Lecture 6

Introduction To The Laplace

Transform Transform
(chapter 12)
Learning goals
Be able to calculate the Laplace Transform using
Definition of LT
The LT table and/or a table of operational transform
Be able to calculate inverse LT using partial fraction Be able to calculate inverse LT using partial fraction
expansion and the LT table
Understand and known how to use the initial value
theorem and the final value theorem
Why Laplace Transform?
- Laplace transform converts ordinary differential equations
into algebraic equations which are much simpler to solve.
This helps in easily examining transient behavior of the
multiple-node & multiple-mesh circuits
- To determine the transient response of a circuit (whose
signal sources vary in complicated ways), which phasor signal sources vary in complicated ways), which phasor
cannot provide.
- The difficulties are usually finding the inverse Laplace
transform.
as a Laplace-transform pair ( ) ( ) f t F s
Laplace Transform
{ {{ { } }} }
0
( ) ( ) ( )
st
f t F s f t e dt





L
S: Laplace transformation variable, unit of 1/s .
- f(t) for t<0 is irrelevant. This defines a unilateral or one-
side Laplace transform --> F(s) is determined by the
The LT of a function is given by the expression:
behavior of f(t) only for positive values of t
- Lower limit of the integration is zero. 0
-
is to remind to
include the origin.
If f(t) is continuous at
origin -> obvious solution
If f(t) is discontinuous at
origin, we choose 0
-
as the
lower limit
Step Function
The step function is a useful primitive for describing
transient event
Definition:
for 0 K t > >> >

K
( ) u t
If K=1, the function defined as the unit step
for
for
for
0
( ) 0.5 0
0 0
K t
Ku t K t
t
> >> >


= = = = = = = =


< << <

K
0
0.5K
t
can be viewed as limiting case of as ( ) ( ) 0 u t u t


0
( ) lim ( ) u t u t

=
( ) u t
Step Function
The step function is not defined at t=0, thus
1
( ) u t
0
x
0.5

1
( ) 0.5
2
0
t
t
u t t
t

> > > >


= + < < = + < < = + < < = + < <



< < < <

for
for -
for
Step Function/Delay by a
A discontinuity may occur at other times than t=0 (like
sequential switching), ex. if the signal delay by a, then
for 1 t a > >> >


1
for
for
for
1
( ) 0.5
0
t a
u t a t a
t a
> >> >


= = = = = = = =


< << <

0 a
t
Step Function: Applications
4
( ) f t
More complex functions
can be decomposed into a
series (sum) of unit step
Example:
( ) 2 ( ) 2 ( 2) ( 4)
( 6) ( 8) ( 10)
f t u t u t u t
u t u t u t
= + = + = + = +

2 4 6 8 10
2
series (sum) of unit step
Answer:
10
20
( ) f t
Find f(t)=?
Step Function: Applications
Example:
5 10
10 Find f(t)=?
[ [[ [ ] ]] ]
[ [[ [ ] ]] ]
( ) 2 ;5 10
( ) 2 ( 5) ( 10)
f t t t
f t t u t u t
= < < = < < = < < = < <
= = = =
Answer:
LT of Step Function
Laplace transform of a step function:
{ {{ { } }} }


0
( ) ( ) ( ) 1 0
1 1
1
st
st st
u t u t e dt u t t
e dt e






= = < < = = < < = = < < = = < <
= = = = = = = = = = = =


L
Thus obtain the Laplace transform pair:

0
0
1 e dt e
s s


= = = = = = = = = = = =

1
( ) u t
s

Impulse Function
- The concept of an impulse function enables us to define the
derivative at a discontinuity.
- Impulse signal dont exist in nature, but some circuit signals
come close to. It can be thought of as a derivative of a step
function
- Need to find out mathematical model of an impulse signal - Need to find out mathematical model of an impulse signal
-
Observation
As 0, f(t) between approaches a unit impulse function
An impulse function is created from a variable-parameter
(VP) function that exhibits the following three characteristics:
o The amplitude approaches infinity
o The duration of the function approaches zero
o The area under the VP function is constant when the
parameters changes
Impulse Function
As 0, f(t) K (t)
Impulse Function
0 0
( ) 0
0 0
t
t t
t

