MCET 404

System Dynamics
& Control

Dr. Fahad Alhujaili

Alhujaili, F MCET 404 1
 The Laplace Transform
INTRODUCTION:
• Mathematical tools for modeling and
analyzing linear systems.
• complex numbers; complex variables, complex functions,
and
• the Laplace transform approach with
• its inverse to the solution of the linear, time-invariant.

Alhujaili, F MCET 404 2

 The Laplace Transform
Complex numbers:
• notation
j=√(-1),

• complex number
𝑧𝑧 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗
• 𝑥𝑥 real parts
• 𝑗𝑗𝑗𝑗 imaginary parts,
• The magnitude, or absolute value, of 𝑧𝑧 is defined as the length of
the directed line segment.
magnitude of 𝑧𝑧 = 𝑧𝑧 = 𝑥𝑥 2 + 𝑦𝑦 2 ,

• The angle of 𝑧𝑧 is the angle that the directed line segment makes
with the positive real axis. A counterclockwise rotation is +
−1
𝑦𝑦
angle of 𝑧𝑧 = 𝜃𝜃 = tan
𝑥𝑥

Alhujaili, F MCET 404 3

 The Laplace Transform
Complex numbers:
A complex number can be written in rectangular form or in polar form
as follows:
𝑧𝑧 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗
� rectangular foms
𝑧𝑧 = 𝑧𝑧 cos 𝜃𝜃 + 𝑗𝑗 sin 𝜃𝜃

𝑧𝑧 = 𝑥𝑥 + ∠𝜃𝜃
� polar forms
𝑧𝑧 = 𝑧𝑧 𝑒𝑒 𝑗𝑗𝑗𝑗

In converting complex numbers from rectangular to polar form, we use

𝑦𝑦
𝑧𝑧 = 𝑥𝑥 2 + 𝑦𝑦 2 , 𝜃𝜃 = tan−1
𝑥𝑥
To convert complex numbers from polar to rectangular form, we
employ
𝑥𝑥 = 𝑧𝑧 cos 𝜃𝜃 , 𝑦𝑦 = 𝑧𝑧 sin 𝜃𝜃
Alhujaili, F MCET 404 4
 The Laplace Transform
Complex numbers:
complex conjugate of 𝑧𝑧 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗 is defined as

𝑧𝑧 = 𝑥𝑥 − 𝑗𝑗𝑗𝑗
𝑧𝑧 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗 = 𝑧𝑧 + ∠𝜃𝜃 = 𝑧𝑧 cos 𝜃𝜃 + 𝑗𝑗 sin 𝜃𝜃
𝑧𝑧 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗 = 𝑧𝑧 + ∠ −𝜃𝜃 = 𝑧𝑧 cos 𝜃𝜃 − 𝑗𝑗 sin 𝜃𝜃
Euler's theorem: The power series expansions of cos 𝜃𝜃 and sin 𝜃𝜃 are,
𝜃𝜃 2 𝜃𝜃 4 𝜃𝜃 6
cos 𝜃𝜃 = 1 − + − +⋯
2! 4! 6!
and
𝜃𝜃 3 𝜃𝜃 5 𝜃𝜃 7
sin 𝜃𝜃 = 𝜃𝜃 − + − +⋯
3! 5! 7!
Thus,
𝑗𝑗𝑗𝑗 2 𝑗𝑗𝑗𝑗 3 𝑗𝑗𝑗𝑗 4
cos 𝜃𝜃 + 𝑗𝑗 sin 𝜃𝜃 = 1 + 𝑗𝑗𝑗𝑗 + + + +⋯
2! 3! 4!
Since
2 3 4
𝑥𝑥 𝑥𝑥 𝑥𝑥
𝑒𝑒 𝑥𝑥 = 1 + 𝑥𝑥 + + + +⋯
2! 3! 4!
it follows that
cos 𝜃𝜃 + 𝑗𝑗 sin 𝜃𝜃 = 𝑒𝑒 𝑗𝑗𝑗𝑗
Alhujaili, F MCET 404 5
 The Laplace Transform
Complex numbers:
we can express the sine and cosine in complex form. Noting that 𝑒𝑒 𝑗𝑗𝑗𝑗 is
the complex conjugate of 𝑒𝑒 −𝑗𝑗𝑗𝑗 and that
𝑒𝑒 𝑗𝑗𝑗𝑗 = cos 𝜃𝜃 + 𝑗𝑗 sin 𝜃𝜃
𝑒𝑒 −𝑗𝑗𝑗𝑗 = cos 𝜃𝜃 − 𝑗𝑗 sin 𝜃𝜃
we find that by adding the above expressions together, we find that
𝑒𝑒 𝑗𝑗𝑗𝑗 + 𝑒𝑒 −𝑗𝑗𝑗𝑗
cos 𝜃𝜃 =
2
and by subtracting the second expression above from the first one, we
obtain
𝑒𝑒 𝑗𝑗𝑗𝑗 − 𝑒𝑒 −𝑗𝑗𝑗𝑗
sin 𝜃𝜃 =
2𝑗𝑗
Equality of complex numbers, two complex numbers 𝒛𝒛 and 𝒘𝒘 are said
to be equal if and only if their
• real parts are equal and
• imaginary parts are equal.
So if two complex numbers are written
𝑧𝑧 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗
𝑤𝑤 = 𝑢𝑢 + 𝑗𝑗𝑗𝑗
then 𝑧𝑧 = 𝑤𝑤 if 𝑥𝑥 = 𝑢𝑢 and 𝑦𝑦 = 𝑣𝑣 .
Alhujaili, F MCET 404 6
 The Laplace Transform
Complex numbers:
• Addition, two complex numbers in rectangular form can be added by
adding the real parts and the imaginary parts separately
𝑧𝑧 + 𝑤𝑤 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗 + 𝑢𝑢 + 𝑗𝑗𝑗𝑗 = 𝑥𝑥 + 𝑢𝑢 + 𝑗𝑗 𝑦𝑦 + 𝑣𝑣
• Subtraction, Subtracting one complex number from another can be
considered as adding the negative of the former
𝑧𝑧 − 𝑤𝑤 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗 − 𝑢𝑢 + 𝑗𝑗𝑗𝑗 = 𝑥𝑥 − 𝑢𝑢 + 𝑗𝑗 𝑦𝑦 − 𝑣𝑣
• Multiplication, if a complex number is multiplied by a real number, the
result is a complex number whose real and imaginary parts are
multiplied by that real number:
𝑎𝑎𝑎𝑎 = 𝑎𝑎 𝑥𝑥 + 𝑗𝑗𝑗𝑗 = 𝑎𝑎𝑎𝑎 + 𝑗𝑗𝑗𝑗𝑗𝑗 , 𝑎𝑎=real number
• If two complex numbers appear in rectangular form and we want the
product in rectangular form, multiplication is accomplished by using
the fact that 𝒋𝒋𝟐𝟐 = −𝟏𝟏. Thus, if two complex numbers are written
𝑧𝑧 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗, 𝑤𝑤 = 𝑢𝑢 + 𝑗𝑗𝑗𝑗
Then
𝑧𝑧𝑧𝑧 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗 𝑢𝑢 + 𝑗𝑗𝑗𝑗 = 𝑥𝑥𝑥𝑥 + 𝑗𝑗𝑗𝑗𝑗𝑗 + 𝑗𝑗𝑗𝑗𝑗𝑗 + 𝑗𝑗 2 𝑦𝑦𝑦𝑦
= 𝑥𝑥𝑥𝑥 − 𝑦𝑦𝑦𝑦 + 𝑗𝑗 𝑥𝑥𝑥𝑥 + 𝑦𝑦𝑦𝑦

Alhujaili, F MCET 404 7

 The Laplace Transform
Complex numbers:
In polar form, multiplication of two complex numbers
• The magnitude of the product is the product of the two magnitudes,
• and the angle of the product is the sum of the two angles.
So if two complex numbers are written
𝑧𝑧 = 𝑧𝑧 ∠𝜃𝜃 , 𝑤𝑤 = 𝑤𝑤 ∠𝜓𝜓
then
𝑧𝑧𝑧𝑧 = 𝑧𝑧 𝑤𝑤 ∠ 𝜃𝜃 + 𝜓𝜓
Multiplication by 𝒋𝒋 , is equivalent to counterclockwise rotation by 90°.
For example, if
𝑗𝑗𝑗𝑗 = 𝑗𝑗 𝑥𝑥 + 𝑗𝑗𝑗𝑗 = 𝑗𝑗𝑗𝑗 + 𝑗𝑗 2 𝑦𝑦 = −𝑦𝑦 + 𝑗𝑗𝑗𝑗
or, noting that 𝑗𝑗 = 1 ∠90𝑜𝑜 , if
𝑧𝑧 = 𝑧𝑧 ∠𝜃𝜃
then
𝑗𝑗𝑗𝑗 = 1 ∠90𝑜𝑜 𝑧𝑧 ∠𝜃𝜃 = 𝑧𝑧 ∠ 𝜃𝜃 + 90𝑜𝑜

Alhujaili, F MCET 404 8

 The Laplace Transform
Complex numbers:
Division, if a complex number 𝑧𝑧 = 𝑧𝑧 ∠𝜃𝜃 is divided by another complex
number 𝑤𝑤 = 𝑤𝑤 ∠𝜓𝜓 , then
𝑧𝑧 𝑧𝑧 ∠𝜃𝜃 𝑧𝑧
= = ∠ 𝜃𝜃 − 𝜓𝜓
𝑤𝑤 𝑤𝑤 ∠𝜓𝜓 𝑤𝑤
Division in rectangular form is inconvenient,
• by multiplying the denominator and numerator by the complex
conjugate of the denominator.
For example,
𝑧𝑧 𝑥𝑥 + 𝑗𝑗𝑗𝑗 𝑥𝑥 + 𝑗𝑗𝑗𝑗 𝑢𝑢 − 𝑗𝑗𝑗𝑗 𝑥𝑥𝑥𝑥 + 𝑦𝑦𝑦𝑦 + 𝑗𝑗 𝑦𝑦𝑦𝑦 − 𝑥𝑥𝑥𝑥
= = =
𝑤𝑤 𝑢𝑢 + 𝑗𝑗𝑗𝑗 𝑢𝑢 + 𝑗𝑗𝑗𝑗 𝑢𝑢 − 𝑗𝑗𝑗𝑗 𝑢𝑢2 + 𝑣𝑣 2
𝑥𝑥𝑥𝑥 + 𝑦𝑦𝑦𝑦 𝑦𝑦𝑦𝑦 − 𝑥𝑥𝑥𝑥
= 2 + 𝑗𝑗
𝑢𝑢 + 𝑣𝑣 2 𝑢𝑢2 + 𝑣𝑣 2
Division by 𝒋𝒋 , Note that division by 𝑗𝑗 is equivalent to clockwise rotation
by 90°. For example, if 𝑧𝑧 = 𝑥𝑥 + 𝑗𝑗𝑗𝑗 , then

𝑧𝑧 𝑥𝑥 + 𝑗𝑗𝑗𝑗 𝑥𝑥 + 𝑗𝑗𝑗𝑗 𝑗𝑗 𝑗𝑗𝑗𝑗 − 𝑦𝑦

= = = = 𝑦𝑦 − 𝑗𝑗𝑗𝑗
𝑗𝑗 𝑗𝑗 𝑗𝑗𝑗𝑗 −1
𝑧𝑧 𝑧𝑧 ∠𝜃𝜃 𝑜𝑜
or = = 𝑧𝑧 ∠ 𝜃𝜃 − 90
𝑗𝑗 1 ∠90𝑜𝑜
Alhujaili, F MCET 404 9
 The Laplace Transform
Complex numbers:
Powers and roots, multiplying 𝑧𝑧 by itself 𝑛𝑛 times, we obtain
𝑧𝑧 𝑛𝑛 = 𝑧𝑧 ∠𝜃𝜃 𝑛𝑛 = 𝑧𝑧 𝑛𝑛 ∠ 𝑛𝑛𝑛𝑛
Extracting the 𝑛𝑛𝑛𝑛ℎ root of a complex number is equivalent to raising the
number to the 1/𝑛𝑛𝑛𝑛ℎ power:
1/𝑛𝑛 1/𝑛𝑛 1/𝑛𝑛
𝜃𝜃
𝑧𝑧 = 𝑧𝑧 ∠𝜃𝜃 = 𝑧𝑧 ∠
𝑛𝑛
Example

