Complex Variable, Laplace & Z-Transform Fall 2017-18

Lecture-1
Laplace Transformation

Definition: Let the function () be defined for all positive values of , then multiply () by
and integrate it with respect to from zero to infinity. If the resulting integral exists (i.e.,
has some finite value), it is a function of , may be real or complex, say ().

() = ().
0
This function () of variable is called Laplace Transformation of the original function
() and will be denoted by { ()}, where denotes the Laplace transform operator. Thus

{ ()} = () = ().
0
The original function () is called the inverse transform or inverse of () and will be
denoted by 1 {()}.
() = 1 {()}.

Important formulae:
Some important formulae
1. { } = , is any constant, ( > 0)

!
2. { } = , when = 0,1,2,3, . .. sin =
+1
2
+

1 cos =
3. { } = , ( > ) 2


4. {cosh } = , ( 2 > 2 ) sinh =
2
2
2
+
5. {sinh } = , ( 2 > 2 ) cosh =
2 2 2
(sin cos )
6. {cos } = , ( > ) sin =
2 + 2 2 + 2
(cos + sin )
7. {sin } = , ( > ) cos =
2 + 2 2 + 2

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Properties of Laplace transformation:

1. {1 () + 2 ()} = {1 ()} + {2 ()} (linearity), where & are constants.

2. If { ()} = (), then { ()} = ( ) (first shifting or translation)

3. If { ()} = (), then { ()} = (1) [ ()] (multiplication by )

Proof of some selective formulae:

1
1. { } = , ( > )

Proof: From the definition of Laplace transformation we know that,

{ ()} = ()
0

} ()
() 1 ()
{ = = lim = lim [ ]| = lim
( ) ( )
0 0 0
1
= if > .

2. {cos } = if > 0 and 3. {sin } = if > 0 .
2+2 2 +2
1 +
Proof: { } = = 2 +2 = 2 +2 + 2 +2 - - - - - (1)
But, = cos + sin

So, { } = 0 = 0 (cos + sin )

= 0 cos + 0 sin
= {cos } + {sin } - - - -- - (2)
Comparing (1) and (2), we have on equating real and imaginary parts,

{cos } = 2+2 if > 0 and {sin } = 2+2 if > 0.

Some workout examples on Laplace transformation:

Example: 1 Example: 2
{( 2 + 1)2 } {e3 + 5 cos }
= { 4 + 2 2 + 1} = {e3 } + 5 {cos }
= { 4 } + 2{ 2 } + {1} 1 s
4! 2! 1 = +5 2
s (3) s 12
= 4+1 + 2 2+1 +
1 5s
24 4 1 = + 2
= 5+ 3+ s+3 s 1

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Example: 3 Example: 4
{(sin cos )2 + cos 2 3} {3 e cos 2 + sinh 3}
1 = {3} {e cos 2 } + { sinh 3 }
= {sin2 2 sin cos + cos 2 + (1 1 s+1 d 3
2
=3 2 2
+ (1)1 ( 2 )
+ cos 6)} s (s + 1) + 2 ds s 32
3 s+1 3.2s
1 1 = 2 + 2
= {1 sin 2 + + cos 6)} s s + 2s + 5 (s 9)2
2 2 3 s+1 6s
3 1 = 2 + 2
= { } {sin 2 } + {cos 6 } s s + 2s + 5 (s 9)2
2 2
31 2 1
= 2 2
+ 2
2 +2 2 + 62
3 2 1
= 2 + ( 2 ).
2 +4 2 +36

Example: 5 Example: 6
{ cos e3 sin 2 + 7 e5 } {e2 + e cosh 3}
d s 2 1 s1
= (1)1 = 2
+
ds s + 1 (s + 3)2 + 22
2 (s 2) (s 1)2 32
7!
+ 1 s1
(s 5)8 = (s2)2 + s2 2s8.
1 s2 2 5040
= 2 2
+
(s + 1) (s + 3) + 4 (s 5)8
2

Example: 7 Example: 8
{ sin } { cos }
+
= { } = { }
2 2
1 1
= { } = { + }
2 2
1 1! 1! 1 1! 1!
= [ 2 2
](first Shifting = [ 2 + 2
](first shifting property)
2 () (+) 2 () (+)
2 2
Property)
2 =
= 2 ( 2 + 2 )2
( + 2 )2 Or
Or { cos }
{ sin }
= (1)1 ( 2 )
= (1)1 ( 2 ) + 2
+ 2 ( 2 + 2 ). 1 . 2
( 2 + 2 ). 0 . 2 =
= ( 2 + 2 )2
( 2 + 2 )2 2 2
2 = 2
= 2 ( + 2 )2
( + 2 )2
2
= 2
( + 2 )2

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Piecewise function
Example:
0, 0 < < 2
Sketch () = { and
4, > 2
find { ()} .

