 2 = L
( s + 2 s + 5) 2 ( s +1) 2 + 4 2
1
= e−t ⋅ L−1 2 2
( s + 4)
1
= e−t (sin 2t − 2t cos 2t ), by problem (i)
16
1 −1 1 s
(iv) L−1 2 2
=L ⋅ 2 2
( s − 4) s (s − 4)
t
s
= ∫ L−1 2 dt , by rule (1)
( s − 4)2
0
t
t
=∫ sinh 2t dt
0
4
[Refer to Worked Example 13 (ii) in Section 5(b)]
= t −
4 2 4 0
1
= (2t cosh 2t − sinh 2t ) (3)
16
1
−1 1 s
(v) L−1 2 = L 2 ⋅ 2
s ( s − 4) 2 s ( s − 4)2
t t
= ∫ ∫ L−1 2
s
2
dt dt ,
0 0
( s − 4)
by the extension of rule (1).
t t
t
=∫ ∫ 4 sinh 2t dt dt
0 0
t
1
=∫ (2t cosh 2t − sinh 2t) dt, by (3)
0
16
Laplace Transforms 5.89
1
(iii) If L{ f (t )} = , nd lim [ f (t )] and lim [ f (t )] .
s (s + 1)(s + 2) t→0 t →∞
= ∫ te−21 dt
0
5.90 Mathematics II
e−2t e−2t
t
1
and lim [ f (t )] = = lim [ sφ ( s )]
t →∞ 4 s→ 0
Hence the initial and nal value theorems are veri ed.
(ii) L(e−t cos2 t) = f (s)
i.e., f (t) = e−t cos2 t
By the nal value theorem,
lim [ sφ (s )] = lim [e−t cos 2 t ] = 0
s→0 t →∞
1
(iii) L{ f (t )} =
s ( s +1)(s + 2)
1
∴ sφ ( s) =
( s +1)( s + 2)
By the initial value theorem,
lim [ f (t )] = lim [ sφ ( s )] = 0
t →0 s →∞
t t
∫u e ∫
2 −a ( t − u )
(i) du is of the form f (u ) g (t − u ) du
0 0
Laplace Transforms 5.91
∫u e−a (t − u ) du = (t 2 ) *( e−at )
2
i.e.
0
∴ By convolution theorem,
t
L ∫ u 2 e−a ( t − u ) du = L (t ) 2 ⋅ L(e−at )
0
2 1
= 3⋅
s s+a
t
2
∫ u 2 e−a (t − u ) du = L−1 3
s ( s + a)
0
2
= e−at ⋅ L−1
s ( s − a)3
2
t
= e−at ∫ L−1 d t
0
( s − a )3
t
= e−at ∫t
2
eat dt
0
e at e at
t
e at
= e t 2
− at
− 2t 2 + 2 3
a a a 0
t 2 e at 2t e at 2e at 2
= e−at − 2 + 3 − 3
a a a a
1 22
= 3
{a t − 2at + 2 − 2e−at }
a
t t
∴ By convolution theorem,
t
L ∫ sin u cos (t −u ) du = L(sin t ) ⋅ L(cos t )
0
5.92 Mathematics II
s
=
( s + 1)2
2
t
s
∫ sin u cos (t − u) du = L
−1
∴ 2
0
( s + 1) 2
t
= sin t , by Worked Example 13(i) of Section 5(b).
2
Example 5.11 Use convolution theorem to nd the inverse Laplace transforms of
the following functions:
1 s s2
(i) (ii) (iii)
( s +1) (s + 2) ( s 2 + a 2 )2 ( s 2 + a2 ) ( s2 + b 2 )
4 s2 + s
(iv) (v)
( s 2 + 2 s + 5) 2 ( s 2 +1) (s 2 + 2s + 2)
1 1 −1 1 * −1 1
(i) L−1 ⋅ = L L
s + 2 , by convolution theorem
s +1 s + 2 s +1
= e−t * e−2t
t
= ∫ e−u ⋅ e−2 ( t − u ) du
0
t
= e−2t ∫e
u
du
0
s 1
−1 s
(ii) L−1 2 = L 2 ⋅
( s + a 2 ) 2 s + a 2 s 2 + a 2
1 −1 s
= L−1 2 * L 2
s + a 2 s + a 2 , by convolution theorem
1
= sin at * (cos at )
a
t
1
=∫ sin au cos a (t − u ) du
0
a
t
1
=
2a ∫ [sin at + sin ( 2au − at )] du
0
cos(2au − at )
t
1
= (sin at ) u −
2a 2a 0
Laplace Transforms 5.93
1 1
= t sin at − (cos at − cos at )
2a 2a
1
= t sin at.