3
8.66 + 𝑗𝑗5
3
= 10∠ −30𝑜𝑜 = 1000∠ −90𝑜𝑜
= 0 − 𝑗𝑗1000
1
2.12 + 𝑗𝑗2.12 2
1
= 9∠ −45𝑜𝑜 2 = 3∠ −22.5𝑜𝑜
Comments, note that
𝑧𝑧𝑧𝑧 = 𝑧𝑧 𝑤𝑤
and
𝑧𝑧 + 𝑤𝑤 ≠ 𝑧𝑧 + 𝑤𝑤
Alhujaili, F MCET 404 10
 The Laplace Transform
Complex numbers:
• Complex variable, If the real part or the imaginary part (or both) of a
complex number are variables, the complex number is called a complex
variable.
• In the Laplace transformation, we use the notation 𝒔𝒔 to denote a
complex variable;
𝑠𝑠 = 𝜎𝜎 + 𝑗𝑗𝑗𝑗
where 𝝈𝝈 to is the real part and 𝒋𝒋𝒋𝒋 is the imaginary part.
• Complex function, a complex function 𝐹𝐹 𝑠𝑠 ,a function of 𝑠𝑠 , has a real
part and an imaginary part, or
𝐹𝐹 𝑠𝑠 = 𝐹𝐹𝑥𝑥 + 𝑗𝑗𝐹𝐹𝑦𝑦
• 𝐹𝐹𝑥𝑥 and 𝐹𝐹𝑥𝑥 are real quantities.
• the magnitude of 𝐹𝐹 𝑠𝑠 is 𝐹𝐹𝑥𝑥2 + 𝐹𝐹𝑦𝑦2 and
• the angle 𝜃𝜃 of 𝐹𝐹 𝑠𝑠 is tan−1 𝐹𝐹𝑥𝑥 /𝐹𝐹𝑦𝑦 .
• The complex conjugate of 𝐹𝐹 𝑠𝑠 is 𝐹𝐹� 𝑠𝑠 = 𝐹𝐹𝑥𝑥 − 𝑗𝑗𝐹𝐹𝑦𝑦 .

Alhujaili, F MCET 404 11

 The Laplace Transform
Complex numbers:
• Complex functions commonly encountered in linear systems analysis
are single valued functions of s and are uniquely determined for a given
value of s. typically, such functions have the form
𝐾𝐾 𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯ 𝑠𝑠 + 𝑧𝑧𝑚𝑚
𝐹𝐹 𝑠𝑠 =
𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯ 𝑠𝑠 + 𝑝𝑝𝑛𝑛
• Points at which 𝐹𝐹 𝑠𝑠 equals zero are called zeros.
That is, 𝑠𝑠 = −𝑧𝑧1 , 𝑠𝑠 = −𝑧𝑧2 , ⋯ 𝑠𝑠 = −𝑧𝑧𝑚𝑚 are zeros of 𝑭𝑭 𝒔𝒔 .
• Points at which F(s) equals infinity (∞) are called poles.
That is, 𝑠𝑠 = −𝑝𝑝1 𝑠𝑠 = −𝑝𝑝2 ⋯ 𝑠𝑠 = −𝑝𝑝𝑛𝑛 are poles of 𝑭𝑭 𝒔𝒔 .
• If the denominator of 𝐹𝐹 𝑠𝑠 involves k-multiple factors 𝑠𝑠 + 𝑝𝑝 𝑘𝑘 , then
𝑠𝑠 = −𝑝𝑝 is called a multiple pole of order k or repeated pole of
order k. If k = 1, the pole is called a simple pole.

Alhujaili, F MCET 404 12

 The Laplace Transform
Complex numbers:
Example
𝐾𝐾 𝑠𝑠 + 2 𝑠𝑠 + 10
𝐺𝐺 𝑠𝑠 = 2
𝑠𝑠 𝑠𝑠 + 1 𝑠𝑠 + 5 𝑠𝑠 + 15
G(s) has:
• zeros at:
s = -2 and s = -10, are values of s which make G(s) = 0
• simple poles at
s = 0, s = -1, and s = -5, are values of s which make G(s) = ∞, and
• a double pole (multiple pole of order 2) at
s = -15.
• Note that G(s) becomes zero at s = ∞. Since, for large values of s,
𝐾𝐾
𝐺𝐺 𝑠𝑠 = 3
𝑠𝑠
• it follows that G(s) possesses a triple zero (multiple zero of order 3)
at s = ∞.
• If points at infinity are included, G(s) has the same number of poles as
zeros. To summarize,
• G(s) has five zeros (s = -2, s = -10, s = ∞, s = ∞, s = ∞) and
• five poles (s = 0, s = -1, s = -5, s = -15, s = -15).
Alhujaili, F MCET 404 13
 The Laplace Transform
Laplace Transformation
• transforms differential equations in the time domain into algebraic
equations in the s-domain
• the differential equations in time become algebraic equations in s
• The solution of the differential equation can then be found by using a
• Laplace transform table or
• the partial-fraction expansion technique.
• the initial conditions are automatically taken care

Alhujaili, F MCET 404 14

 The Laplace Transform
Laplace Transformation
Laplace transformation definition
• 𝒇𝒇 𝒕𝒕 = a time function such that 𝒇𝒇 𝒕𝒕 = 𝟎𝟎 for 𝒕𝒕 < 𝟎𝟎
• 𝒔𝒔 = a complex variable
• 𝓛𝓛 = an operational symbol indicating that the quantity upon which it
operates is to be transformed by the Laplace integral
∞

� 𝒆𝒆−𝒔𝒔𝒔𝒔 𝒅𝒅𝒅𝒅
𝟎𝟎
• 𝑭𝑭 𝒔𝒔 = Laplace transform of (𝒇𝒇 𝒕𝒕
• the Laplace transform of (𝒇𝒇 𝒕𝒕 is given by
∞ ∞

𝓛𝓛 𝒇𝒇 𝒕𝒕 = 𝑭𝑭 𝒔𝒔 = � 𝒆𝒆−𝒔𝒔𝒔𝒔 𝒅𝒅𝒅𝒅 𝒇𝒇 𝒕𝒕 = � 𝒇𝒇 𝒕𝒕 𝒆𝒆−𝒔𝒔𝒔𝒔 𝒅𝒅𝒅𝒅

𝟎𝟎 𝟎𝟎
The reverse process of finding the time function 𝒇𝒇 𝒕𝒕 from the Laplace
transform 𝒇𝒇 𝒕𝒕 is called inverse Laplace transformation.

𝓛𝓛−𝟏𝟏 𝑭𝑭 𝒔𝒔 = 𝒇𝒇 𝒕𝒕

Alhujaili, F MCET 404 15

 The Laplace Transform
Laplace Transformation
Step function
Consider the step function
𝑓𝑓(𝑡𝑡) = 0 for 𝑡𝑡 < 0

= 𝐴𝐴 for 𝑡𝑡 > 0

• a special case of the exponential function 𝐴𝐴𝑒𝑒 −𝛼𝛼𝛼𝛼 , where 𝛼𝛼 = 0

∞
∞ ∞ 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝐴𝐴
• 𝑭𝑭 𝒔𝒔 = ℒ 𝑓𝑓 𝑡𝑡 = ℒ 𝐴𝐴 = ∫0 𝐴𝐴𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑 = 𝐴𝐴 ∫0 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑 = 𝐴𝐴 × −𝑠𝑠 0
� =
𝑠𝑠
• When height is unity is called a unit-step function. The unit-step
function that occurs at 𝑡𝑡 = 𝑡𝑡0 is frequently written 1 𝑡𝑡 − 𝑡𝑡0
• The Laplace transform of the unit-step function that is defined by
1(𝑡𝑡) = 0 for 𝑡𝑡 < 0

=1 for 𝑡𝑡 > 0

1
𝑭𝑭 𝒔𝒔 = ℒ 1 𝑡𝑡 =
𝑠𝑠

Alhujaili, F MCET 404 16

 The Laplace Transform
Laplace Transformation
Ramp function
Consider the ramp function
𝑓𝑓(𝑡𝑡) = 0 for 𝑡𝑡 < 0

= 𝐴𝐴𝐴𝐴 for 𝑡𝑡 ≥ 0
∞
• 𝑭𝑭 𝒔𝒔 = ℒ 𝑓𝑓 𝑡𝑡 = ℒ 𝐴𝐴𝐴𝐴 = 𝐴𝐴 ∫0 𝑡𝑡𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑
• integration by parts:
𝑏𝑏 𝑏𝑏 𝑏𝑏

� 𝑢𝑢 𝑑𝑑𝑑𝑑 = 𝑢𝑢𝑢𝑢 � − � 𝑣𝑣 𝑑𝑑𝑑𝑑

𝑎𝑎 𝑎𝑎 𝑎𝑎
−𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑.
• In this case, 𝑢𝑢 = 𝐴𝐴𝐴𝐴 , 𝑑𝑑𝑑𝑑 = 𝐴𝐴 and 𝑑𝑑𝑑𝑑 = 𝑒𝑒 Note that 𝑣𝑣 = 𝑒𝑒 −𝑠𝑠𝑠𝑠 /(−𝑠𝑠)
Hence,

∞
∞ 𝑒𝑒 −𝑠𝑠𝑠𝑠 ∞ 𝑒𝑒 −𝑠𝑠𝑠𝑠
• 𝑭𝑭 𝒔𝒔 = ℒ 𝑓𝑓 𝑡𝑡 = ℒ 𝐴𝐴𝐴𝐴 = 𝐴𝐴 ∫0 𝑡𝑡𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑 = 𝐴𝐴 𝑡𝑡 −𝑠𝑠 � − ∫0 −𝑠𝑠 𝑑𝑑𝑑𝑑
0
∞
𝐴𝐴 −𝑠𝑠𝑠𝑠
𝐴𝐴
= � 𝑒𝑒 𝑑𝑑𝑑𝑑 = 2
𝑠𝑠 𝑠𝑠
0

Alhujaili, F MCET 404 17

 The Laplace Transform
Laplace Transformation
Sinusoidal function
The Laplace transform of the sinusoidal function
𝑓𝑓(𝑡𝑡) = 0 for 𝑡𝑡 < 0

= 𝐴𝐴 sin 𝜔𝜔𝜔𝜔 for 𝑡𝑡 > 0

A and 𝜔𝜔 are constants, is obtained as follows:
𝑒𝑒 𝑗𝑗𝑗𝑗𝑗𝑗 = cos 𝜔𝜔𝜔𝜔 + 𝑗𝑗 sin 𝜔𝜔𝜔𝜔
and
𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗 = cos 𝜔𝜔𝜔𝜔 − 𝑗𝑗 sin 𝜔𝜔𝜔𝜔
we can write
1
sin 𝜔𝜔𝜔𝜔 = 𝑒𝑒 𝑗𝑗𝑗𝑗𝑗𝑗 − 𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗
2𝑗𝑗
Then the Laplace transform of 𝐴𝐴 sin 𝜔𝜔𝜔𝜔
∞
𝐴𝐴
𝒔𝒔 = ℒ 𝑓𝑓 𝑡𝑡 = ℒ 𝐴𝐴 sin 𝜔𝜔𝜔𝜔 = � 𝑒𝑒 𝑗𝑗𝑗𝑗𝑗𝑗 − 𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑
2𝑗𝑗
0
𝐴𝐴 1 𝐴𝐴 1 𝑨𝑨𝑨𝑨
= − = 𝟐𝟐
2𝑗𝑗 𝑠𝑠 − 𝑗𝑗𝑗𝑗 2𝑗𝑗 𝑠𝑠 + 𝑗𝑗𝑗𝑗 𝒔𝒔 + 𝝎𝝎𝟐𝟐

Alhujaili, F MCET 404 18

 The Laplace Transform
Laplace Transformation
Sinusoidal function
The Laplace transform of the sinusoidal function
𝑓𝑓(𝑡𝑡) = 0 for 𝑡𝑡 < 0

