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Lecture V
1. Inverse Laplace Transforms: Definition
2. Inverse Laplace Transforms Formulas
3. Worked Examples
as L
−1
f (s) = F(t ) . A reversed process of Laplace transformation known as the Inverse Laplace transform where
L−1 is the inverse Laplace transform operator. This procedure transforms the function f(s) into a function F(t ) . That
is L−1 f (s) = F(t ) .
−11 t n −1 kt
(3) L n= (17) L−1
a
= e sinh at
s (n − 1)! 2
(s − k) − a
2
1 at
(4) L−1 =e a − kt
s − a (18) L−1 2
= e sinh at
(s + k) − a
2
1 − at
(5) L−1 =e
s + a Note: Most inverse Laplace transformations
1 at can be done by decomposing f(s) into
(6) L−1 =e
s − a its equivalent partial fractions.
a
(7) L−1 2 2 = sin at
s + a
s
(8) L−1 2 2 = cos at
s + a
s−k kt
(9) L−1 2
= e cos at
(s − k) − a
2
s+k − kt
(10) L−1 2
= e cos at
(s + k) + a
2
a kt
(11) L−1 2
= e sin at
(s − k) + a
2
a − kt
(12) L−1 2
= e sin at
(s + k) + a
2
a
(13) L−1 2 2 = sinh at
s − a
s
(14) L−1 2 2 = cosh at
s − a
3. Worked Exercises
6 − 6s + 5s 2 − 8s3 −1 6 6 5 8
−1
1. L =L 4 − 3 + 2 −
s4 s s s s
6 6 5 8
= L−1 4 − L−1 3 + L−1 2 − L−1
s s s s
6 6 5 8
= L−1 3+1 − L−1 2+1 + L−1 1+1 − L−1
s s s s
6t 3 6t 2 5t
= − + −8
3! 2! 1!
6 − 6s + 5s 2 − 8s3 3
L−1 4 = t − 3t + 5t − 8
2
s
3 2s 3 2s
2. L−1 2 − 2 = L−1 2 − L−1 2
s + 4 s + 9 s + 4 s + 9
2 1 s
= 3L−1 2 2 − 2 L−1 2
2 s + 2 s + 9
3 −1 2 s
= L 2 2 − 2 L−1 2
2 s + 2 s + 9
3 2s 1
L−1 2 − 2 = sin 2t − 2 cos 3t
s + 4 s + 9 2
4s + 15 −1 4s 15
3. L−1 2 =L 2 + 2 ; expressed as a sum of two similar fractions
s −9 s − 9 s − 9
s 3
= L−1 4 2 2 + 5 2 2
s −3 s −3
4s + 15
L−1 2 = 5sinh 3t + 4 cosh 3t
s −9
2s + 3
4. f (s) = find F(t ).
s + 4s + 13
2
2s + 3
F(t ) = L−1 f (s) = L−1 2 ;simplify the f(s) before taking L f (s)
−1
s + 4s + 13
2s + 3 2s + 3 (2s + 3 + 1) − 1 2(s + 2) 1
→ 2 = = = −
(s + 4s + 4) + 9 (s + 2) + 32 2
(s + 2) + 3
2 2
(s + 2) + 3 (s + 2) 2 + 32
2 2
2(s + 2) 1
F(t ) = L−1 − 2
(s + 2) + 3 (s + 2) + 3
2 2 2
(s + 2) 1 −1 3
= 2 L−1 2
− L 2
(s + 2) + 3 3 (s + 2) + 3
2 2
1
F(t ) = 2e −2t cos 3t − e −2t sin 3t
3
3s − 5
5. f(s) = Find F(t ).
s − 6s + 13
2
3s − 5
F(t ) = L−1 f(s) = L−1 2
s − 6s + 13
3s − 5 −1 3s − 5
= L−1 2 =L 2
(s − 6s + 9) + 4 (s− 3) + 2
2
3s − 5 − 4 + 4 −1 (3s − 9) + 4
= L−1 2
=L 2
(s − 3) + 2 (s − 3) + 2
2 2
3(s − 3) −1 4
= L−1 2
+L 2
(s − 3) + 2 (s − 3) + 2
2 2
s−3 2
= 3L−1 2
+ 2 L−1 2
(s − 3) + 2 (s − 3) + 2
2 2
1
6. f(s) = 2 Find F(t ).