Solution:

{ ()} = 0 ()
2
= 0 . 0 + 2 4

2
= 4[
]| = 4

.
2

Exercises set 1.1

Advanced Engineering Mathematics- Erwin Kreyszig.
Page no: 226, Problem no: (1- 6), 9, 11, 12.

Find the Laplace Transformations of the following functions. Also sketch the indicated
functions. Also verify the answers using MATLAB command:
() Answer () Answer

25 30 9 2 2
1. (5 2 3)2 - + 10. cos
s-4 s-2 s ( 2 + 2 )2
2 2 5 cos 3 + 2 sin 2 5 4 18
2. 4 cos 2 2 + 2 11. + 2 4
+ 16 3 3 2
+9 +4
6 1 1 16
3. sin 3 12. sin 3 4 cos ( )
( + 9)2
2
3 2 2 + 9 4 2 + 1
2 9 sin 3 4 + 7
4. cos 3 13.
( 2 + 9)2 + 4 cos 3 ( + 1)2 + 9
cos 7 +5 1 +1
5. 14. cos 2 + 2
5 ( + 5)2 + 49 2 + 2 2 + 4 + 10
2 3
6. 2 15. sin 3 + cos 2 + 2
( 1)3 2
+9 +4
72 1
7. 3 4 5 + + Piecewise function
( 5)5 2
6 Sketch 2 9 5
8. 3 3 1. 2, 0 5 ( 1 5 )

( + 3)4 ( ) = { 2
1, > 5
4 4
2 Sketch 2 2 2
9. sinh 2. 2, 0 2
( 2 )2
2 ( ) = { 2 2 2
0, > 2 + 3
3

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Complex Variable, Laplace & Z-Transform Fall 2017-18

MATLAB command to find Laplace transformation:

f t 1.25 3.5te2t 1.25e2t
>> syms t s

>> f=-1.25+3.5*t*exp(-2*t)+1.25*exp(-2*t);

>> laplace(f, t, s)

ans =

5/(4*(s + 2)) + 7/(2*(s + 2)^2) - 5/(4*s)

Laplace transformation of periodic function

If (), defined for all positive , is a periodic function with period > 0, i. e.
( + ) = (), in the domain of (), = 0,1,2,3 . Then the Laplace
transformation of () is,
1
{()} = 1 0 ().
Example:1
Let () = , 0 < < 3 is a periodic function of period 3. Then
(i) sketch f(t) and
(ii) find the Laplace transformation of the above function .
Solution: (i)

Solution: (ii)

1
{()} = ()
1
0
3
1
{()} =
1 3
0
3
1
= [ 2 ]|
1 3 0

1 3 3 1
= [ 2 + 2]
1 3

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Example: 2
3, 0 < < 2
Let () = { is a periodic function of period 4. Then
6, 2 < < 4
(i) sketch f(t) and (ii) find the Laplace transformation of the above function .
Solution: (i)

Solution: (ii)
4
1
{()} = ()
1 4
0
2 4
1
= [ 3 + 6 ]
1 4
0 2
2 4
1
= [3 ( 2 )| + 6 ( )| ]
1 4 0
2
1 1
= 4
(3 3 2 6 4 )
1 2

Example: 3
Let () = 2 , 0 < < 2 and ( + 2) = ().Then
(i) sketch f(t) and
(ii) find the Laplace transformation of the above function .
Solution: (i)

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Solution: (ii)
2
1
{()} = 2
1 2
0

2
1 2

= [ 2 + 2 ]|
1 2 2 3 0
1 4 4 2 2
= 2
[ 2 2 2 3 2 + 3 ]
1

Example: 4
sin , 0 < <
Let () = { is a periodic function of period 2. Then
0, < < 2
(i) sketch f(t) and (ii) find the Laplace transformation of the above function .

