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Chapter Four
Laplace Transform and Its Inverse
Laplace Transform and Its Inverse
Outline
Introduction
The Laplace Transform
Properties of the ROC
Properties of the Laplace Transform
Inverse Laplace Transform
Transfer Function
Analysis using the Laplace Transform
Solving Differential Equations
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Introduction
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The Laplace Transform
X ( s) x(t )e st dt
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The Laplace Transform……
We say that x(t) and X(s) are Laplace transform pairs and denote
this relationship as:
x(t )
X (s) (with certain ROC)
The unilateral Laplace transform plays an important role in
the analysis of causal systems described by constant coefficient
linear differential equations with initial conditions.
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The Laplace Transform……
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The Laplace Transform……
Exercise:
at at
b. x(t ) e u (t ) e. x(t ) e u (t )
c. x(t ) e atu (t )
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The Laplace Transform……
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Properties of the ROC
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Properties of the ROC……
ROC : 2 Re( s) 1
except possibly at s 0 or s .
vi. The CTFT of x(t) exists if and only if the ROC of x(t)
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Properties of the ROC……
Exercise-1:
s 1
X ( s) 2
s 5s 6
Determine:
s 1
X ( s) 2
s 5s 6
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Some Common Laplace Transform Pairs
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Rational Laplace Transforms
N ( s) a0 s M a1s M 1 ..... aM
X ( s)
D( s) b0 s N b1s N 1 ..... bN
The above rational Laplace transform can be written as:
( s z1 )(s z2 )....(s z M )
X ( s) k
( s p1 )(s p2 )....(s pN )
The roots of the numerator N(s) are known as the zeros of X(s).
The roots of the denominator D(s) are known as the poles of X(s).
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Rational Laplace Transforms……
If M=N, then X(s) has exactly the same number of poles and
zeros.
2s 4
a. X ( s ) 2
s 4s 3
s2 s 2
b. X ( s ) 2
s 6s 5
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Properties of the Laplace Transform
1. Linearity
x1 (t )
X 1 ( s) and x 2 (t )
X 2 ( s)
a1 x1 (t ) a 2 x 2 (t )
a1 X 1 ( s) a 2 X 2 ( s)
2. Time scaling
1 s
x(t )
X(s) x(at )
X
a a
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Properties of the Laplace Transform……
3. Time shifting
x(t )
X (s) x(t t 0 )
e st0 X (s)
x(t )
X (s) e s0t xt
X s s0
5. Time reversal
x(t )
X (s) x(t )
X ( s )
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Properties of the Laplace Transform……
dx(t )
x(t )
X ( s)
sX ( s)
dt
dX ( s) 1
x(t )
X ( s)
tx (t )
ds
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Properties of the Laplace Transform……
x1 (t )
X 1 ( s) and x 2 (t )
X 2 (s)
x1 (t ) * x 2 (t )
X 1 ( s). X 2 ( s)
9. Integration
t
x(t )
X ( s) x(t )dt
tx (t )
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Properties of the Laplace Transform……
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Properties of the Laplace Transform……
Exercise:
Find the Laplace transform and state the ROC of the following
continuous-time signals using properties of the Laplace
transform.
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Properties of the Laplace Transform……
Exercise:
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Laplace Transform of Periodic Signals
Consider the continuous-time periodic signal x(t) shown in the
figure given below.
x1 (t ) x1 (t T ) x1 (t 2T ) ......... (i)
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Laplace Transform of Periodic Signals……
x(t ) , 0t T
x1 (t ) x(t )[u (t ) u (t T )]
0 , otherwise
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Laplace Transform of Periodic Signals……
Taking the Laplace transform of both sides of equation (i) by
applying time-shifting property, we get:
1 r
, r 1
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Laplace Transform of Periodic Signals……
Applying the above geometric series formula to equation (ii), we
obtain: X 1 ( s)
X ( s)
1 e Ts
Exercise:
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Laplace Transform of Periodic Signals……
Exercise:
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Inverse Laplace Transform
Inverting by Inspection:
Exercise:
1
b. X ( s ) , ROC : Re( s ) 2
s2
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Inverse Laplace Transform……
Inverting by Partial Fractional Expansion:
k1 k2 kn
X ( s) .......
s p1 s p2 s pn
The coefficients k1 , k 2 , ........, k n are called the residues of the
partial fraction expansion. The residues are computed as:
k i s pi X (s) s pi
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Inverse Laplace Transform……
With the known values of the coefficients k1 , k 2 , ........, k n
inverse transform of each term can be determined depending on
the location of each pole relative to the ROC.
