Lecture 5: Laplace Transform and Its Applications

Dr.-Ing. Sudchai Boonto

Assistant Professor

Department of Control System and Instrumentation Engineering

King Mongkut’s Unniversity of Technology Thonburi
Thailand
Outline

ˆ Motivation

ˆ The Laplace Transform

ˆ The Laplace Transform Properties

ˆ Application to Zero-input and Zero-State Response

ˆ Analysis of Electrical Networks

Lecture 5: Laplace Transform and Its Applications J 2/62 I }

Motivation
The Laplace Transform convert integral and differential equations into
algebraic equations.

It can applies to
ˆ general signal, not just sinusoids

ˆ handles transient conditions

It can be used to analyze

ˆ Linear Constant Coefficient Ordinary Differential Equation
(LCCODE) or LTI system
ˆ complicated RLC circuits with sources

ˆ complicated systems with integrators, differentiators, gains

Lecture 5: Laplace Transform and Its Applications J 3/62 I }

The Unilateral Laplace transform
We will be interested in signals defined for t > 0.
Definition
Let f (t), t > 0, be a given signal (function). The Unilateral Laplace
transform of a signal (function) f (t) is defined by
∫ ∞
F (s) = L{f (t)} = f (t)e−st dt,
0

for those s ∈ C for which the integral exists.

ˆ F is a complex-values function of complex numbers

ˆ s is called the (complex) frequency variable, with units sec−1 ; t is

called the time variable (in sec); st is unitless.
ˆ For convenience, we will call the unilateral laplace transform as the
laplace transform.
Lecture 5: Laplace Transform and Its Applications J 4/62 I }
The Laplace transform
Example

Exponential function: f (t) = et

∫ ∞ ∫ ∞ 
1 (1−s)t ∞ 1
F (s) = et e−st dt = e(1−s)t dt = e  = s−1
0 0 1−s 0

provide we can say e(1−s)t → 0 as t → ∞, which is true for Re s > 1:

|e(1−s)t | = |e−j(Im s)t | |e(1−Re s)t | = e(1−Re s)t

| {z }
=1

ˆ the integral defining F (s) exists for all s ∈ C with Re s > 1. This
condition is called region of convergence (ROC) of F (s).
ˆ however the resulting formula for F (s) makes sense for all s ∈ C
excepts s = 1.
Lecture 5: Laplace Transform and Its Applications J 5/62 I }
The Laplace transform
Example cont.

Constant or unit step function: f (t) = u(t) (for t ≥ 0)

∫ ∞ 
−st 1 −st ∞ 1
F (s) = e dt = − e  =
0 s 0 s

provided we can say e−st → 0 as t → ∞, which is true for Re s > 0 since

|e−st | = |e−j(Im s)t ||e−(Re s)t | = e−(Re s)t

ˆ the integral defining F (s) makes sense for all s with Re s > 0.

ˆ however the resulting formula for F (s) makes sense for all s except
s = 0.

Lecture 5: Laplace Transform and Its Applications J 6/62 I }

The Laplace transform
Example cont.

Sinusoid : first express f (t) = cos ωt as

1 1
f (t) = ejωt + e−jωt
2 2
now we can find F as
∫ ∞ ( )
1 jωt 1 −jωt
−st
F (s) = e e + e dt
2 2
0
∫ ∫
1 ∞ (−s+jω)t 1 ∞ (−s−jω)t
= e dt + e dt
2 0 2 0
1 1 1 1
= +
2 s − jω 2 s + jω
s
= 2
s + ω2
(valid for Re s > 0; final formula for s ̸= ±jω)
Lecture 5: Laplace Transform and Its Applications J 7/62 I }
The Laplace transform
Example cont.

Powers of t: f (t) = tn , (n ≥ 1)
∫ ∞ ( −st )∞ ∫ ∞
−e 
F (s) = tn e−st dt = tn  +n tn−1 e−st dt
s  s
0 0 0
n
= L(t n−1
)
s
provided tn e−st → 0 if t → ∞, which is true for Re s > 0. Applying the
formular recursively, we obtain
n!
F (s) =
sn+1
valid for Re s > 0; final formula exists for all s ̸= 0.

