1

ME 467
Systems Dynamics & Automatic Control
Chapter 2: LAPLACE Transforms


Transformation Definition
Transforms -- a mathematical conversion
from one domain (form) to another to make
a problem easier to solve
transform
solution
in transform
way of
thinking
inverse
transform
solution
in original
form
problem
in original
form
Laplace
transform
solution
in
s domain
inverse
Laplace
transform
solution
in time
domain
problem
in time
domain
Other transforms
Fourier
z-transform
wavelets
Laplace Transform
Nature of the Laplace Transform
Why study Laplace Transforms
The Laplace Transform provides a tool for the rapid solution of
ordinary constant coefficient linear differential equations
It gives us a straight forward procedure to solve and analyze
dynamic systems.
Nature of the Laplace Transform
Laplace Domain
L(f(t))
Differential
Equation
f(t)
Algebraic
Equation
f(s)
Algebraic
Manipulation
Algebraic
Equation
f(s)
Non
Differential
Equation
f(t)
L
-1
(f(s))
Time Domain
Laplace Transform
Convert time-domain functions and operations
into frequency-domain
f(t) F(s) (teR, seC)
Linear differential equations (LDE) algebraic
expression in Complex plane
Graphical solution for LDE characteristics

}

= =
0
) ( ) ( )] ( [ dt e t f s F t f
st
L
Complex Number
The Complex Plane (review)
Imaginary axis (j)
Real axis
jy x u + =
x
y
|
r
r
|
jy x u =
(complex) conjugate
y
2 2
1
| | | |
tan
y x u r u
x
y
u
+ =
= Z

|
Basic Theorems of Linearity
[ ( )] [ ( )] ( ) L Kf t KL f t KF s = =
The Laplace transform of a product is
not the product of the transforms.
1 2 1 2
1 2
[ ( ) ( )] [ ( )] [ ( )]
( ) ( )
L f t f t L f t L f t
F s F s
+ = +
= +
1 2 1 2
[ ( ) ( )] ( ) ( ) L f t f t F s F s =
Unit step function.
0
( ) ( )
st
F s f t e dt

=
}
0
0
1
( ) 0
st
e e
F s
s s s

( | |
= = =
|
(

\ .
f(t) = u(t) = 1
0
( ) (1)
st
F s e dt

=
}
Exponential Function
( )
0 0
( ) 0
0
( )
0
( ) ( )
1
at st a s t
s a t
F s e e dt e dt
e e
s a s a
s a

+

+
= =
(
= =
(
+ +

=
+
} }
( )
at
f t e

=
Exponential function multiplied
by another function
( )
0 0
( ) ( ) ( )
( ) ( )
at st a s t
s s a
G s e f t e dt f t e dt
F s F s a

+
= +
= =
= = +
} }
( ) ( )
at
g t e f t

=
Example
1 1
[1* ]
at
s s a
L e
s s a

= +
= =
+
Derive the Laplace transform of the
sinusoidal function
( )


2 2
1
[ cos ]
2
1 1
[ ] [ ]
2 2
1 1 1 1

2 2

j t j t
j t j t
L t L e e
L e L e
s j s j
s
s
e e
e e
e
e e
e

(
= +
`

)
= +
= +
+
=
+
Complex Differential Theorem
[ ( )] ( )
d
L t f t F s
ds
=
In general
[ ( )] ( 1) ( )
n
n n
n
d
L t f t F s
ds
=
example
2
1 1
[ *1] 1
d
L t
ds s s
= =
Laplace Transforms of Common
Functions
Name f(t) F(s)
Impulse
Step
Ramp
Exponential
Sine
1
s
1
2
1
s
a s
1
2 2
1
s + e
1 ) ( = t f
t t f = ) (
at
e t f = ) (
) sin( ) ( t t f e =

>
=
=
0 0
0 1
) (
t
t
t f
a is +ve
Example
( ) 50 ( ) f t u t =
50
( ) F s
s
=
Example
2
( ) 5 sin4
t
v t e t

=
2 2
2 2
4
( ) [ ( )] 5
( 2) (4)
20 20
4 4 16 4 20
V s L v t
s
s s s s
= =
+ +
= =
+ + + + +
Example
4
( ) 5cos 2 3
t
p t t e

= +
2 2
2
1
( ) [ ( )] 5 3
(2) 4
5 3
4 4
s
P s L p t
s s
s
s s
= = +
+ +
= +
+ +
Most mathematical handbooks have tables of
Laplace transforms
Inverse Laplace Transforms
by Identification
When a differential equation is solved by
Laplace transforms, the solution is obtained as
a function of the variable s. The inverse
transform must be formed in order to determine
the time response. The simplest forms are
those that can be recognized within the tables
and a few of those will now be considered.
Example
2
5 12 8
( )
3
F s
s s s
= + +
+
3
( ) 5 12 8
t
f t t e

