Chapter 2

Laplace Transform

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 Chapter Objectives

End of this chapter, you should be able to:

• Use Laplace Transform of representative functions

• Solve differential equations by Laplace Transform
techniques
• Explain other Laplace Transform properties
– Final value theorem
– Initial value theorem
– Time delay (translation in time)

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 3.1 Laplace Transform of Representative
Functions

TheLaplacetransformof afunctionf(t) is definedas


F(s) L[ f (t)]= f (t)e-stdt (3.1)
0

where F(s) is the symbol for the Laplace transform

s is a complex independent variable

f(t) is some function of time

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Transforms of some important functions

Constant function: f(t) = a


L[a ]= ae dt   e
-st

s
 
a  st   a a
 0     (3.2)
0
0
 s s

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Transforms of some important functions

Step function:

The unit step function is defined as

0 t0
S (t )   (3.3)
1 t0

The Laplace transform of the unit step function is

obtained with a = 1
1 (3.4)
L[ S (t )] 
s

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 Transforms of some important functions

Exponential Functions
 bt
e b>0

 
L[e bt
]= e e dt   e
bt -st ( b  s ) t
dt 
1
bs

 e ( b  s ) t  

0

1
sb
0 0

(3.5)

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 Transforms of some important functions

Derivatives
 
L[ df dt  ]=  df dt  e dt   f (t )e sdt  f (t )e
-st  st  st 
0
0 0

 sL[ f ]  f (0)  sF ( s )  f (0)

(3.6)

Usually define f(0) = 0

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Transforms of some important functions

Second-order derivatives
d 2 f   d  df
L 2   L  where 
 dt   dt  dt

d 2 f   d 
L 2   L 
 dt   dt 
 s ( s )   (0)
(3.7)
 s sF ( s )  f (0)  f (0)
 s 2 F ( s )  sf (0)  f (0)

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Transforms of some important functions

Higher-order derivatives

d n f 
L n   s n
F ( s )  s n 1
f ( 0 )  s n2
f (0)  ...
 dt 
( n2) ( n 1) (3.8)
 sf (0)  f ( 0)

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Transforms of some important functions

Trigonometric functions
e jt  e  jt
Euler identity: cos t 
2

e jt  cos t  j sin t

e  jwt  cos t  j sin t
j 1

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Transforms of some important functions
Cosine function

 e jt  e  j t 
L cos t   L  
 2 
1 1 1 
   
2  s  j s  j 
1  s  j  s  j  
  
2 s 
2 2

s
 2
s 2

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Transforms of some important functions

Sine function

 e j t  e  j t 
L sin t   L  
 2 j 
1  1 1 
   
2 j  s  j s  j  
1  s  j  s  j  
  
2j s 
2 2

 (3.9)
 2
s 2

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Rectangular pulse function

0 t0
 0t h
f (t )  1 / h (3.10)
 0 th

h 1  st 1
F (s)   e dt  (1  e  hs )
0 h hs

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 Rectangular pulse function
If h = 1, unit rectangular pulse input.

Difference of two step inputs S(t) – S(t-1). (S(t-1) is a

step starting at t = h = 1)

By Laplace transform
1 e s
F (s)  
s s

Can be generalized to steps of different magnitudes (a1, a2).

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 Impulse function
Let h→0, f(t) = δ(t) (Dirac delta) L(δ) = 1

Laplace transforms can be used in process control for:

• Solution of differential equations (linear)
• Analysis of linear control systems (frequency
response
• Prediction of transient response for different inputs

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General procedure for solving differential
equations

repeated factors
and complex
factors may arise.

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 Example 3.1 Solve the ODE,

(3.11)
First, take L of both sides of (3-11),
2
5  sY  s   1  4Y  s  
s
Rearrange,
(3.12)
Take L-1,
1 
5s  2 
y t  L  
 
s 5 s  4 
From L Table
(3.13)
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Example 3.2

d3y d2y dy du
3
 6 2
 11  6 y  4  2u
dt dt dt dt
y( 0 )=y ( 0 )=y ( 0 )=0
du
 0 at t=0
dt

To find transient response for u(t) = unit step at t > 0 :

1. Take Laplace Transform (L.T.)

2. Factor, use partial fraction decomposition
3. Take inverse L.T.

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Step 1 Take L.T. (note zero initial conditions)

s 3Y(s)+ 6s 2Y(s)+11sY(s)  6Y ( s ) = 4sU(s) + 2U(s)

Rearranging,
4 s+2 1
Y(s)= 
s 3  6 s 2  11s  6 s
1
U(s)  (unit step input)
s

Step 2a. Factor denominator of Y(s)

s(s 3+6s 2+11s+6 )=s(s+1 )(s+2 )(s+3 )

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Step 2b. Use partial fraction decomposition
4 s+2 α α α α
 1 2  3  4
s(s+1 )(s+2 )(s+3 ) s s  1 s  2 s  3

Multiply by s, set s = 0
4 s+2  α2 α3 α4 
 α1  s    
(s+1 )(s+2 )(s+3 ) s 0  s  1 s  2 s  3  s 0
2 1
 α1 
1 2  3 3
For a2, multiply by (s+1), set s = -1 (same procedure for a3, a4)
5
α2  1, α3  3, α4 
3
1 1 3 5/3
Y(s)=   
3s s  1 s  2 s  3
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Step 3. Take inverse of L.T.

1 t  2t 5  3t
y(t)=  e  3e  e
3 3
1
t  y(t) 
3

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 Dynamic Analysis
Example 1:
2 b 2 16
  1.333  1
3s 2  4 s  1 4a 12

3s 2  4s  1  (3s  1)( s  1)  3( s  1 )( s  1)
3

Transforms to e-t/3, e-t (real roots) - (no oscillation)

2s b2 1
Example 2:  1
s2  s  1 4a 4

3 3
s 2  s  1  ( s  0.5  j )( s  0.5  j)
2 2
3 3
Transforms to e 0.5t sin t , e 0.5t cos t
2 2 (oscillation)
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 Remarks
• You can use this method on any order of ODE, limited
only by factoring of denominator polynomial
(characteristic equation)

• Must use modified procedure for repeated roots,

imaginary roots

One other useful feature of the Laplace transform is that one

can analyze the denominator of the transform to determine its
dynamic behavior. For example, if
1
Y(s)= 2
s  3s  2
the denominator can be factored into (s+2)(s+1).
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 Remarks
Using the partial fraction technique
α1 α
Y(s)=  2
s  2 s 1
The step response of the process will have exponential
terms e-2t and e-t, which indicates y(t) approaches zero.
1 1
However, if Y(s)= 2 
s  s  2 (s  1 )(s  2 )

• We know that the system is unstable and has a transient

response involving e2t and e-t. e2t is unbounded for large
time.
• We shall use this concept later in the analysis of
feedback system stability.
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 Other properties of L( ):

A. Final value theorem

y()= lim sY(s) “offset”

s 0

Example 3: Step response

1 a
Y(s) 
τs  1 s
a a
sY(s)  lim a
τs  1 s 0 τs  1

offset (steady state error) is a.

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 Other properties of L( ):
Time-shift theorem

y(t)=0 t <  L y  t-  =e -s Y(s)

Initial value theorem

lim y(t)= lim sY(s)
t 0 s 

Example 4.
4 s+2
For Y(s)=
s(s+1 )(s+2 )(s+3 )
by initial value theorem: y ( 0)  0
1
by final value theorem: y ( ) 
3
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 Conclusion!

• Laplace transform definition

• Laplace transform of some typical functions
• Inverse Laplace transforms
• Examples
• Dynamic Analysis

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