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Laplace Transform
Objectives
Introduction
In Fourier Transform we saw that a broad class of signals can be expressed in terms of
Laplace Transform
Response of a LTI System with impulse response h(t) for an input x(t) = est is
Where, s j
jt
X j x t e
dt
X s x t ete jtdt
If real part of s, 0
So, for imaginary values of ‘s’ Laplace Transform converges to Fourier Transform.
ROC is range of values of s for which Laplace Transform converges is known as region of
convergence.
Solved Examples
Problem: Find Laplace transform of given signal & indicate region of convergence for the
following signals.
1. x t e u t
at
Solution: X s eatu t estdt esat dt
0
Region of convergence R e s a 0 => R e s a
1 sat
X s e
s a
0
1
X s
s a
2. x t e u t
at
Solution: X s eatu t est dt e dt
0 sa t
Region of convergence
R e s a 0 =>R e s a
0
1 sat
X s e
s a
1
X s
s a
Note: For the above two signals the expression for the Laplace Transform is same but their
ROCs are different. So ROC makes the Laplace Transform of a signal unique.
Problem: Find the ROC of the continuous time signal x(t) 3e2tu(t) 4 et u( t) .
Solution: X(s) x(t)e st dt 3e u(t) 4 et u( t) e st dt
2t
0
3 e2t e st dt 4 et e st dt
0
0
3 e(s 2)t dt 4 e(s 1)t dt
0
0
e(s 2)t e(s 1)
3 4
(s 2) 0 (s 1)
I II
If the Laplace Transform of a signal can be expressed in rational form as shown below
k s s1 s s2 ...... s sn
G(s)
s s s s ...... s s
a b m
Where k is constant
If in the Laplace Transform we put s sa ,sb .......,sm the value of Laplace Transform
becomes infinity & thus these are called as poles of Laplace Transform.
If in Laplace Transform we put s s1 ,s2 .......,sn , the value of Laplace Transform is zero &
these are called as zeroes of Laplace Transform.
Properties of ROC
1. ROC should not contain any poles & ROC doesn’t depend on zeroes.
2. If x(t) is time limited right sided signal then ROC is entire s-plane expect s=0
3. If x(t) is time limited signal & left sided then ROC is entire s-plane except s.
4. If x(t) is band limited signal then ROC is the region entire s-plane expect 0 & .
5. If x(t) is infinite right sided signal then ROC is right of right most pole.
6. If x(t) is infinite left sided signal then ROC is left of left most pole.
7. If signal x(t) is infinite 2 sides signal then ROC is a strip between 2 poles.
Note: If there is no common ROC between the poles for an infinite 2 sided signal then
Laplace transform does not exist.
ut 1 Re s 0
s
tu t 1 Re s 0
s2
tnu t n! Re s 0
sn1
u t 1 Re s 0
s
tu t 1 Re s 0
s2
tnu t n! Re s 0
sn1
eatu t 1 R e s a
sa
teatu t 1 R e s a
s a
2
tneatu t n! R e s a
s a
n1
eatu t 1 R e s a
sa
tneatu t n! R e s a
s a
n1
cos(at) u t s Re s 0
s2 a2
sin(at) u t a Re s 0
2
s a2
cosh(at) u t s Re s a
2
s a2
sinh(at) u t a Re s a
2
s a2
eat cos(bt) u t sa R e s a
s a
2 2
b
eat sin(bt) u t b R e s a
s a
2 2
b
1. Linearity
If x1 t
L.T.
X1 s
If x2 t
L.T.
X2 s
Then ax1 t bx2 t L.T.
aX1 s bX2 s
2. Time scaling
If x t
L.T.
X s
1 s
Then x at
L.T.
X
a a
3. Time shifting
If x t
L.T.
X s
L.T.
Then x t t0
e
st0
X s
4. Shifting in s-domain
If x t
L.T.
X s
e 0 x t X s s0
st L.T.
If x t
L.T.
X s
d
x t
L.T.
sX s
dt
dn
x t
L.T.
snX s sn1 x 0 sn2 x1 0 ......
dtn
6. Integration in time
If x t
L.T.
X s
X s
x d
t
x 0
s
7. Differentiation in s-domain
If x t
L.T.
X s
d
t x t X s
ds
8. Integration in s-domain
If x t
L.T.
X s
x t
X s ds
t s
9. Convolution
In time: x1 t * x2 t X1 s * X 2 s
1
In s-domain: x1 t x2 t X s * X2 s
2 1
x lim sX s
s 0
Note:
For anti-casual system, final & initial value theorem will be reverse.
To find initial & final value, the signal X(s) must be strictly proper order i.e. order of
Numerator less than order of denominator.
To find final value, all pole must lie on left side of s-plane, if at least one pole on right side
of s-plane, the system becomes unstable, for unstable system final value cannot be
determined.