Lecture 5: Laplace Transform and Its Applications J 8/62 I }

The Laplace transform
Impulses at t = 0

If f (t) contains impulses at t = 0 we choose to include them in the

integral defining F (s):
∫ ∞
F (s) = f (t)e−st dt
0−

example: impulse function, f (t) = δ(t)

∫ ∞

F (s) = δ(t)e−st dt = e−st t=0 = 1 sampling property
0−

Similarly for f (t) = δ (k) (t) we have

∫  
∞
−st dk −st  
F (s) = δ (k)
(t)e dt = (−1) k e  k
= sk e−st  = sk
0− dt t=0 t=0

Lecture 5: Laplace Transform and Its Applications J 9/62 I }

The Laplace transform
Multiplication by t

Let f (t) be a signal and define

d
g(t) = tf (t) then we have G(s) = − F (s)
ds
To verify formula, just differentiate both sides of
∫ ∞
F (s) = e−st f (t)dt
0

with respect to s to get

∫ ∞ ∫ ∞
d −st
F (s) = (−t)e f (t)dt = (−t)f (t)e−st dt
ds 0
∫ ∞ 0

=− tf (t)e−st dt = −G(s)
0

Lecture 5: Laplace Transform and Its Applications J 10/62 I }

The Laplace transform
Multiplication by t examples

Examples:
ˆ f (t) = e−t , g(t) = te−t

{ } d 1 1
L te−t = − =
ds s + 1 (s + 1)2

ˆ f (t) = te−t , g(t) = t2 e−t

{ } d 1 2
L t2 e−t = − =
ds (s + 1)2 (s + 1)3
ˆ in general
{ } k!
L tk e−λt =
(s + λ)k+1

Lecture 5: Laplace Transform and Its Applications J 11/62 I }

The Laplace transform
Inverse Laplace transform

In principle we can recover f (t) from F (s) via

∫ σ+j∞
1
f (t) = F (s)est ds
2πj σ−j∞

where σ is large enough that F (s) is defined for Re s ≥ σ.

In practical, no one uses this formula!.

Lecture 5: Laplace Transform and Its Applications J 12/62 I }

Inverse Laplace Transform
Finding the inverse Laplace transform by using the standard formula
∫ σ+j∞
1
f (t) = F (s)est ds
2πj σ−j∞

is difficult and tedious.

ˆ We can find the inverse transforms from the transform table.

ˆ All we need is to express F (s) as a sum of simpler functions of the

forms listed in the Laplace transform table.
ˆ Most of the transforms F (s) of practical interest are rational
functions: that is ratios of polynomials in s.
ˆ Such functions can be expressed as a sum of simpler functions by
using partial fraction expansion.

Lecture 5: Laplace Transform and Its Applications J 13/62 I }

Inverse Laplace Transform
Partial fraction expansion
7s − 6
Example: Find the inverse Laplace transform of .
s2 − s − 6

7s − 6 k1 k2
F (s) = = +
(s + 2)(s − 3) s+2 s−3

Using a “cover up” method:


7s − 6  −14 − 6
k1 = = =4
s − 3 s=−2 −2 − 3

7s − 6  21 − 6
k2 = = =3
s+2  s=33+2

Therefore

7s − 6 4 3
F (s) = = +
(s + 2)(s − 3) s+2 s−3

Lecture 5: Laplace Transform and Its Applications J 14/62 I }

Inverse Laplace Transform
Partial fraction expansion cont.

Using the table of Laplace transforms, we obtain

{ }
4 3
f (t) = L−1 +
s+2 s−3
= (4e−2t + 3e3t ), t ≥ 0.

2s2 + 5
Example: Find the inverse Laplace transform of F (s) = .
s2 + 3s + 2
F (s) is an improper function with m = n. In such case we can express F (s) as a sum of the
coefficient bn (the coefficient of the highest power in the numerator) plus partial fractions
corresponding to the denumerator.

2s2 + 5 k1 k2
F (s) = =2+ +
(s + 1)(s + 2) s+1 s+2

Lecture 5: Laplace Transform and Its Applications J 15/62 I }

Inverse Laplace Transform
Partial fraction expansion cont.

where

2s2 + 5  2+5
k1 = = =7
s + 2 s=−1 −1 + 2

and

2s2 + 5  8+5
k2 = = = −13
s + 1 s=−2 −2 + 1

7 13
Therefore F (s) = 2 + − . From the table, we obtain
s+1 s+2

f (t) = 2δ(t) + 7e−t − 13e−2t , t ≥ 0.

Lecture 5: Laplace Transform and Its Applications J 16/62 I }

Inverse Laplace Transform
Partial fraction expansion cont.
6(s + 34)
Example: Find the inverse Laplace transform of F (s) =
s(s2 + 10s + 34)

6(s + 34) 6(s + 34)

F (s) = =
s(s2 + 10s + 34) s(s + 5 − j3)(s + 5 + j3)
k1 k2 k2∗
= + +
s s + 5 − j3 s + 5 + j3

Note that the coefficients (k2 and k2∗ ) of the conjugate terms must also be conjugate. Now

6(s + 34)  6 × 34
k1 = = =6
s2 + 10s + 34 s=0 34

6(s + 34)  29 + j3
k2 = = = −3 + j4
s(s + 5 + j3) s=−5+j3 −3 − j5

k2∗ = −3 − j4

To use the Laplace transform table, we need to express k2 and k2∗ in polar form
√ −1 −1
−3 + j4 = 32 + 42 ej tan (4/−3)
= 5ej tan (4/−3)

Lecture 5: Laplace Transform and Its Applications J 17/62 I }

Inverse Laplace Transform
Partial fraction expansion cont.

