Fundamentals of Electrical Engineering I

Lecture 10
 Definition of Laplace Transform

The Laplace Transform is an integral transformation

of a function f(t) from the time domain into the
complex frequency domain, giving F(s)

 s: complex frequency
 Called “The One-sided or unilateral Laplace
Transform”.
 In the two-sided or bilateral LT, the lower limit is -
. We do not use this. © G. Berdibekov
 Definition of Laplace Transform

Example 1
Determine the Laplace transform of each of the
following functions shown below:

© G. Berdibekov
 Definition of Laplace Transform

Solution:
a) The Laplace Transform of unit step, u(t) is given by

Lu (t )  F ( s)  
 1
 st
1e dt 
0 s

© G. Berdibekov
 Definition of Laplace Transform

Solution:
b) The Laplace Transform of exponential function,
e-tu(t),>0 is given by

Lu (t )  F ( s)  
 1
t  st
e e dt 
0 s 

© G. Berdibekov
 Definition of Laplace Transform

Solution:
c) The Laplace Transform of impulse function,
δ(t) is given by

Lu (t )  F ( s)    (t )e  st dt  1


© G. Berdibekov
 TYPE f(t) F(s)

Impulse δ(t) 1
Step u(t) 1
s
Ramp t 1
s2

Exponential e  at 1
s  a 
Sine 
sin t s 2
2 
Cosine cos t s
s 2
2 
© G. Berdibekov
 TYPE f(t) F(s)

Damped ramp te  at 1
s  a 2
Damped sine 
e  at
sin t s  a2   2

Damped cosine sa

e at cos t
s  a 2   2

© G. Berdibekov
 Properties of Laplace Transform

Step Function

• The symbol for the step function is K u(t).

• Mathematical definition of the step function:

Ku (t )  0, t  0
Ku (t )  K , t  0

© G. Berdibekov
 f(t) = K u(t)
f (t )

t
0

© G. Berdibekov
 Properties of Laplace Transform
Step Function

• A discontinuity of the step function may occur at

some time other than t=0.
• A step that occurs at t=a is expressed as:

Ku (t  a)  0, t  a
Ku (t  a)  K , t  a
© G. Berdibekov
f(t) = K u(t-a)
f (t )

t
0 a
© G. Berdibekov
 Ex:
f (t )

t
0 1 2 3 4

2
© G. Berdibekov
Three linear functions at t=0, t=1, t=3,
and t=4
f (t )

4
2t
2
 2t  4
t
0 1 2 3 4

2t  8
2

4
 Expression of step functions

 Linear function +2t: on at t=0, off at t=1

 Linear function -2t+4: on at t=1, off at t=3
 Linear function +2t-8: on at t=3, off at t=4

Step function can be used to turn on and

turn off these functions

© G. Berdibekov
 Step Functions

f (t )  2t[u (t )  u (t  1)] 
(2t  4)[u (t  1)  u (t  3)] 
(2t  8)[u (t  3)  u (t  4)]

© G. Berdibekov
 Properties of Laplace Transform

Impulse Function

• The symbol for the impulse function is (t).

• Mathematical definition of the impulse function:


  (t ) d (t )  1

 (t )  0, t  0
© G. Berdibekov
 Properties of Laplace Transform

Impulse Function

 The area under the impulse function is constant

and represents the strength of the impulse.
 The impulse is zero everywhere except at t=0.
 An impulse that occurs at t = a is denoted K (t-a)

© G. Berdibekov
f(t) = K (t)

f (t )

K  K 
K (t ) K (t  a)

t
0 a

© G. Berdibekov
 Properties of Laplace Transform

Linearity
If F1(s) and F2(s) are, respectively, the Laplace
Transforms of f1(t) and f2(t)

La1 f1 (t )  a2 f 2 (t )  a1F1 (s)  a2 F2 (s)

Example:

 1 jt
Lcos(t )u (t )  L  e  e 
 jt 
u (t )  2
s

2  s 
2

© G. Berdibekov
 Properties of Laplace Transform

Scaling
If F (s) is the Laplace Transforms of f (t), then

L f (at )  F ( )
1 s
a a

Example:

2
Lsin(2t )u (t )  2
s  4 2
© G. Berdibekov
 Properties of Laplace Transform

Time Shift
If F (s) is the Laplace Transforms of f (t), then

L f (t  a)u(t  a)  e as F (s)

Example:

Lcos( (t  a))u (t  a)  e  as s

s2   2
© G. Berdibekov
 Properties of Laplace Transform

Frequency Shift
If F (s) is the Laplace Transforms of f (t), then

 
L e at f (t )u(t )  F (s  a)

Example:


Le  at
cos(t )u (t )  
sa
( s  a) 2   2
© G. Berdibekov
 Properties of Laplace Transform

Time Differentiation
If F (s) is the Laplace Transforms of f (t), then the
Laplace Transform of its derivative is
 df 
L  u (t )  sF ( s)  f (0 )
 dt 

Example:


Lsin(ωt )u(t)  2
s 2
© G. Berdibekov
 Properties of Laplace Transform

Time Integration
If F (s) is the Laplace Transforms of f (t), then the
Laplace Transform of its integral is