> >> >


= = = = = = = =


< << <

for
for
for
with condition that ( ) 1 t dt

= == =

0
t
with condition that ( ) 1 t dt

= == =


0
t
( ) t
1
2
can be viewed as a limiting case of as ( ) ( ) 0 t t


the area of
0
( ) lim ( )
( ) 1
t t
t





= == =
= == =
Sifting Property
Sifting or sampling property of the impulse function is
expressed as:
the impulse function
samples at
( ) ( ) ( )
( )
f t t a dt f a
f t t a



= = = =
= == =

proof: use the construction of
0
( ) lim ( ) t t


= == =
0
0
( ) ( ) lim ( ) ( )
lim ( ) ( )
( ) ( )
( )
a
a
a
a
f t t a dt f t t a dt
f t t a dt
f a t a dt
f a







+ + + +


+ + + +


= = = =
= = = =
= = = =
= == =






0
lim ( ) ( )
a
a
f t f a
+ + + +

= == =

evaluate
(as f(t) is continuous at a)
Example
15
5
15
5
( ) ( 18) ?
( ) ( 6) ?
f t t dt
f t t dt


= = = =
= = = =


5

15
5
15
5
( ) ( 18) 0
( ) ( 6) (6)
f t t dt
f t t dt f


= = = =
= = = =


Answer
LT Of The Impulse Function
Now, using the sifting property of the impulse function to
find its Laplace transform
Select
{ {{ { } }} }
0
0 0
( ) ( ) ( )
st st
t t e dt t e dt
+ ++ +



= = = = = = = =

L
Laplace transform pair
{ {{ { } }} }
and
0
( ) (0) 1
( ) 1 (0)
st
f t e f e
t f

= = = = = = = = = = = =
= = = = = = = = L
( ) 1 t
Impulse Function
How about Laplace transform of ?
'
( ) t
{ {{ { } }} }
0
'
2 2
0
0
1 1
( ) lim
st st
t e dt e dt

+ ++ +




( ( ( (
= + = + = + = +
( ( ( (



L
'
'
lim ( ) 0
( ) ( )
lim lim
lim ( ) 0 ( ) ( )
using L'Hopital rule:
or
or
x c
x c x c
x c
f x
f x f x
g x g x g x

=
`
=

)
Impulse Function
{ {{ { } }} }
( (( ( ) )) )
0
'
2 2
0 0
2
0
2
2
0
1 1
( ) lim
1
lim 1 1
( ) 2 0 0 2
lim
( ) 0 0
st st
s s
s s s s
t e dt e dt
e e
s
f e e e e
s
g s


+ ++ +







( ( ( (
= = = =
( ( ( (


= + + = + + = + + = + +

= + = = + = = + = = + = + + + +
= == =

= = = = = = = =

L



'
'
0
( ) 0 0
lim
2
( ) 2
s s s s
f se se se se
s
g s


= = = = = = = =
= == =

= = = =



'' 2 2 2 2 2
''
0
0
( ) 2 0
lim
2
( ) 2 0
s s s s
f s e s e s s e s e
s
g s
s



= + = = + = = + = = + = + ++ +
= == =
= = = =
= == =




{ {{ { } }} }
and
also note that
( )
( )
( )
n n
t s
du t
t
dt


= == =
= == =
L
Explain why the following function generates an impulse
function as 0
Problem 12.8
Explain why the following function generates an impulse
function as 0
Answer
Functional Transform
Exponential: { {{ { } }} }
0
( )
0
( )
0
1
at at st
a s t
s a t
e e e dt
e dt
e
s a