From the Figure below, we observe that

◦ ◦
k2 = −3 + j4 = 5ej126.9 and k2∗ = 5e−j126.9

Therefore
◦ ◦
6 5ej126.9 5e−j126.9
F (s) = + +
s s + 5 − j3 s + 5 + j3

From the table pair 10b

[ ]
f (t) = 6 + 10e−5t cos(3t + 126.9◦ ) u(t)

−3 + j4
j4

126.9◦

−3 −53.1◦

3 − j4

Lecture 5: Laplace Transform and Its Applications J 18/62 I }

Inverse Laplace Transform
Alternative Method Using Quadratic Factors

6(s + 34) k1 As + B
F (s) = = + 2
s(s2 + 10s + 34) s s + 10s + 34

We have already determined that k1 = 6 by the (Heaviside) “cover-up” method. Therefore

6(s + 34) 6 As + B
= + 2
s(s2 + 10s + 34) s s + 10s + 34

Clearing the fractions by multiplying both sides by s(s2 + 10s + 34) yields

6(s + 34) = 6(s2 + 10s + 34) + s(As + B)

= (6 + A)s2 + (60 + B)s + 204

Now, equating the coefficients of s2 and s on both sides yields

0 = (6 + A) =⇒ A = −6
6 = 60 + B =⇒ B = −54
Lecture 5: Laplace Transform and Its Applications J 19/62 I }
Inverse Laplace Transform
Alternative Method Using Quadratic Factors cont.

and

6 −6s − 54
F (s) = + 2
s s + 10s + 34

Now from the table, the parameters for this inverse are A = −6, B = −54, a = 5, c = 34,
√
and b = c − a2 = 3, and
√
A2 c + B 2 − 2ABa Aa − B
r= = 10, θ = tan−1 √ = 126.9◦
c − a2 A c − a2
√
b= c − a2

Therefore

[ ]
f (t) = 6 + 10e−5t cos(3t + 126.9◦ ) u(t)

which agrees with the previous result.

Lecture 5: Laplace Transform and Its Applications J 20/62 I }

Inverse Laplace Transform
Alternative Method Using Short-Cuts

6(s + 34) 6 As + B
F (s) = = + 2
s(s2 + 10s + 34) s s + 10s + 34

This step can be accomplished by multiplying both sides of the above equation by s and then
letting s → ∞. This procedure yields

0 = 6 + A =⇒ A = −6.

Therefore

6(s + 34) 6 −6s + B

= + 2
s(s2 + 10s + 34) s s + 10s + 34

To find B, we let s take on any convenient value, say s = 1, in this equation to obtain

210 B−6
=6+
45 45

Lecture 5: Laplace Transform and Its Applications J 21/62 I }

Inverse Laplace Transform
Alternative Method Using Short-Cuts cont.

Multiplying both sides of this equation by 45 yields

210 = 270 + B − 6 =⇒ B = −54

a deduction which agrees with the results we found earlier.

Lecture 5: Laplace Transform and Its Applications J 22/62 I }

Inverse Laplace Transform
Partial fraction expansion: repeated roots
8s + 10
Example: Find the inverse Laplace transform of F (s) =
(s + 1)(s + 2)3

8s + 10 k1 a0 a1 a2
F (s) = = + + +
(s + 1)(s + 2)3 s+1 (s + 2)3 (s + 2)2 a+2

where

8s + 10 
k1 = =2
(s + 2)3 s=−1

8s + 10 
a0 = =6
(s + 1) s=−2
{ [ ]}
d 8s + 10
a1 = = −2
ds (s + 1) s=−2
{ 2 [ ]}
1 d 8s + 10
a2 = = −2
2 ds2 (s + 1) s=−2

Note : the general formula is { }

1 dn [ r ]
an = (s − λ) F (s)
n! dsn s=λ

Lecture 5: Laplace Transform and Its Applications J 23/62 I }

Inverse Laplace Transform
Partial fraction expansion: repeated roots

Therefore

2 6 2 2
F (s) = + − −
s+1 (s + 2)3 (s + 2)2 s+2

and

[ ]
f (t) = 2e−t + (3t2 − 2t − 2)e−2t u(t)

Alternative Method: A Hybrid of Heaviside and Clearing Fractions: Using the values
k1 = 2 and a0 = 6 obtained earlier by the Heaviside “cover-up” method, we have

8s + 10 2 6 a1 a2
= + + +
(s + 1)(s + 2)3 s+1 (s + 2)3 (s + 2)2 s+2

Lecture 5: Laplace Transform and Its Applications J 24/62 I }

Inverse Laplace Transform
Partial fraction expansion: repeated roots

We now clear fractions by multiplying both sides of the equation by (s + 1)(s + 2)3 . This
procedure yields

8s + 10 = 2(s + 2)3 + 6(s + 1) + a1 (s + 1)(s + 2) + a2 (s + 1)(s + 2)2

= (2 + a2 )s3 + (12 + a1 + 5a2 )s2 + (30 + 3a1 + 8a2 )s + (22 + 2a1 + 4a2 )

Equating coefficients of s3 and s2 on both sides, we obtain

0 = (2 + a2 ) =⇒ a2 = −2
0 = 12 + a1 + 5a2 = 2 + a1 =⇒ a1 = −2

Equating the coefficients of s1 and s0 serves as a check on our answers.