2a
s2 s s
(iii) L−1 2 2
= L−1 2 ⋅ 2
( s + a )( s + b )
2 2
s + a s + b 2
2
= ∫ cos au ⋅ cos b (t − u ) du
0
t
1
2 ∫0
= {cos [( a − b) u + bt ] + cos[(a + b ) u − bt ]} du
1 1
t
1
= sin{( a − b) u + bt + sin{( a + b) u − bt}
2 a − b a +b
0
1 1 1
= (sin at − sin bt ) + (sin at + sin bt )
2 a − b a +b
1 1 1 1
1
= + sin at + +
sin bt
2 a − b a + b a + b a − b
1 2a 2b
= sin at − 2 sin bt
2 a −b
2 2
a −b 2
1
= (a sin at − b sin bt ).
a2 −b2
−1 4 −1 2 2
(iv) L = L ⋅
( s 2 + 2 s + 5)2
( s 2 + 2 s + 5) ( s 2 + 2 s + 5)
t
1
= e−t ∫ [cos (4u − 2t ) − cos 2t ] dv
2 0
sin ( 4u − 2t )
t
1
= e−t − (cos 2t )⋅ u
2 4 0
1 1
= e−t (sin 2t + sin 2t ) −t cos 2t
2 4
1
= e−t (sin 2t − 2t cos 2t ).
4
s +1
s2 + s s
(v) L−1 2 = L−1
⋅ 2
( s +1)( s + 2s + 2)
2 s + 2 s + 2 s +1
2
s +1 −1 s
= L−1
* L 2
( s +1) +1 s +1
2
−t
= (e cos t )*(cos t )
t
1 1 1
= cos t (− e−u ) + ⋅ e−u {− cos (2u −t ) + 2 sin (2u −t )}
t t
2 0 2 5 0
1 1
= cos t (1− e−t ) + e−t (2 sin t − cos t ) + (2 sin t + cos t )
2 10
1 1
= e−t (sin t − 3 cos t ) + (sin t + 3 cos t ).
5 5
EXERCISE 5(c)
Part A
(Short Answer Questions)
1. State the relation between the Laplace transforms of f (t) and f ′(t). Under
what conditions does this relation hold good?
2. Express L−1 {sφ (s)} interms of L−1 {φ (s)}. State the condition for the validity
of your answer.
t t
3. Express L ∫ ∫ f (t ) dt dt in terms of L{f(t)}.
0 0
Laplace Transforms 5.95
1
4. State the relation between L−1 {f (s)} and L−1 2 φ (s) .
s
5. State the initial value theorem in Laplace transforms.
6. State the nal value theorem in Laplace transforms.
7. De ne the convolution product of two functions and prove that it is com-
mutative.
8. Verify whether 1 * g (t) = g (t), when g (t) = t.
9. State convolution theorem in Laplace transforms.
Using the Laplace transforms of the derivatives nd the Laplace transforms
of the following functions:
10. e at 11. cos a t 12. sin2 t
Find the inverse Laplace transforms of the following functions:
s s2
13. 14.
(s + 2) 3 (s −1)3
s s
15. 16.
(s − a ) 2 + b 2 (s +1) (s + 2)
Find the Laplace transforms of the following functions:
t t t
sin t 1− et 1− 2 cos t
17. ∫ t
dt 18. ∫ t
dt 19. ∫ t
dt
0 0 0
t t t
1 1
25. 26.
s (s 2 − a 2 ) s (s 2 +1)
s +3
27. If L { f (t )} = , nd lim ( f (t )} and lim{ f (t )} .
(s +1) (s + 2) t →0 t →∞
−1 1 −t −2 t
28. If L { φ (s)}= (1− 2e + e ) , nd lim (s φ (s )} and lim {s φ (s )}.
2 s→0 s →∞
t n−1
29. Show that 1* 1* 1* ......* 1 (n times) = , where * denotes Convolu-
tion. (n −1)!
t
1
30. If L { f (t )} = , evaluate ∫ f (u ) f (t − u ) du .
s 2 +1 0
5.96 Mathematics II
Part B
36. Using the Laplace transforms of the derivatives nd L (t sin a t) and hence
nd L (2 cos at − a t sin a t) and L (sin a t + a t cos a t).
37. Using the Laplace transforms of the derivatives, nd L (t cosh a t) and
hence nd L (sinh a t + a t cosh a t) and L (a t cosh a t − sinh a t).
−1
38. Find L−1
1 s
and hence nd L .
(s + a) (s + b ) ( s + a) (s + b )
−1
1 s2
39. Find L and hence nd L−1 .
(s −1) (s − 2) (s − 3) ( s −1) (s − 2) ( s − 3)
1 −1 s
40. Find L−1 2 and hence nd L
2
( s + a 2 )( s 2 + b2 ) ( s + a 2 )( s 2 + b2 )
s2
and L−1 2 .
( s + a 2 )( s 2 + b2 )
41. Given that L −1 s = t sin 2 t , nd
s 2 + 4 2 4
( )
−1 s2 −1 s3 −1 (s + 3) 2
L , L and L
s 2 + 4 2 s 2 + 4 2 s 2 + 6 s + 13 2
( ) ( ) ( )
−1 s = t sinh at
42. Given that L , nd
s 2 − a 2 2 2a
( )
s 2 s 3
−1
L−1 4 and L 4 .
s + 4 s + 4
Find the Laplace transforms of the following functions:
t t
∫ ∫ t sin t dt
t
44. t et sin t dt 45 . e
0 0
e−2 t sin 3t
t t
t t
sin 3t 1
t ∫0
48. e−2t ∫ dt 49. e−2t sin 3t d t
0
t
Find the inverse Laplace transforms of the following functions:
1 s −1 s −1
50. 2
Hint: Consider the function as
s s + 1 s (s 2 + s )
4s + 7 1
51. 52.
s (2s + 3) (3s + 5)
2
s (s + 6 s + 25)
2
1 1 s − 2 1
s 2 s 2 + 4
53. 54. 55.