+ + + +

+ + + +
= == =
= == =
= = = =
+ ++ +


L


Laplace transform pair:
0
1 1
0
s a
s a s a
+ ++ +
= + = = + = = + = = + =
+ + + + + + + +

1
at
e
s a


+ ++ +
Fact: Integration across the discontinuity at the origin is zero
Functional Transform
Cosine:
{ {{ { } }} }
( (( ( ) )) )
0
cos( ) cos( )
1
cos
2
st
j t j t
t t e dt
t e e







= == =
( ( ( (
= + = + = + = +
( ( ( (


L

( (( ( ) )) )
( (( ( ) )) )
0
( ) ( )
0
( ) ( )
0
2
1
2
1
2
1 1 1
2
j t j t st
s j t s j t
s j t s j t
e e e dt
e e dt
e e
s j s j










+ + + +

+ + + +

= + = + = + = +
= + = + = + = +
| | | | | | | |
= = = =
| | | |
+ + + +
\ \ \ \





Functional Transform
Cosine: { {{ { } }} }
( (( ( ) )) )
0
cos( ) cos( )
1
cos
2
st
j t j t
t t e dt
t e e







= == =
( ( ( (
= + = + = + = +
( ( ( (


L


Sine: check textbook Laplace transform pair
2 2
2 2
1 1 1 1
2 2
s j s j
s j s j s
s
s



| | | | | | | | + + + + + + + +
| | | | | | | |
= + = = + = = + = = + =
| | | | | | | |
+ + + + + + + +
\ \ \ \
\ \ \ \
+ ++ +

=
2 2
sin t
s




+ ++ +
Functional Transform
Ramp:
{ {{ { } }} }
0 0
( ) ( )
st st
r t r t e dt te dt



= = = = = = = =

L
udv uv vdu = = = =

( ) r t
Using integral by parts:
for
for
0
( )
0 0
t t
r t
t
> >> >

= == =

< << <


;
1
;
st
st
u t dv e dt
du t v e
s


= = = = = = = =

= = = = = = = =
{ {{ { } }} }
0
0
2
1
( )
1
st st
t
r t e e dt
s s
s





= + = + = + = +
= == =

L

( ) r t
t
Letting:
This yields:
Operational Transform
Multiply by a constant:
{ {{ { } }} }
{ {{ { } }} }
0
0
( ) ( ) ( )
( ) ( )
st
st
st
f t f t e dt F s
af t af t e dt








= = = = = = = =
= == =
= = = = = = = =



L
L

0
( ) ( )
st
a f t e dt aF s



= = = = = = = =


Addition/subtraction:
{ {{ { } }} } { {{ { } }} }
{ {{ { } }} } ( (( ( ) )) )
1 1 2 2
1 2 1 2
0
1 2 1 2
0 0
( ) ( ); ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
st
st st
f t F s f t F s
f t f t f t f t e dt
f t e dt f t e dt F s F s






= = = = = = = =
= = = =
= = = = = = = =


L L
L
Operational Transform
Time shift:
{ {{ { } }} }
0
( ) ( )
( ) ( )
( )
st
st
f t a u t a
f t a u t a e dt
f t a e dt






= = = =
= = = =


L
( ) Need to insure
that the delay function
u t a
'
'
'
' '
' ( ) '
0
' '
0
( )
( )
( ) ( )
st
a
s t a
t
sa st sa
f t a e dt
let t t a dt dt
f t e dt
f t e e dt e F s





+ + + +
= == =


= = = =
= + = = + = = + = = + =

= = = = = = = =




that the delay function
actually starts at t a =
Operational Transform
Frequency shift
{ {{ { } }} }
0
( )
0
( ) ( )
( ) ( )
at at st
s a t
e f t e f t e dt
f t e dt F s a





+ + + +
= == =
= = + = = + = = + = = +


L
0

{ {{ { } }} }
( (( ( ) )) ) ( (( ( ) )) )
' '
0
'
' '
'
' ' '
0 0
( ) ( )
1 1
st
s s
t t
a a
f at f at e dt
dt
let t at dt adt dt
a
dt s
f t e f t e dt F
a a a a





