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Laplace Transform
Example 1:
Find the Laplace transforms of
a. f(t) = a
where: a = constant
b. f(t) = eat
c. f(t) = cos(at)
d. f(t) = sinh(at)
Solution to Example 1
(a) f(t) = a
where: a = constant
L{a} e st (a )dt
0
L{a} a e st dt
0
st
ae
L{a}
s
ae s ( ) ae s ( 0 ) a
L{a}
s
s
s
Solution to Example 1
(b) f(t) = eat
L{e
L{e
L{e
L{e
at
} e
0
at
st
(e
at
)dt
} e ( s a )t dt
0
at
at
( s a ) t
e
}
sa
e
( s a )( )
( s a )( 0 )
1
}
sa
sa
sa
Solution to Example 1
(c) f(t) = cos(at)
Eulers
e
jat
Identity
cos at j sin at
Solution to Example 1
(c) f(t) = cos(at)
L{cos at}
L{cos at}
L{cos at}
L{cos at}
1 ( s ja )t
( s ja ) t
e
e
dt
2 0
( s ja ) t
( s ja ) t
1 e
e
2 s ja 0 s ja 0
1 e ( s ja )( ) e ( s ja )( 0) e ( s ja )( ) e ( s ja )( 0 )
2 s ja
s ja s ja
s ja
1 1
1 1 ( s ja ) ( s ja )
s
2
2
2
2 s ja s ja 2
s a
s
Solution to Example 1
(d) f(t) = sinh(at)
Eulers
Identity
e at cosh at sinh at
e at cosh at sinh at
e at e at
sinh at
2
e at e at st e at e at
dt
L{sinh at} L
0 e
2
2
Solution to Example 1
(d) f(t) = sinh(at)
1 ( s a )t
L{sinh at} e
e ( s a )t dt
2 0
( s a )t
( s a )t
1 e
e
L{sinh at}
2 sa 0 sa 0
1 e ( s a )( ) e ( s a )( 0) e ( s a )( ) e ( s a )( 0)
L{sinh at}
2
sa
sa sa
s a
1 1
1 1 ( s a) ( s a)
a
L{sinh at}
2
2
2
2
2 s a s a 2
s a
s
Laplace Transform
Example 2:
Find the Laplace transforms of
1. x(t) = -1 0<t<2
= 0 2<t<4
=1
t>4
2. (t) = 2
0<t<2
= -4t +10 2<t<3
= -2
t>3
Solution to Example 2
(1)
2
L{x(t )}
st
st 2
st
st
e s ( 2) e s (0) e s ( ) e s ( 4)
1 e 2 s e 4 s
L{x(t )}
s
s
s
s
s
s
s
Solution to Example 2
(2)
2
st
st
st
u t
st
dv e st dt
e st
du dt v
s
st
e st 2 e st 3
e st 3 e st
3e
L{ (t )} 2
4 t
dt 10
2
s
s s
s 2 2 s
0
2
3
e st 2 e st 3 e st 3 e st 3 e st
L{ (t )} 2
4 t
2 10
2
s
s 2 s 2 s 2 s 3
0
Solution to Example 2
(2)
s ( 3)
s ( 2)
s ( 3)
s ( 2)
e s ( 2 ) e s ( 0 )
e
e
e
e
L{ (t )} 2
4 (3)
(2)
2 2
s
s
s
s s
s
e s ( 3) e s ( 2 ) e s ( ) e s ( 3)
2
10
s
s
s
s
2 2
s
s
s
s
s
s
s
s
s
2 4e 3s 4e 2 s
L{ (t )} 2 2
s
s
s
Seatwork 1
Derive the following f(t):
1. sin(at)
2. cosh(at)
3. tn
4. tcost
Laplace Transform
Example 4:
Use Table 1 to determine the Laplace transform of each
of the following functions:
(a) : t 3
(c ) : sin 4t
( f ) : sinh 3t
( g ) : cosh 5t
( h ) : t sin 4t
(d ) : e 2t
(i ) : e t sin 2t
t
(e) : cos
2
( j ) : e 3t cos t
(b ) : t 7
Solution to Example 4
(a) t t
n!
