Introduction to Laplace

Transforms
Definition of the Laplace Transform

One-sided Laplace transform:


F ( s )  L f ( t )  0 f ( t )e

 st
dt
Some functions may not have Laplace
transforms but we do not use them in circuit
analysis.
Choose 0- as the lower limit (to capture
discontinuity in f(t) due to an event such as
closing a switch).
The Step Function
?
 Laplace Transform of the Step Function

   st
L u( t )  0 u( t )e

 st
dt  
0
e dt
1  st  1
 - e 
s 0 s
The Impulse Function
 
The sifting property:
 f ( t ) ( t  a )dt  f (a )

The impulse function is a derivative of the step function:

du( t ) t
 (t )    ( x )dx  u( t )
dt
?
Laplace transform of the impulse function:


L  ( t  a )  0  ( t  a )e

 st
dt e  as

For a  0, L  ( t )  1
 Laplace Transform Features
1) Multiplication by a constant

L f ( t )  F ( s )  L Kf ( t )  KF ( s )
2) Addition (subtraction)
L f1 ( t )  F1 ( s ), L f 2 ( t )  F2 ( s ),
 L f1 ( t )  f 2 ( t )  F1 ( s )  F2 ( s )
3) Differentiation
 df ( t )    d 2 f ( t )  2  
L   sF ( s )  f (0 ), L 2   s F ( s )  sf (0 )  f (0 )
 dt   dt 
 d n f ( t )  n n 1  n 2  ( n  2)  ( n  1) 
L n   s F ( s )  s f (0 )  s f  (0 )    sf (0 )  f (0
 dt 
 Laplace Transform Features (cont.)
3) Differentiation

 df ( t )  
L   sF ( s )  f (0 ),
 dt 
 d 2 f ( t )  2  
L 2   s F ( s )  sf (0 )  f (0 )
 dt 
.
.
.
 d n f ( t )  n n 1  n 2  ( n  2)  ( n 1) 
L n   s F ( s )  s f (0 )  s f (0 )    sf (0 )  f (0 )
 dt 
Laplace Transform Features (cont.)
4) Integration

L 0
t

f ( x )dx 
F ( s)
s
5) Translation in the Time Domain

L f ( t  a )u( t  a )  e  as
F ( s ), a 0
Laplace Transform Features (cont.)
6) Translation in the Frequency Domain

L e  at

f (t )  F ( s  a )
7) Scale Changing

1  s
L f (at )  F   , a 0
a a
Laplace Transform of Cos and Sine

?
 Laplace Transform of Cos and Sine
 
L cos  t .u( t )  0 cos  t .u( t )e

 st
dt  0 cos  te  st dt
j t
e  e  j t  st 1   ( s  j )t   ( s  j ) t
 0 e dt  [ 0 e dt  0 e dt ]
2 2
 
1 1 1 1
 e  ( s  j ) t  e  ( s  j )t
2 s  j 0
2 s  j 0
1 1 1 1 s
   2
2 s  j 2 s  j s   2


L sin  t .u( t )  2 2
s 
Name Time function f(t) Laplace Transform
Unit Impulse (t) 1
Unit Step u(t) 1/s
Unit ramp t 1/s2
nth-Order ramp tn n!/sn+1
Exponential e-at 1/(s+a)
nth-Order exponential t n e-at n!/(s+a)n+1
Sine sin(bt) b/(s2+b2)
Cosine cos(bt) s/(s2+b2)
Damped sine e-at sin(bt) b/((s+a)2+b2)
Damped cosine e-at cos(bt) (s+a)/((s+a)2+b2)
Diverging sine t sin(bt) 2bs/(s2+b2)2
Diverging cosine t cos(bt) (s2-b2) /(s2+b2)2
 Some
Laplace
Transform
Properties
Inverse Laplace Transform
 Partial Fraction Expansion

Step1: Expand F(s) as a sum of partial fractions.

Step 2: Compute the expansion constants (four

cases)

Step 3: Write the inverse transform

 Example:
s6
2
s( s  3)( s  1)

s6 K1 K2 K3 K4
   
s( s  3)( s  1) 2
s s  3 ( s  1) 2
s1

1  s6 
L  2
 s( s  3)( s  1) 

 K 1  K 2e 3 t
 K 3te t
 K 4e t
 u(t )
 Distinct Real Roots
96( s  5)( s  12) K1 K2 K3
F ( s)    
s( s  8)( s  6) s s8 s6
96( s  5)( s  12) 96(5)(12)
K1  sF ( s ) s  0 s   120
s( s  8)( s  6) s  0 8(6)
96( s  5)( s  12) 96( 3)(4)
K 2  ( s  8)F ( s ) s 8  ( s  8)   72
s( s  8)( s  6) s 8 8( 2)
96( s  5)( s  12) 96( 1)(6)
K 3  ( s  6)F ( s ) s 6  ( s  6)   48
s( s  8)( s  6) s 6 6(2)
120 48 72
F ( s)   
s s6 s8
f ( t )  (120  48e 6 t  72e 8 t )u( t )
 Distinct Complex Roots
100( s  3) 100( s  3)
F ( s)  
( s  6)( s  6 s  25) ( s  6)( s  3  j 4)( s  3  j 4)
2

K1 K2 K3
  
s  6 s  3  j4 s  3  j4
100( s  3) 100( 3)
K1  2
  12
s  6 s  25 s 6 25
100( s  3) 100( j 4)
K2  
( s  6)( s  3  j 4) s 3 j 4 (3  j 4)( j 8)
 j 53.130
 6  j 8  10e
100( s  3) 100(  j 4)
K3  
( s  6)( s  3  j 4) s 3  j 4 (3  j 4)(  j 8)
j 53.130
 6  j 8  10e
 Distinct Complex Roots (cont.)