(s + 1) (s + 2 s + 2) 2
(s + 9)2
2
1 1 1
56. 57. 58.
s (s + 9) 2 2
(s + 6s + 10) 2
2
(s − a 2 ) 2
2
1 1
59. 60.
s (s − a 2 ) 2
2
(s + 4 s ) 2
2
∫e
−u
sin (t − u ) du
0
1 1
69. 70.
s (s + 1)3
2
s +4
4
5.11.1 Procedure
1. We take the Laplace transforms of both sides of the given differential equa-
tion in y (t), simultaneously using the given initial conditions. This gives an
algebraic equation in y (s ) = L{y ( t )} .
WORKED EXAMPLE 5(d)
E
i.e., L{s i (s) − i (0)} + Ri (s ) = , where i (s ) = L{i (t )}
s+a
E
i.e., (Ls + R ) i (s) =
s+a
E
∴ i (s ) =
(s + a ) (Ls + R )
Laplace Transforms 5.99
1 1
R − aL a L − R
= E +
s + a s + R L
Taking inverse Laplace transforms
E −1 1 −1 1
i (t ) = L
R − aL s + a − L s + R L
E
= (e−at − e− Rt L )
R − aL
1
i.e., (s 2 − 4 s + 8) y (s) = + ( 2 s −10)
s−2
1 2 s −10
∴ y (s ) = +
(s − 2) ( s − 4 s + 8)
2
s 2 − 4s + 8
A Bs + C 2s −10
= + +
s − 2 s2 −4s +8 s2 − 4s + 8
1 1 1
− s+
= 4 + 4 2 + 2 s −10
s − 2 s2 − 4s + 8 s2 − 4s + 8
1 7 19
s−
= 4 + 24 2
s − 2 s −4s +8
1 7
(s − 2) − 6
= 4 +4
s − 2 (s − 2) 2 + 4
7
s − 6
1 −1 1 2 t −1 4
y= L + e L 2
4 s − 2 s + 4
1 2t 2t 7
= e + e cos 2t − 3 sin 2t
4 4
1
= e 2 t (1+ 7 cos 2t −12 sin 2t )
4
5.100 Mathematics II
∴ y = 4e − 6 te + ∫ t e dt + 2∫ ∫ t e t d t d t + 2∫ ∫ ∫ t e dt dt dt
t t t t
0 0 0 0 0 0
t t t
= 4et − 6 t et + (t et − et + 1) + 2∫ (t et − et + 1) d t + 2∫ ∫ (t e
t
− et + 1) d t d t
0 0 0
t
t2
= −et − 3 t et + 2 t + 5 + 2 (t et − 3 et + + 2t + 3)
2
= − 7et − t et + t 2 + 6 t + 11
ω 1 1
= 2 − 2
ω − 4 s + 4 s + ω 2
2
Inverting, we have,
1 ω
y= sin 2t − sin ωt , if w ≠ 2.
ω −4 2
2
1
∴ y = 2 L−1 2
(s + 4)2
Laplace Transforms 5.101
1
= (sin 2t − 2t cos 2t )
8
[Refer to Worked Example 8(i) in Section 5(c).
Example 5.5 Solve the equation y″ + y′ − 2y = 3 cos 3t −11 sin 3t, y (0) = 0
and y′(0) = 6.
Taking Laplace transforms and using the giving initial conditions, we get
3s 33
(s 2 + s − 2) y (s ) = − 2 +6
s +9 s +9
2
6s 2 + 3s + 21
=
s2 + 9
6s 2 + 3s + 21
∴ y (s ) = ,
( s 2 + 9) (s + 2) (s −1)
As + B C D
= + +
s + 9 s + 2 s −1
2
3 1 1
= 2 − + by the usual procedure
s + 9 s + 2 s −1
∴ y = sin 3t − e−2t + et.
Example 5.6 Solve the equation (D2 + 4D + 13) y = e−t sin t, y = 0 and
d
D y = 0 at t = 0, where D ≡ .
dt
Taking Laplace transforms and using the given initial conditions, we get
1
(s 2 + 4 s + 13) y (s ) =
s +2s+2
2
1
∴ y (s ) =
(s + 2s + 2)(s 2 + 4s + 13)
2
As + B Cs + D
= + 2
s + 2s + 2 s + 4 s + 13
2
1 −2 s + 7 2s − 3
= 2 + 2 ,
85 s + 2s + 2 s + 4s + 13
1 −2(s + 1) +9 2(s + 2) − 7
= +
85 (s + 1) 2 + 1 (s + 2) 2 + 9
1 −t
e { − 2 cos t + 9 sin t }+ e−2 t 2 cos 3t − sin 3t
7
∴ y=
85 3
5.102 Mathematics II
s
i.e. (s 2 + 9) y (s ) = + s + A , where A = y′(0).
s +4
2
s s A
∴ y (s ) = + +
(s 2
+ 4)( s + 9)
2
s2 + 9 s2 + 9
1 s s s A
= 2 − 2 + 2 + 2
5 s + 4 s + 9 s + 9 s + 9
1 4 A
∴ y = cos 2t + cos 3t + sin 3t
5 5 3
π
Given y = −1
2
1 A 12
i.e. −1 = − − ∴ A =
5 3 5
1 4 4
∴ y = cos 2 t + cos 3 t + sin 3 t .
