7.

1 DEFINITIONS OF LAPLACE
TRANSFORMS
7.1 DEFINITIONS OF LAPLACE
TRANSFORMS
7.1 DEFINITIONS OF LAPLACE
TRANSFORMS
CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems

3.3 Laplace Transforms of Some Common Signals

A. Unit Impulse Function C>(t):
Using Eqs. (3.3) and (l.20), we obtain

IE [<5(t)] = J~00 <5(t)e-st dt = 1 alls (3.13)

B. Unit Step Function u( t):

IE [u(t)] = f 00

-oo
u(t)e -st dt = r: e
Jo -st dt

Re(s)> 0 (3.14)

where o+ = lim,--> 0 (0 + E).

C. Laplace Transform Pairs for Common Signals:

The Laplace transforms of some common signals are tabulated in Table 3-1. Instead of having to reevaluate the
transform of a given signal, we can simply refer to such a table and read out the desired transform.

TABLE 3-1 Some Laplace Transforms Pairs

x(t) X(s) ROC

l>(t) 1 Alls
1
u(t) - Re(s) > 0
s
1
-u(-t) -
s
Re(s) <0
1
tu(t)
s2 Re(s) > 0

k!
tk u(t) sk+I Re(s) > 0

1
e-at u(t) Re(s) > - Re(a)
s+a
1
-e- 01 u(-t) Re(s) < - Re(a)
s+a
1
te- 01 u(t) Re(s) > - Re(a)
(s + a)2
1
-te- 01u(-t) Re(s) < - Re(a)
(s + a)2
--
s
cos ffiotu(t) Re(s) > 0
s2 + ro6
ffio
sin ro0 tu( t) Re(s) > 0
s2 + ro6
s+a
e-at cos ro0tu(t) Re(s) > - Re(a)
(s + a) 2 + ro6
ffio
e-at sin ro0 tu(t) Re(s) > - Re(a)
(s + a) 2 + ro6
• Example: determine he ROC and the zeros and the poles
7.3 LAPLACE TRANSFORMS OF
FUNCTIONS
7.3 LAPLACE TRANSFORMS OF
FUNCTIONS
7.4 and 7.5 LAPLACE TRANSFORM
PROPERTIES
7.4 and 7.5 LAPLACE TRANSFORM
PROPERTIES
7.4 and 7.5 LAPLACE TRANSFORM
PROPERTIES
7.4 and 7.5 LAPLACE TRANSFORM
PROPERTIES
7.4 and 7.5 LAPLACE TRANSFORM
PROPERTIES
7.4 and 7.5 LAPLACE TRANSFORM
PROPERTIES
 CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems

SOLVED PROBLEMS

Laplace Transform

3.1. Find the Laplace transform of

(a) x(t) = -e-a1u(-t)
(b) x(t) = ~1u(-t)

(a) From Eq. (3.3)

-- - -
1 e-(s+a)t Io- 1
Re(s) <-a
s +a -~ s+a
Thus, we obtain

-e-at u (-t ) + + 1- - Re(s) <-a (3.54)

s+a
(b) Similarly,
00 o-
X(s) = J_ 00 ea1u(-t)e- 81 dt= J_ 00 e-<•-a)tdt

=--1-e-<•-a)tlo- = - - - Re(s) <a

s- a -~ s- a

Thus, we obtain

1
ea1u(- t) ++ - - - Re(s) <a (3.55)
s- a

3.2. A finite-duration signal x(t) is defined as

=/= 0 t1 ::5 t ::5 t2
x(t) { __ 0
otherwise
where t 1 and t 2 are finite values. Show that if X(s) converges for at least one value of s, then the ROC of
X(s) is the entire s-plane.
Assume that X(s) converges at s = a 0 ; then by Eq. (3 .3)

Let Re(s) = a 1 > a0 • Then

J~Jx(t)e-<a1+jru)t ldt= J~2lx(t)le-a1t dt

= J21x(t)1e-aote-<a1-ao)t dt

Since (a1 - a0 ) > 0, e -(a, - aJ' is a decaying exponential. Then over the interval where x(t) =/= 0, the maximum
value of this exponential is e -(a, - 0 ol\ and we can write

(3.56)

Thus, X(s) converges for Re(s) = a 1 > a 0 • By a similar argument, if a 1 < a 0 , then

(3.57)

and again X(s) converges for Re(s) = a 1 < a 0 • Thus, the ROC of X(s) includes the entires-plane.
CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems
••••
3.3. Let

-at Q$.t$.T
x(t) = { ~
otherwise

Find the Laplace transform of x(t).