8 = 30 + 3a1 + 8a2
10 = 22 + 2a1 + 4a2

Substitution of a1 = a2 = −2, obtained earlier, satisfies these equations.

Lecture 5: Laplace Transform and Its Applications J 25/62 I }

Inverse Laplace Transform
Partial fraction expansion: repeated roots

Alternative Method: A Hybrid of Heaviside and Short-Cuts: Using the values k1 = 2 and
a0 = 6, determined earlier by the Heaviside method, we have

8s + 10 2 6 a1 a2
= + + +
(s + 1)(s + 2)3 s+1 (s + 2)3 (s + 2)2 s+2

There are two unknowns, a1 and a2 . If we multiply both sides by s and then let s → ∞, we
eliminate a1 . This procedure yields

0 = 2 + a2 =⇒ a2 = −2

Therefore

8s + 10 2 6 a1 2
= + + −
(s + 1)(s + 2)3 s+1 (s + 2)3 (s + 2)2 s+2

There is now only one unknown, a1 . This value can be determined readily by equal to any
convenient value, say s = 0. This step yields

10 3 a1
=2+ + − 1 =⇒ a1 = −2.
8 4 4
Lecture 5: Laplace Transform and Its Applications J 26/62 I }
The Laplace transform properties
Linearity

The Laplace transform is linear: if f (t) and g(t) are any signals, and a
is any scalar, we have

L {af (t)} = aF (s), L {(f (t) + g(t))} = F (s) + G(s)

i.e., homogeneity and superposition hold.

Example:
{ } { }
L 3δ(t) − 2et = 3L {δ(t)} − 2L et
2
=3−
s−1
3s − 5
=
s−1

Lecture 5: Laplace Transform and Its Applications J 27/62 I }

The Laplace transform properties
One-to-one property

The Laplace transform is one-to-one: if L {f (t)} = L {g(t)} then

f (t) = g(t).
ˆ F (s) determines f (t)

ˆ inverse Laplace transform L−1 {f (t)} is well defined.

Example:
{ }
−1 3s − 5
L = 3δ(t) − 2et
s−1

in other words, the only function f (t) such that

3s − 5
F (s) =
s−1
is f (t) = 3δ(t) − 2et .
Lecture 5: Laplace Transform and Its Applications J 28/62 I }
The Laplace transform properties
Time delay

This property states that if

f (t) ⇐⇒ F (s)

then for T ≥ 0

f (t − T ) ⇐⇒ e−sT F (s)

(If g(t) is f (t), delayed by T seconds), then we have G(s) = e−sT F (s).
Derivation:
∫ ∞ ∫ ∞
−st
G(s) = e g(t)dt = e−st f (t − T )dt
0
∫
0
∞
= e−s(τ +T ) f (τ )dτ = e−sT F (s)
0
Lecture 5: Laplace Transform and Its Applications J 29/62 I }
The Laplace transform properties
Time delay

To avoid a pitfall, we should restate the property as follow:

f (t)u(t) ⇐⇒ F (s)

then

f (t − T )u(t − T ) ⇐⇒ e−sT F (s), T ≥ 0.

Lecture 5: Laplace Transform and Its Applications J 30/62 I }

The Laplace transform properties
Time delay example

f (t)

0 1 2 3 4

Find the Laplace Transform of f (t) depicted in Figure above.

The signal can be described as

f (t) = (t − 1)[u(t − 1) − u(t − 2)] + [u(t − 2) − u(t − 4)]

= (t − 1)u(t − 1) − (t − 1)u(t − 2) + u(t − 2) − u(t − 4)
= (t − 1)u(t − 1) − (t − 2)u(t − 2) − u(t − 4)

Lecture 5: Laplace Transform and Its Applications J 31/62 I }

The Laplace transform properties
Time delay example
1
Since t ⇐⇒ yields
s2

1 −s 1
(t − 1)u(t − 1) ⇐⇒ e and (t − 2)u(t − 2) ⇐⇒ 2 e−2s
s2 s

1
Also u(t) ⇐⇒ yields
s

1 −4s
u(t − 4) ⇐⇒ e
s

Therefore

1 −s 1 1
F (s) = e − 2 e−2s − e−4s
s2 s s

Lecture 5: Laplace Transform and Its Applications J 32/62 I }

The Laplace transform properties
Time delay example

Find the inverse Laplace transform of

s + 3 + 5e−2s
F (s) =
(s + 1)(s + 2)