= + +
Example
2
200
( )
100
V s
s
=
+
2 2
10
( ) 20
(10)
V s
s
| |
=
|
+
\ .
( ) 20sin10 v t t =
Determine the inverse transform of
the function below.
When the denominator contains a quadratic,
check the roots. If they are real, a partial
fraction expansion will be required. If they are
complex, the table may be used. In this case,
the roots are
1,2
3 2 s i =
2
8 4
( )
6 13
s
V s
s s
+
=
+ +
Example 8. Continuation.
2
2 2 2
2
2 2
6 13
6 (3) 13 (3)
6 9 4
( 3) (2)
s s
s s
s s
s
+ +
= + + +
= + + +
= + +
Example, Cont.
2 2 2 2
2 2 2 2
8( 3) 4 24
( )
( 3) (2) ( 3) (2)
8( 3) 10(2)
( 3) (2) ( 3) (2)
s
V s
s s
s
s s
+
= +
+ + + +
+
=
+ + + +
3 3
( ) 8 cos 2 10 sin2
t t
v t e t e t

=
LAPLACE TRANSFORMS

PARTIAL FRACTION
EXPANSION
Definition
Definition -- Partial fractions are several
fractions whose sum equals a given fraction
Purpose -- Working with transforms requires
breaking complex fractions into simpler
fractions to allow use of tables of transforms
Partial Fraction Expansions
3 2 ) 3 ( ) 2 (
1
+
+
+
=
+ +
+
s
B
s
A
s s
s
Expand into a term for
each factor in the
denominator.
Recombine RHS

Equate terms in s and
constant terms. Solve.
Each term is in a form so
that inverse Laplace
transforms can be
applied.

( )
) 3 ( ) 2 (
2 ) 3 (
) 3 ( ) 2 (
1
+ +
+ + +
=
+ +
+
s s
s B s A
s s
s
3
2
2
1
) 3 ( ) 2 (
1
+
+
+

=
+ +
+
s s s s
s
1 = +B A 1 2 3 = + B A
Example
1 2
6
( )
( 1)( 2) 1 2
A A s
F s
s s s s
+
= = +
+ + + +
|
1
1
1
6 1 6
( 1) ( ) 5
2 1 2
s
s
s
A s F s
s
=
=
+ +
(
= + = = =
(
+ +

2
6 6
( )
3 2 ( 1)( 2)
s s
F s
s s s s
+ +
= =
+ + + +
Example, cont.
|
2
2
2
6 2 6
( 2) ( ) 4
1 2 1
s
s
s
A s F s
s
=
=
+ +
(
= + = = =
(
+ +

5 4
( )
1 2
F s
s s
=
+ +
2
( ) 5 4
t t
f t e e

=
Example
2
50( 3)
( )
( 1)( 2)( 2 5)
s
F s
s s s s
+
=
+ + + +
1 2
1
( )
1 2
A A
F s
s s
= +
+ +
Example, Cont.
1
2
1
50( 3) (50)(2)
25
( 2)( 2 5) (1)(4)
s
s
A
s s s
=
( +
= = =
(
+ + +

2
2
2
50( 3) (50)(1)
10
( 1)( 2 5) ( 1)(5)
s
s
A
s s s
=
( +
= = =
(
+ + +

2
1
( ) 25 10
t t
f t e e

=
Example, Cont.
2 2
50( 3) 25 10
( 1)( 2)( 2 5) 1 2 2 5
s As B
s s s s s s s s
+ +
= +
+ + + + + + + +
50(3) 25 10
(1)(2)(5) 1 2 5
B
= +
25 B =
50(4) 25 10
(2)(3)(8) 2 3 8
A B +
= +
15 A=
2
25 10 15 25
( )
1 2 2 5
s
F s
s s s s

= +
+ + + +
To get A and B, substitute by any two convenient
numbers, (i.e. s=0 and s=1)
Example, cont.
2
2
15 25
( )
2 5
s
F s
s s

=
+ +
2 2 2 2
2 5 2 1 5 1 ( 1) (2) s s s s s + + = + + + = + +
2
2 2 2 2 2 2
15 25 15( 1) 5(2)
( )
( 1) (2) ( 1) (2) ( 1) (2)
s s
F s
s s s
+
= = +
+ + + + + +
1 2
2
( ) ( ) ( )
25 10 15 cos 2 5 sin 2
t t t t
f t f t f t
e e e t e t

