Laplace Transform

Introduction
Laplace transformation is a technique for solving differential equations.
Here differential equation of time domain form is first transformed to
algebraic equation of frequency domain form. After solving the algebraic
equation in frequency domain, the result then is finally transformed to time
domain form to achieve the ultimate solution of the differential equation.

Laplace transformation is nothing but a shortcut method of solving

differential equation.
Laplace transforms and how they are used to solve differential equations.
They also provide a method to form a transfer function for an input-output
system, but this shall not be discussed here. They provide the basic
building blocks for control engineering, using block diagrams, etc.

Many kinds of transformations already exist but Laplace transforms and

Fourier transforms are the most well-known. The Laplace transforms is
usually used to simplify a differential equation into a simple and solvable
algebra problem. Even when the algebra becomes a little complex, it is still
easier to solve than solving a differential equation.

Laplace Transform Table

Laplace transform table is given below. We will come to know about the
Laplace transform of various common functions from the following table.
Laplace Transform Definition
When learning the Laplace transform, it’s important to understand not just
the tables – but the formula too.

Laplace transform definition:

First Let f(t) be the function of t, time for all t ≥ 0

Then the Laplace transform of f(t), F(s) can be defined as

Provided that the integral exists. Where the Laplace Operator, s = σ + jω;
will be real or complex j = √(-1)

It is defined from t real domain to s complex domain.

Disadvantages of the Laplace Transformation Method

Laplace transforms can only be used to solve complex differential
equations and like all great methods, it does have a disadvantage, which
may not seem so big. That is, you can only use this method to solve
differential equations WITH known constants. If you do have an equation
without the known constants, then this method is useless and you will
have to find another method.

History of Laplace Transforms

Transformation in mathematics deals with the conversion of one function
to another function that may not be in the same domain. The transform
method finds its application in those problems which can’t be solved
directly. This transform is named after the mathematician and renowned
astronomer Pierre Simon Laplace who lived in France.

He used a similar transform on his additions to the probability theory. It

became popular after World War Two. This transform was made popular
by Oliver Heaviside, an English Electrical Engineer. Other famous
scientists such as Niels Abel, Mathias Lerch, and Thomas Bromwich used it
in the 19th century.

The complete history of the Laplace Transforms can be tracked a little more
to the past, more specifically 1744. This is when another great
mathematician called Leonhard Euler was researching on other types of
integrals. Euler however did not pursue it very far and left it. An admirer
of Euler called Joseph Lagrange; made some modifications to Euler’s work
and did further work. LaGrange’s work got Laplace’s attention 38 years
later, in 1782 where he continued to pick up where Euler left off. But it was
not 3 years later; in 1785 where Laplace had a stroke of genius and changed
the way we solve differential equations forever. He continued to work on it
and continued to unlock the true power of the Laplace transform until
1809, where he started to use infinity as a integral condition.
 f (t )   (t t 0 )

Impulse function F ( s )   f (t )e  st dt
0
δ (t−a )=1 when t=a∧¿ 
  e  st (t t 0 )dt  e
Else where δ (t−a )=0 0

 f (t )   (t )
F ( s )  1; s
Method of Laplace Transform
The Laplace transformation is an important part of control system
engineering. To study or analyze a control system, we have to carry out the
Laplace transform of the different functions (function of time). Inverse
Laplace is also an essential tool in finding out the function f(t) from its
Laplace form. Both inverse Laplace and Laplace transforms have certain
properties in analyzing dynamic control systems. Laplace transforms have
several properties for linear systems. The different properties are:

Linearity, Differentiation, integration, multiplication, frequency shifting,

time scaling, time shifting, convolution, conjugation, periodic function.

Laplace Transform Properties

The main properties of Laplace Transform can be summarized as follows:
1. Linearity:
Let C1, C2 be constants. f(t), g(t) be the functions of time, t, then

2. First shifting Theorem:

 3. Change of scale property:

4. Differentiation:

5. Integration:
6. Time Shifting:
If L{f(t) } = F(s), then the Laplace Transform of f(t) after the delay of time, T
is equal to the product of Laplace Transform of f(t) and e -st that is

Where, u(t-T) denotes unit step function.

