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L[ f (t )] F ( s) f (t )e dt
st
Eq A
0
j
1
1
L [ F ( s)] f (t ) F ( s ) ets
ds Eq B
2 j j
The Laplace Transform
this is the formal way that one would take the inverse. To use
1 st
L[u(t )] 1e dt e |
st
0
s 0
1
L[u(t )]
s
The Laplace Transform of a unit step is:
1
s
The Laplace Transform
The Laplace transform of a unit impulse:
0 t0
Mathematically:
(t – t0) = 0 t 0
The Laplace Transform
The Laplace transform of a unit impulse:
t2
f (t 0 ) t1 t 0 t 2
t1
f (t ) (t t 0 )dt
0 t 0 t1 , t 0 t 2
The Laplace Transform
L[ (t )] (t )e dt e
st 0 s
1
0
The Laplace Transform
f (t ) F ( s)
st
e 1
L[e u( t )]
at
|0
( s a) sa
at 1
A transform e u( t )
pair sa
The Laplace Transform
Building transform pairs:
L[tu(t )] te dt
st
0
u=t
udv uv | vdu
0
0
0
dv = e-stdt
1 A transform
tu(t ) 2 pair
s
The Laplace Transform
Building transform pairs:
(e jwt e jwt ) st
L[cos( wt )] e dt
0
2
1 1 1
2 s jw s jw
s
2
s w2
s
cos( wt )u(t ) A transform
s2 w2 pair
The Laplace Transform
Time Shift
L[ f (t a )u(t a )] f (t a )e st
a
0
f ( x )e s ( x a ) dx e as f ( x )e sx dx
0
as
L[ f (t a)u(t a)] e F ( s)
The Laplace Transform
Frequency Shift
L[e at
f (t )] [e at st
f (t )]e dt
0
f ( t )e
( s a ) t
dt F ( s a )
0
at
L[e f (t )] F ( s a )
The Laplace Transform
Example: Using Frequency Shift
Find the L[e-atcos(wt)]
In this case, f(t) = cos(wt) so,
s
F ( s) 2
s w2
(s a)
and F ( s a )
(s a)2 w 2
at ( s a)
L[e cos( wt )]
( s a)2 (w)2
The Laplace Transform
Time Integration:
and
st 1 st
dv e dt , v e
s
The Laplace Transform
Time Integration:
1
L f (t )dt f (t )e st dt
0 s0
1
F ( s)
s
The Laplace Transform
Time Differentiation:
df (t )
L[ ] sF ( s ) f (0)
dt
Integrate by parts:
u e , du se dt and
st st
df ( t )
dv dt df ( t ), so v f ( t )
dt
The Laplace Transform
Time Differentiation:
0
0 f (0) s f (t )e st dt
0
So we have shown:
df (t )
L sF ( s) f (0)
dt
The Laplace Transform
Time Differentiation:
We can extend the previous to show;
df (t ) 2 2
L 2
s F ( s ) sf (0) f ' (0)
dt
df (t ) 3
L 3
s 3
F ( s ) s 2
f (0) sf ' (0) f ' ' (0)
dt
general case
df (t ) n n 1 n2
L n
s n
F ( s ) s f ( 0) s f ' (0)
dt
... f ( n1) (0)
The Laplace Transform
Transform Pairs:
f(t) F(s)
(t ) 1
1
u( t ) ____________________________________
f ( t ) F ( s )
s
st 1
e
sa
1
t
s2
n n!
t
s n 1
The Laplace Transform
Transform Pairs:
f(t) F(s)
at 1
te
s a 2
n at n!
t e
( s a )n 1
w
sin( wt )
s2 w2
s
cos(wt )
s2 w2
The Laplace Transform
Transform Pairs:
f(t) F(s)
w
e at sin( wt )
( s a)2 w 2
at sa
e cos( wt )
( s a)2 w 2
s sin w cos
sin( wt )
s w
2 2
s cos w sin
cos( wt )
s2 w2
The Laplace Transform
Common Transform Properties:
f(t) F(s)
to s
f ( t t 0 )u( t t 0 ), t 0 0 e F ( s)
to s
f ( t )u( t t 0 ), t 0 e L[ f ( t t 0 )
e at f ( t ) F (s a)
d n f (t )
s n F ( s ) s n 1 f ( 0) s n 2 f ' ( 0) . . . s 0 f n 1 f ( 0)
dt n
dF ( s )
tf ( t )
ds
t
1
f ( )d F ( s)
0 s
The Laplace Transform
Using Matlab with Laplace transform:
Example Use Matlab to find the transform of te 4 t
The following is written in italic to indicate Matlab code
syms t,s
laplace(t*exp(-4*t),t,s)
ans =
1/(s+4)^2
The Laplace Transform
Using Matlab with Laplace transform:
Example Use Matlab to find the inverse transform of
s ( s 6)
F (s)
( s 3)( s 2 6 s 18)
syms s t
ilaplace(s*(s+6)/((s+3)*(s^2+6*s+18)))
ans =
-exp(-3*t)+2*exp(-3*t)*cos(3*t)