By Eq. (3.3)

T T
X(s) =Io e-at e-st dt =Io e-(s+a)t dt

= - _1_ e -(s+a)t IT = _1_ [1 - e -(s+a)T] (3.58)

s+a 0 s+a

Since x(t) is a finite-duration signal, the ROC of X(s) is the entires-plane. Note that from Eq. (3.58) it appears that
X(s) does not converge at s = -a. But this is not the case. Settings= -a in the integral in Eq. (3.58), we have

T T
X(-a)= Io e-(a+a)tdt= Io dt=T

The same result can be obtained by applying L'Hospital's rule to Eq. (3.58).

3.4. Show that if x(t) is a right-sided signal and X(s) converges for some value of s, then the ROC of X(s) is
of the form

Re(s) > amax

where amax equals the maximum real part of any of the poles of X(s).

Consider a right-sided signal x(t) so that

x(t) = 0 t < t1

and X(s) converges for Re(s) = a0 • Then

IX(s) I~ {.,I x(t)e-• 1 ldt ={.,I x(t) le- 001 dt

= r 00 1x(t)le- 001 dt<oo

J11

Let Re(s) = a 1 > a0 • Then

r'°1x(t)1e-a1t dt = r'°1 x(t) ie-aot e-(a1 -ao)t dt

J~ J~

< e-(a1-ao)t1 r'°1x(t)le-aotdt<00

J11

Thus, X(s) converges for Re(s) = a 1 and the ROC of X(s) is of the form Re(s) > a0 • Since the ROC of X(s) cannot
include any poles of X(s), we conclude that it is of the form

Re(s) > amax

where amax equals the maximum real part of any of the poles of X(s).

3.5. Find the Laplace transform X(s) and sketch the pole-zero plot with the ROC for the following
signals x(t):
(a) x(t) = e- 21u(t) + e- 31u(t)
(b) x(t) = e- 31u(t) + e21u(-t)
(c) x(t) = e21u(t) + e- 31u(-t)
 CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems

(a) From Table 3-1

e- 21u(t) ++ _l_ Re(s) > - 2

s+2 (3.59)

e- 31u(t) ++ _l_ Re(s) > - 3 (3.60)

s+3
We see that the ROCs in Eqs. (3.59) and (3.60) overlap, and thus,

2(s + ~)
1
X(s) = -- + -1- = 2
-,-----,....,.----.,... Re(s) > - 2 (3.61)
s+2 s+3 (s+2)(s+3)
From Eq. (3 .61) we see that X(s) has one zero at s = -%and two poles at s = - 2 ands = - 3 and that the
ROC is Re(s) > - 2, as sketched in Fig. 3-ll(a).
(b) From Table 3-1

e- 31u(t) ++ _l_ Re(s)> - 3

s+3 (3.62)

e21u(- t)++ - -1- Re(s)<2 (3.63)

s- 2

We see that the ROCs in Eqs. (3.62) and (3.63) overlap, and thus,
1 l - 5
X(s) = - - - - - = - - - - - 3< Re(s)< 2 (3.64)
s + 3 s - 2 (s - 2)(s + 3)
From Eq. (3 .64) we see that X(s) has no zeros and two poles at s = 2 ands = - 3 and that the ROC is
- 3 < Re(s) < 2, as sketched in Fig. 3-ll(b).
(c) From Table 3-1
1
e21 u(t)++-- Re(s) > 2 (3.65)
s- 2

e- 31 u(- t ) ++ - - -
1 Re(s) < - 3
s+3 (3.66)

We see that the ROCs in Eqs. (3.65) and (3.66) do not overlap and that there is no common ROC; thus , x(t)
has no transform X(s).

jw jw

~
'

-3 0 0

(a) (b)
Fig. 3-11
CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems

3.6. Let
x(t) = e- 0 11 1

Find X(s) and sketch the zero-pole plot and the ROC for a> 0 and a< 0.