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Inverse Laplace Transform……
The Laplace X(s) with multiple poles can be expanded as:
k1r s p1 X ( s)
r
s p1 k1( r 2)
1 d2
2 ! ds 2
s p1 r
X ( s) s p1
k1( r 1)
1 d
1! ds
s p1 r X (s) s p1 and so on.....
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Inverse Laplace Transform……
Once we obtain the values of k11 , k12 ........, k1r by partial
fraction expansion, we apply the inverse transform given by:
n 1 at
1 t
1 e
s a n (n 1)!
k 2 e p2t .....
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Inverse Laplace Transform……
Exercise-1:
s2 s 1
c. X ( s ) , ROC : Re(s) 1
( s 1) 2
s 1
d . X (s) 2 , ROC : Re(s) 3
s 5s 6
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Transfer Function
The Laplace transform of the impulse response h(t) is known as
the transfer function of the system.
Mathematically:
H ( s) h(t )e st dt
We say that h(t) and H(s) are Laplace transform pairs and denote
this relationship as:
h(t )
H ( s)
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Transfer Function…..
Y ( s)
Y ( s) X ( s) H ( s) H ( s)
X ( s)
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Transfer Function…..
i. Causal LTI Systems
A discrete-time LTI system is causal if h(t)=0, t<0. In other
words, h(t) is right-sided signal.
Therefore, ROC of H(s) is the region to the right of the
rightmost pole.
ii. Anti-causal LTI Systems
A discrete-time LTI system is anti-causal if h(t)=0, t>0. In other
words, h(t) is left-sided signal.
Therefore, ROC of H(s) is the region to the left of the leftmost
pole.
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Transfer Function……
iii. BIBO Stable LTI Systems
h(t ) dt
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Transfer Function……
iv. Causal & BIBO stable LTI Systems
In other words, all poles must be to the left of the imaginary axis.
s 1
H ( s) 2
s s6
a. Find the poles and zeros of H(s).
b. Sketch the pole-zero plot.
c. Find the impulse response h(t) if the system is known to be:
i. causal iii. BIBO stable
ii. anti-causal
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Transfer Function……
2. Plot the ROC of H(s) for continuous-time LTI systems that are:
a. causal & BIBO stable
b. causal & unstable
c. anti-causal & BIBO stable
d. anti-causal & unstable
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Analysis using the Laplace Transform
four steps.
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Analysis using the Laplace Transform….
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Analysis using the Laplace Transform…..
Exercise:
Consider a continuous-time LTI system with impulse
response h(t) given by:
h(t ) e t u(t )
The input to the system x(t) is:
x(t ) u(t )
Determine the output y(t) of the system using:
a. the convolution integral
b. the Laplace transform
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Solving Differential Equations
Differential equations can be solved using the Laplace transform
by applying the following derivative properties.
d
x(t )
X ( s ) x(t )
sX ( s ) x(0)
dt
d2
2 x(t )
s 2 X ( s ) sx(0) x' (0)
dt
d3
3 x(t )
s 3 X ( s ) s 2 x(0) sx' (0) x' ' (0)
dt
dn
n x(t )
s n X ( s ) s n 1 x(0) s n 2 x' (0) ..... x ( n 1) (0)
dt
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Solving Differential Equations…..
Exercise:
d2 d
2
y (t ) 6 y (t ) 8 y (t ) 2 x(t )
dt dt
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Solving Differential Equations…..
Exercise:
dy(t ) t
5 y(t ) 6 y( )d u (t ) and y(0) 2
dt 0
d 2 y(t ) dy(t ) t
2
4 4 y (t ) 7 e u (t ) and y(0) y ' (0) 2
dt dt
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Exercise
1. Calculate the Laplace transform and state the ROC for the
following continuous-time signals.
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Exercise……
4s 2 15s 8
X ( s)
( s 2) 2 ( s 1)
Determine the inverse Laplace transform assuming that:
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Exercise……
3. Consider the Laplace transform given by.
2s 7
X ( s) 2
s 7 s 12
a. Re( s) 4
b. 4 Re( s ) 3
c. Re( s ) 3
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Exercise……
3s 1
H ( s) 2
s s6
Find the impulse response h(t) assuming that:
a. the system is causal.
b. the system is BIBO stable.
c. the system is anti-causal.
d. can this system be both causal and BIBO stable?
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Exercise……
b. x(t ) e 3t u (t )
c. x(t ) te t u (t )
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Exercise……
d2 d d
2
y(t ) 5 y(t ) 4 y(t ) x(t )
dt dt dt
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