EE 326 Control Systems

Laplace and Inverse Laplace Transform

ATILIM University
2022-2023 Spring Semester

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LAPLACE TRANSFORM

• The Laplace transform are used to solve Linear Differential Equations easily.
• Initial Conditions at t=0 must be given and term of s must be constant, not variable.

• The formula for Laplace Transform is

ℒ 𝑓(𝑡) = 𝐹 𝑠
∞
ℒ 𝑓(𝑡) = ‫׬‬0 𝑓(𝑡)𝑒 −𝑠𝑡 𝑑𝑡 where s = 𝜎 + 𝑗𝜔, a complex variable,
𝜎 (real part of s)
𝑗𝜔 (imaginery part of s)

EXAMPLE : Let’s find the Laplace Transform of f(t)=1 (Unit Step function).

∞ 1𝑒 −𝑠𝑡 ∞ 1𝑒 −∞ 1𝑒 0 1
Solution : ℒ 2 = ‫׬‬0 1𝑒 −𝑠𝑡 𝑑𝑡 = ቚ0 = − =
𝑠 −𝑠 −𝑠 𝑠

• When Laplace Transforming, integral method of f(t) function is not easy task.

• Instead of directly transforming of a function to Laplace, Laplace Transform tables and Laplace Transform
Theorems are used.

• We have to memorize some important transforms and theorems.

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BASIC LAPLACE TRANSFORMS – I

1. Laplace Transform of Unit Impulse function (𝛿(t) ) at t=0,

ℒ 𝛿(𝑡) = 1

2. Laplace Transform of a Step Function (of a constant value) at t=0, 𝑓 𝑡 = 𝑎. 𝑢(𝑡), (𝑢(t) : unit step function)
𝑎
ℒ 𝑎. 𝑢(𝑡) = 𝑠 , a: a constant value
Examples :
1 5 100 −50 1 1
ℒ 𝑢(𝑡) = ℒ 1 = 𝑈𝑛𝑖𝑡 𝑆𝑡𝑒𝑝 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 , ℒ 5 = 𝑠 , ℒ 100 = , ℒ −50 = ,ℒ = 4𝑠
𝑠 𝑠 𝑠 4

3. Laplace Transform of a Ramp Function, 𝑓 𝑡 = 𝑡

1
ℒ 𝑡 = 𝑠2
Sub-rule-1 : ℒ 𝑎. 𝑓(𝑡) = 𝑎. ℒ 𝑓(𝑡)
Sub-rule-2 : ℒ 𝑎. 𝑓 𝑡 + 𝑏. 𝑔(𝑡) = 𝑎. ℒ 𝑓(𝑡) + b. ℒ 𝑔(𝑡)
Examples :
5 100 −50 1 1
ℒ 5𝑡 = 𝑠2 , ℒ 100 = 𝑠 , ℒ −50. 𝑡 = 𝑠2 , ℒ 4 . 𝑡 = 4𝑠2

1 5
ℒ 𝑡+5 =ℒ 𝑡 + ℒ 5 = +
𝑠2 𝑠
3 4
ℒ 3𝑡 − 4 = ℒ 3. 𝑡 + ℒ −4 = 2 −
𝑠 𝑠
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BASIC LAPLACE TRANSFORMS -II
4. Laplace Transform of 𝑓 𝑡 = 𝑡 𝑛
𝑛!
ℒ 𝑡 𝑛 = (𝑛+1)
𝑠
Examples :
2! 2 3! 6 5.2! 4.1! 3 10 4 3
ℒ 𝑡 2 = 𝑠(2+1) = 𝑠3 , ℒ 𝑡 3 = 𝑠(3+1) = 𝑠4 , ℒ 5𝑡 2 − 4𝑡 + 3 = 𝑠(2+1) - 𝑠(1+1) + 𝑠 = 𝑠3 - 𝑠2 + 𝑠

