Department of Electrical Engineering

Academic year: 2023-24, Semester: III

Electrical Circuit Analysis

Module-4: Electrical Circuit Analysis Using Laplace Transforms

Lecture# 1: Introduction, Laplace Transform, Inverse Laplace

Transform, Solution of Differential Equations
Dr. Bablesh Kumar Jha

1 Introduction
Time-domain analysis is the conventional method of analysing a network. For a simple network
with first-order differential equation of network variable, this method is very useful.

• As the order of network variable equation increases, this method of analysis becomes very
tedious. For such applications, frequency domain analysis using Laplace transform is very
convenient.

• The Laplace transform method has the following advantages:

1. Solution of differential equations is a systematic procedure.

2. Initial conditions are automatically incorporated.
3. It gives the complete solution, i.e., both complementary and particular solution in one
step.

2 Laplace Transform
The Laplace transform of a function f (t) is defined as
Z ∞
f (t)e−st dt

F (s) = L f (t) =
0

where s is the complex frequency variable.

s = σ + jω

The function f (t) must satisfy the following condition to possess a Laplace transform,
Z ∞
|f (t)|e−σt dt < ∞
0

where σ is real and positive.

The inverse Laplace transform
Z σ+j∞
−1 1
F (s)e−st ds

L F (s) = f (t) =
2πj σ−j∞

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 • Constant function k:
The Laplace transform of a constant function is
Z ∞ h e−st i∞ k
ke−st dt = k

L k = =
0 −s 0 s
• Function tn :
The Laplace transform of f (t) is Z ∞
n
tn e−st dt

L t =
0
By using integral by parts
Z ∞
−st i∞ −st
n ∞ n−1 −st
Z
ne n−1 e
h
= −t + nt dt ⇒ [0] + t e dt
s 0 0 s s 0
using Laplace transform definition
n 
L tn = L tn−1

s
For n = 1
 1  1
L t = L 1 = 2
s s
For n = 2
2  2×1 2×1 2!
L t2 = L t =

2
= 2+1 = 2+1
s s×s s s
For n = 3
3  3×2×1 3!
L t3 = L t2 =

3
= 3+1
s s×s s
Generalisation of given expression
n!
L tn = n+1

s
• Unit-Step Function u(t):

Figure 1: Unit Step Function

The unit-step function is defined by the equation,

(
1 t>0
u(t) =
0 t<0
The Laplace transform of unit step function is
Z ∞ h e−st i∞ 1
1e−st dt = −

L u(t) = =
0 s 0 s

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 • Unit-Ramp Function r(t):

The Unit-Ramp function is defined by the equation,

(
t t>0
r(t) =
0 t<0

Figure 2: Unit Ramp Function

The Laplace transform of Unit-Ramp function is

Z ∞
1
te−st dt = 2

L r(t) =
0 s

• Unit-Impulse Function δ(t):

Figure 3: Unit Impulse Function

The unit-impulse function is defined by the equation,

δ(t) = 0 t ̸= 0
Z ∞
δ(t)dt = 1 t=0
−∞

The Laplace transform of unit ramp function is

Z ∞
δ(t)e−st dt = 1

L δ(t) =
0

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 • Exponential Function eat :

Figure 4: Exponential Function

The Laplace transform of exponential function is

Z ∞ Z ∞
at −st
e−(s−a)t dt
 at
L e = e e dt =
0 0

h e−(s−a)t i∞ 1
= =
s−a 0 s−a
• Sine Function sin ωt:

We know that
1  jωt
e − e−jωt

sin ωt =
2j
The Laplace transform of the sine function is
 1  jωt 1   jωt
e − e−jωt = − L e−jωt
   
L sin ωt = L L e
2j 2j
1h 1 1 i ω
= − = 2
2j s − jω s + jω s + ω2

• Cosine Function cos ωt:

We know that
1  jωt
e + e−jωt

cos ωt =
2
The Laplace transform of the sine function is
 1  jωt 1 
e + e−jωt = L ejωt + L e−jωt
   
L cos ωt = L
2 2
1h 1 1 i s
= − = 2
2 s − jω s + jω s + ω2

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 • Linearity
 
If L f1 (t) = F1 (s) and L f2 (t) = F2 (s) then

L af1 (t) + bf2 (t) = aF1 (s) + bF2 (s)

where a and b are constants.

