Chapter 6: Laplace Transform E6043-BSP

Chapter 6 The Laplace Transform

1. Laplace Transform

Definition: Laplace transform of x(t)

∞
L[ x(t )] = X ( s ) = ∫ x(t )e − st dt ( s = σ + jω )
0

What is a Laplace transform of x(t)?

A time function? No, t has been eliminated by the integral with respect to t!
A function of s (s is complex variable)

2. System analysis using Laplace transform

X(s) Y(s)
Dynamic
System

G(s)

Inverse Laplace transform

Y (s) = G(s) X (s)

y (t ) = L−1 (Y ( s ))

3. How is the inverse transform defined?

σ + j∞
1
x (t ) = ∫ X ( s )e st ds
2πj σ − j∞

Examples 1:
Evaluating Laplace Transforms using the definition

(a) x(t)=1 and step function x(t)=u(t)

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∞ ∞
L[ x(t ) = u (t )] = ∫ x(t )e dt = ∫ e − st dt − st

0 0
− st
e 1 − s∞ − s 0 1 1
=−
s
t =∞

t =0
=−
s
[
e −e
s
]
= − [0 − 1] =
s
1
⇒ L(1) = L[u (t )] = (Re(s)) > 0
s
(b) x (t ) = e −αt u(t )
∞ ∞
L[e −αt u (t )] = ∫ e −αt e −st dt = ∫ e −(α + s )t dt
0 0
−(α + s ) t
e 1 1
=−
(α + s ) t =0
t =∞
=−
(α + s )
[ ]
e −(α +s ) ∞ − e −(α +s ) 0 = −
(α + s )
[0 − 1]
1 1
= ⇒ L(e −αt ) =
(α + s ) (α + s )

(c) x (t ) = δ ( t )
∞
L[δ (t )] = ∫ δ (t )e − st dt
0

= e −st
t =0
[ ]
= e−s 0
=1

4. Convergence of the Laplace Transform

∞ ∞

∫ x (t )e dt = ∫ x (t )e −σt e − jωt dt converge, σ

− st
(1) To assure = Re(s ) must be positive
0 0
−σt
enough such that x(t )e goes to zero when t goes to positive infinite

(2) Region of absolute convergence and pole

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5. How to obtain Fourier transform from Laplace transform:

s = jω
L[ x (t )] = X ( s ) ⇒ X ( jω ) = F ( x (t ))

Important: why introduce Laplace transform; definition of Laplace transform as a

modification of Fourier transform; find the Laplace transforms of the three basic
functions based on the (mathematical) definition of Laplace transform.

6. Some Laplace Transform theorems

(Tools for evaluating Laplace transform based on the Laplace Transforms of the
basic functions)

6.1 Linearity
Assume x (t ) = a1 x1 (t ) + a2 x2 (t ) ( a1 and a2 are time independent)
X 1 ( s ) = L[ x1 (t )], X 2 ( s ) = L[ x2 (t )]
then X ( s ) = L[ x (t )] = a1 X 1 ( s ) + a2 X 2 ( s )

Example 6.1
(a) Find L(cos ω 0t )

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e− jω0 t + e jω0 t = 2 cos(ω0t )

e − jω 0 t + e jω 0 t
⇒ cos(ω0t ) =
2
1
⇒ L[cos(ω0t )] = [ L(e− jω0 t ) + L(e jω0 t )]
2
1 1 1 
=  + 
2  s + jω0 s − jω0 
1  ( s − jω0 ) + ( s + jω0 ) 
=  
2  ( s + jω0 )(s − jω0 ) 
s
= 2 2
s + ω0
ωo
(b) Find L[sin ω 0t ] = 2 2
(Tak buat rugi!!!!)
s + ωo

6.2 Transforms of Derivatives

(a) Assume X ( s ) = L[ x(t )]

 dx (t )  −
Then L  = sX ( s ) − x(0 )
 dt 

(b) X ( s ) = L[ x(t )]

 d 2 x(t )  2 − −
L  = s X ( s) − sx(0 ) − x' (0 )
 dt 

 d ( n ) x(t ) 
(c) Express L  n  using L[ x ( t )]
 dt 

 d ( n ) x(t )  n n −1 − n−2 ' − ( n−2)

L n  = s X ( s) − s x(0 ) − s x (0 ) − ..... − sx (0)
 dt 

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Example 6.2

Find i(t) using Laplace transform method

for t>0

Solution:
(1) Before switched from 1 to 2 at t=0
4
i= = 2 A ⇒ i (0 − ) = 2 A
2
(2) System equation (t>0)
di (t )
L + Ri (t ) = 0 ( L = 1H ) ( R = 2ohm)
dt
KVL:
di (t )
⇒ + 2i (t ) = 0
dt