5 5 5
Laplace Transforms 5.103
i.e. (s − k ) 2 y (s ) = As + B + f (s)
[As y (0) and y′(0) are not given, they are assumed as arbitrary contants]
As B f (s )
∴ y (s ) = + +
(s − k ) 2 (s − k ) 2 (s − k ) 2
A (s − k ) + (Ak + B ) f (s )
= +
(s − k ) 2
(s − k ) 2
C1 C2 f (s)
= + + , where C1 = A and C2 = Ak + B
s − k (s − k ) 2 (s − k ) 2
1
∴ y = C1 e kt + C 2 t e kt + L−1 f (s ) ⋅
(s − k )2
i.e. y = (C1 + C2t) ekt + f (t) * t ekt
t
3s 1 1 2
∴ y (s) = + 2 + + 2 2
s + 1 s + 1 s ( s + 1) s ( s + 1)
2 2
t t t
d 4 y d3 y dy d 2 y d3 y
Example 5.11 Solve the equation − = 0 , y = = 2 and = =1
d x 4 d x3 dx d x2 d x3
at x = 0.
(s 4 − s 3 )y (s) = 2 s3 − s
2 s 2 −1 A B C
∴ y ( s) = = + 2+ .
s (s −1) s s
2
s −1
1 1 1
i.e. y ( s) = + 2 +
s s s −1
∴ y = 1 + t + et
dy
Example 5.12 Solve the simultaneous differential equation + 2 x = sin 2t
dt
dy
and + 2 x = cos 2t , x (0) = 1, y (0) = 0.
dt
Taking Laplace transforms of both sides of the given equation and using the given
initial conditions, we get
2
sy (s ) + 2 x (s ) = (1)
s2 + 4
s
and sx ( s ) − 2 y (s ) = +1 (2)
s +4
2
1 s 2
x (s) = + 2 and y ( s) =− 2
s +4 s +4
2
s +4
1
∴ x = sin 2t + cos 2 t and y = − sin 2 t.
2
2 1
[ sx ( s) −1] + 2[ s y ( s) −1] − 2 x ( s) − y ( s ) = −
s3 s 2
2
i.e. (2s + 3) x ( s) − sy ( s) = +1 (1)
s2
2 1
and ( s − 2) x (s ) + (2s −1) y (s ) = − +3 (2)
s3 s 2
Solving (1) and (2), we have
3 5s −1
x (s) = +
s ( s +1)(5s − 3) (s +1)(5s − 3)
−1 3 8 25 8 3 4 5 4
= + + +
+
s s +1 5s − 3 s +1 5s − 3
1 98 78
=− + +
s s +1 s − 3 5
9 7
∴ x =−1+ e−t + e 3 5t (3)
8 8
Eliminating y′ from the given equations,
we get 5x′ + 4x − y = t2 + 3t
∴ y = 5x′ + 4x − t2 − 3t
9 21 3 t 7 3t
= 5− e−t + e 5 + 4 −1+ e−t + e 5
9
8 40 8 8
− t2 − 3t, on using (3)
9 49 3 t
i.e. y =− e−t + e 5 − t 2 − 3t − 4 .
8 8
Example 5.14 Solve the simultaneous equations
Dx + Dy = t and D2x − y = e−t; nx = 3,
Dx = − 2 and y = 0 at t = 0.
Taking Laplace transformed of both the equations, we get
1
sx ( s ) − 3 + sy (s ) = and
s2
1
s 2 x ( s ) − 3s + 2 − y ( s ) =
s +1
1 3
i.e. x (s) + y (s) = + (1)
s3 s
1
and s 2 x ( s) − y ( s) = + 3s − 2 (2)
s +1
5.106 Mathematics II
1 1 1
− s
2 2
3 1 3s 2
= 2 + 2 + + 3 2 + 2 − 2
s +1 s +1 s ( s +1) s ( s +1) s +1 s +1
2
1 3 5
s
3 1
= 2 − 2 2 + 22 + + 3 2
s +1 s +1 s +1 s ( s + 1) s ( s + 1)
2
t t t t
1 3 5
∴ x = e−t − sin t + cos t + 3∫ sin t dt + ∫ ∫ ∫ sin t dt dt d t
2 2 2 0 0 0 0
2
1 3 5 t
= e−t − sin t + cos t + 3 (1− cos t ) + + cos t −1
2 2 2 2
1 −t 3 1 t2
i.e. x= e − sin t + cos t + + 2 (3)
2. 2 2 2
1 3 1
∴ x ′′ = e−t + sin t − cos t +1 (4)
2 2 2
From the given second equation we have
y = x″ − e−t
1 3 1
=1− e−t + sin t − cos t.