12 10  53.130 10 53.130

F ( s)   
s6 s  3  j4 s  3  j4
6 t  j 53.130  (3  j 4) t j 53.13 0  (3  j 4) t
f ( t )  ( 12e  10e e  10e e )u( t )
 j 53.130  (3  j 4) t j 53.13 0  (3  j 4) t
10e e  10e e
3 t j (4 t  53.130 )  j (4 t  53.13 0 )
 10e (e e )
 20e 3 t cos(4t  53.130 )
f ( t )  [12e 6 t  20e 3 t cos(4t  53.130 )]u( t )
Whenever F(s) contains distinct complex roots at the denominator
as (s+-j)(s++j), a pair of terms of the form

K K*
 appears in the partial fraction.
s    j s    j
Where K is a complex number in polar form K=|K|ej=|K| 0
and K* is the complex conjugate of K.
The inverse Laplace transform of the complex-conjugate pair is

1 
 K K * 
L   
 s    j  s    j  
 t
2K e cos(  t   )
 Repeated Real Roots
100( s  25) K1 K2 K3 K4
F ( s)     
s( s  5) 3
s ( s  5) 3
( s  5) 2
s5
100( s  25) 100(25)
K1  3
  20
( s  5) s  0 125
100( s  25) 100(20)
K2    400
s s 5 5
d  3   s  ( s  25) 
K 3  ( s  5) F ( s )   100  2   100
ds s 5  s  s 5
1 d2  3  1  2 s(25) 
K4  2
( s  5) F ( s )   100  4   20
2 ds s 5 2  s  s 5
20 400 100 20
F ( s)    
s ( s  5)3 ( s  5)2 s  5
f ( t )  [20  200t 2e 5 t  100te 5t  20e 5 t ]u( t )
 Repeated Complex Roots
768 768
F ( s)  2 2

( s  6 s  25) ( s  3  j 4)2 ( s  3  j 4)2
K1 K1* K2 K 2*
   
( s  3  j 4) 2
( s  3  j 4) 2
( s  3  j 4) ( s  3  j 4)
768 768
K1    12
( s  3  j 4)2 s 3  j 4
( j 8) 2

d  768  2(768)
K2   2

ds  ( s  3  j 4)  s 3  j 4 ( s  3  j 4)3 s 3  j 4

2(768) 0
   j 3  3 -90
( j 8)3
  12 12 
F ( s)   2
 2
 ( s  3  j 4) ( s  3  j 4) 
 3 -900 3 90 0 
   
 s  3  j4 s  3  j4 
3 t 3 t 0
f ( t )  [24te cos 4t  6e cos(4t  90 )]u( t )
 Improper Transfer Functions
An improper transfer function can always be expanded into a
polynomial plus a proper transfer function.

s 4  13 s 3  66 s 2  200 s  300
F ( s) 
s 2  9 s  20
2 30 s  100
 s  4 s  10  2
s  9 s  20
2 20 50
 s  4 s  10  
s4 s5
2
d  (t ) d ( t ) 4 t 5 t
f (t )  2
 4  10 ( t )  (  20 e  50 e )u( t )
dt dt
 POLES AND ZEROS OF F(s)
The rational function F(s) may be expressed as
the ratio of two factored polynomials as

K ( s  z1 )( s  z2 )( s  zn )
F ( s) 
( s  p1 )( s  p2 )( s  pm )
The roots of the denominator polynomial –p1,
-p2, ..., -pm are called the poles of F(s). At these
values of s, F(s) becomes infinitely large. The roots
of the numerator polynomial -z1, -z2, ..., -zn are
called the zeros of F(s). At these values of s, F(s)
becomes zero.
 10( s  5)( s  3  j 4)( s  3  j 4)
F ( s) 
s( s  10)( s  6  j 8)( s  6  j 8)
The poles of F(s) are at
0, -10, -6+j8, and –6-j8.
The zeros of F(s)
are at –5, -3+j4, -3-j4

num=conv([1 5],[1 6 25]);

den=conv([1 10 0],[1 12 100]);
pzmap(num,den)
 Initial-Value Theorem
The initial-value theorem enables us to determine the
value of f(t) at t=0 from F(s). This theorem assumes that
f(t) contains no impulse functions and poles of F(s),
except for a first-order pole at the origin, lie in the left
half of the s plane.

lim f ( t )  lim sF ( s )
t  0 s 
100( s  3)
F ( s)  2
( s  6)( s  6 s  25)
f ( t )  [12e 6 t  20e 3 t cos(4t  53.130 )]u( t )
 Final-Value Theorem
The final-value theorem enables us to determine the behavior of
f(t) at infinity using F(s).

lim f ( t )  lim sF ( s )
t  s0
The final-value theorem is useful only if f(∞) exists. This condition is
true only if all the poles of F(s), except for a simple pole at the
origin, lie in the left half of the s plane.

100( s  3)
lim F ( s )  lim s 2
0
s0 s  0 ( s  6)( s  6 s  25)

lim f ( t )  lim[ 12e 6 t  20e 3 t cos(4t  53.130 )]u( t )  0

t  t 