(3) Solve system equation using Laplace transform

 di (t )   di(t ) 
L + 2i (t ) = L  + 2 L[i (t )]
 dt   dt 
= sI ( s ) − i (0 − ) + 2 I ( s )
= ( s + 2) I ( s ) − 2 = 0
2
⇒ I ( s) =
s+2
⇒ i (t ) = 2e − 2t u (t ) A

6.3 Laplace Transform of an integral

Assume y (t ) = ∫ x ( λ ) dλ ,
−∞
X ( s ) = L[ x (t )]

 t
 X ( s ) y (0 − )
Then L  ∫ x ( λ ) dλ  = +
 −∞  s s
0−
where y (0 − ) = ∫ x(λ )dλ
−∞

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6.4 Complex Frequency shift (s-shift) Theorem

Assume y (t ) = x(t )e −αt

X ( s ) = L[ x(t )] Y ( s ) = L[ y (t )]

Then Y (s) = X (s + α )
1 1
• L[u (t )] = , L[u (t )e −αt ] =
s s +α
s ω0
• L[cos ω 0t ] = 2 2
L [sin ω 0 t ] = 2
s + ω0 s2 + ω0
s +α ω0
• L[cos ω 0t e −αt ] = L[sin ω 0 t e −αt
] =
(s + α )2 + ω02 (s + α ) 2 + ω 0 2

Example 6.4
s +8
Find x(t ) = L−1[ X ( s )] = L−1
s 2 + 6 s + 13
Solution:
s+8 ( s + 3) + 5
X (s) = =
s 2 + 6 s + 13 s 2 + 6 s + 9 + 4
s+3 (5 / 2) 2
= +
( s + 3) 2 + 2 2 ( s + 3) 2 + 2 2
5 −3t
x(t ) = L−1 [ X ( s )] = e −3t cos 2t + e sin 2t (t > 0)
2

6.5 Inversion of Rational Functions

(1) Ways to find x(t ) from X (s )

1 σ +ω
x(t ) = ∫
2πj σ −ω
X ( s )e st dt (Contour Integral)

(2) Transform pair

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1
↔ u (t )
s
1
↔ e −αt u (t )
s +α
1
Therefore X (s) = ⇒ x(t ) = e −αt u (t )
s +α

(3) Partial Fraction Expansion

1 t n e −αt
→ u (t )
( s + α ) n +1 n!
s+α
2 2
→ e − α t cos ω 0 tu ( t )
(s + α ) + ω 0
ω0
2 2
→ e − α t sin ω 0 tu ( t )
(s + α ) + ω 0
1 → δ (t )
1
→ u (t )
s
1
→ e −α t
s+α

Example 6.5 Simple Factors

10
Y (s) = 2
s + 10s + 16
Solution:
10 A B
(1) Factorize and expand Y ( s ) = = +
( s + 8)( s + 2) s + 8 s + 2
(2) Common Denominator Methods
10 A( s + 2) + B( s + 8)
=
( s + 8)( s + 2) ( s + 8)( s + 2)
⇒ A( s + 2) + B ( s + 8) = 10
 A + B = 0 ⇒ A = −B
⇒
2 A + 8 B = 10 ⇒ −2 B + 8B = 10
⇒ B = 10 / 6 = 5 / 3 A = −5 / 3

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5 1 5 1
Y (s) = − ⋅ + ⋅
3 s +8 3 s +2
5 5
⇒ y (t ) = ( − e −8t + e −2t )u (t )
3 3
Example 6.5a Repeated linear Factors
10s
Y (s) =
( s + 2) 2 ( s + 8)
A1 A A3
= + 2 +
s + 8 s + 2 ( s + 2) 2

Example 6.5b
10 s
Y ( s) =
( s + 2) 3 ( s + 8)
A A A3 A4
= 1 + 2 + 2
+
s + 8 s + 2 ( s + 2) ( s + 2) 3

Example 6.5c Complex - Conjugate Factors

2s 2 + 6s + 6
Y (s) =
( s + 2)( s 2 + 2 s + 2)
2s 2 + 6s + 6 A1 A2 A3
= = + +
( s + 2)[( s + 1) 2 + 1] s + 2 s − 1 − j s − 1 + j

Example 6.14 Repeated Quadratic Factors

s 4 + 5s 3 + 12s 2 + 7 s + 15
Y (s) =
( s + 2)( s 2 + 1) 2
A B s + c B s + c2
= 1 + 12 1 + 22
s+2 s + 1 ( s + 1) 2

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