(b)
n!
s n 1
3!
6
3
t 31 4
s
s
t t
7
s n 1
7!
5040
7
t 7 1 8
s
s
(c)
(d)
sin 4t sin t
s2 2
4
4
sin 4t 2
2
2
s 4
s 16
e
e
sa
2t
2t
s2
at
Solution to Example 4
(e) cos t
s
cos t 2
2
s 2
t
s
s
cos 2
2 s (1 2) 2 s 2 1 4
(f)
sinh 3t sinh t 2
s 2
3
3
sinh 3t 2
2
2
s 3
s 9
(g)
cosh 5t cosh t
(h)
t sin 4t t sin t
s
s2 2
s
s
cos 5t 2
2
2
s 5
s 25
t sin 4t
2(4) s
2
2 2
2s
2
8s
2 2
16
Solution to Example 4
(i)
t
e sin 2t e
(j)
at
sin t
( s a) 2 2
2
2
e t sin 2t
( s 1) 2 22 ( s 1) 2 4
( s a)
e cos t e cos t
( s a) 2 2
( s 3)
( s 3)
e 3t cos t
( s 3) 2 12 ( s 3) 2 1
3t
at
(a) : 3 2t
(b) : 5t 2e
2
Solution to Example 5
(a)
3 2(1!) 3 2
F ( s) 11 2
s s
s s
(b)
5(2!) 2(1) 10
2
F ( s) 21
3
s 1 s
s 1
s
Solution to Example 6
(a)
5s
2(5)
6(3!)
F (s) 2
2
31
2
2
s 3
s 5
s
5s
10
36
F (s) 2
2
4
s 9 s 25 s
(b)
1
F (s)
s 1
1
F (s)
s 1
1 2 (1) 1 2 ( s)
2 2
2
2
s 1
s 1
12
1 2 ( s)
2
2
s 1 s 1
f (t ) t sin 5t
b.) Use the first shift theorem to write down
3t
L e t sin 5t
Solution to Example 7
(a)
F ( s)
(b) F (s)
2(5) s
2
2 2
10( s 3)
(s 3)
10s
2
2 2
2 2
10s 30
(s 3)
2 2
(a) : e
2 t
3t
f (t )
(b) : e f (t )
Solution to Example 8
(a)
2( s 2) 1
2s 4 1
2s 5
F ( s)
2
( s 2)[(s 2) 1] ( s 2)(s 3) s 5s 6
(b)
2( s 3) 1
2s 6 1
2s 5
F ( s)
2
( s 3)[(s 3) 1] ( s 3)(s 2) s 5s 6
Solution to Example 9
F ( s)
2 s
(2s)
s9
e
Example 10:
The Laplace transform of a function is s 2 .
Find the function.
Solution to Example 10
F ( s)
3 s
(1)
, d 3
s
Lt 3 f t 3
f (t ) t
Solution to Example 11
lim sF ( s ) lim f (t )
s 0
1
2t
lim s
lim
e
s 0
s
t
1
2( )
(0)
00
Solution to Example 12
4( s 2)
2t
F (s)
;
f
(
t
)
4
e
cos 5t
2
( s 2) 25
lim f (t ) lim sF ( s )
t 0
lim 4e
t 0
2t
4( s 2)
cos 5t lim s
2
s
(
s
2
)
25
(
s
2s)
2t
lim 4e cos 5t lim 4 2
t 0
s
s 4s 29
Solution to Example 12
2s
1 s 2
lim 4e 2t cos 5t lim 4
t 0
s
1 4 s 25
s 2 s 2
2( )
1
2
( )
2(0)
4e
cos[5(0)] 4
4()
25
1
2
( )
( ) 2
44
Solution to Example 13
2
sin 2t 2
s 4
d 2
t sin 2t 2
ds s 4
0( s 2 4) 1 2(1)(2 s 0)
t sin 2t
2
4s
t sin 2t
2
2
s 4
Solution to Example 14
(a) x" s 2 X ( s) sX (0) X ' (0) s 2 X ( s) 2s 1
x' sX ( s ) X (0) sX ( s ) 2
x X (s)
2 s 2 X ( s ) 2 s 1 3sX ( s ) 2 X ( s ) 0
