1

The Laplace
Transform
2
Introduction
Laplace transform is another method to
transform a signal from time domain to
frequency domain (s-domain)
The basic idea of Laplace transform
comes from the Fourier transform
As we have seen in the previous chapter,
not many functions have their Fourier
transform such as t, t
2
, e
t
etc.
3
The Fourier transform formula:
The Laplace transform formula is the
modification of the above formula, that is,
the term j is replaced by s
s is equal to + j, where is a large
positive real number
The Laplace transform formula:
However, the Laplace transform only
support the function f(t) which domain t 0
}

= = dt e t f t f F
t j
) ( )} ( { ) ( F
}

= =
0
) ( )} ( { ) ( dt e t f t f s F
st
L
4
Using definition, find the Laplace transform of
(a)
(b)
(c)
(d)
Example 1
) ( ) ( t u t f =
) ( ) (
5
t u e t g
t
=
) ( ) ( t u t t i =
) ( cos ) ( t u t t v =
5
Solution
(a)
s s s
e
s
e
dt e dt e t u s F
st
st st
1 1 0 1
) ( ) (
0
0 0
=

=
(

=
= =

} }
(b)
5
1
) 5 (
1 0
) 5 (
1
) 5 (
) (
) 5 (
0
) 5 (
0
) 5 (
0
5

=


=


=
(

=
= =

} }
s s s
e
s
e
dt e dt e e s G
s t s
t s st t
6
(c)
2 2
0
2
0
0
0
1 1
) 0 0 (
) (
s s
e
s
e
dt
s
e
s
te
dt te s I
st
st st
st
=

=
(

= =

} }
7
(d)
| |
| |
) (
cos ) 1 0 (
) )( cos ( ) cos (
sin ) 0 0 (
) ( sin sin cos ) (
2
0
2
0
0
0
0
0
0
s V s s
tdt e s s
dt se t s t e s
tdt e s
dt se t t e tdt e s V
st
st st
st
st st st
=
+ =
=
+ =
= =
}
}
}
} }

1
) (
2
+
=
s
s
s V
8
Properties of L-transform
Linearity
L{af(t) bg(t)} = aL{f(t)} bL{g(t)}
{ }
|
.
|

\
|
=
a
s
F
a
at f
1
) ( L
First shift theorem
L{e
at
f(t)} = F(s + a)
Second shift thorem
L{f(t d) u(t d)} = e
ds
F(s)
Time scaling
9
Properties of L-transform (cont.)
Time derivatives
{ } ) 0 ( ) ( ) ( f s sF t f =
'
L
{ } ) 0 ( ) 0 ( ) ( ) (
2
f sf s F s t f
'
=
' '
L
{ } ) 0 ( ) 0 ( ) ( ) (
) 1 ( 1 ) (
=
n n n n
f f s s F s t f L
Time integral
) (
1
) (
0
s F
s
d f
t
=
)
`

}
L
10
Example 2
Determine the Laplace transform of
(a)
(b)
t e t
t
2 sin 3
4 3
+

4
cos ) 1 (
4
3
t
t e
t


11
Solution
{ } t e t
t
2 sin 3
4 3
+

L
4
2
4
3 6
2 4
+
+
+
=
s s s
{ } { } { } t e t
t
2 sin 3
4 3
L L L + =

)
`

+

4
cos cos
4
3
t
t e t
t
L
{ } { } { }
4 3
4
1
cos cos t t e t
t
L L L + =

5 2 2
6
1 ) 3 (
3
1 s s
s
s
s
+
+ +
+

+
=
(a)
(b)
12
Example 3
Determine the Laplace transform of
(a)
(b)
) 2 ( ) 2 (
2
t u t
3 5
t e
t
13
Solution
(a) Let
3
) ( t t f =
then
.
6
) (
4
s
s F =
Therefore
{ } { } ) (
5 3 5
t f e t e
t t
= L L
) 5 ( + = s F
.
) 5 (
6
4
+
=
s
14
(b)
Let
2
) ( t t f =
then
.
2
) (
3
s
s F =
Therefore
{ } ) 2 ( ) 2 (
2
t u t L
) (
2
s F e
s
=
.
2
3
2
s
e
s
=
2
) 2 ( ) 2 ( = t t f
{ } ) 2 ( ) 2 ( = t u t f L
Also
15
Inverse Laplace transform (ILT)
The inverse Laplace transform of F(s) is f(t), i.e.
{ } ) ( ) (
1
s F t f

= L
where L
1
is the inverse Laplace transform operator.
16
Example 4
Find the inverse Laplace transform of
3
2
s
(a) (b)
4
2
s
(d)
9
6 5
2
+

s
s
(c)
25
1
2
+ s
(e)
4 ) 1 (
1
2
+ +
+
s
s
(f)
4 ) 1 (
2
+ + s
s
17
Solution
From the table of Laplace transform,
)
`