The signal x(t) is sketched in Figs. 3-12 (a) and (b) for both a> 0 and a< 0. Since x(t) is a two-sided signal, we
can express it as

x(t) = e - 0 'u(t) +e 0' u( - t) (3.67)

Note that x(t) is continuous at t = 0 and x(O - ) = x(O) = x(O +) = 1. From Table 3-1

e- atu(t) ++ _l_ Re(s)> - a (3.68)

s+a

eat u(- t)++ - -1- Re(s)<a (3.69)

s- a
If a> 0, we see that the ROCs in Eqs. (3.68) and (3.69) overlap, and thus,

l l - 2a
- a<Re(s)<a (3.70)
X(s) = s+a - s - a = s 2 - a 2

From Eq. (3.70) we see thatX(s) has no zeros and two poles at s = a ands = - a and that the ROC is - a< Re(s) <a,
as sketched in Fig. 3-12(c). If a < 0, we see that the ROCs in Eqs. (3 .68) and (3 .69) do not overlap and that there is no
common ROC; thus, x(t) has no transform X(s).

x(t) = e - a111 x(t) = e - altl

a >O

0 0

(a) (b)

jw

(c)
Fig. 3-12
 CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems

Properties of the Laplace Transform

3.7. Verify the time-shifting property (3.16); that is,

R' =R

By definition (3.3)

By the change of variables -r = t - t0 we obtain

2' {x(t - t 0 )} = J: 00
x(-r)e-s(r+to)d-r

= e-•to J:"' x(-r)e-srd-r = e-•tox(s)

with the same ROC as for X(s) itself. Hence,

-st
x(t - t0 ) ++ e 0 X(s) R' = R

where Rand R' are the ROCs before and after the time-shift operation.

3.8. Verify the time-scaling property (3.18); that is,

x(at) ..... - 1
lal
x(.!_)
a
R'=aR

By definition (3.3)

By the change of variables -r = at with a > 0, we have

2' {x(at)} = .!.J~ x(-r)e-(sla)r d-r = .!.x(.!_) R'=aR

a "' a a

Note that because of the scaling s/a in the transform, the ROC of X (sla) is aR. With a < 0, we have

2' {x(at)} = .aJ"'

!. r-(X) x(-r)e-(s/a)rd-r
-- - -1
a
J"' x (-re) -(s/a)rd-r-- -
-oo
-1
a
x( -s )
a
R'=aR

Thus, combining the two results for a> 0 and a< 0, we can write these relationships as

1
x(at)++-
lal
x(.!_)
a
R'=aR

3.9. Find the Laplace transform and the associated ROC for each of the following signals:
(a) x(t) = b(t - t0 )
(b) x(t) = u(t - t0 )
(c) x(t) = e- 21 [u(t) - u(t - 5)]
00

(d) x(t) = ~ b(t - kT)

k=O
(e) x(t) = b(at + b), a, b real constants
CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems
••••
(a) Using Eqs. (3.13) and (3.16), we obtain

alls (3.71)

(b) Using Eqs. (3.14) and (3.16), we obtain

e-•to
u(t-t0 )++-- Re(s)> 0 (3.72)
s

(c) Rewriting x(t) as

x(t) = e- 21 [u(t) - u (t - 5)] = e- 21u(t) - e- 21u(t - 5)

= e-21u(t) - e-10e-2<1 - 5lu(t - 5)

Then, from Table 3-1 and using Eq. (3.16), we obtain

1 - e-10 e -5s -1- -

- --
X( s ) - _ -1- (l -e-5(s+2)) Re(s) >-2
s+2 s+2 s+2

(d) Using Eqs. (3.71) and (l.99), we obtain

X(s) =~ e-skT =~ (e-sT)k =1- e1-sT

k=O k=O
Re(s)> 0 (3.73)

(e) Let

f(t) = '5(at)

Then from Eqs. (3.13) and (3.18) we have

1 (3.74)
f(t) = '5(at) ++ F(s) = ~ alls

Now x(t)=i5(at+b)=i5[a(t+: )]=t(t+:)

Using Eqs. (3.16) and (3.74), we obtain

1
X(s) = e•bla F(s) = -e•bla alls (3.75)
lal
3.10. Verify the time differentiation property (3.20); that is,

dx(t) - sX(s) R'~R

dt
From Eq. (3.24) the inverse Laplace transform is given by

1 c+ joo
x(t) = -. r . X(s)e' 1ds
2n1Jc-1 00
(3.76)