Product:
If L{f(t) }=F(s), then the product of two functions, f1 (t) and f2 (t) is

Laplace Transform of standard functions

Let us examine the Laplace transformation methods of a simple function
f(t) = eαt for better understanding the matter.

Comparing the above solution, we can write,

Similarly, by putting α = 0, we get,

Similarly, by putting α = jω, we get,

And thus,

Let us examine another example of Laplace transformation methods for

the function
Easy method to find Laplace Transform of powers t
The Laplace transformation form of et is,

This Laplace form can be rewritten as

Now from the definition of power series we get,

Laplace Transform Examples

Examples to try yourself
Calculate and write out the inverse Laplace transformation of the
following, it is recommended to find a table with the Laplace conversions
online:
Solutions:

Laplace transform examples:

1) Where, F(s) is the Laplace form of a time domain function f(t). Find the
expiration of f(t).

Solution

Now, Inverse Laplace Transformation of F(s), is

2) Find Inverse Laplace Transformation function of

Solution

Now,
Hence,

3) Solve the differential equation

Solution:
As we know that, Laplace transformation of
4) Solve the equation using Laplace Transforms,

Using the table above, the equation can be converted into Laplace form:

Using the data that has been given in the question the Laplace form can be
simplified.

Dividing by (s2 + 3s + 2) gives

This can be solved using partial fractions, which is easier than solving it in
its previous form. Firstly, the denominator needs to be factorized.

Cross-multiplying gives:
Next the coefficients A and B need to be found

Substituting in the equation:

Then using the table that was provided above, that equation can be
converted back into normal form.

5) Solve the differential equation,

Solution
As we know that,

More Examples
6) Solve the initial value problem: y’’-10y’+9y=5t, y(0)=-1 and y’(0)=2
Solution: Taking Laplace transform on both sides

Using the formulas for derivatives of y(t) and substituting the initial values
we get,

Setting up the partial fraction we get,

7) Solve the following IVP: 2y’’+3y’-2y=te-2t, y(0)=0 y

′(0)=−2
As with the first example, let’s first take the Laplace transform of all the
terms in the differential equation. We’ll the plug in the initial conditions to
get,

Comparing the coefficient of powers of s we get,

And taking inverse, we have

8) Solve:

Taking Laplace Transform

9) The Laplace Transform of f(t) is given by,

Find the final value of the equation using final value theorem as well as the
conventional method of finding the final value.
Solution

Hence it is proved that from both of the methods the final value of the
function becomes same.

10) Find the Inverse Laplace Transformation of function,

Solution
F(s) can be rewritten as,
11) Find the Inverse Laplace transformation of

Solution
F(s) can be rewritten as,

12) Find the Inverse Laplace transformation of

Solution
F(s) can be rewritten as,

13) Express the differential equation in Laplace transformation form

Solution

14) Express the differential equation in Laplace transformation form

Solution
Applications not needed but go through

There are two very important theorems associated with control systems.
These are :

1. Initial value theorem (IVT)

2. Final value theorem (FVT)
Initial Value Theorem is one of the basic properties of Laplace transform. It
was given by prominent French Mathematical Physicist Pierre Simon
Marquis De Laplace. He made crucial contributions in the area of planetary
motion by applying Newton’s theory of Gravitation. His work regarding
the theory of probability and statistics is considered pioneering and this
influenced a whole new generation of Mathematician. Laplace is one
among the 72 people to have their name engraved on the Eiffel Tower.
Initial value theorem and Final value theorem are together called as
Limiting Theorems. Initial value theorem is often referred as IVT. It will
enable us to find the initial value at time t = (0 +) for a given transformed
function (laplace) without enabling us work harder to find f(t) which is a
tedious process in such case.
Conditions for the existence of Initial value theorem

1. The function f(t) and its derivative f(t) should be

Laplace transformable.
 2. If time t approaches to (0+) then the function f(t)
should exists.

