Case 3: Roots of the denominator of F (s) are

complex or imaginary

An example of F (s) with complex roots in the

denominator is
3
F (s) =
s(s2 + 2s + 5)

This function can be expanded in the following

form:
3 K1 K2s + K3
2
= + 2
(1)
s(s + 2s + 5) s s + 2s + 5
K1 is found in the usual way
3 3
K1 = | s→0 =
(s2 + 2s + 5) 5
Multiplying s(s2 + 2s + 5) to (1) and applying
K1 = 35
3 2
3= (s + 2s + 5) + s(K2s + K3)
5

1
Balancing the coefficients for s1 and s2,
3
s2 : 0= + K2
5
6
s1 : 0 = + K3
5
So
3/5 3 s+2
F (s) = −
s 5 s2 + 2s + 5
The last term can be shown to be the sum
of the Laplace transforms of an exponentially
damped sine and cosine.

Using Item 7 in Table A and Item 2 & 4 in

Table B, we get
A(s + a)
L[Ae−at cos ωt] = (2)
(s + a)2 + ω 2
Similarly using Item 6 in Table A and Item 2
& 4 in Table B, we get
Bω
L[Be−at sin ωt] = (3)
(s + a)2 + ω 2

2
Adding (2) and (3)

−at −at A(s + a) + Bω

L[Ae cos ωt + Be sin ωt] =
(s + a)2 + ω 2
(4)
Rearrange
3/5 3 s+2
F (s) = −
s 5 s2 + 2s + 5
3/5 3 (s + 1) + (1/2)2
F (s) = − (5)
s 5 (s + 1)2 + 22
We compare the last term of (5) to (4), and
use Table A
3 −t 1
f (t) = 3/5 − e (cos 2t + sin 2t)
5 2
Let
1
cos φ = q
12 + (1/2)2
and
1/2
sin φ = q
12 + (1/2)2

3
We have
3
q
f (t) = 3/5 − 12 + (1/2)2e−t (cos φ cos 2t + sin φ sin 2t)
5
so
f (t) = 0.6 − 0.671e−t cos(2t − φ)
where φ = arctan 0.5 = 26.57◦ . Thus f (t) is
a constant plus an exponentially damped sinu-
soid.

Another method is to use the method in Case

1. Then after taking the inverse Laplace trans-
form, apply the identity
ejθ + e−jθ
= cos θ
2
ejθ − e−jθ
= sin θ
2j
For example,
3 3
=
s(s2 + 2s + 5) s(s + 1 + j2)(s + 1 − j2)
K1 K2 K3
= + +
s s + 1 + j2 s + 1 − j2
4
we found K1 = 3/5 as previously described.

Finding K2 and K3
3 3
K2 = |s→−1−j2 = − (2 + j1)
s(s + 1 − j2) 20
3 3
K3 = |s→−1+j2 = − (2 − j1)
s(s + 1 + j2) 20
From which
3
s(s2 + 2s + 5) !
3/5 3 2 + j1 2 − j1
= − +
s 10 s + 1 + j2 s + 1 − j2
Then taking the inverse Laplace transform us-
ing Table A and B,
3 3 h −(1+j2)t −(1−j2)t
i
f (t) = − (2 + j1)e + (2 − j1)e
5 10
ej2t + e−j2t ej2t − e−j2t
 
3 3 −t
= − e 4( ) + 2( )
5 10 2 2j
3 1
= 3/5 − e−t(cos 2t + sin 2t)
5 2
−t
= 0.6 − 0.671e cos(2t − φ)

where φ = arctan 0.5 = 26.57◦.

5
Problem: Given the following differential equa-
tion, solve for y(t) if all initial conditions are
zero. Use the Laplace transform.
dy
+ 4y = 6 cos 5t (6)
dt
Solution. Use Item 7 in Table A, Item 7 in
Table B. If all initial conditions are zero, ap-
plying Laplace transform to both sides of (6),
we have
6s
sY (s) + 4Y (s) = 2
s + 52
Solving for the response, Y (s), yields
6s
Y (s) =
(s + 4)(s2 + 25)
It has partial fraction expansion
6s K1 K2s + K3
2
= + 2
(s + 4)(s + 25) s+4 s + 25
K1 is found in the usual way
6s——
(s + 4) 24
K1 = | s→−4 = −
(s + 4)(s2 + 25)
—— 41
6
Multiplying (s + 4)(s2 + 25) to Y (s)
24 2
6s = − (s + 25) + (K2s + K3)(s + 4)
41
Balancing the coefficients for s0 , s1 and s2,
24 × 25
s0 : 0=− + 4K3
41
s1 : 6 = 4K2 + K3
24
s2 : 0=− + K2
41
so K2 = 24
41 and K 3 = 150
41
24/41 6 4s + 15
Y (s) = − +
s+4 41 s2 + 25
24/41 6 4s 3×5
=− + [ 2 2
+ 2 2
]
s+4 41 s + 5 s +5
Use Table A and B
24 6
y(t) = − e−4t + (4 cos 5t + 3 sin 5t)
41 41
Let
4
cos φ = q = 4/5
42 + 32

7
and
3
sin φ = q = 3/5
42 + 32

24 −4t 6 ∗ 5
y(t) = − e + (cos φ cos 5t+sin φ sin 5t)
41 41

y(t) = −0.5854e−4t + 0.7317 cos(5t − φ)

where φ = arctan(3/4) = 36.87◦ .

Use the second method for the problem

6s
Y (s) =
(s + 4)(s + j5)(s − j5)
K1 K2 K2
= + +
s+4 s + j5 s − j5

6s——
(s + 4) 24
K1 = |s→−4 = −
(s + 4)(s + j5)(s − j5)
—— 41
6s——
(s + j5) 3
K2 = |s→−j5 = (4 + j5)
(s + 4)——
(s + j5)(s − j5) 41
6s——
(s − j5) 3
K3 = |s→j5 = (4 − j5)
(s + 4)(s + j5)——
(s − j5) 41

8
Thus
24/41 3 4 + j5 4 − j5
Y (s) = − + [ + ]
s+4 41 s + j5 s − j5
Use Table A and B
24 −4t 3
y(t) = − e + [(4 + j5)e−5jt + (4 − j5)e5jt]
41 41
24 3 e5jt + e−5jt e5jt − e−5jt
= − e−4t + [8( ) + 10( )]
41 41 2 2j
24 3 ∗ 10 4 4
= − e−4t + [ cos 5t + sin 5t]
41 41 5 5
Let cos φ = 4/5 and sin φ = 3/5
24 −4t 30
y(t) = − e + [cos φ cos 5t + sin φ sin 5t]
41 41
= −0.5854e−4t + 0.7317 cos(5t − φ)
where φ = arctan(3/4) = 36.87◦ .