3
1
2
s
L (a)
)
`

=

3
1
! 2
s
L
2
t =
)
`

4
1
2
s
L (b)
)
`

=

4
1
! 3
! 3
2
s
L
3
3
1
t =
)
`

25
1
2
1
s
L (c)
)
`

+
=

2 2
1
5
5
5
1
s
L
t 5 sin
5
1
=
18
)
`

9
6 5
2
1
s
s
L
(d)
2 2 2 2 2
3
3
2
3
5
9
6 5
+

+
=
+

s s
s
s
s
)
`

)
`

+
=

2 2
1
2 2
1
3
3
2
3
5
s s
s
L L
t t 3 sin 2 3 cos 5 =
)
`

+ +
+

4 ) 1 (
1
2
1
s
s
L
(e)
t e
t
2 cos

=
Write
19
)
`

+ +

4 ) 1 (
2
1
s
s
L
(f)
)
`

+ +

)
`

+ +
+
=

2 2
1
2 2
1
2 ) 1 (
2
2
1
2 ) 1 (
1
s s
s
L L
t e t e
t t
sin
2
1
cos

=
Since the ILT of the term cannot be found
directly from the table, we need to rewrite
it as the following
2 2 2 2
2 2 2 2
2 ) 1 (
2
2
1
2 ) 1 (
1
4 ) 1 (
1
4 ) 1 (
1
4 ) 1 (
1 ) 1 (
4 ) 1 (
+ +

+ +
+
=
+ +

+ +
+
=
+ +
+
=
+ +
s s
s
s s
s
s
s
s
s
20
Example 5
Find the inverse Laplace transform of
8
( 2)
s
s s

(a) (b)
2
9
2 7 4 s s +
(d)
2
7 20
( 4 20)
s
s s s

+
(c)
3 2
4 1
2
s
s s s
+
+ +
(e)
2
2
5 6
s
s s + +
21
Solution
We use the partial fractions technique:
1
8
( 2)
s
s s

(a)
1
2
9
2 7 4 s s

`
+
)
(b)
1
4 3
2 s s

=
`

2
4 3
t
e =
1
2 1
2 1 4 s s

=
`
+
)

/ 2 4 t t
e e

=
1
1
2
1 1
4 s s

=
`
+
)

=L L
L =L
=L
22
1
3 2
4 1
2
s
s s s

+

`
+ +
)

(c)
1
2
4 1
( 1)
s
s s

+
=
`
+
)

1
2
1 3 1
( 1) 1 s s s

= +
`
+ +
)

1 3
t t
e t e

= +
where, if we let
2
1
( ) F s
s
=
, then ( ) . f t t = Hence,
{ }
1 1
2
1
( 1) ( )
( 1)
t t
F s e f t e t
s


= + = =
`
+
)

=L
L
=L
L =L
23
1
2
7 20
( 4 20)
s
s s s

`
+
)

(d)
1
2
1 3
4 20
s
s s s

+

= +
`
+
)

1
2 2
1 2 5
( 2) 16 ( 2) 16
s
s s s

= + +
`
+ +
)

1
2
1 3
( 2) 16
s
s s

+
= +
`
+
)

1
2
1 ( 2) 5
( 2) 16
s
s s

+
= +
`
+
)

2 2
5
4
1 cos 4 sin 4
t t
e t e t = + +
=L L
=L
=L
=L
24
2
1
2
5 6
s
s s

`
+ +
)

(e)
1
2
5 6
1
5 6
s
s s

+

=
`
+ +
)

1
5 6
1
( 2)( 3)
s
s s

+
=
`
+ +
)

1
4 9
1
2 3 s s

= +
`
+ +
)

2 3
( ) 4 9
t t
t e e

= +
L =L
=L
=L =L
25
The convolution theorem
{ } ) ( ) ( ) ( ) (
1
t g t f s G s F - =

L
) ( ) ( t g t f -
where is called as the convolution of
f(t) and g(t),
}
= -
t
d g t f t g t f
0
) ( ) ( ) ( ) (
Convolution property:
) ( ) ( ) ( ) ( t f t g t g t f - = -
Therefore,
} }
= = -
t t
d t g f d g t f t g t f
0 0
) ( ) ( ) ( ) ( ) ( ) (
Sometimes,
) ( ) ( t g t f -
denoted as
) )( ( t g f -
or simply
. g f -
defined by
26
Example 6
(a)
) 2 )( 1 (
1
+ s s
Use the convolution theorem to find the inverse
Laplace transforms of the following:
(b)
) 9 (
12
2
+ s s
(c)
) 5 (
7
2
+ s s
27
Solution
)
`