2 2 2
1
and sx ( s ) + s 2 y (s ) = 2 − (2)
s +1
2
s 2 s 2 −1
= + +
s 2 +1 s ( s 2 +1) s ( s 2 +1)2
Laplace Transforms 5.107
1 2
and y ( s) = −
s 2 +1
(s2 +1)
2
t t
−1 1 1
∴ x = cos t + 2∫ sin t d t + ∫ L 2 − 2 L−1
2
dt
s +1
0 0
( s 2
+ 1)
t
= 1 + t sin t
1
and y = sin t − 2 × (sin t −t cos t )
2
= t cos t.
Example 5.16 Show that the solution of the equation
t
di 1
L + Ri + ∫ i d t = E , i (0) = 0 [where L, R, E are constants] is given by
dt C 0
Ï E - at 2
Ô w L e sin w t, if w > 0
Ô
Ô E
i = Ì te - at ,if w = 0
Ô L
Ô E - at 2
Ô kL e sinh kt, if w < 0
Ó
R 1 R2
where a= , w2 = - 2 and k2 = −w2.
2L LC 4 L
Note The given equation is an integro-differential equation, as the unknown
(dependent variable) i occurs within the integral and differential operations.]
Taking Laplace transforms of the given equation, we get
1 E
Lsi ( s ) + Ri ( s ) + i (s) =
Cs s
E 1
= ◊
Rˆ Ê 1 R2 ˆ
L Ê 2
ÁË s + 2 L ˜¯ + Á LC - 2 ˜
Ë 4L ¯
E 1
= ◊ ,if w 2 > 0
L (s + a ) 2 + w 2
E - at
∴ i (t ) = ◊ e sin w t
Lw
If ω = 0,
E 1
i (s ) = ⋅
L ( s + a) 2
E −at
∴ i (t ) = te
L
If ω2 < 0 a n d ω2 = − k 2 ,
E 1
i (s ) = ⋅
L (s + a ) 2 − k 2
E −at
∴ i (t ) = e sinh kt .
Lk
3 s +3
and x (s ) + (s +1) y (s ) = −3 (2)
s s +1 2
2 1 2
i.e. x (s ) =− ⋅ +
3 s +1 s + 3
2
Laplace Transforms 5.109
2
∴ x =− sin t + 2e−3t .
3
Solving (1) and (2) for y (s) , we have
3s 2 + 5 s − 2 1 2 s −1
y (s ) = =− + 2
(s + 3) ( s +1)
s + 3 s +1
2
Noting that the integral in the given equation is a convolution type integral and
taking Laplace transforms, we get
1
y (s ) = − L (t ) ⋅ L{ y ( t )}
s3
1 1
= 3 − 2 y (s )
s s
1+ s 2 1 1
∴ y (s ) = 3 or y (s) =
s 2 s s ( s2 )
1 +
t
∴ y (t ) = ∫ sin t dt
0
= 1 − cos t.
a 2s
i.e. y (s ) = − 2 ⋅ y (s )
s +1 s +1
2
(s +1) 2 a
i.e. y (s ) = 2
s 2 +1 s +1
5.110 Mathematics II
a
i.e. y (s) =
( s +1)
2
∴ y (t ) = a t e−t .
Example 5.20 Solve the integro-differential equation
y ′ (t ) = t + ∫ y (t − u ) cos u d u, y (0) = 4
0
1 s
s y (s ) − 4 = + y (s )
s 2 s 2 +1
1
s 1− 2 y (s) = 2 + 4
1
i.e.
s +1 s
( s 2 +1)(1+ 4 s 2 )
i.e. y (s ) =
s5
4 5 1
= + 3+ 5
s s s
5 1
∴ y (t ) = 4 + t 2 + t 4 .