L   f (t )dt   F ( s)
t 1
 0  s

Example:

 n!
L t  n 1
s
n

© G. Berdibekov
 Properties of Laplace Transform

Frequency Differentiation
If F(s) is the Laplace Transforms of f (t), then the
derivative with respect to s, is

Ltf (t )  
dF ( s)
ds

Example:

  at
L te u (t ) 
1
( s  a) 2

© G. Berdibekov
 Properties of Laplace Transform

Initial and Final Values

The initial-value and final-value properties allow us to find
the initial value f(0) and f(∞) of f(t) directly from its Laplace
transform F(s).

f (0)  lim sF ( s) Initial-value theorem

s 

f ()  lim sF ( s) Final-value theorem

s0

© G. Berdibekov
 The Inverse Laplace Transform

Suppose F(s) has the general form of

N ( s)......numerator polynomial
F ( s) 
D( s)...denominator polynomial
The finding the inverse Laplace transform of F(s) involves two
steps:
1. Decompose F(s) into simple terms using partial fraction
expansion.
2. Find the inverse of each term by matching entries in
Laplace Transform Table.

© G. Berdibekov
 The Inverse Laplace Transform

Example 1
Find the inverse Laplace transform of

3 5 6
F ( s)    2
s s 1 s  4
Solution:

1  3  1  5  1  6 
f (t )  L    L   L  2 
s  s 1  s 4
 (3  5e t  3 sin(2t )u (t ), t  0
© G. Berdibekov
 Partial Fraction Expansion

1) Distinct Real Roots of D(s)

96( s  5)( s  12)

F ( s) 
s( s  8)( s  6)

s1= 0, s2= -8
s3= -6 © G. Berdibekov
 1) Distinct Real Roots

96( s  5)(s  12) K1 K 2 K3

F ( s)    
s( s  8)(s  6) s s 8 s 6
 To find K1: multiply both sides by s and
evaluates both sides at s=0
 To find K2: multiply both sides by s+8 and
evaluates both sides at s=-8
 To find K3: multiply both sides by s+6 and
evaluates both sides at s=-6
© G. Berdibekov
 Find K1

96(s  5)(s  12) K2s K3s

 K1  
(s  8)(s  6) s 0 s  8 s 0 s  6 s 0
96(5)(12)
 K1   120
(8)(6)

© G. Berdibekov
 Find K2

96(s  5)(s  12) K1 (s  8) K3 ( s  8)

  K2 
s(s  6) s  8
s(s  6) s 8 s( s  6) s 8

96(3)(4)
 K2   72
(8)(2)
© G. Berdibekov
 Find K3

96(s  5)(s  12) K1 ( s  6) K 2 (s  6)

   K3
s(s  8) s  6
s(s  8) s 6 s(s  8) s 6

96(1)(6)
 K3   48
(6)(2)
© G. Berdibekov
 Inverse Laplace of F(s)

120 72 48
F ( s)   
s s 8 s 6
120 72 48 
L1   
 s s  8 s  6 
 
f (t )  120  72e 8t  48e 6t u (t )

© G. Berdibekov
 2) Distinct Complex Roots

100( s  3)
F ( s) 
( s  6)(s  6s  25)
2

S1 = -6 S2 = -3+j4 S3 = -3-j4

© G. Berdibekov
 Partial Fraction Expansion

100( s  3)
F ( s) 
( s  6)( s  6s  25)
2

K1 K2 K3
  
s  6 s  3  j4 s  3  j4

K1 K2 K2
  
s  6 s  3  j4 s  3  j4
Complex roots appears in conjugate pairs.
© G. Berdibekov
 Find K1

100 ( s  3)
K1  2
s  6 s  25 s  6
100 (3)

25
 12
© G. Berdibekov
 Find K2 and K2*

100 ( s  3)
K2 
( s  6)( s  3  j 4) s  3 j 4
100 ( j 4) Coefficients
 associated
(3  j 4)( j8) with conjugate
 j 53.13 pairs are
 6  j8  10e themselves
conjugates.

K 2  6  j8  10 e j 53.13
© G. Berdibekov
 Inverse Laplace of F(s)

100( s  3)
F (s) 
( s  6)( s  6s  25)
2

 12 10  53.13 1053.13

  
s6 s  3  j4 s  3  j4

© G. Berdibekov
 Inverse Laplace of F(s)

  12 10e
1
 j 53.13
10e  j 53.13
L    
 s  6 s  3  j4 s  3  j4 


  12e 6t
 10e  j 53.13  ( 3 j 4 ) t
e
 10e j 53.13  ( 3 j 4 ) t
e u(t )
© G. Berdibekov
 Useful Transform Pairs

K
1)  Ke atu (t )
sa
K  at
2)  Kte u (t )
( s  a) 2

K K t
3)   2 K e cos(t   )u(t )
s    j s    j
K K t
4)   2t K e cos(t   )u(t )
(s    j ) (s    j )
2 2