The F (s) can be separated in two parts

s+3 5e−2s
F (s) = +
(s + 1)(s + 2) (s + 1)(s + 2)
| {z } | {z }
F1 (s) F2 (s)e−2s

where

s+3 2 1
F1 (s) = = −
(s + 1)(s + 2) s+1 s+2
5 5 5
F2 (s) = = −
(s + 1)(s + 2) s+1 s+2

Lecture 5: Laplace Transform and Its Applications J 33/62 I }

The Laplace transform properties
Time delay example

Therefore

( )
f1 (t) = 2e−t − e−2t
( )
f2 (t) = 5 e−t − e−2t

Since

F (s) = F1 (s) + F2 (s)e−2s

f (t) = f1 (t) + f2 (t − 2)
( ) [ ]
= 2e−t − e−2t u(t) + 5 e−(t−2) − e−2(t−2) u(t − 2)

Lecture 5: Laplace Transform and Its Applications J 34/62 I }

The Laplace transform properties
Time scaling

Define a signal g(t) by g(t) = f (at), where a > 0; then

1 s
G(s) = F ( ).
a a
time are scaled by a, then frequencies are scaled by 1/a.

∫ ∞ ∫ ∞
−st 1 1 s
f (τ )e− a τ dτ =
s
G(s) = f (at)e dt = F ( ),
0 a 0 a a
where τ = at.
{ } 1
Example: L et = so
s−1
{ } 1 1 1
L eat = =
a s
a −1 s−a

Lecture 5: Laplace Transform and Its Applications J 35/62 I }

The Laplace transform properties
Exponential scaling

Let f (t) be a signal and a a scale, and define g(t) = eat f (t); then

G(s) = F (s − a)

Proof:
∫ ∞ ∫ ∞
−st at
G(s) = e e f (t)dt = e−(s−a)t f (t)dt = F (s − a)
0 0

s
Example: L {cos t} = , and hence
s2 + 1
{ } s+1 s+1
L e−t cos t = 2
= 2
(s + 1) + 1 s + 2s + 2

Lecture 5: Laplace Transform and Its Applications J 36/62 I }

The Laplace transform properties
Exponential scaling
−6s − 54
Example: Consider F (s) = . By using the exponential
s2 + 10s + 34
exponential scaling, we obtain

−6s − 54 −6(s + 5) − 24 −6(s + 5) −8(3)

= = +
s2 + 10s + 34 2
(s + 5) + 9 2
(s + 5) + 3 2 (s + 5)2 + 32

Then,

f (t) = −6e−5t cos 3t − 8e−5t sin 3t

= 10e−5t cos(3t + 127◦ )

You can do this inverse Laplace transform using only standard Laplace
transform table.

Lecture 5: Laplace Transform and Its Applications J 37/62 I }

The Laplace transform properties
Derivative

If signal f (t) is continuous at t = 0, then

{ }
df
L = sF (s) − f (0);
dt
ˆ time-domain differentiation becomes multiplication by frequency
variable s (as with phasors)
ˆ plus a term that includes initial condition (i.e., −f (0))
higher-order derivatives: applying derivative formula twice yields
{ 2 } { }
d f (t) df (t) df (t)
L = sL −
dt2 dt dt
df (0) df (0)
= s(sF (s) − f (0)) − = s2 F (s) − sf (0) −
dt dt
{ (k) }
similar formulas hold for L f .
Lecture 5: Laplace Transform and Its Applications J 38/62 I }
The Laplace transform properties
Derivation of derivative formula

Start from the defining integral

∫ ∞
df (t) −st
G(s) = e dt
0 dt
integration by parts yields
∞ ∫ ∞

G(s) = e−st f (t) − f (t)(−se−st )dt
0 0
−s∞
= f (t)e − f (0) + sF (s)

we recover the formula

G(s) = sF (s) − f (0)

Lecture 5: Laplace Transform and Its Applications J 39/62 I }

The Laplace transform properties
Derivative example

1. f (t) = et , so f ′ (t) = et and

{ } 1
L {f (t)} = L f ′ (t) =
s−1

1
by using L {f ′ (t)} = s − 1, which is the same.
s−1
2. sin ωt = − ω
1 d
dt
cos ωt, so
( )
1 s ω
L {sin ωt} = − s −1 =
ω s2 + ω 2 s2 + ω 2