Example: Find the Laplace transform of 4t2 + sin 3t + e2t

L 4t2 + sin 3t + e2t = 4L t2 + L sin 3t + L e2t

   

2 3 1 8 3 1
=4 3
+ 2 + = 3+ 2 +
s s +9 s−2 s s +9 s−2

• Time Scaling

If L f (t) = F (s) then
 1 s

L f (at) = F
a a
Example: If L f (t) = s23 e−s , find L f (3t) .
 

By time-scaling property,
1 2 − 3s 1 54 − 3s 18 − 3s




L f (3t) =
e = e = 3e
3 s 3 3 s3 s
3

• Frequency-Shifting Theorem

If L f (t) = F (s) then
L e−at f (t) = F (s + a)


Example: Find the Laplace transform of e−3t t4

4!
L t4 = 5

s
By frequency-shifting theorem,
4!
L e−3t t4 =

(s + 3)5
• Time-Shifting Theorem

If L f (t) = F (s) then
L f (t − a) = e−as F (s)


Example: Find the Laplace transform of cos (t − a) t > 0

Let f (t) = cos t, then L cos t = s2s+1


By time-shifting theorem,
s
L cos (t − a) = e−as 2

s +1

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 • Multiplication by t (Frequency-Differentiation Theorem)

If L f (t) = F (s) then
 d
L tf (t) = − F (s)
ds
Example: Find the Laplace transform of t sin (at)
 a
L sin at =
s2 + a2
By Frequency-Differentiation Theorem,
 d a  2as
L t sin at = − =
ds s2 + a2 (s2 + a2 )2

• Division by t (Frequency-Integration Theorem)


If L f (t) = F (s) then
n f (t) o Z ∞
L = F (s)ds
t s
1−e−t
Example: Find the Laplace transform of t

1 1
L (1 − e−t ) = −

s s+1
By Frequency-Integration Theorem,
n 1 − e−t o Z ∞  Z ∞
1 1 
−t
L = L (1 − e ) ds = − ds
t s s s s+1
" #∞
h  s i∞ 1
∞
= log s − log(s + 1) s = log = log
s+1 s 1 + 1s
s
!
1  s  s + 1
= log 1 − log = − log = log
1 + 1s s+1 s

• Time-Differentiation Theorem: Laplace Transform of Derivatives


If L f (t) = F (s) then
L f ′ (t) = sF (s) − f (0)


L f ′′ (t) = s2 F (s) − sf (0) − f ′ (0)



Example: Find L f (t) and L f ′ (t) of f (t) = sint t

 

Solution:
n sin t o Z ∞  Z ∞
1 h i∞
−1

L f (t) = L = L sin t ds = ds = tan s
t s s s2 + 1 s

π
= − tan−1 s = cot−1 s
2
n sin t o
L f ′ (t) = sF (s) − f (0) = s cot−1 s − lim = s cot−1 (s) − 1

s→0 t

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 • Time-Integration Theorem: Laplace Transform of Integral

If L f (t) = F (s) then (Z )
t
F (s)
L f (t)dt =
0 s
Rt
Example: Find the Laplace transform of 0 e−2t t3 dt
Solution:
3! 6
L e−2t t3 =

4
=
(s + 2) (s + 2)4
(Z )
t
1  6
L e−2t t3 dt = L e−2t t3 =
0 s s(s + 2)4

• Initial Value Theorem


If L f (t) = F (s) then
f (0+ ) = lim f (t) = lim [sF (s)]
t→0 s→∞

• Final Value Theorem


If L f (t) = F (s) then
f (∞) = lim f (t) = lim[sF (s)]
t→∞ s→0

Example: Verify the initial and final value theorems for e−t (t + 1)2
Solution: f (t) = e−t (t + 1)2 = e−t (t2 + 2t + 1)
2 2 1
F (s) = 3
+ 2
+
(s + 1) (s + 1) (s + 1)
2s 2s s
sF (s) = 3
+ 2
+
(s + 1) (s + 1) (s + 1)
For Initial Value:
lim f (t) = lim(e−t (t + 1)2 ) = 1
t→0 t→0
" #
2 2
s2 s 1
lim [sF (s)] = lim + + =1
s→∞ s→∞ (1 + 1s )3 (1 + 1s )2 (1 + 1s )
Hence, the initial value theorem is verified.
For Final Value:
lim f (t) = lim (e−t (t + 1)2 ) = 0
t→∞ t→∞
h 2s 2s s i
lim[sF (s)] = lim + + =0
s→0 s→0 (s + 1)3 (s + 1)2 (s + 1)
Hence, the final value theorem is verified.