Differentiating both sides of the above expression with respect to t, we obtain

dx(t)
- 1 .r.c+ joo sX( s ) e Sids
-_- - (3.77)
dt 2nj c- joo

Comparing Eq. (3.77) with Eq. (3.76), we conclude that dx(t)/dt is the inverse Laplace transform of sX(s). Thus,

dx(t) ++ sX(s) R' :JR

dt

Note that the associated ROC is unchanged unless a pole-zero cancellation exists at s = 0.
•.,,. CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems

3.15 Using the convolution property (3.23), verify Eq. (3.22); that is,
1
J_ t
00
x(r)dr - :;X(s) R'=Rn{Re(s)>O}

We can write [Eq. (2.60), Prob. 2.2]

J_
t
00
x(r) dr = x(t) * u(t) (3.83)

From Eq. (3.14)

1
u(t) ++ - Re(s)> 0
s
and thus, from the convolution property (3.23) we obtain
1
x(t) *u(t) ++ -X(s)
s
with the ROC that includes the intersection of the ROC of X(s) and the ROC of the Laplace transform of u(t). Thus,

{_
00
x(r)dr ++ ~ X(s) R'=Rn{Re(s)>O}

Inverse Laplace Transform

3.16. Find the inverse Laplace transform of the following X(s):

1
(a) X(s)=-,Re(s) > -1
s+l
1
(b) X(s)=-,Re(s) < -1
s+l
s
(c) X(s)=-2--,Re(s)>O
s +4
s+l
(d) X(s)= 2 ,Re(s) > -1
(s + 1) + 4
(a) From Table 3-1 we obtain

(b) From Table 3-1 we obtain

x(t) = -e- 1u( - t)

(c) From Table 3-1 we obtain

x(t) = cos 2tu(t)

(d) From Table 3-1 we obtain

s(t) = e- 1 cos 2tu(t)

3.17. Find the inverse Laplace transform of the following X(s):

2s+4
(a) X(s)= 2 ,Re(s) > -1
s + 4s + 3
2s+4
(b) X(s) = 2 , Re(s) < -3
s + 4s + 3
2s+4
(c) X(s)= 2 ,-3<Re(s) < -1
s +4s+ 3
CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems
••••
Expanding by partial fractions, we have

X(s)= 2s+4 = 2 s+2 =~+~

s 2 + 4s + 3 (s + l)(s + 3) s + 1 s + 3
Using Eq. (3.30), we obtain

c1 =(s+l)X(s)I =2 -- I
s+2 =1
s=-1 s+3
s=-1

c2 =(s+3)X(s)I
s=-3
s+2
=2 --
s+l
I =1
s=-3
Hence,
1 1
X(s)=-+--
s+l s+3
(a) The ROC of X(s) is Re(s) > -1. Thus, x(t) is a right-sided signal and from Table 3-1 we obtain

(b) The ROC of X(s) is Re(s) < -3. Thus, x(t) is a left-sided signal and from Table 3-1 we obtain

(c) The ROC of X(s) is -3 < Re(s) < -1. Thus, x(t) is a double-sided signal and from Table 3-1 we obtain

3.18. Find the inverse Laplace transform of

X(s)= 5s+13 Re(s) > 0

s(s 2 + 4s + 13)
We can write

s2 + 4s + 13 = (s + 2) 2 + 9 = (s + 2 - j3) (s + 2 + f3)

Then

X(s)= 5s+l3 5s +13

s(s 2 + 4s + 13) s(s + 2 - j3)(s + 2 + j3)

=~+ C2 + C3
s s-(-2+ j3) s-(-2- j3)
where

c1 =sX(s)I = 5s + 13 I =1
s=O s2 + 4s + 13 s=O

c2 = (s + 2 - 1"3)X(s) I
s=-2 + j3
=
(
Ss + 13
+ 2 + J"3)
I = - !(1+1")
2
S S s=-2+ j3

c3 =(s+2+ j3)X(s)l __ 2 _ .3 = Ss+l3. I =-!(1-j)

•- J s(s + 2 - 13) s=-2- J3
. 2
Thus,

X(s)=,.!:._!(l+j) 1 _ _!.(1-j) 1
s 2 s-(-2+j3) 2 s-(-2-j3)