5. Laplace Transform of 𝑓 𝑡 = 𝑒 𝑎.𝑡 , e= 2.718…. (Euler constant)

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ℒ 𝑒 𝑎.𝑡 = (𝑠−𝑎)
Examples :
1 1 1 3
ℒ 𝑒 3𝑡 = (𝑠−3) , ℒ 𝑒 −𝑡 = (𝑠−(−1)) = (𝑠+1) , ℒ 3. 𝑒 4𝑡 = (𝑠−4)
6. Laplace Transform of 𝑓 𝑡 = 𝑠𝑖𝑛(𝜔𝑡)
𝜔
ℒ 𝑠𝑖𝑛(𝜔𝑡) = (𝑠2+𝜔2)
Examples :
3 1
ℒ 𝑠𝑖𝑛(3𝑡) = , ℒ 𝑠𝑖𝑛(𝑡) =
(𝑠 2 +9) (𝑠 2 +1)
7. Laplace Transform of 𝑓 𝑡 = 𝑐𝑜𝑠(𝜔𝑡)
𝑠
ℒ 𝑐𝑜𝑠(𝜔𝑡) = 2
(𝑠 + 𝜔 2 )
Examples :
𝑠 8𝑠
ℒ 𝑐𝑜𝑠(3𝑡) = (𝑠2 +9) , ℒ 8. 𝑐𝑜𝑠(𝑡) = (𝑠2 +1)
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BASIC LAPLACE TRANSFORMS –III

8. Laplace Transform of 𝑓 𝑡 = 𝑒 𝑎𝑡 𝑔 𝑡 .

If we multiply a g(t) function with 𝑒 𝑎𝑡 , at the Laplace Transform, we have to put (s-a) everywhere in the
equation instead of s.
𝑛!
ℒ 𝑒 𝑎𝑡 𝑡 𝑛 =
(𝑠 − 𝑎)(𝑛+1)
𝜔
ℒ 𝑒 𝑎𝑡 . sin(𝜔𝑡) =
𝑠 − 𝑎 2 + 𝜔2
(𝑠 − 𝑎)
ℒ 𝑒 𝑎𝑡 . cos(𝜔𝑡) =
𝑠 − 𝑎 2 + 𝜔2
Examples :
1 120 3 (𝑠+5)
ℒ 𝑒 2𝑡 . 𝑡 = (𝑠−2)2 , ℒ 𝑒 −3𝑡 . 𝑡 5 = (𝑠+3)6, ℒ 𝑒 4𝑡 . sin(3𝑡) = 𝑠−4 2+9 , ℒ 𝑒 −5𝑡 . cos(7𝑡) = 𝑠+5 2+49

9. Laplace Transform of 𝑓 𝑡 = 𝑡 𝑛 . 𝑠𝑖𝑛 𝜔𝑡 𝑜𝑟 𝑓 𝑡 = 𝑡 𝑛 . 𝑐𝑜𝑠(𝜔𝑡)

𝑑𝑛 𝜔
ℒ 𝑡 𝑛 . sin(𝜔𝑡) = 𝑛
(−1) . 𝑑𝑠𝑛(𝑠2+𝜔2)

𝑑𝑛 𝑠
ℒ 𝑡 𝑛 . cos(𝜔𝑡) = 𝑛
(−1) . 𝑛( 2 2)
𝑑𝑠 𝑠 +𝜔

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BASIC LAPLACE TRANSFORMS –IV

Examples :
1 2
𝑑 5 0. 𝑠 + 25 − 2. 𝑠. 5 10𝑠
ℒ 𝑡. sin(5𝑡) = (−1)1 . 1 ( 2 ) = −1 . =
𝑑𝑠 𝑠 + 25 𝑠 2 + 25 𝑠 2 + 25

𝑑 1 𝑠 1. 𝑠 2 + 9 − 2. 𝑠. 𝑠 𝑠 2−9
ℒ 𝑡. cos(3𝑡) = −1 1 . 1 2 = −1 . = 2
𝑑𝑠 𝑠 + 9 𝑠2 + 9 𝑠 +9

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LAPLACE TRANSFORM TABLE

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LAPLACE TRANSFORM PROPERTIES

• ℒ 𝐴. 𝑓 𝑡 = 𝐴. 𝐹 𝑠

1 𝑠
• ℒ 𝑓 𝑎𝑡 = 𝑎𝐹 𝑎
, 𝑤ℎ𝑒𝑟𝑒 𝑎 > 0

• ℒ 𝑓1 𝑡 ± 𝑓2 𝑡 = 𝐹1 𝑠 + 𝐹2 𝑠

𝑑
• ℒ± 𝑑𝑡
𝑓 𝑡 = 𝑠. 𝐹 𝑠 − 𝑓 0±

𝑑2
• ℒ ± 𝑑𝑡 2 𝑓 𝑡 = 𝑠 2 . 𝐹 𝑠 − 𝑠. 𝑓 0± − 𝑓ሶ 0±

𝑑𝑛 𝑑𝑘−1
• ℒ± 𝑓 𝑡 =𝑠 𝑛 . 𝐹 𝑠 − σ𝑛𝑘=1 𝑠 𝑛−𝑘 𝑓 𝑡
𝑑𝑡 𝑛 𝑑𝑡 𝑘−1

𝑡 1
• ℒ[‫׬‬0 𝑓 𝜏 𝑑𝜏] = 𝑠 𝐹(𝑠)

• ℒ[𝑒 −𝑎𝑡 . 𝑓(𝑡)] = 𝐹(𝑠 + 𝑎)

𝑑𝑛
• ℒ[𝑡 𝑛 . 𝑓(𝑡)] = 𝑛
(−1) . 𝑑𝑡 𝑛 𝐹 𝑠 (𝑛 = 1,2,3 … )
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INVERSE LAPLACE TRANSFORM with PARTIAL-FRACTION EXPANSION

• Inverse Laplace Transform allows us to find f(t) given F(s).