= == =
= = = = = = = = = == =
| | | | | | | |
= = = = = = = = = = = =
| | | |
\ \ \ \


L

Scale change:
Operational Transform
Differentiation:
Integral by parts:
'
0
( ) ( )
st
d
f t f t e dt
dt




= == =
` ` ` `
) ) ) )

L
'
; ( )
; ( )
st
st
u e dv f t dt
du se dt v f t


= = = = = = = =
= = = = = = = =
Thus:
Also:
0 0
( ) ( )
0 (0 ) ( ) ( ) (0 )
st st
f t e f t se dt
f sF s sF s f




= + = + = + = +
= + = = + = = + = = + =

1 2 '
3 '' 1
( ) ( ) (0 ) (0 )
(0 ) ...... (0 )
n
n n n
n
n n
f t s F s s f s f
t
s f f




= = = =
` ` ` `

) ) ) )

L
Operational Transform
Example:
{ {{ { } }} }
cos ? t = == = L
Operational Transform
Example: { {{ { } }} }
cos ? t = == = L
1
cos sin
1
d
t t
dt
d


= = = =

Answer
Thus:
{ {{ { } }} }
2 2
1
cos sin
( ) sin ; ( ) ( ) (0 )
( ) , (0 ) 0
d
t t
dt
d
f t t f t sF s f
dt
sF s s f
s








= == =
` ` ` `
) ) ) )
= = = = = = = =
= = = = = = = =
+ ++ +
L L
{ {{ { } }} }
2 2 2 2
1
cos
s s
t
s s



= = = = = = = =
+ + + + + + + +
L
Operational Transform
Integration:
Rearrange the integral order. To integrate t first.
{ {{ { } }} }
0 0 0
( ) ( )
t t
st
f x dx f x dx e dt



( ( ( (
= == =
( ( ( (


L
Rearrange the integral order. To integrate t first.
This yields:
0 0
0
1
( ) ( )
1 ( )
( )
st sx
x t x x
sx
x
e dt f x dx f x e dx
s
F s
f x e dx
s s


= = = = = = = = = = = =


= == =
= = = =
= = = = = = = =


Operational Transform
Multiplication by time
{ {{ { } }} }
( (( ( ) )) )
0
0
( ) ( )
( )
st
st
tf t tf t e dt
d
f t e dt
ds






= == =
= = = =


L

( (( ( ) )) )
0
0
( )
( ) ( )
st
f t e dt
ds
d d
f t e dt F s
ds ds




= = = =
= = = = = = = =




Operational Transform
Example:
{ }
cos ? t t = Find L
Operational Transform
Example:
{ }
cos ? t t = Find L
{ {{ { } }} }
cos cos
st
t t t te dt


= == =

L
Answer
{ {{ { } }} }
not easy to integrate
0
cos cos
st
t t t te dt


= == =

L
{ {{ { } }} }
{ {{ { } }} }
( (( ( ) )) )
2 2
2 2
2 2 2
2 2
cos ( )
cos ( )
s
t F s
s
d d s s
t t F s
ds ds s
s






= = = = = = = =
+ ++ +

= = = = = = = = = = = =
+ ++ +
+ ++ +
L
L
Using:
Then:
Operational Transform
Similarly:
{ {{ { } }} }
2
?
at
t e

= == = L
Operational Transform
Similarly:
Using:
{ {{ { } }} }
2
?
at
t e

= == = L
{ {{ { } }} }
1
at
e
s a

= == =
+ ++ +
L
Therefore
{ {{ { } }} }
( (( ( ) )) )
{ {{ { } }} }
( (( ( ) )) ) ( (( ( ) )) )
2
2
2 3
1 1
1 2
at
at
d
te
ds s a
s a
d
t e
ds
s a s a


| | | | | | | |
= = = = = = = =
| | | |
+ ++ +
\ \ \ \ + ++ +
| | | | | | | |
| | | | = = = = = = = =
| | | |
+ + + + + + + +
\ \ \ \
L
L
Inverse Laplace Transform
Hard way:
Lumped circuit with linear elements will generally produce
{ {{ { } }} }
1
1
( ) ( ) ( )
2
j
st
j
f t F s F s e ds
j