The ROC of X(s) is Re(s) > 0. Thus, x(t) is a right-sided signal and from Table 3-1 we obtain

x(t) = u(t)- !(1 + j)e<- 2 + j 3 >1u(t)- !(1- j)e <- 2 - j 3>1u(t)

2 2
•• Inserting the identity
CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems

e<-2 ± j3)t = e-2te±i31 = e- 21(cos 3t ± j sin 3t)

into the above expression, after simple computations we obtain

x(t) = u(t) - e- 21 (cos 3t - sin 3t) u(t)

= [1 - e- 21(cos 3t - sin 3t)] u(t)

Alternate Solution:
We can write X(s) as

X(s)= 5s+l3 =:!.+ c2 s+c 3

s(s 2 + 4s + 13) s s 2 + 4s + 13

As before, by Eq. (3.30) we obtain

c1 =sX(s)I = 5s + 13 I =1
s=O s 2 + 4s + 13
s=O

Then we have

C2S + C3 5s + 13 -s + 1
s 2 + 4s + 13 s(s 2 + 4s + 13) s s 2 + 4s + 13

Thus,

1 s-1 s+2-3
X(s) = -:;- s 2 +4s+13 s (s + 2)2 + 9
1 s +2 3
=-- +--~~
s (s + 2) 2 + 32 (s + 2)2 + 32
Then from Table 3-1 we obtain

x(t) = u(t) - e- 21 cos 3tu(t) + e- 21 sin 3tu(t)

= [1 - e- 21(cos 3t - sin 3t)]u(t)

3.19. Find the inverse Laplace transform of

( )=------
Xs
s2 + 2s + 5 Re(s) >- 3
(s + 3)(s + 5)2

We see that X(s) has one simple pole at s = - 3 and one multiple pole at s = - 5 with multiplicity 2. Then by
Eqs. (3.29) and (3.31) we have

C1 A1 A.2
X(s)=--+--+--- (3.84)
s+3 s+5 (s+5) 2
By Eqs. (3.30) and (3.32) we have

c1 =(s+3)X(s)I _ 3 = s
2
+ 2s+5
2
I =2
s-- (s + 5) s=-3

A. =(s+5)2X(s)I =s2+2s+51 =-10

2 s=-5 S+3
s=-5

A.1 = !!.._ [<s + 5)2 X(s)) I = !!.._ [ s2 + 2s + 5] I

ds s=-5 ds s+3
s=-5

= s 2 + 6s + 11 =_1
(s + 3)2 s=-5
CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems •&•
Hence,

2 1 10
X(s)=-------
s + 3 s + 5 (s + 5)2

The ROC of X(s) is Re(s) > - 3. Thus, x(t) is a right-sided signal and from Table 3-1 we obtain

x(t) = 2e- 31u(t) - e- 51u(t) - 10te- 51u(t)

= [2e- 31 - e- 51 - lOte- 51 ] u(t)

Note that there is a simpler way of finding A.1without resorting to differentiation. This is shown as follows: First
find c 1 and A. 2 according to the regular procedure. Then substituting the values of c 1 and A. 2 into Eq. (3.84), we
obtain

s 2 + 2s + 5 2 A.1 10
-----= --+--- ---
(s + 3)(s + 5) 2 s+ 3 s+ 5 (s + 5)2

Setting s = 0 on both sides of the above expression, we have

5_2
1 A. 10
---+- --
75 3 5 25
from which we obtain A. 1 = - 1.

3.20. Find the inverse Laplace transform of the following X(s):

2s +1
(a) X(s) = - - , Re(s) >-2
s+2
s 2 + 6s + 7
(b) X(s)= 2 , Re(s) > -1
s + 3s +2
s 3 + 2s 2 + 6
(c) X(s) = 2 , Re(s) > 0
s + 3s

(a) X(s)= 2s + 1=2(s+2)- 3 = 2 _ _3_

s+2 s+2 s+2

Since the ROC of X(s) is Re(s) > -2, x(t) is a right-sided signal and from Table 3-1 we obtain

x(t) = 2.:5(t) - 3e- 21u(t)