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 Table 1: Standard Laplace Transforms

Function [f(t)] Laplace Transform [F(s)]

R∞
f(t) 0
f (t)e−st dt
1
U(t) (Unit-step Function) s
e−sT
U(t-T) (Unit-step shifted Function) s
δ(t) (Unit-impulse Function) 1
e−at (Exponential function) 1
s+a
1
eat (Exponential function) s−a
ω
sin ωt (Sine function) s2 +ω 2
s
cos ωt (Cosine function) s2 +ω 2
n!
tn (Ramp Function) sn+1
1
t (Unit-ramp Function) s2
e−at sin ωt (Damped Sine Function) ω
(s+a)2 +ω 2
(s+a)
e−at cos ωt (Damped Cosine Function) (s+a)2 +ω 2
e−at tn (Damped Ramp Function) n!
(s+a)n+1

Table 2: Standard Laplace Transforms

Function [f(t)] Laplace Transform [F(s)]

d
dtR
f (t) (Differentiation Theorem) sF (s) − f (0−)
t F (s)
0
f (t) (Integration Theorem) s
+ f (0−)
s
ω
sinh ωt (Hyperbolic Sine Function) s2 −ω 2
s
cosh ωt (Hyperbolic Cosine Function) s2 −ω 2
e−at sinh ωt (Damped Hyperbolic Sine Function) ω
(s+a)2 −ω 2
(s+a)
e−at cosh ωt (Damped Hyperbolic Cosine Function) (s+a)2 −ω 2

Practice Problem:
2 −2t 2
1. Find Laplace Transform of the
2 1

t − e + cosh 3t.
Hint: cosh t = 2 1 + cosh 2t
 
2. If L f (t) = log s+3
 
s+1
, find L f (2t) .

3. Find Laplace Transform of the
e4t sin3 t.

Hint: sin3 t = 14 3 sin t − sin 3t

4. Find Laplace Transform of the (t − 1)3 , t > 0.

5. Find Laplace Transform of the t sin3 t.

−at −bt
6. Find Laplace Transform of the e −e t
.

7. Find L f (t) and L f ′ (t) of f (t) = e−5t sin t

 

Rt
8. Find Laplace Transform of the 0 te−4t sin 3tdt.

9. Verify the initial and final value theorems for e−t (t2 + cos 3t).
2s+1
10. Find the initial and final values of the function whose Laplace transform is F (s) = s3 +6s2 +11s+6
.

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3 Inverse Laplace Transform

If L f (t) = F (s) then f (t) is called Inverse Laplace Transform of F (s) and Symbolically
written as
f (t) = L−1 F (s)


where L−1 is called the inverse Laplace transform operator.

Inverse Laplace transform can be found by the following methods:

1. Standard results

2. Partial fraction expansion

3. Convolution theorem

• Standard results:

Inverse Laplace transforms of some simple functions can be found by standard results and properties
of Laplace transform.
2
Example: Find the inverse Laplace transform of s −3s+4 s3
Solution:
s2 − 3s + 4 1 3 4
F (s) = = − +
s3 s s2 s3
1 3 4
L−1 F (s) = L−1 − L−1 2 + L−1 3 = 1 − 3t + 2t2

s s s
• Partial Fraction Expansion:
P (s)
Any function F (s) can be written as Q(s) , where P (s) and Q(s) are polynomials in s.
For performing partial fraction expansion, the degree of P (s) must be less than the degree
of Q(s). If not, P (s) must be divided by Q(s), so that the degree of P (s) becomes less than that of
Q(s). Assuming that the degree of P (s) is less than that Q(s), four possible cases arise depending
upon the factors of Q(s).

• Case I: Factors are linear and distinct,

P (s)
F (s) =
(s + a)(s + b)
By partial-fraction expansion,
A B
F (s) = +
s+a s+b
• Case II: Factors are linear and repeated,
P (s)
F (s) =
(s + a)(s + b)n
By partial-fraction expansion,
A B1 B2 Bn
F (s) = + + 2
+ ... +
s + a s + b (s + b) (s + b)n

