LAPLACE

TRANSFORMATION
Osman Parlaktuna
Osmangazi University
Eskisehir, Turkey
Osman Parlaktuna Osmangazi University Spring 2005
LAPLACE TRANSFORMATION
Let f(t) is a function of time such that f(t)=0 for t<0, then
is the one-sided Laplace transform of f(t)
F s e f t dt
st
( ) ( ) =

}
0
The reverse process of finding the time function f(t) from
F(s) is called the inverse Laplace transform and can be
found by
f t
j
F s e ds
st
c j
c j
( ) ( ) =

+
}
1
2t
Osman Parlaktuna Osmangazi University Spring 2005
Laplace Transform of
some Time Functions
Exponential Function:
f t Ae u t
at
( ) ( ) =

F s Ae e dt A e dt
A
s a
at st s a t
( )
( )
= = =
+
+

} }
0 0
Step function: f t Au t ( ) ( ) =
F s Ae dt
A
s
st
( ) = =

}
0
Osman Parlaktuna Osmangazi University Spring 2005
Ramp function:
f t Atu t ( ) ( ) =
F s Ate dt At
e
s
Ae
s
dt
st
st st
( ) = =

} }
0
0 0
= =

}
A
s
e dt
A
s
st
2
0
Osman Parlaktuna Osmangazi University Spring 2005
Sinusoidal function:
f t A tu t ( ) sin ( ) = e
F s A te dt A
e e
j
e dt
st
j t j t
st
( ) sin ( ) = =

} }
e
e e
2
0 0
=

+
=
+
A
j s j s j
A
s 2
1 1
2 2
( )
e e
e
e
f t A tu t F s
As
s
( ) cos ( ) ( ) = =
+
e
e
2 2
Osman Parlaktuna Osmangazi University Spring 2005
Translated Function
Let the Laplace transform of f(t)u(t) be F(s), then
the Laplace transform of f
1
(t)=f(t-a)u(t-a) is
F s f t a u t a e dt f u e d
st s a
a
1
0
( ) ( ) ( ) ( ) ( )
( )
= =
+

} }
t t t
t
= =

}
f e e d e F s
st as as
( ) ( ) t t
0
f(t)
t
t
t
0

t
0
+a a
f
1
(t)
Osman Parlaktuna Osmangazi University Spring 2005
Pulse Function
t
F(t)
A
t
0

f(t)=Au(t)-Au(t-t
0
)
From linearity property of the Laplace transform
F s
A
s
A
s
e
A
s
e
st st
( ) ( ) = =

0 0
1
Osman Parlaktuna Osmangazi University Spring 2005
Let F(s) be the Laplace transform of f(t), what is the Laplace
transform of f
1
(t) = f(t)e
-at
?
Multiplication by e
-at

F s e f t e dt F s a
at st
1
0
( ) ( ) ( ) = = +

}
Change of time scale: What is the LT of f
1
(t)=f(t/a) ?
( )
F s f
t
a
e dt f t e d at
st ast
1 1 1
0 0
1
( ) ( ) =
|
\

|
.
| =


} }
= =

}
a f t e d t aF as
ast
( ) ( ) ( )
1 1
0
1
Osman Parlaktuna Osmangazi University Spring 2005
Final-Value Theorem
This theorem relates the behavior of f(t) to the behavior of
sF(s) in the neighborhood of s=0. This theorem cannot be
applied if F(s) has poles in the RHP, on the jw axis or more
than one pole at s=0.
t s
f t sF s

=
lim lim
( ) ( )
0
Example:
F s
s s
( )
( )
=
+
1
1
Given What is
t
f t

lim
( )?
t s
f t f s
s s

= =
+
=
lim lim
( ) ( )
( )
0
1
1
1
This can be verified since
f t e u t
t
( ) ( ) ( ) =