= 𝐴𝐴 cos 𝜔𝜔𝜔𝜔 for 𝑡𝑡 > 0

A and 𝜔𝜔 are constants, is obtained as follows:
𝑒𝑒 𝑗𝑗𝑗𝑗𝑗𝑗 = cos 𝜔𝜔𝜔𝜔 + 𝑗𝑗 sin 𝜔𝜔𝜔𝜔
and
𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗 = cos 𝜔𝜔𝜔𝜔 − 𝑗𝑗 sin 𝜔𝜔𝜔𝜔
we can write
1 𝑗𝑗𝑗𝑗𝑗𝑗
cos 𝜔𝜔𝜔𝜔 = 𝑒𝑒 + 𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗
2
Then, the Laplace transform of 𝐴𝐴 cos 𝜔𝜔𝜔𝜔
∞
𝐴𝐴
𝑭𝑭 𝒔𝒔 = ℒ 𝑓𝑓 𝑡𝑡 = 𝓛𝓛 𝑨𝑨 𝒄𝒄𝒄𝒄𝒄𝒄 𝝎𝝎𝝎𝝎 = � 𝑒𝑒 𝑗𝑗𝑗𝑗𝑗𝑗 + 𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗𝑗 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑
2
0
𝐴𝐴 1 𝐴𝐴 1 𝑨𝑨𝑨𝑨
= − = 𝟐𝟐
2 𝑠𝑠 − 𝑗𝑗𝑗𝑗 2 𝑠𝑠 + 𝑗𝑗𝑗𝑗 𝒔𝒔 + 𝝎𝝎𝟐𝟐

Alhujaili, F MCET 404 19

Alhujaili, F MCET 404 20
 The Laplace Transform
Laplace Transformation
Translated function “shifted function”.
To obtain the Laplace transform of the translated function 𝑓𝑓 𝑡𝑡 − 𝛼𝛼 1 𝑡𝑡 − 𝛼𝛼 , where
𝛼𝛼 ≥ 0. This function is zero for 𝑡𝑡 < 𝛼𝛼. The functions 𝑓𝑓 𝑡𝑡 1 𝑡𝑡 and 𝑓𝑓 𝑡𝑡 − 𝛼𝛼 1 𝑡𝑡 − 𝛼𝛼
By definition, the Laplace transform of 𝑓𝑓 𝑡𝑡 − 𝛼𝛼 1 𝑡𝑡 − 𝛼𝛼 is
∞

ℒ 𝑓𝑓 𝑡𝑡 − 𝛼𝛼 1 𝑡𝑡 − 𝛼𝛼 = � 𝑓𝑓 𝑡𝑡 − 𝛼𝛼 1 𝑡𝑡 − 𝛼𝛼 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑
0
By changing the independent variable from 𝑡𝑡 to 𝜏𝜏 where 𝜏𝜏 = 𝑡𝑡 − 𝛼𝛼, then at 𝑡𝑡 = 0 →
𝜏𝜏 = 0 − 𝛼𝛼 = −𝛼𝛼 , 𝑡𝑡 = ∞ → 𝜏𝜏 = ∞ − 𝛼𝛼 = ∞ and 𝑑𝑑𝑑𝑑 = 𝑑𝑑𝑑𝑑
we obtain
∞ ∞

� 𝑓𝑓 𝑡𝑡 − 𝛼𝛼 1 𝑡𝑡 − 𝛼𝛼 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑 = � 𝑓𝑓 𝜏𝜏 1 𝜏𝜏 𝑒𝑒 −𝑠𝑠(𝜏𝜏+𝛼𝛼) 𝑑𝑑𝑑𝑑

0 −𝛼𝛼
Noting that 𝑓𝑓 𝜏𝜏 1 𝜏𝜏 for 𝜏𝜏 < 0, we can change the lower limit from −𝛼𝛼 to 0,
∞ ∞ ∞

� 𝑓𝑓 𝜏𝜏 1 𝜏𝜏 𝑒𝑒 −𝑠𝑠(𝜏𝜏+𝛼𝛼) 𝑑𝑑𝑑𝑑 = � 𝑓𝑓 𝜏𝜏 1 𝜏𝜏 𝑒𝑒 −𝑠𝑠(𝜏𝜏+𝛼𝛼) 𝑑𝑑𝑑𝑑 = � 𝑓𝑓 𝜏𝜏 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑒𝑒 −𝛼𝛼𝛼𝛼 𝑑𝑑𝜏𝜏

−𝛼𝛼 0 0
−𝛼𝛼𝛼𝛼 ∞ −𝑠𝑠𝑠𝑠 −𝛼𝛼𝛼𝛼 ∞
= 𝑒𝑒 ∫0 𝑓𝑓 𝜏𝜏 𝑒𝑒 𝑑𝑑𝑑𝑑 = 𝑒𝑒 𝑭𝑭 𝒔𝒔 ,Where, 𝑭𝑭 𝒔𝒔 = ℒ 𝑓𝑓 𝑡𝑡 = ∫0 𝑓𝑓 𝑡𝑡 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑

𝓛𝓛 𝒇𝒇 𝒕𝒕 − 𝜶𝜶 𝟏𝟏 𝒕𝒕 − 𝜶𝜶 = 𝒆𝒆−𝜶𝜶𝜶𝜶 𝑭𝑭 𝒔𝒔 , 𝛼𝛼 ≥ 0

Alhujaili, F MCET 404 21

 The Laplace Transform
Laplace Transformation
Pulse Function
Consider the pulse function shown
𝐴𝐴
𝑓𝑓(𝑡𝑡) = for 0 < 𝑡𝑡 < 𝑡𝑡0
𝑡𝑡0
= 0 for 𝑡𝑡 < 0, 𝑡𝑡0 < 𝑡𝑡

• 𝐴𝐴 and 𝑡𝑡0 are constants

• Is a step function of height 𝐴𝐴/𝑡𝑡0 that begins at 𝑡𝑡 = 0 and that is
superimposed by a negative step function of height 𝐴𝐴/𝑡𝑡0 beginning
at 𝑡𝑡 = 𝑡𝑡0 ;
𝐴𝐴 𝐴𝐴
𝑓𝑓 𝑡𝑡 = 1 𝑡𝑡 − 1 𝑡𝑡 − 𝑡𝑡0
𝑡𝑡0 𝑡𝑡0
Then the Laplace transform of 𝑓𝑓 𝑡𝑡 is obtained as
𝐴𝐴 𝐴𝐴
ℒ 𝑓𝑓 𝑡𝑡 = ℒ 1 𝑡𝑡 − ℒ 1 𝑡𝑡 − 𝑡𝑡0
𝑡𝑡0 𝑡𝑡0
𝐴𝐴 1 𝐴𝐴 1 −𝑠𝑠𝑡𝑡
= − 𝑒𝑒 0
𝑡𝑡0 𝑠𝑠 𝑡𝑡0 𝑠𝑠
𝐴𝐴
= 1 − 𝑒𝑒 −𝑠𝑠𝑡𝑡0
Alhujaili, F 𝑡𝑡0 𝑠𝑠 MCET 404 22
 The Laplace Transform
Laplace Transformation
Impulse function
Consider the impulse function
𝐴𝐴
𝑓𝑓(𝑡𝑡) = lim for 0 < 𝑡𝑡 < 𝑡𝑡0
𝑡𝑡0 →0 𝑡𝑡0
= 0 for 𝑡𝑡 < 0, 𝑡𝑡0 < 𝑡𝑡
• the height of the impulse function is 𝐴𝐴/𝑡𝑡0 and the duration is 𝑡𝑡0 ,
• the area under the impulse is equal to 𝐴𝐴
• Even if the duration 𝑡𝑡0 approaches 0 and the height 𝐴𝐴/𝑡𝑡0 approaches ∞
• Referring to the transformed equation previously derived for the pulse
function
𝐴𝐴
ℒ 𝑓𝑓 𝑡𝑡 = 1 − 𝑒𝑒 −𝑠𝑠𝑡𝑡0
𝑡𝑡0 𝑠𝑠
• The Laplace transform of this impulse function is shown to be
𝐴𝐴
ℒ 𝑓𝑓 𝑡𝑡 = lim 1 − 𝑒𝑒 −𝑠𝑠𝑡𝑡0
𝑡𝑡0 →0 𝑡𝑡0 𝑠𝑠
𝑑𝑑
𝐴𝐴 1 − 𝑒𝑒 −𝑠𝑠𝑡𝑡0 𝐴𝐴 𝑠𝑠 𝑒𝑒 −𝑠𝑠𝑡𝑡0 𝐴𝐴𝐴𝐴
𝑑𝑑𝑡𝑡0
= lim = lim = = 𝐴𝐴
𝑡𝑡0 →0 𝑑𝑑 𝑡𝑡0 →0 𝑠𝑠 𝑠𝑠
𝑡𝑡 𝑠𝑠
𝑑𝑑𝑡𝑡0 0
Alhujaili, F MCET 404 23
 The Laplace Transform
Laplace Transformation
Multiplication of f(t) by e(-αt)
If 𝑓𝑓 𝑡𝑡 is Laplace transformable and its Laplace transform is 𝐹𝐹 𝑠𝑠 then the
Laplace transform of 𝑒𝑒 −𝛼𝛼𝛼𝛼 𝑓𝑓 𝑡𝑡 is obtained as
∞
ℒ 𝑓𝑓 𝑡𝑡 = � 𝑒𝑒 −𝛼𝛼𝛼𝛼 𝑓𝑓 𝑡𝑡 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑 =𝐹𝐹(𝑠𝑠 + 𝛼𝛼)
−∞
• the multiplication of 𝑓𝑓 𝑡𝑡 by 𝑒𝑒 −𝛼𝛼𝛼𝛼
has the effect of replacing s by
𝑠𝑠 + 𝛼𝛼 in the Laplace transform
• Or changing s to (𝑠𝑠 + 𝛼𝛼) is equivalent to multiplying 𝑓𝑓 𝑡𝑡 by 𝑒𝑒 −𝛼𝛼𝛼𝛼
Example
𝜔𝜔 𝑠𝑠
ℒ sin (𝜔𝜔𝜔𝜔) = 2 = 𝐹𝐹(𝑠𝑠) and ℒ cos(𝜔𝜔𝜔𝜔) = = 𝐺𝐺(𝑠𝑠)
𝑠𝑠 + 𝜔𝜔 2 𝑠𝑠 2 + 𝜔𝜔 2
Find Laplace transform of 𝑒𝑒 −𝛼𝛼𝛼𝛼 sin 𝜔𝜔𝜔𝜔 and 𝑒𝑒 −𝛼𝛼𝛼𝛼 cos 𝜔𝜔𝜔𝜔
Solution:

𝜔𝜔
ℒ 𝑒𝑒 −𝛼𝛼𝛼𝛼 sin 𝜔𝜔𝜔𝜔 = 𝐹𝐹 𝑠𝑠 + 𝛼𝛼 =
𝑠𝑠 + 𝛼𝛼 2 + 𝜔𝜔 2
And
𝑠𝑠 + 𝛼𝛼
ℒ 𝑒𝑒 −𝛼𝛼𝛼𝛼 cos 𝜔𝜔𝜔𝜔 = 𝐺𝐺 𝑠𝑠 + 𝛼𝛼 =
𝑠𝑠 + 𝛼𝛼 2 + 𝜔𝜔 2
Alhujaili, F MCET 404 24
 The Laplace Transform
Laplace Transformation
Differentiation theorem
The Laplace transform of the derivative of a function 𝑓𝑓 𝑡𝑡 is given by
𝑑𝑑
ℒ 𝑓𝑓(𝑡𝑡) = 𝑠𝑠𝑠𝑠 𝑠𝑠 − 𝑓𝑓(0)
𝑑𝑑𝑑𝑑
Where 𝑓𝑓 0 is the initial value of 𝑓𝑓(𝑡𝑡) , evaluated at 𝑡𝑡 = 0.
Similarly, for the second derivative of 𝑓𝑓(𝑡𝑡), we obtain the relationship
𝑑𝑑 2
ℒ 𝑓𝑓(𝑡𝑡) = 𝑠𝑠 ̇
2 𝐹𝐹 𝑠𝑠 − 𝑠𝑠𝑠𝑠 0 − 𝑓𝑓(0)
𝑑𝑑𝑑𝑑 2
̇
where 𝑓𝑓(0) is the value of 𝑓𝑓(𝑡𝑡) , evaluated at 𝑡𝑡 = 0.
Similarly, for the nth derivative of 𝑓𝑓(𝑡𝑡) , we obtain
𝑑𝑑 𝑛𝑛 𝑛𝑛 𝐹𝐹 𝑠𝑠 − 𝑠𝑠 𝑛𝑛−1 𝑓𝑓 0 − 𝑠𝑠 𝑛𝑛−2 𝑓𝑓̇ 0 − ⋯ − 𝑓𝑓 (𝑛𝑛−1) (0)
ℒ 𝑓𝑓(𝑡𝑡) = 𝑠𝑠
𝑑𝑑𝑑𝑑 𝑛𝑛