2 24
EXERCISE 5(d)
Part A
(Short Answer Questions)
Using Laplace transforms, solve the following equations:
1. x ′ + x = 2 sin t, x (0) = 0
2. x ′ − x = et , x (0) = 0
3. y ′ − y = t, y (0) = 0
4. y ′ + y = 1, y (0) = 0
t
5. y + ∫ y (t ) dt = e−t
0
t
6. x + ∫ x (u ) du = t + 2t
2
0
Laplace Transforms 5.111
7. x + ∫ x (t ) dt = cos t + sin t
0
8. x − 2 ∫ x (t ) d t =1
0
t
9. y =1+ 2 ∫ e−2u y (t − u ) du
0
11. f (t ) = cos t + ∫ e f (t − u ) d u
−u
12. y (t ) = t + ∫ sin u y (t −u ) d u
0
Part B
Solve the following differential equations, using Laplace transforms:
13. x″ + 3x′ +2x = 2 (t2 +t + 1), x (0) = 2,x′ (0) = 0
14. y″ − 3y′ − 4y = 2e−t, y (0) = y′ (0)=1
15. x″ + 4x′ + 3x = 10 sin t, x (0) = x′ (0) = 0
16. (D2 + D − 2) y = 20 cos 2t, y = − 1, Dy = 2 at t = 0
17. x″+ 4x′ + 5x = e−2t (cos t − sin t), x (0) = 1, x′ (0) = −3
18. y″ + 2y′ + 2y = 8 et sin t, y (0)= y′ (0) = 0
19. x″ − 2x′ + x = t 2 et, x (0) = 2, x′ (0) = 3
20. y″ + y = t cos 2t, y (0) = y′ (0) = 0
21. x″ + 9x=18t, x (0) = 0, x (π/2) = 0
22. y″ + 4y′ = cos 2t, y (π) = 0, y′ (π) = 0
23. (D2 + a2) x = f (t)
24. (D3 − D) y = 2 cos t, x = 3, Dx = 2, D2x = 1 at t = 0
25. x′″ − 3x″ + 3x′ − x =16 e3t, x (0) = 0, x′ (0) = 4, x″ (0) = 6
26. (D4 − a4) y = 0, y (0) = 1, y′ (0) = y″(0) = y′″ (0) = 0
Solve the following simultaneous equations, using Laplace transforms:
27. x′ − y = et; y′ + x = sin t, given that x (0)= 1 and y (0) = 0
28. x′ − y = sin t; y′ − x = − cos t, given that x = 2 and y = 0 for t = 0
29. x′ + 2 x − y = − 6 t; y′ − 2x + y = − 30 t, given that x = 2 and y = 3 at t = 0
30. Dx + Dy + x − y = 2; D2x + Dx − Dy = cos t, given that x = 0, Dx = 2 and y = 1
at t = 0
31. D2x + y = − 5 cos 2t; D2y + x = 5 cos2t, given that x = Dx = Dy = 1 and
y = − 1 at t = 0
5.112 Mathematics II
33. x ′ + 3x + 2 ∫ x dt = t , x (0) = 0
0
34. y ′ + 4 y + 5 ∫ y dt = e , y ( 0) = 0
−t
37. x (t ) = 4t − 3 ∫ x ( u) sin ( t − u) du
0
38. y (t ) = e − 2 ∫ y (u ) cos (t − u ) du
−t
t
x(u )
39.
∫ t −u
du = 1 + t + t 2
0
40. ∫ y(u ) y (t − u ) du = 2 y (t ) + t − 2
0
ANSWERS
Exercise 5(a)
2 1
{1 − e−(s − 2 ) }
t
3. tan t; e 9.
s −2
1 1 2 1
10. + 2 e−s − + 2 e−2 s
s s s s
2 2
11. (1 − e−π s ) ⋅ 12. (1 − e− 2 π s ) ⋅
s +4
2
s +1
2
Laplace Transforms 5.113
s 1 π 1
13. ⋅ e− 2 π s / 3 14. (1 + e− πs ) + + 2 e−πs
s +1
2
s +1
2
s s
1 π 1 1 −3 s π
15. ; 16. e ; 2 e−s
2s s s s2 s + π2
2 4 4 −2 s 6a 3 6a 2b 3ab 2 b3
17. 3 + 2 + e + 3 + 2 +
18.
s s s s4 s s s
1 1 s
(ω cos θ + s sin θ ) 20. − 2
1
2 s s + 36
19.
s +ω2 2
1 3s s 1 3 1
2 − 2 2 − 2
4 s + 4 s + 36
21. 22.
2 s + 9 s + 1
1 s s 1 1 1 3 1
2 + 2 − + −
8 s − 3 s − 1 s + 1 s + 3
23. 24.
2 s + 25 s + 1
1 1 3 2 2 2 1
+ + + +
s
25. 26.
4 s − 2 s + 2 (s + 1) 3
(s + 1) 2
s +1
s 1 3 1
27. 28. +
(s + 2) 2 + 9 4 s − 3 s + 1
2s 1 1
29. 30. +
s +4
4
(s − 1) 3
(s + 1) 3
2e 3
31. 32. (t − a) ua (t)
2s − 3
33. u2 (t) − u3 (t) 34. e3(t −2). u2 (t)
35. cos 3 (t −1) u1 (t) 36. sin t + sin (t − π) uπ(t)
t −t 1
37. 2 e 38. (2 + 4t + 3t 2 )
π 2
1 3 3t/ 2 1 3
39. t e 40. t (2 + t ) e2t
96 12
3
41. 2 cos 2t + sin 2t 42. cosh 3t + 2 sinh 3t
2
1 1 −t
43. (1 − e−at ) 44. e sin 2t
a 2
8 12 9
45. e3t cos t 46. + +
(s − 3)3 (s − 3)2 s − 3
π s 1 1 3 3 1
47. ⋅ 48. − + −
s−a s−a 8 s − 2 s s + 2 s + 4
5.114 Mathematics II
4a 3 2
49. 50.
s 4 + 4a 4 (s − 2) ( s − 4 s + 8)
2
(s + 3) 3 1
51. +
4 (s − 3) + 4 (s + 3) + 36
2 2
w cos q + (s + k ) sin q 3( s 2 + 2s + 9)
52. 53.