1
Osman Parlaktuna Osmangazi University Spring 2005
Inverse Laplace Transformation:
Partial-Fraction Expansion
1) F(s) has distinct poles only
F s
N s
D s
K s z s z s z
s p s p s p
m n
m
n
( )
( )
( )
( )( ) ( )
( )( ) ( )
= =
+ + +
+ + +
1 2
1 2

for
F s
a
s p
a
s p
a
s p
n
n
( ) =
+
+
+
+ +
+
1
1
2
2

Where a
k
k=1,2,,n is the residue at the pole -p
k
.
a s p F s
k k
s p
k
= +
=
[( ) ( )]
Osman Parlaktuna Osmangazi University Spring 2005
Example:
Find the inverse Laplace transform of
F s
s
s s
( )
( )( )
=
+
+ +
3
1 2
F s
a
s
a
s
( ) =
+
+
+
1 2
1 2
a s F s
s
s
s
s
1
1
1
1
3
2
2 = + =
+
+
=
=
=
( ) ( )
a s F s
s
s
s
s
2
2
2
2
3
1
1 = + =
+
+
=
=
=
( ) ( )
F s
s s
( ) =
+
+

+
2
1
1
2
f t e e u t
t t
( ) ( ) ( ) =

2
2
Osman Parlaktuna Osmangazi University Spring 2005
Example:
Find the inverse Laplace transform of
F s
s s s
s s
( )
( )( )
=
+ + +
+ +
3 2
5 9 7
1 2
F s s
s
s s
( )
( )( )
= + +
+
+ +
2
3
1 2
Here, the degree of the numerator is higher than the degree of
the denominator. We must divide the numerator by the
denominator.
f t
d
dt
t t e e u t
t t
( ) ( ) ( ) ( ) ( ) = + +

o o 2 2
2
Osman Parlaktuna Osmangazi University Spring 2005
Multiple poles
F s
s s
s
b
s
b
s
b
s
( )
( ) ( ) ( )
=
+ +
+
=
+
+
+
+
+
2
3
1 2
2
3
3
2 3
1 1 1 1
b s F s s s
s s
3
3
1
2
1
1 2 3 2 = + = + + =
= =
( ) ( ) ( )
| |
b
d
ds
s F s s
s
s
2
3
1
1
1 2 2 0 = + = + =
=
=
( ) ( ) ( )
| |
b
d
ds
s F s
s
1
2
2
3
1
1
2
1
1
2
2 1 = +

`
)
= =
=
!
( ) ( ) ( )
F s
s s
f t t e u t
t
( )
( )
( ) ( ) ( ) =
+
+
+
= +

1
1
2
1
1
3
2

Osman Parlaktuna Osmangazi University Spring 2005
Partial-Fraction Expansion
with MATLAB
F s
s s s
s s s
( ) =
+ + +
+ + +
2 5 3 6
6 11 6
3 2
3 2
num=[2 5 3 6];
den=[1 6 11 6];
[r,p,k]=residue(num,den)
r=
-6.0000
-4.0000
3.00000
p=
-3.0000
-2.0000
-1.0000
k=2
r= residues
p=poles
k=direct terms of a
partial-fraction
expansion of the ratio
of two polynomials.
Osman Parlaktuna Osmangazi University Spring 2005
Finding Zeros and
Poles with MATLAB
F s
s s
s s s s
( ) =
+ +
+ + +
4 16 12
12 44 48
2
4 3 2
num=[4 16 12];
den=[1 12 44 48 0];
[z,p,k]=tf2zp(num,den)
z=zeros
p=poles
k=gain
z=
-3
-1
p=
0
-6
-4
-2
k=
4
Osman Parlaktuna Osmangazi University Spring 2005
Solving Linear, Time-Invariant
Differential Equations
Find the solution x(t) of the differential equation
( ) ( ) x x x x = x + + = = 2 5 3 0 0 0 0 , ,
The Laplace transform of the equation is
s X s sX s X s
s
2
2 5
3
( ) ( ) ( ) + + =
X s
s s s s s
s
s
( )
(
/
( ) ( )
=
+ +
=
+ +

+
+ +
3
2 5)
3 5 3
10
2
1 2
3
5
1
1 2
2 2 2 2 2
x t e t e t u t
t t
( ) ( sin cos ) ( ) =

3
5
3
10
2
3
5
2