(b) Performing long division, we have

2
X(s) = s + 6s + 7 = 1 + 3s + 5 = 1 + 3s + 5
s 2 + 3s + 2 s 2 + 3s + 2 (s + l)(s + 2)
Let

( ) -_ 3s + 5 _ c1 c
X IS --- + -2-
(s + l)(s + 2) s + 1 s + 2
where

c1 =(s+l)X1 (s)l __ 1 =3s+

-- 51 =2
•- s+ 2 s=-1

c2 =(s+2)X1 (s)l __ 2 =3s+

--51 =1
s- s+1
s=-2

Hence,
2 1
X(s)=l+--+--
s+l s+2
•• CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems

The ROC of X(s) is Re(s) > -1. Thus, x(t) is a right-sided signal and from Table 3-1 we obtain

x(t) = .:5(t) + (2e- 1 + e- 21 )u(t)

(c) Proceeding similarly, we obtain

X(s) = s 3 + 2s 2 + 6 _ s _ 1 + 3s + 6
s 2 +3s s(s+3)
Let

) _ -3s-+-6- _- -
XI( S Cl C2
+--
s(s + 3) s s+ 3

where

c1 =sX1 (s)I =3s+6

-- I =2
s=O s+ 3
s=O

c2 = (s + 3)X1 (s) ls=- 3

3s+6
=- - I =1
S s=-3

Hence,

2 1
X(s)= s-1 + - + - -
s s+3

The ROC of X(s) is Re(s) > 0. Thus, x(t) is a right-sided signal and from Table 3-1 and Eq. (3.78) we obtain

x(t) = .:5'(t) - .:5(t) + (2 + e- 31 )u(t)

Note that all X(s) in this problem are improper fractions and that x(t) contains .:5(t) or its derivatives.

3.21. Find the inverse Laplace transform of

X(s) = 2 + 2se -2s + 4e -4s Re(s) > -1

s2 + 4s + 3
We see that X(s) is a sum

where
2 2s 4
x, (s) = -s~2 _+_4_s_+_3 X2 (s) = -s2_+_4_s+-3 X3(s) = -s2_+_4_s+-3

If

then by the linearity property (3 .15) and the time-shifting property (3 .16) we obtain

(3.85)

Next, using partial-fraction expansions and from Table 3-1, we obtain

1 1 -t -3t
X1(s)=-----++x 1(t)=(e -e )u(t)
s+l s+3
-1 3 -I -3t
X2(s)=--+--++x2(t)=(-e +3e )u(t)
s+l s+3

X 3 (s) =
2
- - - - - ++
2 x 3(t) = 2(e
-I
- e-3t )u(t)
s+l s+3
CHAPTER 3 Laplace Transform and Continuous-Time LTI Systems

Thus, by Eq. (3.85) we have

••
x(t) = (e-t-e- 31 )u(t) + [- e-<t- 2> + 3e- 3<t- 2>]u(t - 2)
+ 2[e-<t- 4) - e-3(t- 4>]u(t - 4)

3.22. Using the differentiation ins property (3.21), find the inverse Laplace transform of

1
X(s)= 2 Re(s) >-a
(s +a)
We have

and from Eq. (3.9) we have

e-atu(t)++-1- Re(s) >-a

s+a
Thus, using the differentiation ins property (3.21), we obtain

x(t) = te-•tu(t)

System Function

3.23 Find the system function H(s) and the impulse response h(t) of the RC circuit in Fig. 1-32 (Prob. 1.32).

(a) Let

x(t) = v,(t) y(t) = vc<t)

In this case, the RC circuit is described by [Eq. (1.105)]

dy(t) 1 1
- - + -y(t) = -x(t)
dt RC RC
Taking the Laplace transform of the above equation, we obtain

1 1
sY(s)+ RCY(s)= RCX(s)

1 1
or ( s +--)Y(s) = - -X(s)
RC RC
Hence, by Eq. (3.37) the system function H(s) is

H(s)= Y(s) = l/RC

X(s) s+l!RC RC s+l!RC
Since the system is causal, taking the inverse Laplace transform of H(s), the impulse response h(t) is

h(t) = .~r' {H(s)} = - 1-e-tJRcu(t)

RC
(b) Let

x(t) = v,(t) y(t) = i(t)

In this case, the RC circuit is described by [Eq. (1.107)]

dy(t) + _l_y(t) = _!_ dx(t)

dt RC R dt