Alhujaili, F MCET 404 25

 The Laplace Transform
Laplace Transformation
Differentiation theorem
Example
𝑓𝑓 𝑡𝑡 = 3𝑥𝑥̈ + 5𝑥𝑥̇ + 7𝑥𝑥
Where 𝑥𝑥 0 = 2 , 𝑥𝑥̇ 0 = 4
Find Laplace transform of 𝐹𝐹(𝑠𝑠) of 𝑓𝑓(𝑡𝑡).
Solution:
Using the Differentiation Theorem on the first two terms leads to:
𝑑𝑑 2 2 𝑋𝑋 𝑠𝑠 − 𝑠𝑠𝑠𝑠 0 − 𝑥𝑥(0)
3ℒ 𝑥𝑥̈ = 3ℒ 𝑓𝑓(𝑡𝑡) = 3 𝑠𝑠 ̇
𝑑𝑑𝑑𝑑 2
𝑑𝑑
5ℒ 𝑥𝑥̇ = 5ℒ 𝑓𝑓(𝑡𝑡) = 5 𝑠𝑠𝑠𝑠 𝑆𝑆 − 𝑥𝑥(0) ; 7ℒ 𝑥𝑥 = 7 𝑋𝑋(𝑠𝑠)
𝑑𝑑𝑑𝑑
From these results, the Laplace transform F(s) of the given equation can be
expressed as:
𝐹𝐹(𝑠𝑠) = ℒ 𝑓𝑓 𝑡𝑡 = 3 𝑠𝑠 2 𝑋𝑋 𝑠𝑠 − 𝑠𝑠𝑠𝑠 0 − 𝑥𝑥(0) ̇ + 5 𝑠𝑠𝑠𝑠 𝑆𝑆 − 𝑥𝑥(0) + 7 𝑋𝑋(𝑠𝑠)
ℒ 𝑓𝑓 𝑡𝑡 = 3𝑠𝑠 2 + 5𝑠𝑠 + 7 𝑋𝑋 𝑠𝑠 − 3𝑠𝑠 + 5 𝑥𝑥 0 − 3 𝑥𝑥̇ 0 = 𝐹𝐹 𝑠𝑠
Solving this expression for 𝑋𝑋 𝑠𝑠 gives the following answer:
𝐹𝐹(𝑠𝑠) 6𝑠𝑠 − 2
𝑋𝑋 𝑠𝑠 = +
3𝑠𝑠 2 + 5𝑠𝑠 + 7 3𝑠𝑠 2 + 5𝑠𝑠 + 7

Alhujaili, F MCET 404 26

 The Laplace Transform
Laplace Transformation
Final-value theorem
the steady-state behavior of 𝑓𝑓 𝑡𝑡 to the behavior of 𝑠𝑠 𝐹𝐹(𝑠𝑠) in the
neighborhood of 𝑠𝑠 = 0
𝑓𝑓 ∞ = lim 𝑓𝑓(𝑡𝑡) = lim 𝑠𝑠𝑠𝑠(𝑠𝑠)
𝑡𝑡→∞ 𝑠𝑠→0
• The functions 𝒇𝒇 𝒕𝒕 and 𝒅𝒅𝒅𝒅/𝒅𝒅𝒅𝒅 must possess Laplace transforms, and
𝒇𝒇 𝒕𝒕 must approach a constant
• If 𝐹𝐹 𝑠𝑠 has any poles (denominator roots) in the right half of the s-plane
(real part of any p > 0) then 𝑓𝑓 𝑡𝑡 will grow and the limit will be
unbounded.
• If 𝐹𝐹(𝑠𝑠) has a pair of poles on the imaginary axis of the s-plane, then
𝑓𝑓 𝑡𝑡 will contain a sinusoid that persists forever and the final value will
not be defined.
• 𝒔𝒔 = 𝟎𝟎 undefined
• if all poles of 𝐹𝐹(𝑠𝑠) are in the left half of the s-plane provide a nonzero
constant final value.

Alhujaili, F MCET 404 27

 The Laplace Transform
Laplace Transformation
Final-value theorem
Example
1
𝑋𝑋 𝑠𝑠 =
𝑠𝑠
Find the final value of x(t).
Solution:
Substituting the given expression into this equation leads to the solution:
1
lim 𝑥𝑥 𝑡𝑡 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠 =1
𝑡𝑡→∞ 𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠
Example
7
𝑋𝑋 𝑠𝑠 =
(𝑠𝑠 + 4)2 +49
Find the final value of x(t).
Solution:
Substituting the given expression into this equation leads to the solution:
7
lim 𝑥𝑥 𝑡𝑡 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠 =0
𝑡𝑡→∞ 𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 + 4 2 + 49
we will find later 𝑋𝑋 𝑠𝑠 has the inverse transform
𝑥𝑥(𝑡𝑡) = 𝑒𝑒 −4𝑡𝑡 𝑠𝑠𝑠𝑠𝑠𝑠 7𝑡𝑡
Alhujaili, F MCET 404 28
 The Laplace Transform
Laplace Transformation
Final-value theorem
Example
4 𝑠𝑠 + 5
𝑋𝑋 𝑠𝑠 =
𝑠𝑠(𝑠𝑠 + 2)(𝑠𝑠 + 8)
Find the final value of x(t).
Solution:
Substituting the given expression into this equation leads to the solution:
4 𝑠𝑠 + 5 20 5
lim 𝑥𝑥 𝑡𝑡 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠 = =
𝑡𝑡→∞ 𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 𝑠𝑠 + 2 𝑠𝑠 + 8 16 4
Example
1
𝑋𝑋 𝑠𝑠 =
𝑠𝑠
Find the final value of x(t).
Solution:
Substituting the given expression into this equation leads to the solution:
1
lim 𝑥𝑥 𝑡𝑡 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠 =1
𝑡𝑡→∞ 𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠

Alhujaili, F MCET 404 29

 The Laplace Transform
Laplace Transformation
Initial-value theorem
• to find the value of 𝑓𝑓 𝑡𝑡 at 𝑡𝑡 = 0+ directly from the Laplace transform
of 𝑓𝑓 𝑡𝑡
: 𝒇𝒇 𝒕𝒕 and 𝒅𝒅𝒅𝒅 𝒕𝒕 /𝒅𝒅𝒅𝒅 are both Laplace transformable and if 𝐥𝐥𝐥𝐥𝐥𝐥 𝒔𝒔𝒔𝒔(𝒔𝒔)
𝒔𝒔→∞
exists, then
𝑓𝑓 0+ = lim 𝑠𝑠𝑠𝑠(𝑠𝑠)
𝑠𝑠→∞
Example
5(𝑠𝑠 + 3)(𝑠𝑠 + 4)
𝑋𝑋 𝑠𝑠 =
𝑠𝑠(𝑠𝑠 + 2)(𝑠𝑠 + 6)
Find the initial value of x(t). or x(0).
Solution:
Substituting the given expression into this equation leads to the solution:
+
5 𝑠𝑠 + 3 𝑠𝑠 + 4
𝑥𝑥 0 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠 =5
𝑠𝑠→∞ 𝑠𝑠→∞ 𝑠𝑠 𝑠𝑠 + 2 𝑠𝑠 + 6

Alhujaili, F MCET 404 30

 The Laplace Transform
Laplace Transformation
Integration theorem
the Laplace transform of ∫ 𝑓𝑓(𝑡𝑡)𝑑𝑑𝑑𝑑 exists and is given by
𝑡𝑡
𝐹𝐹 𝑠𝑠
ℒ � 𝑓𝑓(𝑡𝑡)𝑑𝑑𝑑𝑑 =
0 𝑠𝑠
Example
𝑡𝑡
ℒ � 𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴
0
Find Laplace transform of the given expression.
Solution:
To solve this problem, use the integration theorem:
𝑡𝑡 𝑡𝑡
𝐹𝐹 𝑠𝑠
ℒ � 𝑓𝑓(𝑡𝑡)𝑑𝑑𝑑𝑑 = ℒ � 𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴 =
0 0 𝑠𝑠
Substituting the Laplace transform from the table for 𝑓𝑓 𝑡𝑡 = 𝐴𝐴𝐴𝐴 then
𝐹𝐹 𝑠𝑠 = 1/𝑠𝑠 2 leads to the solution
𝑡𝑡
𝐴𝐴/𝑠𝑠 2
= ℒ � 𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴 = = 𝐴𝐴/𝑠𝑠 3
0 𝑠𝑠

Alhujaili, F MCET 404 31

 The Laplace Transform
Laplace Transformation
Use of MATLAB
Example
Use MATLAB to find Laplace Transform of
𝑓𝑓 𝑡𝑡 = 𝑡𝑡 cos(3𝑡𝑡)
Solution:
>> syms t s
>> f = t*cos(3*t);

Then the Laplace transform of 𝑓𝑓 𝑡𝑡 = is given by

>> F = laplace(f)
F =1/(s^2+9)*cos(2*atan(3/s))
>> F = simplify(expand(F))
F =(s^2-9)/(s^2+9)^2
Thus we obtain the Laplace transform

𝑠𝑠 2 − 9
𝐹𝐹 𝑠𝑠 = 2
𝑠𝑠 + 9 2

Alhujaili, F MCET 404 32

 The Laplace Transform
Laplace Transformation
Use of MATLAB
Example
Use MATLAB to find Laplace Transform of
𝑓𝑓 𝑡𝑡 = 3𝑡𝑡 − 5 sin(2𝑡𝑡)
Solution:
>> syms t s
>> f=3*t-5*sin(2*t);
Then the Laplace transform of 𝑓𝑓 𝑡𝑡 = is given by

>> F = laplace(f)
F=3/s^2-10/(s^2+4)
>> F = simplify(expand(F))
F =-(7*s^2-12)/s^2/(s^2+4)
Thus we obtain the Laplace transform
−7𝑠𝑠 2 + 12
𝐹𝐹 𝑠𝑠 = 2 2
𝑠𝑠 𝑠𝑠 + 4 2

