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L[ f (t )] F ( s) f (t )e dt
st
Eq A
0
j
1
1
L [ F ( s )] f (t ) F ( s ) e ts
ds Eq B
2 j j
*notes
The Laplace Transform
this is the formal way that one would take the inverse. To use
*notes
The Laplace Transform
1 st
L[u(t )] 1e dt e |
st
0
s 0
1
L[u(t )]
s
The Laplace Transform of a unit step is:
1
*notes s
The Laplace Transform
The Laplace transform of a unit impulse:
0 t0
Mathematically:
t 0
*note
The Laplace Transform
The Laplace transform of a unit impulse:
t2
f (t 0 ) t1 t 0 t 2
t1
f (t ) (t t 0 )dt
0 t 0 t1 , t 0 t 2
The Laplace Transform
L[ (t )] (t )e dt e
st 0 s
1
0
The Laplace Transform
f (t ) F ( s)
st
e 1
L[e u( t )]
at
|0
(s a) sa
at 1
A transform e u( t )
pair sa
The Laplace Transform
Building transform pairs:
L[tu(t )] te dt
st
0
u=t
udv uv | vdu
0
0
0
dv = e-stdt
1 A transform
tu(t ) 2 pair
s
The Laplace Transform
Building transform pairs:
(e jwt e jwt ) st
L[cos( wt )] e dt
0
2
1 1 1
2 s jw s jw
s
2
s w2
s
cos(wt )u(t ) A transform
s2 w 2 pair
The Laplace Transform
Time Shift
L[ f (t a )u(t a )] f (t a )e st
a
0
f ( x )e s ( x a ) dx e as f ( x )e sx dx
0
as
L[ f (t a )u(t a )] e F ( s)
The Laplace Transform
Frequency Shift
L[e at
f (t )] [e at
f (t )]e dt st
0
f ( t )e
( s a ) t
dt F ( s a )
0
at
L[e f (t )] F ( s a )
The Laplace Transform
Example: Using Frequency Shift
Find the L[e-atcos(wt)]
In this case, f(t) = cos(wt) so,
s
F ( s) 2
s w2
(s a)
and F ( s a )
(s a)2 w 2
at (s a)
L[e cos( wt )]
(s a)2 (w)2
The Laplace Transform
Time Integration:
and
st 1 st
dv e dt , v e
s
The Laplace Transform
Time Integration:
1
L f (t )dt f (t )e st dt
0 s0
1
F ( s)
s
The Laplace Transform
Time Differentiation:
df (t )
L[ ] sF ( s ) f (0)
dt
Integrate by parts:
u e , du se dt and
st st
df ( t )
dv dt df ( t ), so v f ( t )
*note
dt
The Laplace Transform
Time Differentiation:
0
0 f (0) s f (t )e st dt
0
So we have shown:
df (t )
L sF ( s ) f (0)
dt
The Laplace Transform
Time Differentiation:
We can extend the previous to show;
df (t ) 2 2
L 2
s F ( s) sf (0) f ' (0)
dt
df (t ) 3
L 3
s 3
F ( s ) s 2
f (0) sf ' (0) f ' ' (0)
dt
general case
df (t ) n n 1 n2
L n
s n
F ( s ) s f ( 0 ) s f ' ( 0)
dt
... f ( n 1) (0)
The Laplace Transform
Transform Pairs:
f(t) F(s)
(t ) 1
1
u( t ) ____________________________________
f (t ) F ( s)
s
st 1
e
sa
1
t
s2
n n!
t
s n 1
The Laplace Transform
Transform Pairs:
f(t) F(s)
at 1
te
s a2
n at n!
t e
( s a )n 1
w
sin( wt )
s2 w 2
s
cos( wt )
s2 w 2
The Laplace Transform
Transform Pairs:
f(t) F(s)
w
e at sin(wt )
( s a)2 w 2
at sa
e cos(wt )
(s a) w
2 2
s sin w cos
sin(wt ) Yes !
s2 w2
s cos w sin
cos(wt )
s w
2 2
The Laplace Transform
Common Transform Properties:
f(t) F(s)
to s
f ( t t 0 )u( t t 0 ), t 0 0 e F ( s)
to s
f ( t )u( t t 0 ), t 0 e L[ f ( t t 0 )
e at f ( t ) F (s a)
d n f (t )
s n F ( s ) s n 1 f ( 0) s n 2 f ' ( 0) . . . s 0 f n 1 f ( 0)
dt n
dF ( s )
tf ( t )
ds
t
1
f ( )d F ( s)
0 s
The Laplace Transform
Using Matlab with Laplace transform:
Example Use Matlab to find the transform of te 4t
The following is written in italic to indicate Matlab code
syms t,s
laplace(t*exp(-4*t),t,s)
ans =
1/(s+4)^2
The Laplace Transform
Using Matlab with Laplace transform:
Example Use Matlab to find the inverse transform of
s( s 6)
F ( s) 2
prob.12.19
( s 3)( s 6 s 18)
syms s t
ilaplace(s*(s+6)/((s+3)*(s^2+6*s+18)))
ans =
-exp(-3*t)+2*exp(-3*t)*cos(3*t)
The Laplace Transform
Theorem: Initial Value Theorem:
If the function f(t) and its first derivative are Laplace transformable and f(t)
Has the Laplace transform F(s), and the lim sF ( s ) exists, then
s
The utility of this theorem lies in not having to take the inverse of F(s)
in order to find out the initial condition in the time domain. This is
particularly useful in circuits and systems.
The Laplace Transform
Example: Initial ValueTheorem:
Given;
( s 2)
F ( s)
( s 1)2 5 2
Find f(0)
( s 2) s 2 2s
f (0) lim sF ( s ) lim s 2 2
lim 2
s ( s 1) 5
s s
s 2 s 1 25
s2 s2 2 s s2
lim 1
s 2 2 2 2
s s 2 s s ( 26 s )
The Laplace Transform
Theorem: Final Value Theorem:
If the function f(t) and its first derivative are Laplace transformable and f(t)
has the Laplace transform F(s), and the lim sF ( s ) exists, then
s
Again, the utility of this theorem lies in not having to take the inverse
of F(s) in order to find out the final value of f(t) in the time domain.
This is particularly useful in circuits and systems.
The Laplace Transform
Example: Final Value Theorem:
Given:
( s 2) 2 3 2
note F 1 ( s ) te 2 t cos 3t
F ( s)
( s 2) 2
32
Find f ( ) .
( s 2) 2 3 2
f ( ) lim sF ( s ) lim s
s0 s0 ( s 2) 2
3 2
0