3. f (t) is a unit ramp, so f ′ (t) is a unit step

( )
{ } 1 1
L f ′ (t) = s −0=
s2 s

Lecture 5: Laplace Transform and Its Applications J 40/62 I }

The Laplace transform properties
Integral

Let g(t) be the running integral of a signal f (t), i.e.,

∫ t
g(t) = f (τ )dτ
0

1
then G(s) = F (s), i.e., time-domain integral become division by
s
frequency variable s.
Example: f (t) = δ(t) is a unit impulse function, so F (s) = 1; g(t) is
the unit step
1
G(s) = .
s
Example: f (t) is a unit step function, so F (s) = 1/s; g(t) is the unit
ramp function (g(t) = t for t ≥ 0),
1
G(s) = 2
s
Lecture 5: Laplace Transform and Its Applications J 41/62 I }
The Laplace transform properties
Derivation of integral formula:

∫ ∞ (∫ t )
G(s) = f (τ )dτ e−st dt
t=0 τ =0

here we integrate horizontally first over the triangle 0 ≤ τ ≤ t.

t Let’s switch the order, integrate vertically

first:
∫ ∞ ∫ ∞
G(s) = f (τ )e−st dtdτ
τ =0 t=τ
∫ ∞ (∫ ∞ )
−st
= f (τ ) e dt dτ
τ =0 t=τ
τ ∫ ∞
1 F (s)
= f (τ ) e−sτ dτ =
τ =0 s s

Lecture 5: Laplace Transform and Its Applications J 42/62 I }

The Laplace transform properties
Convolution

The convolution of signals f (t) and g(t), denoted h(t) = f (t) ∗ g(t), is
the signal
∫ t
h(t) = f (τ )g(t − τ )dτ
0

In terms of Laplace transforms:

H(s) = F (s)G(s)

The Laplace transform turns convolution into multiplication.

Lecture 5: Laplace Transform and Its Applications J 43/62 I }

The Laplace transform properties
Convolution cont.

Let’s show that L {f (t) ∗ g(t)} = F (s)G(s) :

∫ ∞ (∫ t )
−st
H(s) = e f (τ )g(t − τ )dτ dt
t=0 τ =0
∫ ∞∫ t
= e−st f (τ )g(t − τ )dτ dt
t=0 τ =0

where we integrate over the triangle 0 ≤ τ ≤ t. By changing the order

of the integration and changing the limits of integration yield
∫ ∞ ∫ ∞
H(s) = e−st f (τ )g(t − τ )dtdτ
τ =0 t=τ

Lecture 5: Laplace Transform and Its Applications J 44/62 I }

The Laplace transform properties
Convolution cont.

Change variable t to t̄ = t − τ ; dt̄ = dt; region of integration becomes

τ ≥ 0, t̄ ≥ 0
∫ ∞ ∫ ∞
H(s) = e−s(t̄+τ ) f (τ )g(t̄)dt̄dτ
(τ∫=0∞ t̄=0 ) (∫ ∞ )
−sτ −st̄
= e f (τ )dτ e g(t̄)dt̄
τ =0 t̄=0

= F (s)G(s)

Lecture 5: Laplace Transform and Its Applications J 45/62 I }

The Laplace transform properties
Convolution cont.

Example: Using the time convolution property of the Laplace transform, determine
c(t) = eat u(t) ∗ ebt u(t). From the convolution property, we have
[ ]
1 1 1 1 1
C(s) = = −
s−as−b a−b s−a s−b

The inverse transform of the above equation yields

1
c(t) = (eat − ebt ), t ≥ 0.
a−b

Lecture 5: Laplace Transform and Its Applications J 46/62 I }

Applications
Solution of Differential and Integro-Differential Eqautions

Solve the second-order linear differential equation

(D2 + 5D + 6)y(t) = (D + 1)f (t)

if the initial conditions are y(0− ) = 2, ẏ(0− ) = 1, and the input f (t) = e−4t u(t).
The equation is

d2 y dy df
+5 + 6y(t) = + f (t).
dt2 dt dt

Let

y(t) ⇐⇒ Y (s).

Then

dy
⇐⇒ sY (s) − y(0− ) = sY (s) − 2.
dt

Lecture 5: Laplace Transform and Its Applications J 47/62 I }

Applications
Solution of Differential and Integro-Differential Eqautions

and

d2 y
⇐⇒ s2 Y (s) − sy(0− ) − ẏ(0− ) = s2 Y (s) − 2s − 1.
dt2

Moreover, for f (t) = e−4t u(t),

1 df s s
F (s) = , and ⇐⇒ sF (s) − f (0− ) = −0= .
s+4 dt s+4 s+4

Taking the Laplace transform, we obtain

[ ] s 1
s2 Y (s) − 2s − 1 + 5 [sY (s) − 2] + 6Y (s) = +
s+4 s+4

Collecting all the terms of Y (s) and the remaining terms separately on the left-hand side, we
obtain

s+1
(s2 + 5s + 6)Y (s) − (2s + 11) =
s+4

Lecture 5: Laplace Transform and Its Applications J 48/62 I }

Applications
Solution of Differential and Integro-Differential Equations

Therefore

s+1 2s2 + 20s + 45

(s2 + 5s + 6)Y (s) = (2s + 11) + =
s+4 s+4

and

2s2 + 20s + 45
Y (s) =
(s2+ 5s + 6)(s + 4)
2s2 + 20s + 45
=
(s + 2)(s + 3)(s + 4)