Alhujaili, F MCET 404 33

 The Laplace Transform
Laplace Transformation
Inverse Laplace transformation
the process of finding the time function 𝑓𝑓 𝑡𝑡 from the corresponding
Laplace transform 𝐹𝐹(𝑠𝑠).
𝑓𝑓(𝑡𝑡) = ℒ −1 𝐹𝐹(𝑠𝑠)
• use tables of Laplace transforms
• Partial-fraction expansion
If F (s) , the Laplace transform of 𝑓𝑓 𝑡𝑡 , is broken up into components, or
𝐹𝐹 𝑠𝑠 = 𝐹𝐹1 𝑠𝑠 + 𝐹𝐹2 𝑠𝑠 + 𝐹𝐹3 𝑠𝑠 + ⋯ +𝐹𝐹𝑛𝑛 𝑠𝑠
Laplace transform of 𝐹𝐹1 𝑠𝑠 , 𝐹𝐹2 𝑠𝑠 , ⋯ , 𝐹𝐹𝑛𝑛 𝑠𝑠 are readily available then
𝐹𝐹 𝑠𝑠 = ℒ −1 𝐹𝐹1 𝑠𝑠 + ℒ −1 𝐹𝐹2 𝑠𝑠 + ℒ −1 𝐹𝐹3 𝑠𝑠 + ⋯ + ℒ −1 𝐹𝐹𝑛𝑛 𝑠𝑠
= 𝑓𝑓1 𝑡𝑡 + 𝑓𝑓2 𝑡𝑡 + 𝑓𝑓3 𝑡𝑡 + ⋯ +𝑓𝑓𝑛𝑛 𝑡𝑡
the form
𝐵𝐵 𝑠𝑠
𝐹𝐹 𝑠𝑠 = , 𝑚𝑚 = 𝑑𝑑𝑑𝑑𝑑𝑑 𝐵𝐵 𝑠𝑠 < deg 𝐴𝐴 𝑠𝑠 = 𝑛𝑛
𝐴𝐴 𝑠𝑠
where A (s) and B (s) are polynomials in s and the degree of A (s) is not
higher than the degree of B (s) .
Consider F (s) written in the factored form
𝐵𝐵 𝑠𝑠 𝐾𝐾(𝑠𝑠 + 𝑧𝑧1 )(𝑠𝑠 + 𝑧𝑧2 ) ⋯ (𝑠𝑠 + 𝑧𝑧𝑛𝑛 )
𝐹𝐹 𝑠𝑠 = =
𝐴𝐴 𝑠𝑠 (𝑠𝑠 + 𝑝𝑝1 )(𝑠𝑠 + 𝑝𝑝2 ) ⋯ (𝑠𝑠 + 𝑝𝑝𝑛𝑛 )
Alhujaili, F MCET 404 34
 The Laplace Transform
Inverse Laplace transformation
Case I. Distinct Real Poles
In this case, F (s) can be expanded into a sum of partial fractions
𝐵𝐵 𝑠𝑠 𝑎𝑎1 𝑎𝑎2 𝑎𝑎𝑛𝑛
𝐹𝐹 𝑠𝑠 = = + + ⋯+
𝐴𝐴 𝑠𝑠 (𝑠𝑠 + 𝑝𝑝1 ) (𝑠𝑠 + 𝑝𝑝2 ) (𝑠𝑠 + 𝑝𝑝𝑛𝑛 )
The coefficient 𝑎𝑎𝑘𝑘 is called the residue at the pole at 𝑠𝑠 = −𝑝𝑝𝑘𝑘 . The value of
𝑎𝑎𝑘𝑘 can be found by multiplying both sides of the above equation (𝑠𝑠 + 𝑝𝑝𝑘𝑘 )
and letting 𝑠𝑠 = −𝑝𝑝𝑘𝑘 , which gives
𝐵𝐵 𝑠𝑠 𝑎𝑎1 𝑠𝑠 + 𝑝𝑝𝑘𝑘 𝑎𝑎2 𝑠𝑠 + 𝑝𝑝𝑘𝑘 𝑎𝑎𝑘𝑘 𝑠𝑠 + 𝑝𝑝𝑘𝑘 𝑎𝑎𝑛𝑛 𝑠𝑠 + 𝑝𝑝𝑘𝑘
(𝑠𝑠 + 𝑝𝑝𝑘𝑘 ) = + +⋯+ +⋯+ = 𝑎𝑎𝑘𝑘
𝐴𝐴 𝑠𝑠 𝑠𝑠=−𝑝𝑝𝑘𝑘
𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 𝑠𝑠 + 𝑝𝑝𝑘𝑘 𝑠𝑠 + 𝑝𝑝𝑛𝑛 𝑠𝑠=−𝑝𝑝𝑘𝑘
all the expanded terms drop out with the exception of 𝑎𝑎𝑘𝑘 .Thus the residue
𝐵𝐵 𝑠𝑠
𝑎𝑎𝑘𝑘 = (𝑠𝑠 + 𝑝𝑝𝑘𝑘 )
𝐴𝐴 𝑠𝑠 𝑠𝑠=−𝑝𝑝
𝑘𝑘
𝑎𝑎𝑘𝑘
Since ; ℒ −1 = 𝑎𝑎𝑘𝑘 𝑒𝑒 −𝑝𝑝𝑘𝑘 𝑡𝑡
𝑠𝑠+𝑝𝑝𝑘𝑘
𝑓𝑓 𝑡𝑡 is obtained as
𝑓𝑓 𝑡𝑡 = ℒ −1 𝐹𝐹(𝑠𝑠) = 𝑎𝑎1 𝑒𝑒 −𝑝𝑝1𝑡𝑡 + 𝑎𝑎2 𝑒𝑒 −𝑝𝑝2𝑡𝑡 + ⋯ + 𝑎𝑎𝑛𝑛 𝑒𝑒 −𝑝𝑝𝑛𝑛𝑡𝑡 𝑡𝑡 ≥ 0

Alhujaili, F MCET 404 35

 The Laplace Transform
Inverse Laplace transformation
Example
Find the inverse Laplace transform of
𝑠𝑠 + 3
F s =
(𝑠𝑠 + 1)(𝑠𝑠 + 2)
Solution:
The partial-fraction expansion of F(s) is
𝑠𝑠 + 3 𝑎𝑎1 𝑎𝑎1
F s = = +
(𝑠𝑠 + 1)(𝑠𝑠 + 2) (𝑠𝑠 + 1) (𝑠𝑠 + 2)
where 𝑎𝑎1 and 𝑎𝑎2 are found by using the following equation
𝑠𝑠 + 3
𝑎𝑎𝑘𝑘 = (𝑠𝑠 + 𝑝𝑝𝑘𝑘 )
(𝑠𝑠 + 1)(𝑠𝑠 + 2) 𝑠𝑠=−𝑝𝑝
𝑘𝑘
𝑠𝑠 + 3 𝑠𝑠 + 3 −1 + 3
𝑎𝑎1 = 𝑠𝑠 + 1 = = =2
(𝑠𝑠 + 1)(𝑠𝑠 + 2) 𝑠𝑠=−1 (𝑠𝑠 + 2) 𝑠𝑠=−1 (−1 + 2)
𝑠𝑠 + 3 𝑠𝑠 + 3 −2 + 3
𝑎𝑎2 = (𝑠𝑠 + 2) = = = −1
(𝑠𝑠 + 1)(𝑠𝑠 + 2) 𝑠𝑠=−2 (𝑠𝑠 + 1) 𝑠𝑠=−2 (−2 + 1)
Thus
𝑠𝑠 + 3 2 −1
F s = = +
(𝑠𝑠 + 1)(𝑠𝑠 + 2) (𝑠𝑠 + 1) (𝑠𝑠 + 2)
2 −1
𝑓𝑓 𝑡𝑡 = ℒ −1 𝐹𝐹(𝑠𝑠) = ℒ −1 + ℒ −1 = 2𝑒𝑒 −𝑡𝑡 − 𝑒𝑒 −2𝑡𝑡 , 𝑡𝑡 ≥ 0
(𝑠𝑠 + 1) (𝑠𝑠 + 2)
Alhujaili, F MCET 404 36
 The Laplace Transform
Inverse Laplace transformation
Example
Use MATLAB to find the inverse Laplace Transform of
𝑠𝑠 + 3
F s =
𝑠𝑠 + 1 𝑠𝑠 + 2
Solution:
>> syms t s
>> F = (s+3)/((s+1)*(s+2))
Then the inverse Laplace transform of 𝑓𝑓 𝑡𝑡 = is given by
>> F = ilaplace(f)
f =2*exp(-t)-exp(-2*t)
>> pretty(f)
2 exp(-t) - exp(-2 t)
Thus we obtain the inverse Laplace transform
𝑓𝑓 𝑡𝑡 = ℒ −1 𝐹𝐹(𝑠𝑠) = 2𝑒𝑒 −𝑡𝑡 − 𝑒𝑒 −2𝑡𝑡 , 𝑡𝑡 ≥ 0

Alhujaili, F MCET 404 37

 The Laplace Transform
Inverse Laplace transformation
Example
find the inverse Laplace Transform of
𝑠𝑠 3 + 5𝑠𝑠 2 + 9𝑠𝑠 + 7
F s =
𝑠𝑠 + 1 𝑠𝑠 + 2
Solution:
Since the degree of the numerator is higher than that of the denominator
polynomial, we must divide the numerator by the denominator
𝑠𝑠 + 3 𝑠𝑠 + 3
F s =s+2+ =s+2+
𝑠𝑠 + 1 𝑠𝑠 + 2 𝑠𝑠 + 1 𝑠𝑠 + 2
Notice that the Laplace transform of the unit-impulse function ℒ 𝛿𝛿(𝑡𝑡) = 1 and
𝑑𝑑𝑑𝑑 𝑡𝑡
ℒ = 𝑠𝑠 ( use the Differentiation theorem) so the inverse Laplace transform of
𝑑𝑑𝑑𝑑
F(s) is given by

𝑑𝑑
𝑓𝑓 𝑡𝑡 = 𝛿𝛿 𝑡𝑡 + 2𝛿𝛿 𝑡𝑡 + 2𝑒𝑒 −𝑡𝑡 − 𝑒𝑒 −2𝑡𝑡 , 𝑡𝑡 ≥ 0
𝑑𝑑𝑑𝑑

Alhujaili, F MCET 404 38

 The Laplace Transform
Inverse Laplace transformation
Case II. Complex Conjugate Poles
• F (s) involves a quadratic factor 𝑠𝑠 2 + 𝑎𝑎𝑎𝑎 + 𝑏𝑏 in the denominator.
• If this quadratic factor has a pair of complex conjugate poles,
• then it is better not to factor this term in order to avoid complex
numbers. For example, if 𝐹𝐹 (𝑠𝑠) is given as
𝑃𝑃 𝑠𝑠
𝐹𝐹 𝑠𝑠 =
𝑠𝑠(𝑠𝑠 2 + 𝑎𝑎𝑎𝑎 + 𝑏𝑏)
where 𝑎𝑎 ≥ 0 and 𝑏𝑏 ≥ 0 , and 𝑠𝑠 2 + 𝑎𝑎𝑎𝑎 + 𝑏𝑏 = 0 has a pair of complex
conjugate poles, then expand 𝐹𝐹 (𝑠𝑠) into the following partial-fraction
expansion form:
𝑐𝑐 𝑑𝑑𝑑𝑑 + 𝑒𝑒
𝐹𝐹 𝑠𝑠 = + 2
𝑠𝑠 𝑠𝑠 + 𝑎𝑎𝑎𝑎 + 𝑏𝑏

Alhujaili, F MCET 404 39

 The Laplace Transform
Inverse Laplace transformation
Example find the inverse Laplace Transform of
2𝑠𝑠 + 12
F s = 2
𝑠𝑠 + 2𝑠𝑠 + 5
Solution1:
Notice that the poles of the denominator are
−𝑏𝑏 ± 𝑏𝑏2 − 4𝑎𝑎𝑎𝑎 −2 ± 22 − 4 × 1 × 5 −2 ± −16
s1,2 = = = = −1 ± 𝑗𝑗𝑗
2𝑎𝑎 2×1 2
Therefore F(s) can be written as
2𝑠𝑠 + 12 2𝑠𝑠 + 12 𝛼𝛼 𝛽𝛽
𝐹𝐹 𝑠𝑠 = 2 = = +
𝑠𝑠 + 2𝑠𝑠 + 5 𝑠𝑠 + 1 + 𝑗𝑗𝑗 𝑠𝑠 + 1 − 𝑗𝑗𝑗 𝑠𝑠 + 1 + 𝑗𝑗𝑗 𝑠𝑠 + 1 − 𝑗𝑗𝑗
where the constants 𝛼𝛼 and 𝛽𝛽 that can be found as before
𝑠𝑠 + 1 + 𝑗𝑗𝑗 2𝑠𝑠 + 12 10 − 𝑗𝑗𝑗 5
𝛼𝛼 = = = 1 − 𝑗𝑗
𝑠𝑠 + 1 + 𝑗𝑗𝑗 𝑠𝑠 + 1 − 𝑗𝑗𝑗 𝑠𝑠=−1−𝑗𝑗𝑗 (−𝑗𝑗𝑗) 2
𝑠𝑠 + 1 − 𝑗𝑗𝑗 2𝑠𝑠 + 12 10 + 𝑗𝑗𝑗 5
𝛽𝛽 = = = 1 + 𝑗𝑗
𝑠𝑠 + 1 + 𝑗𝑗𝑗 𝑠𝑠 + 1 − 𝑗𝑗𝑗 𝑠𝑠=−1+𝑗𝑗𝑗
(𝑗𝑗𝑗) 2
Notice that 𝛽𝛽 is the complex conjugate of . Substitute the values of 𝛼𝛼 and 𝛽𝛽
into the expression of 𝐹𝐹(𝑠𝑠)

Alhujaili, F MCET 404 40

 The Laplace Transform
Inverse Laplace transformation

Continue Solution1:
5 5
2𝑠𝑠 + 12 1 − 𝑗𝑗
1 + 𝑗𝑗
𝐹𝐹 𝑠𝑠 = 2 = 2 + 2
𝑠𝑠 + 2𝑠𝑠 + 5 𝑠𝑠 + 1 + 𝑗𝑗𝑗 𝑠𝑠 + 1 − 𝑗𝑗𝑗
and
5 − 1+𝑗𝑗𝑗 𝑡𝑡 5
𝑓𝑓 𝑡𝑡 = ℒ −1 𝐹𝐹 𝑠𝑠 = 1 − 𝑗𝑗 𝑒𝑒 + 1 + 𝑗𝑗 𝑒𝑒 − 1−𝑗𝑗𝑗 𝑡𝑡
2 2
−𝑡𝑡 −𝑗𝑗𝑗𝑗𝑗
5 −𝑡𝑡 −𝑗𝑗𝑗𝑗𝑗 −𝑡𝑡 𝑗𝑗𝑗𝑗𝑗
5 −𝑡𝑡 𝑗𝑗𝑗𝑗𝑗
= 𝑒𝑒 𝑒𝑒 − 𝑗𝑗 𝑒𝑒 𝑒𝑒 + 𝑒𝑒 𝑒𝑒 + 𝑗𝑗 𝑒𝑒 𝑒𝑒
2 2
𝑗𝑗𝑗𝑗𝑗 −𝑗𝑗𝑗𝑗𝑗
−𝑡𝑡
𝑒𝑒 + 𝑒𝑒 −𝑡𝑡
𝑒𝑒 − 𝑒𝑒 −𝑗𝑗𝑗𝑗𝑗
𝑗𝑗𝑗𝑗𝑗
= 2𝑒𝑒 + 𝑗𝑗𝑗𝑒𝑒
2 2𝑗𝑗
𝑓𝑓 𝑡𝑡 = 2𝑒𝑒 −𝑡𝑡 cos(2𝑡𝑡) − 5𝑒𝑒 −𝑡𝑡 sin (2𝑡𝑡)