2 s 2 X ( s ) 4 s 2 3sX ( s ) 6 X ( s ) 0
2 s 2 X ( s ) 3sX ( s ) X ( s ) 4 s 2 6
2s
3s 1 X ( s ) 4 s 8
4s 8
X ( s) 2
2 s 3s 1
2
Solution to Example 14
(b)
s 2 X ( s ) 2 s 1 2sX ( s ) 2 X ( s ) 0
s 2 X ( s ) 2 s 1 2 sX ( s ) 4 X ( s ) 0
s 2 X ( s ) 2 sX ( s ) X ( s ) 2 s 1 4
s 2 X ( s ) 2 sX ( s ) X ( s ) 2 s 5
2s 1 X ( s) 2s 5
2s 5
X ( s) 2
s 2s 1
2
Seatwork 2
Find the laplace transform of the following
function
t 2 1
1. 2
t 1
t 1
t 1
2t 2
2. (t )
2t 6
t
3. cosh 2t sinh 2t
, 0 t 1
, 1 t 2
, 2t3
,
t 3
y (0) 0
Seatwork 2
6. Perform the following operations:
a. Find the final value of X ( s) 5 3
s s2
2 s
s
2 s
2
e
e
e
b. Find the initial value of X ( s)
2
s
s
s
Solution to Example 1
2
(a ) F ( s ) 3 ; f (t ) t 2
s
16
(b) F ( s ) 3 ; f (t ) 8t 2
s
s
(c ) F ( s ) 2
; f (t ) cos t
s 1
1
(d ) F ( s) 2
; f (t ) sin t
s 1
s 1
s
1
(e) F ( s ) 2
2
2
s 1 s 1 s 1
f (t ) cos t sin t
Solution to Example 2
10
10 3!
10 2t 3
(a) F ( s)
; f (t ) e t
4
4
3! ( s 2)
6
( s 2)
( s 1)
( s 1)
t
(b) F ( s )
;
f
(
t
)
e
cos 2t
2
2
2
( s 1) 4 ( s 1) 2
15
5(3)
t
(c ) F ( s )
;
f
(
t
)
5
e
sin 3t
2
2
2
( s 1) 9 ( s 1) 3
Solution to Example 3
s3
s3
(a) F ( s) 2
s 6s 9 4 s 32 2 2
f (t ) e 3t cos 2t
Solution to Example 3
2s 3
2s 9 6
(b) F ( s ) 2
s 6s 9 4 s 32 2 2
2( s 3) 6
2( s 3)
3(2)
F ( s)
2
2
2
2
2
s 3 2 s 3 2 s 3 2 2
f (t ) 2e 3t cos 2t 3e 3t sin 2t
Solution to Example 3
s 1
s 1
(c ) F ( s ) 2
2
s 4 s 5.5 s 4 s 4 1.5
s 1
s 23
F ( s)
2
s 22 1.5
s 22 1.5
F ( s)
s2
s 2
f (t ) e
2t
1.5
cos 1.5t
1.5
e 2t sin 1.5t
1.5
1.5 s 2
2
1.5
Solution to Example 4
(a)
6s 8
6s 8
A
B
4s 1
4s 1
A
B
(
b
)
2
s 2 3s 2 ( s 2)( s 1) s 2 s 1
s s s ( s 1) s s 1
4s 1
1
A s
s ( s 1) s 0 1
4s 1
3
B ( s 1)
s ( s 1) s 1 1
1
3
F ( s)
s s 1
f (t ) 1 3e t
6s 8
4
A ( s 2)
(
s
2
)(
s
1
)
s 2
6s 8
2
B ( s 1)
( s 2)( s 1) s 1 1
4
2
F (s)
s 2 s 1
f (t ) 4e 2t 2e t
3s 6s 2
s 3 3s 2 2s
2
Solution to Example 5
3s 2 6 s 2
3s 2 6 s 2
A
B
C
2
s ( s 3s 2) s ( s 2)( s 1) s s 1 s 2
3s 2 6 s 2
2
A s
s ( s 2)( s 1) s 0 2
3s 2 6 s 2
1
B ( s 1)
s ( s 2)( s 1) s 1 1
3s 2 6 s 2
2
C ( s 2)
s ( s 2)( s 1) s 2 2
1
1
1
F ( s)
s s 1 s 2
f (t ) 1 e t e 2t
2
F ( s) 4
s 5s 3 4 s 2
Solution to Example 6