(s − 1)(s + 1)
1
F(t ) = L−1 f(s) = L−1 2
(s − 1)(s + 1)
Simplify f(s);
1 1 1
→ f(s) = 2 = =
(s − 1)(s + 1) (s− 1)(s + 1)(s + 1) (s− 1)(s + 1)2
1
F(t ) = L−1 f(s) = L−1 2
(s − 1)(s + 1)
Decompose f(s) into its equivalent partial fractions;
1 A B C
→ = + +
(s − 1)(s + 1) 2
(s− 1) (s + 1) (s + 1)2
→ 1 = A(s + 1) 2 + B(s − 1)(s + 1) + C(s− 1)
→ 1 = A( s 2 + 2s + 1) + B(s 2 − 1) + Cs − C
→ 1 = A s 2 + 2As + A + Bs 2 − B + Cs − C
Equate the coefficients of s 2 ,s, and contstants from both sides of the equation;
→ 1 = A s 2 + 2As + A + Bs 2 − B + Cs − C
s 2 : 0 = A + B; B = −A
s : 0 = 2A + C; C = −2A
:1 = A − B − C; 1 = A − ( − A) − ( − 2A); 1 = A + A + 2A; 1 = 4A;
1 1 1 1
:A = , B = − , C = −2 = −
4 4 4 2
1 1 1 1 1 1 1
→ = − −
(s− 1)(s + 1) 2
4 (s− 1) 4 (s + 1) 2 (s + 1)2
1 1 1 1 1 1 1
f(s) = = − −
(s − 1)(s + 1) 4 (s − 1) 4 (s + 1) 2 (s + 1) 2
2
1 1 1 1 1 1
F(t ) = L−1 f(s) = L−1 − − 2
4 (s − 1) 4 (s + 1) 2 (s + 1)
1 −1 1 1 −1 1 1 −1 1
= L − L − L
4 s − 1 4 s + 1 2 (s + 1)1+1
1 1 1 t −t
= et − e − t − e
4 4 2 1!
1 1 1
F(t ) = et − e −t − te −t
4 4 2
2s + 3
7. f(s) = , Find F(t ).
(s + 4)3
2s + 3
F(t ) = L−1 f(s) = L−1 3
(s + 4)
2s 3 −1 2s + 8 − 8 3
= L−1 + 3
=L +
(s + 4) (s+ 4) (s+ 4) (s+ 4)3
3 3
(2s + 8) 8 3 −1 2(s + 4) 5
= L−1 − + 3
=L −
(s + 4) (s + 4) (s + 4) (s + 4) (s + 4)3
3 3 3
2 5 −1 2 5
= L−1 − 3
=L 1+1
− 2 +1
(s + 4) (s + 4) (s + 4) (s + 4)
2
2 −4t 5 2 −4t 5
= te − t e = 2te −4t − t 2 e −4t
1! 2! 2
4 − 5t
F(t ) = te −4t
2
s +1
8. f(s) = 2 Find F(t ).
s + 6s + 25
s +1
F(t ) = L−1 f(s) = L−1 2
s + 6s + 25
s +1
= L−1 2
(s + 6s + 9) + 16
s +1
= L−1 2
(s + 3) + 4
2
(s + 1 + 2) − 2
= L−1 2
(s + 3) + 4
2
(s + 3) 2
= L−1 − 2
(s + 3) + 4 (s + 3) + 4
2 2 2
(s + 3) −1 1 4
= L−1 2
−L 2
(s + 3) + 4 2 (s + 3) + 4
2 2
1
F(t ) = e −3t cos 4t − e −3t sin 4t
2
1
F(t ) = e −3t cos 4t − sin 4t
2
4s + 10 3
9. Y(s) = + Find y (t ).
(s + 1) (s + 1) 4
2
4s + 10 3
y (t ) = L−1 Y(s) = L−1 + 4
(s + 1) (s + 1)
2
4s + 4 + 6 3 −1 4(s + 1) 6 3
= L−1 + 4
=L + + 4
(s + 1) (s + 1) (s + 1) (s + 1) (s + 1)
2 2 2
4 6 3
= L−1 + 1+1
+
s + 1 (s + 1) (s + 1)3+1
6 3
y (t ) = 4e −t + te −t + t 3e −t
1! 3!
1
y (t ) = 4 + 6t + t 3 e −t
2
s −6
2
10. H(s) = 3 Find h(t ).
s + 4s 2 + 3s
s2 − 6
h(t ) = L−1 Y(s) = L−1 3
s + 4s + 3s
2
s 2 − 6 −1 s 2 − 6
= L−1 2 =L
s(s + 4s + 3) s(s + 1)(s + 3)
s2 − 6 A B C
→ = + +
s(s + 1)(s + 3) s s + 1 s + 3
s2 − 6 (0) 2 − 6 −6
→A= = = = −2
(s + 1)(s + 3) s =0 (0 + 1)(0 + 3) 3
s2 − 6 (−1) 2 − 6 −5 5
→B= = = =
s(s + 3) s =−1 −1(−1 + 3) −2 2
s2 − 6 (−3) 2 − 6 3 1
→C= = = =
s(s + 1) s =−3 −3(−3 + 1) 6 2
A B C −1 2 5 1 1 1
= L−1 + + = L − + +
s s +1 s + 3 s 2 s +1 2 s + 3
5 1
h(t ) = −2 + e −t + e −3t
2 2