1 𝜎+𝑗∞
• ℒ −1 𝐹(𝑠) = 2𝜋𝑗 ‫𝜎׬‬−𝑗∞ 𝐹 𝑠 𝑒 𝑠𝑡 𝑑𝑠 = 𝑓 𝑡 . 𝑢(𝑡) 𝑢 𝑡 =1 𝑡>0
𝑢 𝑡 =0 𝑡<0

• To find the Inverse Laplace Transform of a complicated function, we can convert the function to a sum of
simpler terms for which we know the Laplace transform of each term.

• The result is called as Partial-Fraction Expansion.

𝑠 3 +2𝑠 2 +6𝑠+7
Example : Find the f(t) function from below Laplace equation 𝐹 𝑠 = 𝑠 2 +𝑠+5
.

𝑠 3 + 2𝑠 2 + 6𝑠 + 7 𝑠 2 + 𝑠 + 5 𝑠. (𝑠 2 + 𝑠 + 5) 2 2
𝐹 𝑠 = = + + = 𝑠 + 1 +
𝑠2 + 𝑠 + 5 𝑠2 + 𝑠 + 5 𝑠2 + 𝑠 + 5 𝑠2 + 𝑠 + 5 𝑠2 + 𝑠 + 5
2 ⅆ𝛿 t 2
𝐹 𝑠 =𝑠+1+ 𝑠 2 +𝑠+5
⇒𝑓 𝑡 = ⅆ𝑡
+ 𝛿 t + ℒ −1 𝑠 2 +𝑠+5

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INVERSE LAPLACE TRANSFORM with PARTIAL-FRACTION EXPANSION-II

Example : Find the f(t) function from below Laplace equation.

2
𝐹 𝑠 =
(𝑠 + 1)(𝑠 + 2)

Solution :

𝐾1 𝐾2 𝐾1 𝑠 + 2 + 𝐾2 (𝑠 + 1)
𝐹 𝑠 = + =
(𝑠 + 1) (𝑠 + 2) (𝑠 + 1)(𝑠 + 2)

𝐾1 𝑠 + 2 + 𝐾2 𝑠 + 1 = 2 → 𝐾1 + 𝐾2 = 0 → 2𝐾1 + 𝐾2 = 2 → 𝐾1 = 2 𝑎𝑛𝑑 𝐾2 = −2

2 2
𝐹 𝑠 = −
(𝑠 + 1) (𝑠 + 2)

𝑓 𝑡 = 2𝑒 −𝑡 − 2𝑒 −2𝑡 𝑢(𝑡)

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Laplace Transform Solution of a Differantial Equation

Example : Given the following differential equation, solve for y(t) if all initial conditions are zero. Use Laplace
Transform.

𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
+ 12 + 32𝑦 𝑡 = 32𝑢 𝑡
𝑑𝑡 2 𝑑𝑡
Solution:
Take the Laplace Transform of terms of differential equation separately.
2
32 32 32
𝑠 𝑌 𝑠 + 12𝑠𝑌 𝑠 + 32𝑌 𝑠 = ⇒𝑌 𝑠 = =
𝑠 𝑠(𝑠 2 + 12𝑠 + 32) 𝑠(𝑠 + 4)(𝑠 + 8)

32 𝐾1 𝐾2 𝐾3
𝑌 𝑠 = = + +
𝑠(𝑠 + 4)(𝑠 + 8) 𝑠 (𝑠 + 4) (𝑠 + 8)

32 32 32
𝐾1 = (𝑠+4)(𝑠+8)ቚ 𝑠→0 = 1 𝐾2 = 𝑠(𝑠+8)ቚ 𝑠→−4 = −2 𝐾3 = ቚ =1
𝑠(𝑠+4) 𝑠→−8

1 2 1
𝑌 𝑠 = − + ⇒ 𝑦 𝑡 = 1 − 2𝑒 −4𝑡 + 𝑒 −8𝑡 𝑢(𝑡)
𝑠 𝑠+4 𝑠+8

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