) 2 )( 1 (
1
1
s s
L
(a)
)
`

+
-
)
`

=

2
1
1
1
1 1
s s
L L
t t
e e
2
- =
}

=
t
t
d e e
0
2

}

=
t
t
d e
0
3

t
t
e
0
3
3
(

=

3 3
2 2 t t t t
e e e e

=
28
)
`

) 9 (
12
2
1
s s
L
(b)
)
`

+
=

9
3 1
4
2
1
s s
L
)
`

+
-
)
`

=

9
3 1
4
2
1 1
s s
L L
) 3 sin 1 ( 4 t - =
}
=
t
d
0
3 sin 1 4
t
0
3
3 cos
4
(

=

) 3 cos 1 (
3
4
t =
29
)
`

) 5 (
7
2
1
s s
L
(c)
)
`

+
=

5
1 1
7
2
1
s s
L
)
`

+
-
)
`

=

5
1 1
7
1
2
1
s s
L L
t
e t
5
7

- =
}

=
t
t
d e
0
) ( 5
7

}

=
t
t
d e
0
) ( 5
7

}

=
t
t
t
t
d
e e
0
) ( 5
0
) ( 5
5
7
5
7

t
t
e te
0
) ( 5 0
25
7
5
0
7
(

|
|
.
|

\
|

=

25
) 1 ( 7
5
7
5t
e t

=
) 1 5 (
25
7
5
+ =
t
e t
30
Circuit applications
1. Transfer functions
2. Convolution integrals
3. RLC circuit with initial conditions
sC
C
sL L
R R
1

31
Transfer function
h(t) y(t) x(t)
) ( ) ( ) ( t x t h t y - =
) ( Input
) ( Output
) (
) (
) ( , function Transfer
s
s
s X
s Y
s H = =
In s-domain, ) ( ) ( ) ( s X s H s Y =
In time domain,
Network
System
32
Example 7 (Pb.13.64, pg.751)
For the following circuit, find H(s)=V
o
(s)/V
i
(s).
Assume zero initial conditions.
33
Solution
Transform the circuit into s-domain with
zero i.c.:
) (s V
s
) (s V
o
s
s
10
34
s s
s s o
V
s s
V
s s
V
s
s
s
V
s
s
s
V
30 9 2
20
) 5 2 )( 2 ( 20
20
2
5 2
20
5 2
20
2
10
// 4
10
// 4
2
+ +
=
+ + +
=
+ +
+
+
=
+ +
|
.
|

\
|
|
.
|

\
|
=
Using voltage divider
30 9 2
20
) (
) (
) (
2
+ +
= =
s s s V
s V
s H
s
o
35
Example 8 (Pb.13.65, pg.751)
Obtain the transfer function H(s)=V
o
(s)/V
i
(s),
for the following circuit.
36
Solution
Transform the circuit into s-domain (We can
assume zero i.c. unless stated in the question)
) (s V
s
) (s V
o
) (s I
s
2
) ( 2 s I
s
37
I s
s
I s I
s
V
I I I V
s
o
|
.
|

\
|
+ + = + + =
= + =
9 3
2
3 ) 3 (
2
9 ) 2 ( 3
We found that
2 9 3
9
9 3
2
9
) (
) (
) (
2
+ +
=
+ +
= =
s s
s
s
s
s V
s V
s H
s
o
38
Example 9 (P.P.15.14, pg.705)
Use convolution to find v
o
(t) in the circuit of
Fig.(a) when the excitation (input) is the
signal shown in Fig.(b).
39
Solution
Step 1: Transform the circuit into s-domain
(assume zero i.c.)
) (s V
s
) (s V
o
s
2
Step 2: Find the TF
) ( 2 ) (
2
2
1 ) / 2 (
/ 2
) (
) (
) (
2
1
t u e t h
s s
s
s V
s V
s H
t
s
o

=
+
=
+
= =

L
40
Step 4: Find v
o
(t)
d v t h t v t h t v
s V s H s V
s
t
s o
s o
) ( ) ( ) ( ) ( ) (
) ( ) ( ) (
0
}
= - =
=
| |
) ( 20 ) 1 ( 20
20 20
10 2 ) (
2 2
0
2
0
2
0
) ( 2
t t t t
t
t
t
t
t
t
o
e e e e
e e d e e
d e e t v