Solution: (i)

Solution: (ii)
2
1
{()} = 2
()
1
0
2
1
= 2
[ sin + . 0 ]
1
0

1 ( sin cos )
= [ ]|
1 2 2 + 1 0
1 1 +
=
1 2 2 + 1

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Exercises set 1.2

Sketch f(t) and find the Laplace transformation of the following functions .
2(1) 1
1. () = , 0 < < 2, period = 2. Ans: .
(1)(1 2 )

2. () = sin , 0 < < , period = . Ans: coth 2.
( 2 +2 )

2
2 2e 2 s 1 2 s 2 s 2
3. () = , 0 < < 2, ( + 2) = () . Ans: .
s 3 1 e 2 s

, 0 < < 1 1 e s se s 3se3s e3s

4. () = { , period = 3. Ans: .
, 1 < < 3 s 2 1 e3s
, 0 < < 2 1 e 2 s 2se 5 s
5. () = { , ( + 5) = (). Ans: .
2, 2 < < 5 s 2 1 e 5 s
, 0<<
6. () = { , ( + 2) = ().
0, < < 2
, 0<<
7. () = { , period = 2.
, < < 2

The Unit step function (Heaviside function):

In engineering applications, we frequently encounter functions whose values change abruptly

at specified values of time t. One common example is when a voltage is switched on or off in
an electrical circuit at a specified value of time t.

The value of t = 0 is usually taken as a convenient time to switch on or off the given voltage.

The switching process can be described mathematically by the function called the Unit Step
Function (otherwise known as the Heaviside function after Oliver Heaviside).

The Unit step function or Heavisides unit step function, (), is defined as follows:
0, < 0
( ) = ( ) = { ,
1, 0
That is, u is a function of time t, and u has value zero when time is negative (before we flip
the switch); and value one when time is positive or zero (from when we flip the switch).

Graph of () = (), the unit step function.

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Shifted (Right) Unit step function:

In many circuits, waveforms are applied at specified intervals other than t=0. Such a function
may be described using the shifted (aka delayed) unit step function.

A function which has value 0 up to the time = and thereafter has value 1 is written:
0, <
() = ( ) = { ,
1,
( )

O a t

Rectangular pulse:
A common situation in a circuit is for a voltage () to be applied at a particular time (say t
= a) and removed later, at t = b (say). We write such a situation using unit step functions as:

() = ( ) ( )
This voltage has strength 1, duration ( ).
Alternatively, () may be constructed using top hat function ( ) ( ) as
follows:

1, <
() = ( ) ( ) = { ,
0, otherwise
Example 01 :

The graph of () = ( 1.2) ( 3.8) is as follows. Here, the duration is 3.81.2 =

2.6 .

Graph of () = ( 1.2) ( 3.8) is an example of a rectangular pulse.

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Example 02:
Write the following functions in terms of unit step function(s). Sketch each waveform.

(i) A 12-V source is switched on at t = 4 s,

1, 0< <
(ii) ( ) = { and,
0, t>
0, < 3
(iii) () = {2 + 8, 3 < < 5 .
0, >5

Solution:

(i) Since the voltage is turned on at t = 4, we need to use u(t 4). We multiply by 12 since
that is the voltage.

We write the function as follows: () = 12 ( 4)

Here's the graph:

Graph of () = 12 ( 4)

1, 0< <
(ii) () = { ,
0, t>

In words, the voltage has value 1 until time = . Then it is turned off.

We have a "rectangular pulse" situation and need to use this formula:

() = ( ) ( )

In our example, the pulse starts at = 0, so we use () and finishes at = so we use

( ). So the required function is:

() = 1 [() ( )]

Here is the graph

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Graph of () = 1 [() ( )], a shifted unit step function

0, < 3
( )
(iii) = {2 + 8, 3 < < 5 .
0, >5

In this example, our function is () = 2 + 8 which has slope 2 and V-intercept 8.

The signal is only turned on between = 3 and = 5. The rest of the time it is off.

