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Step Functions
0, t<c
u c (t ) = c 0.
1, tc ,
Often the unit step function uc(t) is also denoted as u(t c), Hc(t), or
H(t c).
1, t<c
1 u c (t ) = c 0.
0, tc ,
e cs
L{uc(t)} = s , s > 0, c0
Notice that when c = 0, u0(t) has the same Laplace transform as the constant
function f (t) = 1. (Why?) Therefore, for our purpose, u0(t) = 1. (Keep in
mind that a Laplace transform is only defined for t 0.)
1 st
dt = 1 e st dt =
st
L{uc(t)} = u c (t ) e e c
0 c s
1 e cs
=
s
0e (
cs
=
s
) , s > 0.
0, t<c
uc (t ) f (t ) =
f (t ), tc, (an on switch)
f (t ), t<c
(1 uc (t )) f (t ) =
0, t c, (an off switch).
0, t<a
(u a (t ) ub (t )) f (t ) = f (t ), at <b
,
0, t b
By cascading the above types of products, we can now write any piecewise-
defined function in a succinct form in terms of unit step functions.
f1 (t ), t<a
f (t ), at <b
2
F (t ) = f 3 (t ), bt <c
: :
.
f n (t ), td
Example:
3t 2 2, t<4
F (t ) = e 5t + t , 4 t <9
.
cos( 2t ), t 9
Then,
Arguably the most important formula for this class, it is usually called the
Second Translation Theorem (or the Second Shift Theorem), defining the
time shift property of the Laplace transform:
Note: Equivalently,
1
Conversely, if f (t) = L {F(s)}, then
5e 2 s
Example: Find the inverse transform of F ( s ) =
s + 10 .
2 s 5
Since F ( s ) = e = e2s L{5e10t}, therefore,
s + 10
10t
c = 2 and f (t) = 5e . Apply the above theorem and we have
*
This equivalent formula is more explicit about what needs to be done when transforming a product
containing a unit step function. It tells you to translate the function, t t + c, before transform the
function. Remember, when transforming a product containing a step function: translate before transform!
7t
Example: Find the Laplace transform of u2(t) e .
L{u2(t) e7t} = e2s L{e7(t + 2)} = e2s L{e7t + 14} = e2s e14L{e7t}
2 s 14 1 e 2 s +14
=e e = .
s7 s7
2
Example: Find the Laplace transform of u1(t) (t + 3t + 2).
s 2 1 1 s 2 5 6
= e 3
+ 5 2
+ 6 =e 3 + 2 +
s s s s s s
3t 2 2, t<4
F (t ) = e 5t + t , 4 t <9
.
cos( 2t ), t 9
6 2 4 s e 20 6 23 42
= 3 + e 3 2 +
s s s 5 s s s
9 s s 2 e 45 1 9
e cos(18) 2 sin(18) 2 2
s +4 s + 4 s 5 s s
1
Conversely, if f (t) = L {F(s)}, then
e ct f (t) = L 1
{F(s c)}.
s b
Example: Because L{cos bt} = 2 and L{sin bt} = ,
s +b 2
s + b2
2
at
sa
L{e cos bt} =
( s a ) 2 + b 2 and
b
at
L{e sin bt} =
(s a) 2 + b 2 .
n! n
Similarly, since L{t } = n+1 , therefore,
s
n!
L{t n e at} = ( s a ) n +1 .
0, t <
where F (t ) =
1, t .
s
e
(s2 L{y} 2) + 4L{y} = (s2 +4)L{y} 2 =
s
e s 2
+
L{y} = s ( s 2 + 4) s 2 + 4
1 1 1
u (t ) cos 2(t ) = u (t )(1 cos( 2t 2 ) ) .
4 4 4
sin( 2t ), t <
1
y = sin( 2t ) + u (t )(1 cos( 2t ) ) = 1 1
4 sin( 2t ) + cos( 2t ), t
4 4
y(0) = 0, y(0) = 0.
s 4 s s
2 2
(s L{y} 0) + 9L{y} = (s +9)L{y} = 2 e
s +4 s2 + 4
4 s s
e 4s
L{cos(2t + 8)} = e 4s
L{cos(2t)} = e
s2 + 4
Therefore,
s 4s s
L{y} = ( s 2 + 4)( s 2 + 9)
e
( s 2 + 4)( s 2 + 9)
s 1 s 1 s
=
( s 2 + 4)( s 2 + 9) 5 s 2 + 4 5 s 2 + 9 .