Expanding the right-hand side into partial fractions yields

13/2 3 3/2
Y (s) = − −
s+2 s+3 s+4

The inverse Laplace transform of the above equation yields

( )
13 −2t 3
y(t) = e − 3e−3t − e−4t u(t).
2 2
Lecture 5: Laplace Transform and Its Applications J 49/62 I }
Applications
Zero-Input and Zero-State Components of Response

ˆ The Laplace transform method gives the total response, which

includes zero-input and zero-state components.
ˆ The initial condition terms in the response give rise to the
zero-input response.

For example in the previous example,

s+1
(s2 + 5s + 6)Y (s) − (2s + 11) =
s+4
so that
s+1
(s2 + 5s + 6)Y (s) = (2s + 11) +
| {z }
initial condition terms
|s {z
+ 4}
input terms

Lecture 5: Laplace Transform and Its Applications J 50/62 I }

Applications
Zero-Input and Zero-State Components of Response

Therefore
2s + 11 s+1
Y (s) = +
s2
| + {z
5s + 6} (s + 4)(s2 + 5s + 6)
| {z }
zero-input component zero-state component
[ ] [ ]
7 5 −1/2 2 3/2
= − + + −
s+2 s+3 s+2 s+3 s+4

Taking the inverse transform of this equation yields

1 3
y(t) = (7e−2t − 5e−3t )u(t) + (− e−2t + 2e−3t − e−4t )u(t)
| {z } | 2 {z 2 }
zero-input response
zero-state response

Lecture 5: Laplace Transform and Its Applications J 51/62 I }

Analysis of Electrical Networks
Basic concept

ˆ It is possible to analyze electrical networks directly without having

to write the integro-differential equation.
ˆ This procedure is considerably simpler because it permits us to
treat an electrical network as if it was a resistive network.
ˆ To do such a procedure, we need to represent a network in
“frequency domain” where all the voltages and currents are
represented by their Laplace transforms.

Lecture 5: Laplace Transform and Its Applications J 52/62 I }

Analysis of Electrical Networks
Basic concept

zero initial conditions case:

If v(t) and i(t) are the voltage across and the current through an
inductor of L henries, then
di(t)
v(t) = L ⇐⇒ V (s) = sLI(s), i(0) = 0.
dt
Similarly, for a capacitor of C farads, the voltage-current relationship is

dv(t) 1
i(t) = C ⇐⇒ V (s) = I(s), v(0) = 0.
dt Cs
For a resistor of R ohms, the voltage-current relationship is

v(t) = Ri(t) ⇐⇒ V (s) = RI(s).

Lecture 5: Laplace Transform and Its Applications J 53/62 I }

Analysis of Electrical Networks
Basic concept

ˆ Thus, in the “frequency domain,” the voltage-current relationships

of an inductor and a capacitor are algebraic;
ˆ These elements behave like resistors of “resistance” Ls and 1/Cs,
respectively.
ˆ The generalized “resistance” of an element is called its impedance
and is given by the ratio V (s)/I(s) for the element (under zero
initial conditions).
ˆ The impedances of a resistor of R ohms, and inductor of L henries,
and a capacitance of C farads are R, Ls, and 1/Cs, respectively.
ˆ The Kirchhoff’s laws remain valid for voltages and currents in the
frequency domain.
Lecture 5: Laplace Transform and Its Applications J 54/62 I }
Analysis of Electrical Networks
A simple RC circuit

Find the loop current i(t) in the circuit, if all the initial conditions are zero.

1H 3Ω s 3

+ 1 10 + 2
10u(t) i(t) F I(s)
−
2 s −
s

In the first step, we represent the circuit in the frequency domain shown in the right hand
side. The impedance in the loop is

2 s2 + 3s + 2
Z(s) = s + 3 + =
s s

The input voltage is V (s) = 10/s. Therefore, the loop current I(s) is

V (s) 10/s 10 10 10 10
I(s) = = 2 = 2 = = −
Z(s) (s + 3s + 2)/s s + 3s + 2 (s + 1)(s + 2) s+1 s+2

The inverse transform of the equation yields: i(t) = 10(e−t − e−2t )u(t).
Lecture 5: Laplace Transform and Its Applications J 55/62 I }
Analysis of Electrical Networks
Initial Condition Generators

A capacitor C with an initial voltage v(0) can be represented in the

frequency domain by an uncharged capacitor of impedance 1/Cs in
series with a voltage source of value v(0)/s or as the same uncharged
capacitor in parallel with a current source of value Cv(0).
i(t) I(s) I(s)
+ + +
1
+ Cs 1
v(t) C v(0) V (s) V (s) Cv(0)
− Cs
+ v(0)
−
s
− − −
(a) (b) (c)
dv
i(t) = C ⇐⇒ I(s) = C[sV (s) − v(0)]
dt
Rearranging the equation, we obtain