© G. Berdibekov
 The Convolution Integral


• It is defined as y(t )   x( )h(t   )d or y(t )  x(t ) * h(t )


y(t )  4et and h(t )  5e2t

• Given two functions, f1(t) and f2(t) with Laplace

Transforms F1(s) and F2(s), respectively

F1 (s) F2 (s)  L f1 (t ) * f 2 (t )

• Example:

 5  4 
h(t ) * x(t )  L1 H ( s) X ( s)  L1  
t  2t
  20(e  e ), t  0
 s  2  s  1 

© G. Berdibekov
Operational
Transform
 Operational Transforms

 Indicate how mathematical operations performed

on either f(t) or F(s) are converted into the opposite
domain.
 The operations of primary interest are:
1. Multiplying by a constant
2. Addition/subtraction
3. Differentiation
4. Integration
5. Translation in the time domain
6. Translation in the frequency domain
7. Scale changing
© G. Berdibekov
OPERATION f(t) F(s)

Multiplication Kf (t ) KF (s)
by a constant
Addition/Subtr f1 (t )  f 2 (t )  f3 (t )   F1 (s)  F2 (s)  F3 (s)  
action
First
derivative df (t ) sF ( s)  f (0  )
dt
(time)
Second d 2 (t )  df ( 0 
)
derivative s F ( s)  sf (0 ) 
2

dt 2 dt
(time)
© G. Berdibekov
 OPERATION f(t) F(s)

n th derivative s F ( s)  s
n n 1 
f (0 )  s n2 df (0 )
(time) dt
n
d (t )
dt n s n 3 df 2 (0 )  df n 1 
(0 )
dt dt n1

Time integral t

 f ( x)dx F (s)
s
0

Translation in f (t  a)u (t  a),

e  as F (s)
time a0
Translation in e  at f (t ) F ( s  a)
frequency

© G. Berdibekov
 OPERATION f(t) F(s)

Scale changing
f (at ), a  0 a
 
1 F s
a

First derivative
tf (t )  dF ( s)
(s) ds

n th derivative n nd n
F (s)
t f (t ) (1)
ds n

s integral f (t )
t  F (u)du
s

© G. Berdibekov
 Translation in time domain

• If we start with any function:

f (t )u(t )
we can represent the same function
translated in time by the constant a, as:
f (t  a)u(t  a)
• In frequency domain:
 as
f (t  a)u(t  a)  e F ( s)
© G. Berdibekov
 Ex:

Ltu (t )  1 2
s

L(t  a)u (t  a) 

 as
e 2
s
© G. Berdibekov
 Translation in frequency domain

• Translation in the frequency domain is

defined as:

Le  at

f (t )  F (s  a)

© G. Berdibekov
 Ex:

Lcos t   2
s
s  2


Le  at

cos t 
sa
( s  a)  
2 2

© G. Berdibekov
 Ex:

Lcos t   2
s
s 1

s
Lcos t  
1 s

 (s  )  1 s  
2 2 2

© G. Berdibekov
 APPLICATION

t 0
v (t )
I dc R L C

© G. Berdibekov
 Problem
• Assumed no initial energy is stored in the
circuit at the instant when the switch is
opened.
• Find the time domain expression for v(t) when
t≥0.

© G. Berdibekov
 Integrodifferential Equation

• A single node voltage equation:

a lg  I in  a lg  I out  KCL
t
v(t ) 1 dv(t )
  v( x) dx  C  I dcu (t )
R L0 dt

© G. Berdibekov
 s-domain transformation
t
v(t ) 1 dv(t )
  v (x) dx  C
V ( s) 1 V ( s)

 I dcu (t )
 C sV ( s)  v(0 )  I dc 1
R
R
L0
L s
dt s

=0

1 1  I
V ( s)   sC   dc
 R sL  s

© G. Berdibekov
 I dc
V ( s)  C
s  (1 RC ) s  (1 LC )
2

v(t )  L V (s)
1

© G. Berdibekov
 Ex

• Obtain the Laplace transform for the

function below:

h(t)

t
0 1 2 3 4 5
 Find the expression of f(t):

• Expression for the ramp function with slope,

m =2 and period, T=2:

f1 (t )  2t
• For a periodic ramp function, we can write:

f1 (t )  2t u(t )  u(t  1)

© G. Berdibekov
 Expanding:

f1 (t )  2t u (t )  u (t  1)
 2tu (t )  2tu (t  1)

Different time occurred:

t=0 and t=1
© G. Berdibekov
 Equal time shift:

f1 (t )  2t u (t )  u (t  1)
 2tu (t )  2tu (t  1)
 2tu (t )  2(t  1  1)u (t  1)
f1 (t )  2tu (t )  2(t  1)u (t  1)  2u (t  1)

© G. Berdibekov
 Inverse Laplace using translation in
time property:

f1 (t )  2tu (t )  2(t  1)u (t  1)  2u (t  1)

s s
2 e e
F1 ( s)  2  2 2  2
s s s
2
 s
 2 1  e  se
s
s


© G. Berdibekov
 Time periodicity property:

F1 ( s)
f (t )  f (t  nT )  F ( s)  Ts
1 e
F1 ( s)
F ( s) 
1  e Ts
 2
2
s (1  e )2 s

1  e  s  se s 

© G. Berdibekov