So our voltage function will be:

() = (2 + 8) [( 3) ( 5)]

The graph is as follows:

Graph of () = (2 + 8) [( 3) ( 5)] . The dashed line is () = (2 + 8).

Now, the Laplace transform of unit step function is,

{1. ( )} =


{(). ( )} = {( + )}
Example: 01
Find the Laplace transformation of 2 ( 3).
Solution: { 2 ( 3)} = 3 {( + 3)2 }
= 3 { 2 + 6 + 9}
2 1 1
= 3 [ 3 + 6 2 + 9 ].

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Example: 02
Find the Laplace transformation of 2 ().
0, <
Solution: () = { .
1, >
= ( )
{ ()} = {( + )} = { 2(+) }
2

1
= { 2 2 } = 2 { 2 } = (+2) .
+2
Example: 03
Find the Laplace transformation of 2 ().
Solution: { 2 ()} = { ( 2)}
= 2 { + 2}
1 1
= 2 ( 2 + 2 )

2 1
= 2 ( + 2 ).

8, 0 < < 2
Example: 04 Given () = { ,
6, >2

(i) sketch f t ,
(ii) convert f t to unit step function and,
(iii) find the Laplace transformation of f t .

Solution:

(i) (ii) () = 8[( 0) ( 2)] + 6[( 2)]

= 8[( 0)] 2[( 2)]

(iii) { ()} = {8} 2{( 2)}

8 2
= 2. .

, < <
Example: 05 Given () = { , where E, a and b are positive constants.
0, >
(i) sketch f t ,
(ii) convert f t to unit step function and,
(iii) find the Laplace transformation of f t .
Solution:
(i) 1 < <
(ii) () = {
0 >
= [( ) ( )]

(iii) { ()} = { ( ) ( )}

=[ ].

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Complex Variable, Laplace & Z-Transform Fall 2017-18

1, 1 < < 2
Example: 06 Given () = { ,
3 , 2 < < 3
(i) sketch f t ,
(ii) convert f t to unit step function and,
(iii) find the Laplace transformation of f t .
Solution:
(i) (ii) f t t 1 u t 1 u t 2 3 t u t 2 u t 3
= ( 1)( 1) ( 1)( 2) + (3 )( 2)
(3 )( 3)
= ( 1)( 1) 2( 2)( 2) + ( 3)( 3)

(iii) { ()} = { + 1 1} 2 2 { + 2 23} +

3 { + 3 3}
1 1 1
= 2 2 2 2 + 3 2

1
= 2 ( 2 2 + 3 ).

9, 0< <2
6, 2<6
Example: 07 Given () = { ,
25, 6<9
7, >9
(i) sketch f t ,
(ii) convert f t to unit step function and,
(iii) find the Laplace transformation of f t .

Solution:
(i) (ii) () = 9[( 0) ( 2)] + (6)[( 2)
( 6)] + 25[( 6) ( 9)] +
7[( 9)]
= 9( 0) 15 ( 2) + 31( 6)
18( 9)

(iii) { ()} = {9( 0)} {15 ( 2)} +

{31( 6)} {18 ( 9)}
1 1 1 1
= 9 0 15 2 + 31 6 18 9

1
= (9 15 2 + 31 6 18 9 ) .

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Complex Variable, Laplace & Z-Transform Fall 2017-18

Exercises set 1.3

Sketch the function and write in terms of unit step function. Hence find the Laplace
transformation.
Functions () Answers

1 2 (), 1 2
( 2 + ) 2 ,

2 , 0 < < 2 1(2+1) 2

( ) = { , 2
,
0, otherwise
3 2, 0 < < 2 2 3 2
2 + 3 ,
() = {1, 2 < 3,

1, 3
4 2, 0 < 5 2
(1 5 7 ),
() = { 0, 5 < 7 ,

2, 7
2 2 2 1 2
5 , 0<1 3 2 + ,
( ) = { , 3
+ 2, 1
6 1, 1 < < 2 1 1
( ) = { , + 2 ( 2 + ),
0, otherwise 2

7 2, 0 < < 1 2 2
( 3 + 2 ).
2
( ) = { , 3
1, t>1

Represent the following functions in terms of Unit step function and find their Laplace
transformations:
1. 2.

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