F (s)
2
2
A B
C
D
s 4 5s 3 4 s 2 s 2 ( s 4)( s 1) s 2 s s 4 s 1
2
2
D ( s 1) 2
s
(
s
4
)(
s
1
)
s 1 3
2
2
1
C ( s 4) 2
24
s
(
s
4
)(
s
1
)
s 4 48
1 d
B
(2 1)! ds
( 2 1)
2
2
2(2 s 5)
(
s
)
2
2
s ( s 4)( s 1) s 0 s 2 5s 4
2
2 1
A (s 2 ) 2
4
2
s
(
s
4
)(
s
1
)
s 0
5
2
1
1
F ( s ) 22 8 24 3
s
s 4 s 1
s
1
5 1
2
f (t ) t e 4t e t
2
8 24
3
s 0
10
5
16
8
s3
s 2 6s 13
Solution to Example 7
s3
s3
A
B
6 36 4(13) 2
s
s 6s 13 ( s a)( s b) s a s b
2
6 16
s
2
6 j4
s
2
s 3 j 2
s 3 A( s b) B( s a)
let :
s a 3 j 2
Solution to Example 7
1
s 3 1 1 1
L 2
6
s
13
2
s
a
s
A 12
1 at
1 A B
.... (e ebt )
2
1
B2
1 ( 3 j 2 )t
... e
e( 3 j 2 ) t
2
s3
1 1
1
1 3t j 2 t
j 2t
...
e
(
e
e
)
s 2 6 s 13 2 s a s b
2
1 3t
... e (cos 2t j sin 2t cos 2t j sin 2t
2
... e 3t cos 2t
j 2 A(3 j 2 b) A( j 4)
Convolution Theorem
Example 8:
Find the convolution of 2t and t3.
Solution to Example 8
f (t ) 2t
g (t ) t
f (t v) 2(t v)
g (v ) v 3
t (t ) 4 t (0) 4 t 5 05
tv
v
.......... 2
2
5 0
4 5 5
4
4
t5 t5
5t 5 4t 5
.......... 2 2
4
5
20
t5
..........
10
Convolution Theorem
Example 9:
Show that f*g = g*f
where f(t)=2t and g(t) = t3
Solution to Example 9
t5
( g * f )(t ) 2t * t
10
5
g * f t 3 * 2t
t
......... (t v) 3 2vdv
0
( g * f )(t ) g (t v) f (v)dv
0
g (t ) t , so
3
g (t v) (t v)3 , and
f (v) 2v
t v
3tv
v
2 3
......... 2
t v
4
5 0
2
3 2
t5
.........
10
1
(a)
( s 2)( s 3)
3
(b) 2
s ( s 4)
Solution to Example 10
1
1
(a) : F ( s)
, G(s)
s2
s3
then ,
f (t ) L1{F ( s )} e 2t
g (t ) L1{G ( s)} e 3t
1
1
L
L
{F ( s )G ( s )}
( s 2)( s 3)
.............................. ( f * g )(t )
1
.............................. e 2 ( t v )e 3v dv
0
.............................. e 2t e 2 v e 3v dv
0
.............................. e 2t e v dv
0
.............................. e
2t
v t
0
.............................. e 2t (e t 1)
.............................. e 2t e 3t
Solution to Example 10
3
1
(b)..F ( s ) ,.....G ( s ) 2
s
s 4
then ,
..... f (t ) 3,.......g (t ) 12 sin 2t
3
1
L 2
L
{F ( s )G ( s )}
s ( s 4)
......................... ( f * g )(t )
1
......................... 3
0
sin 2v
dv
2
3 t
......................... sin 2vdv
2 0
3 cos 2v
.........................