1 v(0) 1
V (s) = I(s) + or V (s) = [I(s) + Cv(0)]
Cs s Cs
Lecture 5: Laplace Transform and Its Applications J 56/62 I }
Analysis of Electrical Networks
Initial Condition Generators

An inductor L with an initial voltage i(0) can be represented in the

frequency domain by an inductor of impedance Ls in series with a
voltage source of value Li(0) or by the same inductor in parallel with a
current source of value i(0)/s.
i(t) I(s) I(s)
+ + +
Ls
i(0)
v(t) L V (s) V (s) Ls
−
s
+
Li(0)
− − −
(a) (b) (c)
di
v(t) = L ⇐⇒ V (s) = L[sI(s) − i(0)]
dt
Rearranging the equation, we obtain
[ ]
i(0)
V (s) = sLI(s) − Li(0) or V (s) = Ls I(s) −
s
Lecture 5: Laplace Transform and Its Applications J 57/62 I }
Analysis of Electrical Networks
A simple RLC circuit with initial condition generators

Find the loop current i(t) in the circuit, if y(0) = 2 and vC (0) = 10.

1H s 2
2Ω 2
−+

y(0 ) = 2
− 5
1 + 10 s
+ +
10u(t) y(t) F 10 V Y (s)
−
5 − s −
10
+
−
s

The right hand side figure shows the frequency-domain representation of the circuit.
Applying mesh analysis we have

10 5 10
− + sY (s) − 2 + 2Y (s) + Y (s) + =0
s s s
2
Y (s) = 5
s+2+ s
2s
=
s2 + 2s + 5

Lecture 5: Laplace Transform and Its Applications J 58/62 I }

Analysis of Electrical Networks
A simple RLC circuit with initial condition generators

2s 2(s + 1) 2
Y (s) = = −
s2 + 2s + 5 (s + 1)2 + 22 (s + 1)2 + 22 )

Therefore

y(t) = e−t (2 cos 2t − sin 2t) = e−t (C cos θ cos 2t − C sin θ sin 2t),

since

√ √ 2
C= 22 + 1 = 5, θ = tan−1 = 26.6◦
4

then

√ −t
y(t) = 5e cos(2t + 26.6◦ )u(t).

Lecture 5: Laplace Transform and Its Applications J 59/62 I }

Analysis of Electrical Networks
An RLC circuit with initial condition generators

The switch in the circuit is in the closed position for a long time before t = 0, when it is
opened instantaneously. Find the currents y1 (t) and y2 (t) for t ≥ 0.

16
1
v s
+ C− y1 (t) 1Ω s 1
+ −
1F s
4V
2
1 1 20 + 1
20 V Ω y2 (t) H Y1 (s) Y2 (s)
5 2 s − 5
−
t=0 +
2

When the switch is closed and the steady-state conditions are reached, the capacitor voltage
vC = 16 volts, and the inductor current y2 = 4 A. The right hand side circuit shows the
transformed version of the circuit in the left hand side. Using mesh analysis, we obtain

Y1 (s) 1 4
+ [Y1 (s) − Y2 (s)] =
s 5 s
1 6 s
− Y1 (s) + Y2 (s) + Y2 (s) = 2
5 5 2

Lecture 5: Laplace Transform and Its Applications J 60/62 I }

Analysis of Electrical Networks
An RLC circuit with initial condition generators

Rewriting in matrix form, we have

[ ][ ] [ ]
1
s
+ 1
5
− 15 Y1 (s) 4
s
=
− 15 6
5
+ s
2
Y2 (s) 2

Therefore,

24(s + 2)
Y1 (s) =
s2 + 7s + 12
24(s + 2) −24 48
= = +
(s + 3)(s + 4) s+3 s+4
4(s + 7) 16 12
Y2 (s) = = − .
s2 + 7s + 12 s+3 s+4

Finally,

y1 (t) = (−24e−3t + 48e−4t )u(t)

y2 (t) = (16e−3t − 12e−4t )u(t)

Lecture 5: Laplace Transform and Its Applications J 61/62 I }

Reference

1. Xie, W.-C., Differential Equations for Engineers, Cambridge

University Press, 2010.
2. Goodwine, B., Engineering Differential Equations: Theory and
Applications, Springer, 2011.
3. Kreyszig, E., Advanced Engineering Mathematics, 9th edition, John
Wiley & Sons, Inc., 1999.
4. Lathi, B. P., Signal Processing & Linear Systems,
Berkeley-Cambridge Press, 1998.
5. Lecture note on Signals and Systems Boyd, S., Stanford, USA.

Lecture 5: Laplace Transform and Its Applications J 62/62 I }