= =
= =
=
}
}

For t < 0 0 ) ( = t v
o
For t > 0
41
Circuit element models
Apart from the transformations
we must model the s-domain equivalents
of the circuit elements when there is
involving initial condition (i.c.)
Unlike resistor, both inductor and capacitor
are able to store energy
sC
C sL L R R
1
, ,
42
Therefore, it is important to consider the
initial current of an inductor and the initial
voltage of a capacitor
For an inductor
Taking the Laplace transform on both
sides of eqn gives
or
dt
t di
L t v
L
L
) (
) ( =
) a 1 .....( ) 0 ( ) ( ) ( )] 0 ( ) ( [ ) (
L L L L L
Li s I sL i s sI L s V = =
) b 1 .....(
) 0 ( ) (
) (
s
i
sL
s V
s I
L L
L
+ =
43
) 0 ( ) ( ) ( ) (
L L L
Li s I sL s V =
s
i
sL
s V
s I
L L
L
) 0 ( ) (
) ( + =
44
For a capacitor
Taking the Laplace transform on both
sides of eqn gives
or
dt
t dv
C t i
C
C
) (
) ( =
) a 2 .....( ) 0 (
/ 1
) (
)] 0 ( ) ( [ ) (
C
C
C C C
Cv
sC
s V
v s sV C s I = =
) b 2 .....(
) 0 (
) (
1
) (
s
v
s I
sC
s V
C
C C
+ =
45
) 0 (
/ 1
) (
) (
C
C
C
Cv
sC
s V
s I =
s
v
s I
sC
s V
C
C C
) 0 (
) (
1
) ( + =
46
Example 10 (Pb.16.23, pg.750)
Consider the parallel RLC circuit of the
following. Find v(t) and i(t) given that
v(0) = 5 V and i(0) = 2 A.
47
Solution
Transform the circuit into s-domain (use the
given i.c. to get the equivalents of L and C)
) (s I
) (s V
s
4
16
1
s
80
s 4
8
10
) (s V
48
Then, using nodal analysis
20 8
) 96 ( 5
16
96
16
1 6
80
) 20 8 (
16
1 4
80
) 8 (
4
8
0
16
1 4
80
// 10
2
2
+ +
+
=
+
= + =
+ +
+ =
+
+

=
|
.
|

\
|
+
s s
s
V
s
s
s s
V s s
s
V s
s
V
s
s
V
I
49
Since the denominator cannot be factorized,
we may write it as a completion of square:
2 2 2 2 2
2 ) 4 (
) 2 ( 230
2 ) 4 (
) 4 ( 5
4 ) 4 (
) 96 ( 5
) (
+ +
+
+ +
+
=
+ +
+
=
s s
s
s
s
s V
V ) ( ) 2 sin 230 2 cos 5 ( ) (
4
t u e t t t v
t
+ =
Finding i(t),
s s s s
s
s
V
I
2
) 20 8 (
) 96 ( 25 . 1
4
8
2

+ +
+
=

=
50
A ) ( ] ) 2 sin 375 . 11 2 cos 6 ( 4 [ ) (
4
t u e t t t i
t
+ =
Using partial fractions,
s s s
C Bs
s
A
s s s s
s
s I
2
20 8
2
) 20 8 (
) 96 ( 25 . 1
) (
2 2

+ +
+
+ =
+ +
+
=
It can be shown that
75 . 46 , 6 , 6 = = = C B A
Hence,
2 2 2 2 2
2 ) 4 (
) 2 ( 375 . 11
2 ) 4 (
) 4 ( 6 4
20 8
75 . 46 6 4
) (
+ +

+ +
+
=
+ +
+
=
s s
s
s s s
s
s
s I
51
Example 11
The switch in the following circuit moves from
position a to position b at t = 0 second.
Compute i
o
(t) for t > 0.
0 = t
V 4 2
O 5
O 1
F 1 . 0
H 625 . 0
) (t i
o
a b
52
Solution
The i.c. are not given directly. Hence, at first
we need to find the i.c. by analyzing the circuit
when t 0:
V 24 ) 0 (
L
i

+
) 0 (
C
v
O 5
V 0 ) 0 ( , A 8 . 4
5
24
) 0 ( = = =
C L
v i
53
Then, we can analyze the circuit for t > 0 by
considering the i.c.
( ) 10 25 . 6 625 . 0
) 10 ( 3
625 . 0
3
1 // 625 . 0
3
2
10
10 10
+ +
+
=
+

=
+

=
+
s s
s
s s
I
s s
3 ) 0 ( =
L
Li
s 625 . 0
s
10
1
) (s I
o
Let
I
54
Using current divider rule, we find that
) 8 )( 2 (
48
16 10
48
10 25 . 6 625 . 0
30
10
10
1
2
2
10
10
+ +

=
+ +

=
+ +

=
+
=
+
=
s s s s
s s
I
s
I I
s
s
o
Using partial fraction we have
2
8
8
8
) (
+

+
=
s s
s I
o
A ) ( ) ( 8 ) (
2 8
t u e e t i
t t
o

=