+ ++ +


= = = = = = = =

L
After solve the circuits in s-domain (Laplace domain), we have
to convert solution back to time domain
Lumped circuit with linear elements will generally produce
currents and voltages whose Laplace transforms are rational
function of s:
Proper rational functions have m>n
Easier approach: partial fraction expansion & table look up.
1
1 1 0
1
1 1 0
... ( )
( )
( ) ...
n n
n n
m m
m m
a s a s a s a N s
F s
D s b s b s b s b




+ + + + + + + + + + + + + + + +
= = = = = = = =
+ + + + + + + + + + + + + + + +
Inverse Laplace Transform
Four cases:
1. Distinct real roots
2. Repeated real roots
3. Distinct complex roots 3. Distinct complex roots
4. Repeated complex roots
Inverse Laplace Transform
N(s) has less degree than that of D(s), then the partial
fraction expansion is:
Heavisides Theorem:
Inverse Laplace Transform
If K
i
is known, we can find the inverse transform of each
term as
Step 1: factor the denominator polynomial
roots are all real and distinct
2
6 26 26
( ) 1, 2, 3
( 1)( 2)( 3)
s s
F s s
s s s
+ + + + + + + +
= = = = = = = =
+ + + + + + + + + + + +
Inverse Laplace Transform
Partial expansion will result in the following:
roots are all real and distinct
( 1)( 2)( 3) s s s + + + + + + + + + + + +
3 1 2
( )
1 2 3
K K K
F s
s s s
= + + = + + = + + = + +
+ + + + + + + + + + + +
If K1, K2, K3 can be found, then use transform pair:
1
( )
at
e u t
s a


+ ++ +
Inverse Laplace Transform
Sum all terms to find f(t):
s a + ++ +
2
1 2 3
1 2 3
6 26 26
( )
( 1)( 2)( 3)
t t t
s s
K e K e K e u t
s s s


+ + + + + + + +
( ( ( (
= + + = + + = + + = + +
` ` ` `

+ + + + + + + + + + + +
) ) ) )
L
To find ,multiply both sides by and set
1
( 1) 1 K s s + = + = + = + =
( 1) ( 1)
( 1) ( )
s s
s F s K K K
+ + + + + + + +
+ + + + + + + + + + + + =
Step 2: solve K1, K2 and K3
Inverse Laplace Transform
This yields
1 2 3
1
1
1
( 1) ( )
( 2) ( 3)
1 ( 1) ( )
s
s
s F s K K K
s s
s K s F s
= = = =
= = = =
+ + + + + + + + + + + +
+ + + + + + + +
= = = = = + = + = + = +
=
2
1
1
1
6 26 26
( 1) ( )
( 2)( 3)
6 26 26
3
1 2
s
s
s s
s F s K
s s
= = = =
= = = =
+ + + + + + + +
+ = + = + = + =
+ + + + + + + +
+ + + +
= = = = = = = =

=
To find ,multiply both sides by and set
2
( 2) 2 K s s + = + = + = + =
2
2
2
6 26 26
( 2) ( ) 2
( 1)( 3)
s
s s
s F s K
s s
= = = =
+ + + + + + + +
+ = = + = = + = = + = =
+ + + + + + + +
=
Inverse Laplace Transform
2
2
2
( 2) ( ) 2
( 1)( 3)
s
s
s F s K
s s
= = = =
= = = =
+ = = + = = + = = + = =
+ + + + + + + +
=
3
( 3) 3 To find ,multiply both sides by and set K s s + =
2
3
3
3
6 26 26
( 3) ( ) 1
( 1)( 2)
s
s
s s
s F s K
s s
= = = =
= = = =
+ + + + + + + +
+ = = + = = + = = + = =
+ + + + + + + +
=
Thus:
Using the Laplace transform pair:
3 2 1
( )
( 1) ( 2) ( 3)
F s
s s s
= + + = + + = + + = + +
+ + + + + + + + + + + +