(s + k ) 2 w 2 ( s 2 + 2s + 5)( s2 + 2s + 17)
(s − 1) 1 1 1 1
54. + + +
4 (s − 1) 2
(s − 1) + 4 (s −1) + 16 (s + 1) + 36
2 2 2
1 1 3 5 9
55. + + −
4 (s + 2) 2
(s + 2) + 9 (s + 2) + 25 (s + 2) + 81
2 2 2
s2 − 4 s (s + 2)
56. 57.
( s 2 + 4) (s + 2 s + 2)
2 2 2
6 (s − 2) 2s
58. 59.
( s 2 − 4 s + 13) ( s 2 + 1)
2 2
s2 − 4 1 5
60. 61. − 2et + e− 2t
(s + 4)
2
2 2 2
9
62. 2e − t − 3et + 5e2t 63. 1 − 5t + t 2 e−t
2
64. − 2e − t + 2e2t + te2t 65. − 2 + t + 2e−t + t e−t
1 1
66. sin t − sin 2t + sin 3t 67. cos t − 2 cos 2 t + cos 3 t
2 3
3
e− t / 2 3 cos
1 3
68. e − 3t (2 cos 5t − 3 sin 5t) 69. t + sin t
3 2 2
1 − bt / 2 a λt m b 2a λt
70. e ⋅ cos + − ⋅ sin
2a
a 2a l 2a λ
if b2 − 4ac < 0 and = − λ2
1 − bt / 2 a kt m b 2a kt
e ⋅ cosh + − ⋅ sinh ,
2a
a 2a l 2a k
m b
1 + − t , if b − 4ac = 0
1 − bt / 2 a 2
e
a l 2a
Laplace Transforms 5.115
1 e− t − et / 2 cos 3 t − 3 sin 3 t
72.
3
2 2
1
73. (sin at cosh at − cos at sinh at)
4a 3
1
74. sin t sinh t
2
1
75. (sinh 2t cos 2t + cosh 2t sin 2t)
4
t t 2 3 t
76. cos cosh 77. sin t cosh
2 2 3 2 2
1 1
78. t sinh at 79. (sin t − t cos t )
2a 2
1
80. t sin 2t
4
Exercise 5(b)
1 1 s
2. − 7.
s (e − 1) (s − a2 )
2 2 2
s
s
s2 − a2 2k 3
8. 9.
(s 2 + a2 ) (s 2 + k 2 )
2 2
2ks 2 3s 2 + a 2
10. 11.
(s 2 + k ) s 2 (s 2 + a 2 )
2
2 2
s3 2sinht
12. 13.
(s 2
+k )
2 2 t
1 − e− t 1 − e− at
14. 15.
t t
e− bt − e− at et − 1
16. . 17.
t t
2 sin t
18. (cos 2t − cos t ) 19.
t t
sin at
20. 21. cot − 1 (s/a)
t
5.116 Mathematics II
s + 1 s −1
22. log 23. log
s s
1 s 2 + a 2 1 s 2 + 4
log log
24.
2 s 2 25.
4 s 2
E (1− e− s / E ) E sT
26. 27. tanh
s (1− e −2 π s / n
) s 4
2 Ï
1 Ê ps ˆ¸
coth (πs) Ì s + w cosech Á ˝
Ë 2w ˜¯ ˛
29. 30.
4 s 2 +1 2
s +w Ó 2
1 1 π −π s
(1− e ) − e
−π s
31.
1− e−2 π s s 2 s
1 πs
34. tanh
s 2
2
1 π −π s
35. 2 (e−π s −1) + e (e−π s −1) / (1− e−2 π s )
2
s s
1 1 3 3 1
36. − + −
8 (s − 3) 2
(s −1) 2
(s + 1) 2
(s + 3)2
1 3( s 2 − 4) ( s 2 − 36)
37. +
4 ( s 2 + 4) ( s 2 + 36)
2 2
1 ( s 2 − 4) ( 2 )
38. − s − 64 2
2 ( s 2 + 4) ( s 2 + 64)
2
s s 1 s (48 − s 2 )
39. s + 40. −
( s 2 + 36)2 ( s 2 + 4)2 s 3 ( s 2 + 16)3
9 ( s 2 − 3) 1− 3s 2 18(s 2 + 4 s + 1)
41. + 42.
( s 2 + 9)
3
(s 2 + 1)
3
(s 2 + 4s + 13)3
s 2 − 6s − 7 1 1
43. 44. +
(s 2 − 6 s + 25) 2 (s + 1) 3
(s + 5)3
s−2 s+2
45. 3 2 −
(s − 4 s + 13) 2 (s 2 + 4 s + 13)2
Laplace Transforms 5.117
2
46. (1− cos a t )
t
2 −bt 2
47. (e − cos a t ) 48. (cos t − e2t )
t t
2 2a 1 t
49. sinh a t − cosh at + a δ (t ) 50. sin
t 2
t t 2
1 −2t 1 −bt
51. − ⋅ e sin 3t 52. − e sin at
t t
2 t t
53. − sin sinh 54. 0
t 2 2
1
55. 56. log 3
2
1 b
57. log 2 58. log
2 a
π s + 1
59. 60. log
8 s
1 s 2 + a 2 1 s 2 + 16
log
s 2 s 2
61. log 62.