2 2 0
t
3
......................... (1 cos 2t )
4
dx
x 0,.....x(0) 3
dt
Solution to Example 11
dx
L L ( x ) 0
dt
[ sX ( s ) x(0)] [ X ( s )] 0
sX ( s ) 3 X ( s ) 0
sX ( s ) X ( s ) 3
( s 1) X ( s ) 3
X (s)
3
s 1
x(t ) 3e
dx
x 9e 2t ,........x(0) 3
dt
Solution to Example 12
9
sX ( s ) x(0) X ( s )
s2
9
sX ( s ) 3 X ( s )
s2
9
9 3s 6 3s 3
( s 1) X ( s )
3
s2
s2
s2
3( s 1)
( s 1) X ( s )
s2
3( s 1)
3
X ( s)
( s 2)( s 1) s 2
x(t ) 3e 2t
Seatwork 3
1. Find the inverse laplace of the following:
a.
12
s4
1
b. 2
s 2 s 10
s2
c.
s 2 2 4
s
d. 2
s 6 s 13
1
e. 2
s 4s 4
Seatwork 3
2. Use complex operation in finding the inverse
laplace:
3s 1
a. 2
s 6s 13
2s 3
b. 2
s 4s 8
a.
2s 3
s 4
2s 2 1
b.
2
s( s 1)
Seatwork 3
4. Find the convolution of the following
functions
g (t ) sin 3t
a. f (t ) t
t
f
(
t
)
e
g (t ) cos 2t
b.
Seatwork 3
5. Find the inverse laplace of the given
laplace equations using convolution theorem
a.
b.
3
L 2 2
s ( s 9)
1
1
L
2
( s 1)( s 1)
1
Electrical Circuits
Example
Find i(t) of the circuit
Solution
Solution
Apply Kirchoffs Voltage Law
E VR VC 0
VR VC E
1
RiR ic dt E ; iR iC i
C
1 I ( s ) CVC (0) E
RI ( s )
C s
s s
I ( s ) VC (0) E
q
0.015
RI ( s )
;VC (0)
37.5V
Cs
s
s
C 0.0004
Solution
I (s)
37.5 50
10 I ( s )
0.0004 s
s
s
2500 I ( s ) 50 37.5 12.5 s
10
I
(
s
)
s
s
s
s 10
sI ( s ) 250 I ( s ) 1.25
( s 250) I ( s ) 1.25
1.25
I ( s)
( s 250)
i (t ) 1.25e 250t
Example
The network shows that the switch is
closed when t = 0,assume that i(0) = 0;
q(0) = 0. Find i(t)
Solution
Solution
Apply Kirchoffs Voltage Law
E VR VL VC 0
VR VL VC E
diL 1
RiR L
ic dt E ; iR iL iC i
dt C
1 I ( s ) CVC (0) E
RI ( s ) LsI ( s ) I (0)
; i (0) I (0) 0
C s
s s
I ( s ) VC (0) E
q (0)
0
RI ( s ) LsI ( s )
;VC (0)
0V
Cs
s
s
C
0.00005
Solution
I ( s)
60
40 I ( s ) 0.02 sI ( s )
0.00005s
s
20000 I ( s ) 60 s
40 I ( s ) 0.02 sI ( s )
s
s 0.02
s 2 I ( s ) 2000 sI ( s ) 1000000 I ( s ) 3000
( s 1000) 2 I ( s ) 3000
3000
I ( s)
( s 1000) 2
i (t ) 3000e 1000t t
Derivation
F ( s ) 0 f (t )dt
L f (t )dt
s
s
idt
1
1 I ( s) 0
L idt
; q idt
s
C
C s
1
1 I ( s ) q (0) I ( s ) q(0)
L idt
s Cs
Cs
C
C s
1
I ( s ) VC (0)
L idt
s
C
Cs
q / C VC
Example
Find the currents in the network shown
when the switch is closed at t = 0 and the
capacitor carries a charge of 0.03
coulomb.