Alhujaili, F MCET 404 41

 The Laplace Transform
Inverse Laplace transformation
Example find the inverse Laplace Transform of
2𝑠𝑠 + 12
F s = 2
𝑠𝑠 + 2𝑠𝑠 + 5
Solution 2:
The expression of 𝐹𝐹(𝑠𝑠) can be written in general as
𝑐𝑐𝑐𝑐 + 𝑑𝑑
𝐹𝐹 𝑠𝑠 = 2
𝑠𝑠 + 2𝑎𝑎𝑎𝑎 + 𝑎𝑎 2 + 𝜔𝜔 2
where 𝑎𝑎 and 𝜔𝜔 are positive real. It is clear that the denominator in the
above expression is a complete square, i.e., it can be written as
𝑠𝑠 2 + 2𝑎𝑎𝑎𝑎 + 𝑎𝑎2 + 𝜔𝜔2 = 𝑠𝑠 + 𝑎𝑎 2 + 𝜔𝜔2
Let’s us write the expression of 𝐹𝐹(𝑠𝑠) into the following form
𝑐𝑐𝑐𝑐 + 𝑑𝑑 𝑐𝑐𝑐𝑐 + 𝑑𝑑
𝐹𝐹 𝑠𝑠 = 2 =
𝑠𝑠 + 2𝑎𝑎𝑎𝑎 + 𝑎𝑎 2 + 𝜔𝜔 2 𝑠𝑠 + 𝑎𝑎 2 + 𝜔𝜔 2
𝑐𝑐 𝑠𝑠 + 𝑎𝑎 + 𝑑𝑑 − 𝑐𝑐𝑐𝑐
=
𝑠𝑠 + 𝑎𝑎 2 + 𝜔𝜔 2
𝑐𝑐 𝑠𝑠 + 𝑎𝑎 𝑑𝑑 − 𝑐𝑐𝑐𝑐 𝑐𝑐 𝑠𝑠 + 𝑎𝑎 𝑑𝑑 − 𝑐𝑐𝑐𝑐 𝜔𝜔
= + = +
𝑠𝑠 + 𝑎𝑎 2 + 𝜔𝜔 2 𝑠𝑠 + 𝑎𝑎 2 + 𝜔𝜔 2 𝑠𝑠 + 𝑎𝑎 2 + 𝜔𝜔 2 𝜔𝜔 𝑠𝑠 + 𝑎𝑎 2 + 𝜔𝜔 2

Alhujaili, F MCET 404 42

 The Laplace Transform
Inverse Laplace transformation
Example find the inverse Laplace Transform of
2𝑠𝑠 + 12
F s = 2
𝑠𝑠 + 2𝑠𝑠 + 5
Continued Solution 2:
The inverse Laplace transform is then
−1 −1
𝑠𝑠 + 𝑎𝑎 𝑑𝑑 − 𝑐𝑐𝑐𝑐 −1 𝜔𝜔
𝑓𝑓 𝑡𝑡 = ℒ 𝐹𝐹 𝑠𝑠 = 𝑐𝑐ℒ + ℒ
𝑠𝑠 + 𝑎𝑎 2 + 𝜔𝜔 2 𝜔𝜔 𝑠𝑠 + 𝑎𝑎 2 + 𝜔𝜔 2
−𝑎𝑎𝑎𝑎
𝑑𝑑 − 𝑐𝑐𝑐𝑐 −𝑎𝑎𝑎𝑎
= 𝑐𝑐𝑒𝑒 cos 𝜔𝜔𝜔𝜔 + 𝑒𝑒 sin(𝜔𝜔𝜔𝜔)
𝜔𝜔
In our example we have
2𝑠𝑠 + 12 2𝑠𝑠 + 12 2𝑠𝑠 + 12
F s = 2 = =
𝑠𝑠 + 2𝑠𝑠 + 5 𝑠𝑠 2 + 2𝑠𝑠 + 1 + 4 (𝑠𝑠 + 1)2 +22
𝑎𝑎 = 1, 𝜔𝜔 = 2, 𝑐𝑐 = 2, 𝑑𝑑 = 12 Therefore, substitute into the expression of 𝑓𝑓 (𝑡𝑡)
−1 −𝑎𝑎𝑎𝑎
𝑑𝑑 − 𝑐𝑐𝑐𝑐 −𝑎𝑎𝑎𝑎
𝑓𝑓 𝑡𝑡 = ℒ 𝐹𝐹 𝑠𝑠 = 𝑐𝑐𝑒𝑒 cos 𝜔𝜔𝜔𝜔 + 𝑒𝑒 sin 𝜔𝜔𝜔𝜔
𝜔𝜔
12 − 2 −𝑡𝑡
= 2𝑒𝑒 −𝑡𝑡 cos 2𝑡𝑡 + 𝑒𝑒 sin 2𝑡𝑡
2
= 2𝑒𝑒 −𝑡𝑡 cos 2𝑡𝑡 + 5𝑒𝑒 −𝑡𝑡 sin 2𝑡𝑡 = 𝑒𝑒 −𝑡𝑡 2 cos 2𝑡𝑡 + 5 sin 2𝑡𝑡
Alhujaili, F MCET 404 43
 The Laplace Transform
Inverse Laplace transformation
Case III. Multiple Poles
Partial-fraction expansion when F(s) involves multiple poles.
Example
find the inverse Laplace Transform of
𝑠𝑠 2 + 2𝑠𝑠 + 3
F s =
(𝑠𝑠 + 1)3
Solution:
As can be seen 𝐹𝐹(𝑠𝑠) has poles 𝑠𝑠 = −1, −1, −1. Thus we say 𝐹𝐹(𝑠𝑠) has a pole
𝑠𝑠 = −1 of multiplicity 3 . Hence 𝐹𝐹(𝑠𝑠) can be written in the following form
𝑠𝑠 2 + 2𝑠𝑠 + 3 𝐵𝐵 𝑠𝑠 𝑏𝑏3 𝑏𝑏2 𝑏𝑏1
F s = = = + +
(𝑠𝑠 + 1)3 𝐴𝐴 𝑠𝑠 𝑠𝑠 + 1 3 𝑠𝑠 + 1 2 𝑠𝑠 + 1
where 𝑏𝑏1 , 𝑏𝑏2 , and 𝑏𝑏3 are determined as follows. By multiplying both sides
of the last equation by (𝑠𝑠 + 1)3 , we obtain
𝐵𝐵 𝑠𝑠
(𝑠𝑠 + 1)3 = 𝑏𝑏3 + 𝑏𝑏2 𝑠𝑠 + 1 + 𝑏𝑏1 𝑠𝑠 + 1 2
𝐴𝐴 𝑠𝑠
Then, letting 𝑠𝑠 = −1, gives
𝐵𝐵 𝑠𝑠
(𝑠𝑠 + 1)3 = 𝑏𝑏3
𝐴𝐴 𝑠𝑠 𝑠𝑠=−1
Alhujaili, F MCET 404 44
 The Laplace Transform
Inverse Laplace transformation
Continued Solution:
Also differentiation of both sides of Equation
𝑑𝑑 𝐵𝐵 𝑠𝑠
(𝑠𝑠 + 1)3 = 𝑏𝑏2 + 2𝑏𝑏1 𝑠𝑠 + 1 ∗
𝑑𝑑𝑑𝑑 𝐴𝐴 𝑠𝑠 𝑠𝑠=−1
If we let 𝑠𝑠 = −1, in the last Equation *, then
𝑑𝑑 𝐵𝐵 𝑠𝑠
(𝑠𝑠 + 1)3 = 𝑏𝑏2
𝑑𝑑𝑑𝑑 𝐴𝐴 𝑠𝑠 𝑠𝑠=−1
By differentiating both sides of Equation * with respect to 𝑠𝑠 , we obtain
𝑑𝑑 2 3
𝐵𝐵 𝑠𝑠 1 𝑑𝑑 2
3
𝐵𝐵 𝑠𝑠
(𝑠𝑠 + 1) = 2𝑏𝑏1 → 𝑏𝑏1 = (𝑠𝑠 + 1)
𝑑𝑑𝑠𝑠 2 𝐴𝐴 𝑠𝑠 𝑠𝑠=−1 2! 𝑑𝑑𝑠𝑠 2 𝐴𝐴 𝑠𝑠
Therefore
3
𝐵𝐵 𝑠𝑠 3
𝑠𝑠 2 + 2𝑠𝑠 + 3
𝑏𝑏3 = (𝑠𝑠 + 1) = (𝑠𝑠 + 1) =2
𝐴𝐴 𝑠𝑠 𝑠𝑠=−1 (𝑠𝑠 + 1)3 𝑠𝑠=−1
𝑑𝑑 3
𝐵𝐵 𝑠𝑠 𝑑𝑑 3
𝑠𝑠 2 + 2𝑠𝑠 + 3
𝑏𝑏2 = 𝑠𝑠 + 1 = 𝑠𝑠 + 1
𝑑𝑑𝑑𝑑 𝐴𝐴 𝑠𝑠 𝑠𝑠=−1 𝑑𝑑𝑑𝑑 𝑠𝑠 + 1 3 𝑠𝑠=−1
𝑑𝑑 2
𝑏𝑏2 = 𝑠𝑠 + 2𝑠𝑠 + 3 𝑠𝑠=−1 = 2𝑠𝑠 + 2 −1 = 0
𝑑𝑑𝑑𝑑
Alhujaili, F MCET 404 45
 The Laplace Transform
Inverse Laplace transformation
Continued Solution:
1 𝑑𝑑 2 3
𝐵𝐵 𝑠𝑠 1 𝑑𝑑 2 3
𝑠𝑠 2 + 2𝑠𝑠 + 3
𝑏𝑏1 = 𝑠𝑠 + 1 = 𝑠𝑠 + 1
2! 𝑑𝑑𝑠𝑠 2 𝐴𝐴 𝑠𝑠 2! 𝑑𝑑𝑠𝑠 2 𝑠𝑠 + 1 3
1 𝑑𝑑 2 2 1 𝑑𝑑 1
= 𝑠𝑠 + 2𝑠𝑠 + 3 𝑠𝑠=−1 = 2𝑠𝑠 + 2 𝑠𝑠=−1 = 2 =1
2! 𝑑𝑑𝑠𝑠 2 2! 𝑑𝑑𝑑𝑑 2! 𝑠𝑠=−1
Therefore
𝑠𝑠 2 + 2𝑠𝑠 + 3 2 0 1
F s = = + +
𝑠𝑠 + 1 3 𝑠𝑠 + 1 3 𝑠𝑠 + 1 2 𝑠𝑠 + 1
2 1
F s = +
𝑠𝑠 + 1 3 𝑠𝑠 + 1
Then the inverse Laplace Transform is
𝑓𝑓 𝑡𝑡 = ℒ −1 𝐹𝐹 𝑠𝑠 = 𝑡𝑡 2 𝑒𝑒 −𝑡𝑡 + 𝑒𝑒 −𝑡𝑡 𝑡𝑡 ≥ 0

Alhujaili, F MCET 404 46

 The Laplace Transform
Summary
We can find the Laplace Transform for many simple signals

∞
Laplace transform of 𝑓𝑓 𝑡𝑡
= 𝐹𝐹 𝑠𝑠 = � 𝑓𝑓 𝑡𝑡 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑
0