1
It has an inverse transform (cos(2t ) cos(3t ) ) .
5
1
y= (cos( 2t ) cos(3t ) ) 1 u 4 (t )(cos 2(t 4 ) cos 3(t 4 ) )
5 5
1
(cos( 2t ) cos(3t ) ), t < 4
= 5
0, t 4
5 s
e
(s2 L{y} s 1) + 6(sL{y} 1) + 5L{y} =
s
5 s
e
(s2 + 6s + 5)L{y} s 7 =
s
e 5 s
(s + 1)(s + 5)L{y} =
s +s+7
Hence,
e 5 s s+7
+
L{y} = s ( s + 1)( s + 5) ( s + 1)( s + 5)
3 t 1 5t
It has an inverse transform of e e .
2 2
1 11 1 1 1 1
= +
s ( s + 1)( s + 5) 5 s 4 s + 1 20 s + 5 .
1 1 t 1 5 t
It has an inverse transform of e + e .
5 4 20
We then must apply the effects of the e5s term, namely the
introduction of the step function u5( t ), and the translation that
changes t into t 5. Hence, this part really represents
1 1 1 5t + 25
u5 (t ) e t +5 + e .
5 4 20
3 t 1 5 t 1 1 1
y= e e + u5 (t ) e t +5 + e 5t + 25
2 2 5 4 20
s 2 s s
2 2
(s L{u} 0) + 4L{u} = (s +4)L{u} = 2 e
s +4 s2 + 4
Hence,
s 2s s
L{u} = ( s 2 + 4) 2 e
( s 2 + 4) 2 .
1
The first part has inverse transform t sin( 2t ) .
4
The second part, via the formula
becomes
1 1
u 2 (t )(t 2 ) sin 2(t 2 ) = u 2 (t )(t 2 ) sin( 2t ) .
4 4
1 1
u (t ) = t sin( 2t ) u 2 (t )(t 2 ) sin( 2t )
4 4
1
4 t sin( 2t ), 0 t < 2
=
.
sin( 2t ), t 2
2
Notice that the system was undergoing resonance until the forcing
function was shut off. Then it oscillates at constant amplitude.
2as
Note: L{t sin(at)} = 2
(s + a 2 )2 .
2. Find (a) L{u5 / 6(t) cos 3t}, (b) L{u / 2(t) et cos 2t}.
5 6 Find each definite integral by (a) integration, and (b) using the
properties of Laplace transform.
5.
9
e ( s +3) t dt 6.
5
t 2 e st dt
6 s 4 s + 11
9. F ( s ) = e
s 2 + 6s + 9
s 3s + 12 s 2 s 3
3 2
10. F ( s ) = e
s 4 2 s 3 3s 2
2 s 2 s 14
11. F ( s ) = e
s + 2 s + 17
2
8 s 3s 10 s + 8
2
12. F ( s ) = e
s 3 + 4s
e c s
13. F ( s ) =
( s + )( s + )
b
15. Given that L {sinh (b t)} = 2 , find L {t e at sinh (b t)}.
s b2
Answers C-2.1:
s 2 2 2
1. (a) F ( s ) = e
s 3 s 2 + s ,
+
4 s 20 2 8 16
(b) F ( s ) = e e + + .
( s 5) 3
( s 5) 2
s 5
3 ( s + 1) / 2 s +1
2. (a) F ( s ) = e
5 s / 6
, (b) F ( s ) = e .
s2 + 9 s 2 + 2s + 5
3 s 15 2 5 8
3. F ( s ) = e e + +
( s + 5) 3
( s + 5) 2
s + 5
4. f (0) = 0, f () = 1, f (2) = 6, f (8) = sin(8) 2cos(8) 4.
9 s 27 1
5. e , s>0
s+3