2 4
1 s 2 + 16 s
log 64. s log + cot−1 s
s 2 + 4
63.
4 s +1
2
t t
65. sin t 66. sinh at
2 2a
t 2t 1
67. e sin t 68. sin at − t sin a t
2 a
t −4 t
69. e−3t(1 + t) sin t 70. e sinh t.
2
Exercise 5(c)
t2 1 s
8. No; 1* t = ≠t 10. 11.
2 s−a s + a2
2
t t
2
2
12. 13. t (1 − t) e−2t 14. e + 2 t + 1
s ( s 2 + 4) 2
1 at
15. e (a sin b t + b cos b t ) 16. 2 e−2t − e−t
b
5.118 Mathematics II
1 1 s −1 1 s 2 + 1
cot −1 s log log
17.
s
18.
s s
19.
s s
1 1 2
20. 21. . 22.
s (s + 1) 2 s (s + 2s + 2 )
2
(s 2
+ 1)
2
1 1
23. (1− e− at ). 24. e−at + t − 1 25. (cosh a t −1)
a a2
1
26. 1 − cos t 27. 1;0 28. ; 0 30. sin t
2
1 t 1
31. (e − e−3t ). 32. t et 33. 2 (1− cos a t )
4 a
34. e −t + t − 1 35. sin t − cos t + e −t
2a s 2s 3 2a s 2
36. ; ;
(s 2 + a ) (s 2 + a ) (s 2 + a 2 )
2 2 2 2 2
s2 + a2 2a s 2 2a 3
37. ; ;
(s 2 − a 2 ) (s2 − a 2 ) (s 2 − a 2 )
2 2 2
1 1
38. (e−bt − e−at ); (a e−at − b e−bt )
a−b a−b
1 t 1 1 9
39. e − e 2 t + e 3 t ; e t − 4e 2 t + e 3 t
2 2 2 2
1 1 1 1
40. sin b t − sin a t ; 2 (cos b t − cos a t );
a 2 − b 2 b a a − b2
1
(a sin at − b sin bt)
a − b2
2
1 t
41. (sin 2 t + 2 t sin 2 t ); (cos 2 t − t sin 2 t ); e−3t sin 2 t
4 4
1 1 t −at
42. (sinh a t + a t cosh a t); (a t sinh a t + 2 cosh a t ); e sinh at
2a 2 2a
1 1
43. sin t sinh t ; (sin t cosh t + cos t sinh t ); cos t cosh t
2 2
2 (s −1) 2 3s 2 − 4 s + 2
44. 45. 46.
s ( s 2 − 2 s + 2) ( s 2 − 2 s + 2) s 2 ( s 2 − 2 s + 2)
2 2 2
1 −1 s + 2 1 s + 2
47. cot 48. cot −1
s 3 s+2 3
3 s 2 + 4s + 13 6 −1 s + 2
49. log − cot
26
s 2 13 3
Laplace Transforms 5.119
50. 2 − t − 2 e−t
4 −3t /2 3 −5t /3 7 73
51. e − e + t−
9 25 15 225
1
52. [4 − e−3t (3 sin 4 t + 4cos 4 t )]
100
1
53. e − t (1 − cos t) 54. (1− 2t − cos 2 t + sin 2 t )
4
1 1
55. (sin 3t − 3 t cos 3t ) 56. (2 − 2 cos 3 t − 3t sin 3t )
54 162
1 −3t 1
57. e (sin t − t cos t ) 58. (a t cosh a t − sinh a t )
2 2a 3
1
59. (2 − 2 cosh a t + a t sinh a t )
2a 4
1 −2t
60. e (2 t cosh 2 t − sinh 2 t )
16
1 1
63. (cos t − sin t − e−t ) 64. (sin a t + sinh a t )
2 2a
1 1
65. (cos 2t − cos 5 t ) 66. (sin a t + a t cos a t )
5 2a
1
67. (sin 2 t − 2 t cos 2 t ) 68. 2 e − t + sin 2 t − 2 cos 2 t
16
e− t 2 1
69. (t + 4 t + 6) + t − 3 70. (sin t cosh t − cos t sinh t )
2 4
Exercise 5(d)
1. x = e − t − cos t + sin t 2. x = t e t 3. y = e t − t − 1
4. y = 1 − e −t 5. y = (1 − t)e −t 6. x = 2t
7. x = cos t 8. x = e 2 t 9. y = 1 + 2t
t2 t3
10. y = 1 + 11. f (t) = cos t + sin t 12. y = t +
2 6
1
13. x = t 2 − 2t + 3 − e −2t 14. y = (13e−t −10t e−t +12e 4 t )
25
5 −t 1 −3t
15. x = e − e − 2 cos t + sin t
2 2
2 −2t 4 t
16. y = e + e − 3 cos 2t + sin 2t
3 3
−2 t 3 t
17. x = e cos t − sin t + (sin t + cos t )
2 2
5.120 Mathematics II
π 3
40. y (t) = 1