For system to be at least conditionally or marginally stable, a pair of conjugate pole on
the imaginary or a simple pole at origin.
Initial value is used to find transient state & final value to steady state.
If ROC is not defined, take by default right sided signal.
Solved Examples
a t
Problem: Find the Laplace transform and ROC of the signal x(t) e ?
a t
Solution: x(t) e eatu(t) eatu( t)
By property of Linearity,
1 1 2a
X(s) 2
(s a) (s a) s a2
Problem: Consider two signals x(t) and y(t) shown in figure and their Laplace transform pairs
L L
x(t) X(s) and y(t) Y(s)
1
If X(s) 5 10e2s 5e4s , then Y(s) will be
s
1
So Y(s) X(s) (using integration property)
2s
1
5 10e2s 5e4s
2
2s
2t
Problem: Consider a signal x(t) e u(t) and its Laplace Transform pair x(t) X(s).
1 s
x(at)
L
X
a a
s
2x(2 t)
L
X
2
s
2e4tu(t)
L
X
2
2. The inverse Laplace transform of X(s 2) X(s 2) is
x(t)eat
L
X(s a)
x(t)e2t
L
X(s 2)
x(t)e2t
L
X(s 2)
Similarly,
1 e4t u(t)
L
X(s 2) X(s 2)
Problem: If X(s) 4 / (s2 s) is the Laplace transform of x(t), what will be its final value?
4
Solution: X(s)
s s
2
s 2
s 0
Poles at s=1 lies in right half plane which implies that final value of x(t) is not finite.
d
Problem: What is the Laplace transform of signal
dt
te tu(t) ?
1
Solution: Since e tu(t)
L
s 1
d 1 1
te tu(t)
L
(Differentiation is s-domain)
ds s 1 (s 1)2
d s
ds
te tu(t)
L
(s 1)2
(Time differentiation)
d2 1 1
Problem: What is the time signal corresponding to 2 2 ?
ds s 9 s 3
3 L1
Solution: Since sin(3 t)u(t)
s 9
2
d2 1 L1 2 2 1 t3
2 ( 1) t sin(3t)u(t) sin3tu(t) (Double differentiation)
ds2 s 9 3 3
d2 1 L1 d t3 2t
s 2 2 sin(3t)u(t) sin3tu(t) t2 cos 2tu(t)
(Time differentiation)
ds s 9 dt 3 3
1 L1
Since e3tu(t)
s3
d2 1 1 L1 2t
s 2 2 sin(3t)u(t) t2 cos(3t)u(t) e3t u(t)
ds s 9 s 3 3
It is obtained for right sided, left sided, 2 ULT is obtained for only right sided signal as
sided signals ULT of left sided signal is always ‘0’
BLT & ULT are same for right sided signal ULT is obtained for signal where BLT cannot
x t e u t
2t
be obtained
1
x t e2tu t
X s
0 e2t est dt
s 2 X s
e2t est dt
1
0 s 2
Causality: For the system response H(s) to be only casual then ROC must be region to the
right of right most pole.
Note: The above condition of causality can only be applied is H(s) is a rational function.
Stability: For the system response H(s) to be stable ROC must include jω axis
Note: For causal system to be stable, it should satisfy the following conditions.
Solved Examples
Problem: Determine the causality and stability of the systems whose transfer functions are
given below.
1. H s 1
ROC >-2
s 5s 6
2
Solution:
1 1 1
Hs e2t e3t u t causal
s 3s 2 s 2 s 3
Since ROC includes jw axis so the system is stable.
e3s
2. H s Re s 2
s 2
e3s
Solution: H s Re s 2
s 2
2 t 3
h(t) e u t 3 non-causal
Problem: The pole zero diagram of a continuous time system is shown in figure
Match List-I(ROC of system function) with List-II(Stability and casuality) and choose the
correct answer using the codes given below
List-I List-II
P. Re(s)<-2 1. Unstable and non-casual
Q. -2< Re(s)<-1 2. Unstable and casual
R. -1< Re(s)<1 3. Unstable and anti casual
S. Re(s)>1 4. Stable and non-casual
Codes:
P Q R S
(a) 1 4 2 3
(b) 2 4 1 3
(c) 3 1 4 2
Stability:
We know that an LTI system is stable if and only if ROC of its system function includes entire
imaginary (j ) axis
Here the only ROC which contains entire imaginary axis is -1<Re(s)<1
Causality:
An LTI system will be casual if ROC being the right half s-plane to the right is Right most
pole. So the only ROC for which system is casual is Re(s)>1
System is anti-casual for ROC Re(s)<-2 and non-casual for ROC -2<Re(s)<-1 and -
1<Re(s)<1
Bilateral LT doesn’t exist for periodic signals rather Unilateral LT exits as there is no
common ROC between poles.
X s
F s Where X(s) is Laplace transform of one period of signal.
1 esT
Where T represents time period of the signal
Solved Examples