𝐴𝐴
Step Function 𝐴𝐴 𝑡𝑡 =
𝑠𝑠

𝑡𝑡 𝑛𝑛 𝑛𝑛!
power =
𝑠𝑠 𝑛𝑛+1

𝑒𝑒 −𝑎𝑎𝑎𝑎 1
Exponential =
𝑠𝑠 + 𝑎𝑎

𝑛𝑛!
power Exponential 𝑡𝑡 𝑛𝑛 𝑒𝑒 −𝑎𝑎𝑎𝑎 =
𝑠𝑠 + 𝑎𝑎 𝑛𝑛+1

𝜔𝜔
Sine sin 𝜔𝜔𝜔𝜔 =
𝑠𝑠 2 + 𝜔𝜔 2
𝑠𝑠
Cosine cos 𝜔𝜔𝜔𝜔 =
𝑠𝑠 2 + 𝜔𝜔 2

1
Unit impulse 𝛿𝛿(𝑡𝑡) = 𝑙𝑙𝑙𝑙𝑙𝑙 𝑡𝑡 1
𝑡𝑡0 →0 𝑡𝑡0

Alhujaili, F MCET 404 47

 The Laplace Transform
Summary
Simple functions and properties can be combined to calculate the
Laplace Transform

∞
Laplace transform of ℒ 𝑓𝑓 𝑡𝑡
= 𝐹𝐹 𝑠𝑠 = � 𝑓𝑓 𝑡𝑡 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑
0
Superposition ℒ 𝛼𝛼𝛼𝛼 𝑡𝑡 ± 𝛽𝛽𝛽𝛽 𝑡𝑡 = 𝛼𝛼𝛼𝛼 𝑠𝑠 ± 𝛽𝛽𝛽𝛽 𝑠𝑠

Delay ℒ 𝑓𝑓 𝑡𝑡 − 𝛼𝛼 = 𝑒𝑒 −𝛼𝛼𝛼𝛼 𝐹𝐹 𝑠𝑠

1 𝑠𝑠
Time-Scaling ℒ 𝑓𝑓 𝑎𝑎𝑎𝑎 = 𝐹𝐹
𝑎𝑎 𝑎𝑎

𝑑𝑑
Differentiation ℒ 𝑓𝑓(𝑡𝑡) = 𝑠𝑠𝑠𝑠 𝑠𝑠 − 𝑓𝑓 0
𝑑𝑑𝑑𝑑

𝑑𝑑 2 ̇
= 𝑠𝑠 2 𝐹𝐹 𝑠𝑠 − 𝑠𝑠𝑠𝑠 0 − 𝑓𝑓(0)
ℒ 𝑓𝑓(𝑡𝑡)
𝑑𝑑𝑑𝑑 2

Final-value theorem lim 𝑓𝑓(𝑡𝑡) = lim 𝑠𝑠𝑠𝑠(𝑠𝑠)

𝑡𝑡→∞ 𝑠𝑠→0

Initial-value theorem 𝑓𝑓 0+ = lim 𝑠𝑠𝑠𝑠(𝑠𝑠)

𝑠𝑠→∞

Alhujaili, F MCET 404 48

 The Laplace Transform
Summary
Simple functions and properties can be combined to calculate the
Laplace Transform
𝑡𝑡 1
Integration ℒ � 𝑓𝑓 𝑡𝑡 𝑑𝑑𝑑𝑑 = 𝐹𝐹 𝑠𝑠
0 𝑠𝑠

∞ 1
ℒ � 𝑓𝑓 𝑡𝑡 𝑑𝑑𝑑𝑑 = lim 𝐹𝐹 𝑠𝑠
0 𝑠𝑠→0 𝑠𝑠

ℒ 𝑡𝑡𝑡𝑡 𝑡𝑡 𝑑𝑑
Frequency Differentiation =− 𝐹𝐹 𝑠𝑠
𝑑𝑑𝑑𝑑
Frequency Shift ℒ 𝑒𝑒 −𝛼𝛼𝛼𝛼 𝑓𝑓 𝑡𝑡 = 𝐹𝐹 𝑠𝑠 + 𝛼𝛼

Inverse Laplace transformation 𝑓𝑓(𝑡𝑡) = ℒ −1 𝐹𝐹(𝑠𝑠)

𝐵𝐵 𝑠𝑠 𝑎𝑎1 𝑎𝑎𝑛𝑛
partial fractions 𝐹𝐹 𝑠𝑠 = = + ⋯+
𝐴𝐴 𝑠𝑠 (𝑠𝑠 + 𝑝𝑝1 ) (𝑠𝑠 + 𝑝𝑝𝑛𝑛 )

𝐵𝐵 𝑠𝑠
𝑎𝑎𝑘𝑘 = (𝑠𝑠 + 𝑝𝑝𝑘𝑘 )
𝐴𝐴 𝑠𝑠 𝑠𝑠=−𝑝𝑝𝑘𝑘
Distinct Real Poles
𝑎𝑎𝑘𝑘
ℒ −1 = 𝑎𝑎𝑘𝑘 𝑒𝑒 −𝑝𝑝𝑘𝑘𝑡𝑡
𝑠𝑠 + 𝑝𝑝𝑘𝑘
𝑓𝑓 𝑡𝑡 = ℒ −1 𝐹𝐹(𝑠𝑠) = 𝑎𝑎1 𝑒𝑒 −𝑝𝑝1𝑡𝑡 + ⋯ + 𝑎𝑎𝑛𝑛 𝑒𝑒 −𝑝𝑝𝑛𝑛𝑡𝑡

Alhujaili, F MCET 404 49

 The Laplace Transform
Summary
Example
Find the Laplace transform of
𝑓𝑓(𝑡𝑡) = 0 for 𝑡𝑡 < 0

= 𝑡𝑡 𝑒𝑒 −3𝑡𝑡 for 𝑡𝑡 ≥ 0
Solution:
Since
1
ℒ t = 𝐹𝐹(𝑠𝑠) =
𝑠𝑠
Then
1
ℒ 𝑡𝑡 𝑒𝑒 −3𝑡𝑡 = 𝐹𝐹(𝑠𝑠 + 3) = 2
𝑠𝑠 + 3

Alhujaili, F MCET 404 50

 The Laplace Transform
Summary
Example
Find the Laplace transform of
𝑓𝑓(𝑡𝑡) = 0 for 𝑡𝑡 < 0

= sin(𝜔𝜔𝜔𝜔 + 𝜃𝜃) for 𝑡𝑡 ≥ 0

where 𝜃𝜃 is a constant?
Solution:
Noting that
sin 𝜔𝜔𝜔𝜔 + 𝜃𝜃 = sin 𝜔𝜔𝜔𝜔 cos 𝜃𝜃 + cos 𝜔𝜔𝜔𝜔 sin𝜃𝜃
then
ℒ sin 𝜔𝜔𝜔𝜔 + 𝜃𝜃 = cos 𝜃𝜃 ℒ sin 𝜔𝜔𝜔𝜔 + sin𝜃𝜃𝜃 cos 𝜔𝜔𝜔𝜔
𝜔𝜔 𝑠𝑠
= cos 𝜃𝜃 2 + sin𝜃𝜃
𝑠𝑠 + 𝜔𝜔 2 𝑠𝑠 2 + 𝜔𝜔 2

Alhujaili, F MCET 404 51

 The Laplace Transform
Summary
Example
Prove that if the Laplace transform of 𝑓𝑓 𝑡𝑡 is 𝐹𝐹(𝑠𝑠), then
𝑡𝑡
ℒ 𝑓𝑓 = 𝑎𝑎𝑎𝑎 𝑎𝑎𝑎𝑎 𝑎𝑎 > 0
𝑎𝑎
Solution:
𝑡𝑡
If we define = 𝜏𝜏 and 𝑎𝑎𝑎𝑎 = 𝑠𝑠1 , then
𝑎𝑎
∞ ∞
𝑡𝑡 𝑡𝑡 −𝑠𝑠𝑠𝑠
ℒ 𝑓𝑓 = � 𝑓𝑓 𝑒𝑒 𝑑𝑑𝑑𝑑 = � 𝑓𝑓 𝜏𝜏 𝑒𝑒 −𝑎𝑎𝑎𝑎𝑎𝑎 𝑎𝑎𝑎𝑎𝑎𝑎
𝑎𝑎 0 𝑎𝑎 0
∞
= � 𝑓𝑓 𝜏𝜏 𝑒𝑒 −𝑠𝑠1 𝜏𝜏 𝑎𝑎𝑎𝑎𝑎𝑎 = 𝑎𝑎𝑎𝑎 𝑠𝑠1 = 𝑎𝑎𝑎𝑎(𝑎𝑎𝑎𝑎)
0

Alhujaili, F MCET 404 52

 The Laplace Transform
Summary
Example
Solve the following Initial Value Problem of
𝑦𝑦̈ + 𝑦𝑦 = 𝑡𝑡, 𝑦𝑦 0 = 1, 𝑦𝑦̇ 0 = 1
Solution:
By writing the Laplace transform of 𝑦𝑦(𝑡𝑡) as ℒ 𝑦𝑦 𝑡𝑡 = 𝑌𝑌(𝑠𝑠) we obtain
ℒ 𝑦𝑦̇ 𝑡𝑡 = 𝑠𝑠𝑠𝑠 𝑠𝑠 − 𝑦𝑦(0)
ℒ 𝑦𝑦̈ 𝑡𝑡 = 𝑠𝑠 2 𝑌𝑌 𝑠𝑠 − 𝑠𝑠𝑠𝑠 0 − 𝑦𝑦̇ 0
For initial conditions, i.e., 𝑦𝑦 0 = 1, 𝑦𝑦̇ 0 = 1 , the above transforms become
ℒ 𝑦𝑦̇ 𝑡𝑡 = 𝑠𝑠𝑠𝑠 𝑠𝑠 − 1
ℒ 𝑦𝑦̈ 𝑡𝑡 = 𝑠𝑠 2 𝑌𝑌 𝑠𝑠 − 𝑠𝑠 − 1
Step 1: Take Laplace Transform (LT) of both sides of the above equation
1
𝑠𝑠 2 𝑌𝑌 𝑠𝑠 − 𝑠𝑠 − 1 + 𝑌𝑌 𝑠𝑠 = 2
𝑠𝑠
Rearranging the last equation
1
𝑌𝑌 𝑠𝑠 𝑠𝑠 2 + 1 = 2 + 𝑠𝑠 + 1
𝑠𝑠
Step 2: Solving for 𝑌𝑌 𝑠𝑠 gives
1 𝑠𝑠 1
𝑌𝑌 𝑠𝑠 = 2 2 + 2 + 2
𝑠𝑠 𝑠𝑠 + 1 𝑠𝑠 + 1 𝑠𝑠 + 1
1 1 𝑠𝑠 1
𝑌𝑌 𝑠𝑠 = 2 − 2 + 2 + 2
𝑠𝑠 𝑠𝑠 + 1 𝑠𝑠 + 1 𝑠𝑠 + 1

