COLLEGE OF ENGINEERING
COLEGIO SAN AGUSTIN
F ( s ) = e st f (t )dt
0
where:
F (s ) = Laplace transform of the original function and will be denoted by L(f).
f (t ) = original function
(1)
F (s ) = L(f) =
e st f (t )dt
Remember that:
f depends on t
F depends on s
The original function f (t ) in (1) is called the inverse transform or inverse of F ( s ) and will be
denoted by L1 (F).
f (t ) = L1 (F)
Notation:
Original functions are denoted by lowercase letters
Transforms by the same letters in CAPITALS
So that:
F ( s ) denotes the transform of f (t )
Y ( s ) denotes the transform of y (t )
Example 1.
f (t ) = 1 when t 0. Find F ( s ) .
From (1) by integration:
F ( s ) = L(f) =
e st f (t )dt
e st dt
1 st
e ( s )dt
s 0
1
= e st [0
s
1 s ()
e s (0) }
= {e
s
1
= {0 1}
s
1
F (s ) = L(1) =
ans.
s
F (s ) = L( e at ) =
e st f (t )dt
e st e at dt =
e st + at dt =
e ( s a )t dt
1 ( s a )t
e
()( s a )dt
s a 0
1
1
=
[e ( s a ) t ]0 =
[e ( s a ) e ( s a ) 0 ]0
sa
sa
1
[0 1]
=
sa
1
F (s ) = L( e at ) =
ans.
sa
Example 4:
f (t ) = a + bt + ct 2 a, b, c = cons tan ts . Find F (s ) .
Solution:
L(a + bt + ct 2 ) = aL(1) + bL(t ) + cL(t 2 )
1
1
2!
= a ( ) + b( 2 ) + c ( 3 )
s
s
s
a b 2!c
= + 2+ 3
ans.
s s
s
Example 5:
f (t ) = e a bt . Find F (s ) .
Solution:
L(e a bt ) = L(e a e bt ) = e a L(e bt )
1
= ea (
)
s+b
ea
=
s+b
ans.
Practice Problems:
1. Find the Laplace transforms of the following functions. Show the details of your work.
a. t2 - 2t
b. (t2 3)2
c. cos 2t
d. sin 4t
e. e3a-2bt
TRANSFORMS OF DERIVATIVES:
Laplace transforms replaces operations of calculus by operations of algebra on
transforms.
The differentiation of f (t ) is replaced by multiplication of L(s ) by s .
(1)
where:
L( f ' ) = Laplace transform of the first derivative of f (t )
L( f ) = Laplace transform of f (t ) ; also F (s )
f (0) = value of the function at time t = 0
And:
L( f '' ) = sL( f ' ) f ' (0)
Similarly;
L( f ''' ) = s 3 L( f ) s 2 f (0) sf ' (0) f '' (0)
Or in general;
L( f n ) = s n L( f ) s n 1 f (0) s n 2 f ' (0) f n 1 (0)
Example 1:
f (t )
= t 2 . Derive L( f ) .
Solution:
1. Take the derivatives
f (t ) = t 2
f ' ( t ) = 2t
f '' ( t ) = 2
f ( 0) = 0 2
f '' (0) = 2
f (0) = 0
f ' ( 0) = 0
2
s
2
= s 2 L( f )
s
L( f ) =
2
s3
Example 2:
Derive the Laplace transform of cos wt .
Solution:
1. Differentiate f (t )
f ( t ) = cos wt
f ' ( t ) = w sin wt
f '' ( t ) = w 2 cos wt
f ( 0) = 1
f ' ( 0) = 0
f '' (0) = w 2
But: f (t ) = cos wt
w 2 = constant
L( f '' ) = w 2 L(cos wt ) = w 2 L( f )
s
s + w2
2
L(cos wt ) =
s
s + w2
2
Assignment:
1. Derive L(sin wt ) using transforms of derivative.
2. f ( t ) = sin 2 t
y '' + ay ' + by = r (t )
where:
a & b = constants
r (t ) = input (driving force) applied to the mechanical system
y (t ) = output (response of the system)
1st Step: Transform (5) by means of (1) and (2) writing Y = L( y ) & R = L(r )
y '' + ay ' + by = r (t )
[ s 2Y sy (0)] y ' (0)] + a[ sY y (0)] + bY = R
1
= Q(Transfer _ function)
coeff of Y
1
= [( s + a ) y (0) + y ' (0) + R]Q
( s + as + b)
Y = [( s + a ) y (0) + y ' (0)]Q + RQ
[( s 2 + as + b)Y ]
(7)
y ( 0) = 1
y ' ( 0) = 1
Solution:
1. From the table and (2) get the subsidiary equation
y" y = t
s 2Y sy( 0 ) y' ( 0 ) Y =
1
s2
1
s2
1
( s 2 1)Y = s + 1 + 2
s
s 2Y s (1) (1) Y =
1
and (7) becomes;
s 1
2
1
Q
s2
s +1
1
Y = 2
+ 2 2
s 1 s ( s 1)
s +1
1
1
Y =
+[ 2
2]
( s 1)( s + 1) ( s 1) s
Y = ( s + 1)Q +
Y =
1
1
1
+ 2
2
( s 1) ( s 1) s
1
1
1
} + L1{ 2
} L1{ 2 }
( s 1)
( s 1)
s
y (t ) = et + sinh t t
ans.
Diagram:
Given Problem
Subsidiary Equation
y" y ' = t
y ( 0) = 1
y ' ( 0) = 1
( s 2 1)Y = s + 1 +
t space
1
s2
s space
Solution of Subsidiary
Equation
y (t ) = et + sinh t t
Y =
t space
1
1
1
+ 2
2
( s 1) ( s 1) s
s space
Practice Problems:
1. y"+2 y '+ y = e t
2. y '+3 y = 10 sin t
3. y '+0.2 y = 0.01t
4. y" y '2 y = 0
y (0) = 1
y ( 0) = 0
y (0) = 0.25
y ( 0) = 8
y ' ( 0) = 1
y ' ( 0) = 7
L{ f ( )d } =
0
f (t ) = f ( )d
0
Example:
L( f ) =
Solution:
1
s ( s + w2 )
2
Find f (t ).
s>0
1
1
) = sin wt
2
s +w
w
2
Note that:
f (t ) =
F ( s)
}
s
1
= L1{ 2
}
s ( s + w2 )
f ( )d = L1{
f (t ) =
f ( )d = L1{
( w sin w )d
0
=
=
=
=
f (t ) =
1 t
sin wd
w 0
1 1 t
[
sin w ( w)d ]
w w 0
1
[ cos w ]t0
w2
1
[ cos wt ( cos w(0))]
w2
1
[1 cos wt ]
ans.
w2
1
s ( s + w2 )
2
Find f (t ).
Solution:
f (t )
f ( )d = L1{
1
}
s ( s + w2 )
2
1
1
) = 2 [1 cos wt ]
2
s( s + w )
w
2
=[
0
1
(1 cos w )]d
w2
=
=
=
=
f (t ) =
Practice Problems:
1
1. L1 ( 5
)
s + s3
1
2. L1 ( 3
)
s s
1 t
(1 cos w )d
w2 0
1
sin w t
[
]0
2
w
w
1
sin wt sin w(0)
{[t 0] [
]}
2
w
w
w
1
sin wt
[t
]
2
w
w
1
[ wt sin wt ]
ans.
w3