Inverse Laplace Transform
Using the Laplace transform pair:
This yields,
2 3
( ) 3 2 ( )
t t t
f t e e e u t

( ( ( (
= + + = + + = + + = + +

1
at
e
s a


+ ++ +
Inverse Laplace Transform
Inverse Laplace Transform
1i
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace Transform
Inverse Laplace Transform
Improper Rational Function
An improper rational function can always be expanded
into a polynomial plus a proper rational function
Inverse Laplace Transform
Example:
Inverse Laplace Transform
a)
b)
c)
Poles and Zeros of F(s)
The transfer function of a circuit will have the form
1 2
1 2
( )( ) .......... ( )
( )
( )( ) .......... ( )
n
n
K s Z s Z s Z
F s
s P s P s P
+ + +
=
+ + +
Locations of poles and zeros will
make analysis of system response
and stability easier
The initial- and final-value theorems allow us to predict the
initial and final values of f(t) at 0 and from an s-domain
Initial- and Final-Value Theorem
0
0
lim ( ) lim ( )
lim ( ) lim ( )
Initial value:
Final value:
t s
t s
f t sF s
f t sF s


=
=
initial and final values of f(t) at 0 and from an s-domain
expression
- The initial-value theorem is based on the ass. That f(t)
contains no impulse functions
- The final-value theorem is valid only if the poles of F(s),
except for a first-order pole at the origin, lie in the left half of
the s plane
Initial- and Final-Value Theorem
( )
0 0
lim lim 0; 1
st st
df df
e dt dt t e
+ +

= = =


0
0
0 0
lim ( ) (0 ) lim
lim lim
st
s s
st st
s s
s
df
sF s f e dt
dt
df df
e dt e dt
dt dt

+
+

(

= +

=
Take the limit as

lim ( ) (0 ) (0 ) (0 )
lim ( ) (0 ) (0 ) (0 )
s
s
sF s f f f
sF s f f f
+

( =

=
Therefore: initial value lim ( ) (0 )
s
sF s f
+

=
( )
( )
0 0
0
lim lim 0; 1
lim ; 0 0
st st
s s
st st
s
df df
e dt dt t e
dt dt
df
e dt s e t
dt

+

= = =

for
Initial- and Final-Value Theorem
0
( ) (0 )
0
Final value:
Take the limit as
st
df
sF s f e dt
dt
s

lim ( ) (0 ) lim
st
df df
sF s f e dt dt


( =

=
0 0 0 0
lim ( ) (0 ) lim
st
s s
df df
sF s f e dt dt
dt dt



( =

=
0
0
lim ( ) (0 ) ( ) (0 )
lim ( ) ( ) Final value
s
s
sF s f f f
sF s f

( =

=
Initial- and Final-Value Theorem
Example:
What is Inverse Laplace transform of F(s)?:
2
7 63 134
( )
( 3)( 4)( 5)
s s
F s
s s s
+ +
=
+ + +
3 4 5
( ) 4 ( ) 6 ( ) 3 ( )
t t t
f t e u t e u t e u t

= +
Initial value:
Final value:
2
(7 63 134)
(0) 4
lim ( ) lim 7
( 3)( 4)( 5
6 3 7
)
s s
s s s
sF s
s
f
s s

+ + + + + + + +
= = = = = = = =
+ ++ +
= + = + = + = +
+ ++ +
= == =
+ ++ +
2
0 0
(7 63 134)
lim ( ) lim 0
( 3)( 4)( 5)
( ) 0
s s
s s s
sF s
s s s
f

+ +
= =
+ + +
=
Answer