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 • Case III: Factors are quadratic and distinct,
P (s)
F (s) =
(s2 + as + b)(s2 + cs + d)
By partial-fraction expansion,
As + B Cs + D
F (s) = + 2
s2+ as + b s + cs + d
• Case IV: Factors are quadratic are repeated,
P (s)
F (s) =
(s2 + as + b)(s2 + cs + d)n
By partial-fraction expansion,
As + B C1 s + D1 C2 s + D2 Cn s + Dn
F (s) = + 2 + 2 + ... + 2
s2
+ as + b s + cs + d (s + cs + d) 2 (s + cs + d)n
s+2
Example: Find the inverse Laplace transform of s(s+1)(s+3)
Solution:
s+2
F (s) =
s(s + 1)(s + 3)
By partial-fraction expansion,
A B C
F (s) = + +
s s+1 s+3
s+2 2
A = sF (s)|s=0 = =
(s + 1)(s + 3) 3
s=0

s+2 1
B = (s + 1)F (s)|s=−1 = =−
s(s + 3) 2
s=−1

s+2 1
C = (s + 3)F (s)|s=−3 = =−
s(s + 1) 6
s=−3
2 1 1 1 1 1
F (s) = . − . − .
3 s 2 s+1 6 s+3
2 n 1 o 1 −1 n 1 o 1 −1 n 1 o
L−1 F (s) = L−1

− L − L
3 s 2 s+1 6 s+3
2 1 1
f (t) = − e−t − e−3t
3 2 6
s+2
Example: Find the inverse Laplace transform of s2 (s+3)
Solution:
s+2
F (s) = 2
s (s + 3)
By partial-fraction expansion,
A B C
F (s) =
+ 2+
s s s+3
s + 2 = As(s + 3) + B(s + 3) + C(s ) = (A + C)s2 + (3A + B)s + 3B
2

Comparing coefficients of s2 , s1 & s0

A + C = 0; 3A + B = 1; 3B = 2

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After solving above equations,
1 2 1
A= ; B= ; C=−
9 3 9
Thus,
1 1 2 1 1 1
F (s) = . + . 2 − .
9 s 3 s 9 s+3
1 n 1 o 2 n 1o 1 n 1 o
L−1 F (s) = L−1 + L−1 2 − L−1

9 s 3 s 9 s+3
1 2 1
f (t) = + t − e−3t
9 3 9
• Convolution Theorem:

If L−1 F1 (s) = f1 (t) and L−1 F2 (s) = f2 (t) then

 

Z t
−1

L F1 (s).F2 (s) = f1 (u)f2 (t − u)du
0
Rt
where, 0 f1 (u)f2 (t − u)du = f1 (t)∗ f2 (t)
1
Example: Find the inverse Laplace transform of (s+2)(s−1)
Solution:
1
F (s) =
(s + 2)(s − 1)
Let,
1 1
F1 (s) = F2 (s) =
s+2 s−1
f1 (t) = e−2t f2 (t) = et
By convolution theorem,
Z t Z t
−1 −2u t−u t
e−3u du

L F1 (s) = e e du = e
0 0

h e−3u it et
= et = (1 − e−3t )
−3 0 3
Question:
3s+4
1. Find the Inverse Laplace Transform of the s2 +9
.
s2 −15s−11
2. Find the Inverse Laplace Transform of the (s+1)(s−2)2
.
3s+1
3. Find the Inverse Laplace Transform of the (s+1)(s2 +2)
.
1
4. Find the Inverse Laplace Transform of the s2 (s2 +1)
.

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4 Solution of Differential Equations
The Laplace transform can also be used to solve two or more simultaneous differential equations.
The Laplace transform method transforms the differential equations into algebraic equations.
Example: Solve dxdt
+ y = sin t
dy
+ x = cos t
dt
where x(0) = 0 and y(0) = 2.
Solution: Taking Laplace transform of both the equations,
1
sX(s) − x(0) + Y (s) =
s2 +1
1
sX(s) + Y (s) = (1)
s2 + 1
and,
s
sY (s) − y(0) + X(s) =
s2 +1
s
sY (s) + X(s) = +2 (2)
s2 +1
Multiplying Eq. (1) by s
s
s2 X(s) + sY (s) = (3)
s2 +1
Subtracting Eq. (3) from Eq. (2),
2
(s2 − 1)X(s) = −2 ⇒ X(s) =
s2 −1
Taking inverse Laplace transform
x(t) = −2 sinh t
Substituting X(s) in Eq. (1)
1 s
Y (s) = +2 2
s2 +1 s −1
Taking inverse Laplace transform
y(t) = sin t + 2 cosh t
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If you have any doubts or queries, please do not hesitate to contact me.

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