The Laplace transform is performed on a number of functions, which are –

impulse, unit impulse, step, unit step, shifted unit step, ramp, exponential
decay, sine, cosine, hyperbolic sine, hyperbolic cosine, natural logarithm,
Bessel function. But the greatest advantage of applying the Laplace
transform is solving higher order differential equations easily by
converting into algebraic equations.

There are certain steps which need to be followed in order to do a Laplace

transform of a time function. In order to transform a given function of time
f(t) into its corresponding Laplace transform, we have to follow the
following steps:

 First multiply f(t) by e-st, s being a complex number (s = σ + j

ω).
 Integrate this product w.r.t time with limits as zero and
infinity. This integration results in Laplace transformation of
f(t), which is denoted by F(s).

The time function f(t) is obtained back from the Laplace transform by a
process called inverse Laplace transformation and denoted by £ -1

7. Final Value Theorem:

This theorem is applicable in the analysis and design of feedback control

system, as Laplace Transform gives solution at initial conditions
8. Initial Value Theorem:
Statement of Laplace Initial Value Theorem
If f(t) and F(s) is Laplace transform pairs. i.e

then Initial value theorem is given by

Example 1 :
Find the initial value for the function f (t) = 2 u (t) + 3 cost u (t)
Sol:

By initial value theorem

The initial value is given by 5.

Example 2:
Find initial value of the transformed function

Sol:

By initial value theorem

[as s → ∞ the values of s become more and more insignificant hence the
result is obtained by simply taking the ratio of leading co-efficient]

1) For circuit below, calculate the initial charging current of capacitor using
Laplace Transform technique.

Solution
The above figure can be redrawn in Laplace form,

Now, initial charging current,

2) Solve the electric circuit by using Laplace transformation for final steady-
state current

Solution
The above circuit can be analyzed by using Kirchhoff Voltage Law and
then we get

Final value of steady-state current is

3) A system is represented by the relation

Where, R(s) is the Laplace form of unit step function. Find the value of x(t)
at t → ∞.
As R(s) is the Laplace form of unit step function, it can be written as
Solution

8) Find f(t), f‘(t) and f“(t) for a time domain function f(t). The Laplace
Transformation form of the function is given as

By applying initial value theorem, we get,

Applying Initial Value Theorem, we get,

Where are Laplace Transforms used in Real Life?

The Laplace Transform is derived from Lerch’s Cancellation Law. In the
Laplace Transform method, the function in the time domain is transformed
to a Laplace function in the frequency domain. This Laplace function will
be in the form of an algebraic equation and it can be solved easily. The
solution can be again transformed back to the time domain by using an
Inverse Laplace Transform.
This transform is most commonly used for control systems, as briefly
mentioned above. The transforms are used to study and analyze systems
such as ventilation, heating and air conditions, etc. These systems are used
in every single modern day construction and building.

Laplace transforms are also important for process controls. It aids in

variable analysis which when altered produce the required results. An
example of this can be found in experiments to do with heat.

Apart from these two examples, Laplace transforms are used in a lot of
engineering applications and is a very useful method. It is useful in both
electronic and mechanical engineering.

The control action for a dynamic control system whether electrical,

mechanical, thermal, hydraulic, etc. can be represented by a differential
equation. The system differential equation is derived according to physical
laws governing is a system. In order to facilitate the solution of a
differential equation describing a control system, the equation is
transformed into an algebraic form. This transformation is done with the
help of the Laplace transformation technique, that is the time domain
differential equation is converted into a frequency domain algebraic
equation.
An interesting analogy that may help in understanding Laplace is this.
Imagine you come across an English poem which you do not understand.
However, you have a Spanish friend who is excellent at making sense of
these poems. So you translate this poem to Spanish and send it to him, he
then in turn explains this poem in Spanish and sends it back to you. You
understand the Spanish explanation and are then able to transfer the
meaning of the poem back to English and thus understand the English
poem.