Alhujaili, F MCET 404 53

 The Laplace Transform
Summary
Therefore
1 𝑠𝑠
𝑌𝑌 𝑠𝑠 = +
𝑠𝑠 2 𝑠𝑠 2 + 1
Step 3: Solving
1 𝑠𝑠
𝑦𝑦 𝑡𝑡 = ℒ −1 𝑌𝑌 𝑠𝑠 = ℒ −1 + ℒ −1
𝑠𝑠 2 𝑠𝑠 2 + 1
𝑦𝑦 𝑡𝑡 = 𝑡𝑡 + cos(𝑡𝑡)
If we assume the zero initial conditions, i.e., 𝑦𝑦 0 = 0, 𝑦𝑦̇ 0 = 0 , the above
transforms become
ℒ 𝑦𝑦 𝑡𝑡 = 𝑌𝑌(𝑠𝑠)
ℒ 𝑦𝑦̇ 𝑡𝑡 = 𝑠𝑠𝑠𝑠 𝑠𝑠
ℒ 𝑦𝑦̈ 𝑡𝑡 = 𝑠𝑠 2 𝑌𝑌 𝑠𝑠
Step 1: Take Laplace Transform (LT) of both sides of the above equation
1 1
𝑠𝑠 2 𝑌𝑌 𝑠𝑠 + 𝑌𝑌 𝑠𝑠 = 2 , 𝑠𝑠 2 + 1 𝑌𝑌 𝑠𝑠 = 2
𝑠𝑠 𝑠𝑠
Step 2: Solving for 𝑌𝑌 𝑠𝑠 gives
1 1 1
𝑌𝑌 𝑠𝑠 = 2 2 = 2− 2
𝑠𝑠 𝑠𝑠 + 1 𝑠𝑠 𝑠𝑠 + 1
Step 3: Solving
1 1
𝑦𝑦 𝑡𝑡 = ℒ −1 𝑌𝑌 𝑠𝑠 = ℒ −1 2 − ℒ −1
𝑠𝑠 𝑠𝑠 2 + 1
Alhujaili, F
𝑦𝑦 𝑡𝑡 MCET
= 𝑡𝑡 −404
sin(𝑡𝑡) 54
 The Laplace Transform
Summary
Example
Solve the following Initial Value Problem of
𝑥𝑥̈ + 3𝑥𝑥̇ + 2𝑥𝑥 = 0, 𝑥𝑥 0 = 𝑎𝑎, 𝑥𝑥̇ 0 = 𝑏𝑏
Solution:
By writing the Laplace transform of 𝑥𝑥(𝑡𝑡) as ℒ 𝑥𝑥 𝑡𝑡 = 𝑋𝑋(𝑠𝑠) we obtain
ℒ 𝑥𝑥̇ 𝑡𝑡 = 𝑠𝑠𝑠𝑠 𝑠𝑠 − 𝑥𝑥(0)
ℒ 𝑥𝑥̈ 𝑡𝑡 = 𝑠𝑠 2 𝑋𝑋 𝑠𝑠 − 𝑠𝑠𝑠𝑠 0 − 𝑥𝑥̇ 0
For initial conditions, i.e., 𝑥𝑥 0 = 𝑎𝑎, 𝑥𝑥̇ 0 = 𝑏𝑏 , the above transforms become
ℒ 𝑥𝑥̇ 𝑡𝑡 = 𝑠𝑠𝑠𝑠 𝑠𝑠 − 𝑎𝑎
ℒ 𝑥𝑥̈ 𝑡𝑡 = 𝑠𝑠 2 𝑋𝑋 𝑠𝑠 − 𝑠𝑠𝑠𝑠 − 𝑏𝑏
Step 1: Take Laplace Transform (LT) of both sides of the above equation
𝑠𝑠 2 𝑋𝑋 𝑠𝑠 − 𝑠𝑠𝑠𝑠 − 𝑏𝑏 + 3 𝑠𝑠𝑠𝑠 𝑠𝑠 − 𝑎𝑎 + 2𝑋𝑋 𝑠𝑠 = 0
Rearranging the last equation
𝑋𝑋 𝑠𝑠 𝑠𝑠 2 + 3𝑠𝑠 + 2 = 𝑎𝑎𝑎𝑎 + 𝑏𝑏 + 3𝑎𝑎
Step 2: Solving for 𝑋𝑋 𝑠𝑠 gives
𝑎𝑎𝑎𝑎 + 𝑏𝑏 + 3𝑎𝑎
𝑋𝑋 𝑠𝑠 = 2
𝑠𝑠 + 3𝑠𝑠 + 2
𝛼𝛼 𝛽𝛽
𝑋𝑋 𝑠𝑠 = +
𝑠𝑠 + 1 𝑠𝑠 + 2

Alhujaili, F MCET 404 55

 The Laplace Transform
Summary
since 𝑋𝑋 𝑠𝑠 has distinct poles, 𝛼𝛼, 𝛽𝛽 can be found easily
𝛼𝛼 = 2𝑎𝑎 + 𝑏𝑏 , 𝛽𝛽 = −𝑎𝑎 − 𝑏𝑏 = −(𝑎𝑎 + 𝑏𝑏)
Therefore
2𝑎𝑎 + 𝑏𝑏 𝑎𝑎 + 𝑏𝑏
𝑋𝑋 𝑠𝑠 = −
𝑠𝑠 + 1 𝑠𝑠 + 2
Step 3: Solving
2𝑎𝑎 + 𝑏𝑏 𝑎𝑎 + 𝑏𝑏
𝑥𝑥 𝑡𝑡 = ℒ −1 𝑋𝑋 𝑠𝑠 = ℒ −1 + ℒ −1
𝑠𝑠 + 1 𝑠𝑠 + 2
−𝑡𝑡 −2𝑡𝑡
𝑥𝑥 𝑡𝑡 = 2𝑎𝑎 + 𝑏𝑏 𝑒𝑒 − 𝑎𝑎 + 𝑏𝑏 𝑒𝑒

Alhujaili, F MCET 404 56

 The Laplace Transform
Summary
Example
Find the solution 𝑥𝑥(𝑡𝑡) of the following Initial Value Problem (IVP)
𝑥𝑥̈ + 2𝑥𝑥̇ + 5𝑥𝑥 = 𝑓𝑓(𝑡𝑡), 𝑥𝑥 0 = 0, 𝑥𝑥̇ 0 = 0
Where 𝑓𝑓(𝑡𝑡) is a function given by its graph.
Solution:
Step 1: Find the explicit expression of 𝑓𝑓 𝑡𝑡
The function 𝑓𝑓 𝑡𝑡 given on the graph is a step function 𝑢𝑢 𝑡𝑡 with height equals to 3.
And
3
ℒ 𝑢𝑢 𝑡𝑡 = ℒ 3 =
𝑠𝑠
Step 2: Take LT of both sides of the given equation to obtain an algebraic equation
𝑋𝑋 𝑠𝑠
By writing the Laplace transform of 𝑥𝑥(𝑡𝑡) as ℒ 𝑥𝑥 𝑡𝑡 = 𝑋𝑋(𝑠𝑠) we obtain
ℒ 𝑥𝑥̇ 𝑡𝑡 = 𝑠𝑠𝑠𝑠 𝑠𝑠 − 𝑥𝑥(0)
ℒ 𝑥𝑥̈ 𝑡𝑡 = 𝑠𝑠 2 𝑋𝑋 𝑠𝑠 − 𝑠𝑠𝑠𝑠 0 − 𝑥𝑥̇ 0
For zero initial conditions, i.e., 𝑥𝑥 0 = 0, 𝑥𝑥̇ 0 = 0 , the above transforms become
ℒ 𝑥𝑥̇ 𝑡𝑡 = 𝑠𝑠𝑠𝑠 𝑠𝑠
ℒ 𝑥𝑥̈ 𝑡𝑡 = 𝑠𝑠 2 𝑋𝑋 𝑠𝑠
Step 1: Take Laplace Transform (LT) of both sides of the above equation
3
𝑠𝑠 2 𝑋𝑋 𝑠𝑠 + 2𝑠𝑠𝑠𝑠 𝑠𝑠 + 5𝑋𝑋 𝑠𝑠 =
𝑠𝑠

Alhujaili, F MCET 404 57

 The Laplace Transform
Summary
Rearranging the last equation
3
𝑋𝑋 𝑠𝑠 𝑠𝑠 2 + 2𝑠𝑠 + 5 =
𝑠𝑠
Step 2: Solving for 𝑋𝑋 𝑠𝑠 gives
3
𝑋𝑋 𝑠𝑠 =
𝑠𝑠 𝑠𝑠 2 + 2𝑠𝑠 + 5
Call
𝑃𝑃 𝑠𝑠
𝐹𝐹 𝑠𝑠 =
𝑠𝑠(𝑠𝑠 2 + 𝑎𝑎𝑎𝑎 + 𝑏𝑏)
𝑐𝑐 𝑑𝑑𝑑𝑑 + 𝑒𝑒
𝐹𝐹 𝑠𝑠 = + 2
𝑠𝑠 𝑠𝑠 + 𝑎𝑎𝑎𝑎 + 𝑏𝑏
Then,
3 𝑐𝑐 𝑑𝑑𝑑𝑑 + 𝑒𝑒
𝑋𝑋 𝑠𝑠 = = +
𝑠𝑠 𝑠𝑠 2 + 2𝑠𝑠 + 5 𝑠𝑠 𝑠𝑠 2 + 2𝑠𝑠 + 5
where c , d and e are found as follows
3 = 𝑐𝑐 𝑠𝑠 2 + 2𝑠𝑠 + 5 + (𝑑𝑑𝑑𝑑 + 𝑒𝑒)𝑠𝑠
3 = 𝑐𝑐 + 𝑑𝑑 𝑠𝑠 2 + 2𝑐𝑐 + 𝑒𝑒 𝑠𝑠 + 5𝑐𝑐
By comparing coefficients of the 𝑠𝑠 2 , 𝑠𝑠 and 𝑠𝑠 0 , terms on both sides of this last
equation respectively, we obtain
At 𝑠𝑠 = 0
3
3 = 𝑐𝑐 5 →→→ 𝑐𝑐 =
5
Alhujaili, F MCET 404 58
 The Laplace Transform
Summary
Differentiate last equation with respect to s
𝑑𝑑 𝑑𝑑
0 𝑠𝑠=0 = 𝑐𝑐 + 𝑑𝑑 𝑠𝑠 2 + 2𝑐𝑐 + 𝑒𝑒 𝑠𝑠 + 5𝑐𝑐 𝑠𝑠=0
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
Then
0 = 2 𝑐𝑐 + 𝑑𝑑 𝑠𝑠 + 2𝑐𝑐 + 𝑒𝑒
At 𝑠𝑠 = 0
3 6
0 = 2𝑐𝑐 + 𝑒𝑒 = 2 + 𝑒𝑒 = 0 →→→ 𝑒𝑒 = −
5 5
Differentiate last equation with respect to s
𝑑𝑑 𝑑𝑑
0 𝑠𝑠=0 = 2 𝑐𝑐 + 𝑑𝑑 𝑠𝑠 + 2𝑐𝑐 + 𝑒𝑒 𝑠𝑠=0
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
Then
3 3
0 = 𝑐𝑐 + 𝑑𝑑 = + 𝑑𝑑 = 0 →→→ 𝑑𝑑 = −
5 5
Thus
3 3/5 −3/5 𝑠𝑠 − 6/5
𝑋𝑋 𝑠𝑠 = = +
𝑠𝑠 𝑠𝑠 2 + 2𝑠𝑠 + 5 𝑠𝑠 𝑠𝑠 2 + 2𝑠𝑠 + 5
Keep in mind
𝑠𝑠 2 + 2𝑠𝑠 + 5 = 𝑠𝑠 2 + 2𝑠𝑠 + 1 + 4 = 𝑠𝑠 + 1 2 + 22
Then 𝑋𝑋 𝑠𝑠
3 3/5 −3/5 𝑠𝑠 − 6/5
𝑋𝑋 𝑠𝑠 = = +
𝑠𝑠 𝑠𝑠 2 + 2𝑠𝑠 + 5 𝑠𝑠 𝑠𝑠 + 1 2 + 22
Alhujaili, F MCET 404 59
 The Laplace Transform
Summary
3/5 3 𝑠𝑠 3 2
𝑋𝑋 𝑠𝑠 = − −
𝑠𝑠 5 𝑠𝑠 + 1 2 + 22 5 𝑠𝑠 + 1 2 + 22
Step 3: Solving
3/5 3 𝑠𝑠 3 2
𝑥𝑥 𝑡𝑡 = ℒ −1 𝑋𝑋 𝑠𝑠 = ℒ −1 − ℒ −1 2 2
− ℒ −1
𝑠𝑠 5 𝑠𝑠 + 1 + 2 5 𝑠𝑠 + 1 2 + 22
Remember
𝑠𝑠
ℒ[cos 𝜔𝜔𝜔𝜔 ] =
𝑠𝑠 2 + 𝜔𝜔 2
So
3 𝑠𝑠
ℒ −1
5 𝑠𝑠 + 1 2 + 22
Adding 1 and subtracting from the numerator
𝑠𝑠 + 1 − 1 𝑠𝑠 + 1 1 −1 2
ℒ −1 = ℒ −1
− ℒ
𝑠𝑠 + 1 2 + 22 𝑠𝑠 + 1 2 + 22 2 𝑠𝑠 + 1 2 + 22
3 𝑠𝑠 3 1 −𝑡𝑡
ℒ −1 = 𝑒𝑒 −𝑡𝑡
cos 2𝑡𝑡 − 𝑒𝑒 sin 2𝑡𝑡
5 𝑠𝑠 + 1 2 + 22 5 2
3 3 1 3 −𝑡𝑡
𝑥𝑥 𝑡𝑡 = − 𝑒𝑒 −𝑡𝑡 cos 2𝑡𝑡 − 𝑒𝑒 −𝑡𝑡 sin 2𝑡𝑡 − 𝑒𝑒 sin 2𝑡𝑡
5 5 2 5
3 3 −𝑡𝑡 3
𝑥𝑥 𝑡𝑡 = − 𝑒𝑒 cos 2𝑡𝑡 − 𝑒𝑒 −𝑡𝑡 sin 2𝑡𝑡
5 5 10
Alhujaili, F MCET 404 60