Solution
At t>0, using Kirchoffs Law
Solution
At t>0, using Kirchoffs Law
Solution
Using Kirchoffs Current Law
I1 I 2 I 3 0
I1 I 2 I 3
eqn(1)
Solution
Using Kirchoffs Voltage Law in loop 1
E VR1 VC 0
E VR1 VC
1
E R1 I 1 I 2 dt
C
eqn (2)
Solution
Using Kirchoffs Voltage Law in loop 2
E VR1 VR2 0
E VR1 VR2
E R1 I 1 R2 I 3
eqn (3)
Solution
Solving eqn. 2
1
I 2 dt
C
0.03
q
I 2 ( s ) VC (0)
E
60V
; VC (0)
R1I1 ( s )
C 0.0005
s
Cs
s
60
I ( s)
60
10 I1 ( s ) 2
0.0005s s
s
I 2 ( s)
10
2000
)
s
(
I
10
0
1
s
I 2 ( s)
eqn (4)
0
I1 ( s ) 200
s
E R1I1
Solution
Solving eqn. 3
E R1 I 1 R2 I 3
E
R1 I 1 ( s ) R2 I 3 ( s )
s
60
s 10 I 1 ( s ) 20 I 3 ( s ) 10
6
I1 ( s) 2 I 3 ( s)
s
but
I 3 I1 I 2
substitute
6
I 1 ( s) 2I 1 ( s ) I 2 ( s )
s
6
I1 ( s) 2 I1 ( s) 2 I 2 ( s)
s
6
3I 1 ( s ) 2 I 2 ( s )
eqn (5)
s
Solution
Combining eqn (4) and eqn (5)
I 2 (s)
I 1 ( s) 200 s 0 3
6
3I 1 ( s ) 2 I 2 ( s )
s
I 2 (s)
3I 1 ( s) 600
0
s
6
3I 1 ( s ) 2 I 2 ( s )
s
I 2 ( s)
6
2 I 2 ( s ) 600 s s 2
I 2 ( s)
3
I 2 ( s ) 300
s
s
3
300
I 2 ( s ) 1
s
s
3
s 300
I 2 (s)
s
s
3
I 2 (s)
s 300
I 2 3e 300t
(answer )
Solution
Substituting I2(s) in eqn (4)
3
s 300
I1 ( s ) 200
0
s
3
I1 ( s ) 200
0
s ( s 300)
600
I1 ( s )
0
s ( s 300)
600
A
B
I1 ( s )
s ( s 300) s s 300
600
600
A s
s ( s 300) s 0 300
600
600
B ( s 300)
Solution
Substituting the value of I1(s) and I2(s) in
eqn (1)
I1 I 2 I 3
I 3 I1 I 2
I 3 2 2e 300t 3e 300t
I 3 2 e 300t
(answer )
Example
The switch is closed at t = 0 with the
network is in the steady state prior to t = 0.
Find i(t).
Solution
For t<0;
Solution
Apply Kirchoffs Voltage Law (t=0)
E V8 V4 0
V8 V4 E
Ri8 Ri4 E; i (0 ) i8 i4
E
24V
i (0)
2A
R8 R4 (8 4)
Solution
For t > 0
Solution
For t > 0
Solution
Apply Kirchoffs Voltage Law
E VR VL 0
VR VL E
diL
RiR L
E ; iR iL i (t )
dt
E
RI ( s ) LsI ( s ) I (0) ; i (0) I (0) 2 A
s
E
RI ( s ) LsI ( s ) 2 L
s
Solution
24
8 I ( s ) 2 sI ( s ) 4
s
4 s 24 s
8 I ( s ) 2sI ( s )
s 2
s 2 I ( s ) 4 sI ( s ) 2 s 12
s ( s 4) I ( s ) 2s 12
2s 12 A
B
I (s)
s ( s 4) s s 4
Solution
2 s 12
12
A s
s ( s 4) s 0 4
2 s 12
4
B ( s 4)
s ( s 4) s 4 4
3
1
I ( s)
s s4
i (t ) 3 e 4t
Seatwork 4
1. The circuit is in dc steady state prior to t
= 0. Find v(t) when the switch is opened
at time t=0.
Seatwork 4
2. In the network shown, the switch is closed
at t = 0. Find i(t).