= +
=
Example, Repeated Roots
2
60
( )
( 2)
F s
s s
=
+
1 2
2 2
60
( )
( 2) ( 2) ( 2)
C C A
F s
s s s s s
= = + +
+ + +
|
2 2
0
0
60 60
( ) 15
( 2) (0 2)
s
s
A sF s
s
=
=
(
= = = =
(
+ +

2
1
2
2
60 60
( 2) ( ) 30
2
s
s
C s F s
s
=
=
(
(
= + = = =
(

Example, Cont.
2
2 2
60 15 30
( )
( 2) ( 2) 2
C
F s
s s s s s
= = +
+ + +
2
2 2
60 15 30
(1)(1 2) 1 (1 2) (1 2)
C
= +
+ + +
2
15 C =
2 2
60 15 30 15
( )
( 2) ( 2) 2
F s
s s s s s
= =
+ + +
2 2 2
( ) 15 30 15 15 15 (1 2 )
t t t
f t te e e t

= = +
Let s=1, and solve for C2

Repeated Roots General Form
( )( ) ( )
( )
1 2
( )
( ) , for
( )
m
n
K s z s z s z
B s
F s m n
A s
s p
+ + +
= = <
+
Given
It can be expressed as
( ) ( ) ( )
1 2
1 2
( )
( ) ...
( )
n
n
b b b B s
F s
A s
s p s p s p
= = + + +
+ + +
( )
( )
( )
n
n
s p
B s
s p b
A s
=
(
+ =
(

( )
1
( )
( )
n
n
s p
d B s
s p b
ds A s

=
(
+ =
(

( )
( )
1
1
1
1 ( )
1 ! ( )
n
n
n
s p
d B s
s p b
n ds A s

=
(
+ =
(

Laplace of Differentiated Functions
[ '( )] ( ) (0) L f t sF s f =
2
[ "( )] ( ) (0) '(0) L f t s F s sf f =
1 2 1
[ ( )] ( ) (0) '(0).... (0)
n n n n n
L f t s F s s f s f f

=
Note: s is called
Differentiation Operator
s
( ) d f t
dt ( ) f t
Laplace of Integrated Functions
0
( )
( )
t
F s
L f t dt
s
(
=
(

}
Note: 1/s is called Integrator operator
( ) f t dt
}
( ) f t
1
s
Solve This Differential Equation
2 12
dy
y
dt
+ =
(0) 10 y =
| | | |
2 12
dy
L L y L
dt
(
+ =
(

12
( ) 10 2 ( ) sY s Y s
s
+ =
( )
12
2 ( ) 10 s Y s
s
+ = +
10 12
( )
2 ( 2)
Y s
s s s
= +
+ +
Example
2 12sin 4
dy
y t
dt
+ =
(0) 10 y =
2
12(4)
( ) 10 2 ( )
16
sY s Y s
s
+ =
+
2
10 48
( )
2 ( 2)( 16)
Y s
s s s
= +
+ + +
1 2
2 2
48
( 2)( 16) 2 16
B s B A
s s s s
+
= +
+ + + +
Solve the following differential equation
Example, cont.
2
2
48 48
2.4
16 20
s
A
s
=
(
= = =
(
+

1 2
2 2
48 2.4
( 2)( 16) 2 16
B s B
s s s s
+
= +
+ + + +
2
48 2.4
(2)(16) 2 16
B
= +
2
4.8 B =
1 2
48 2.4
(1)(17) 1 17
B B +
= + 1
2.4 B =
Example, Cont.
2 2
10 2.4 2.4 4.8
( )
2 2 16 16
s
Y s
s s s s
= + +
+ + + +
2
( ) 12.4 2.4cos 4 1.2sin4
t
y t e t t

= +
Example
2
2
3 2 24
d y dy
y
dt dt
+ + =
(0) 10 and '(0) 0 y y = =
| |
2
24
( ) 10 0 3 ( ) 10 2 ( ) s Y s s sY s Y s
s
+ + =
2 2
24 10 30
( )
( 3 2) 3 2
24 10 30
( 1)( 2) ( 1)( 2)
s
Y s
s s s s s
s
s s s s s
+
= +
+ + + +
+
= +
+ + + +
Example, Cont.
24 12 24 12
( 1)( 2) 1 2 s s s s s s
= +
+ + + +
10 30 20 10
( 1)( 2) 1 2
s
s s s s
+
=
+ + + +
12 4 2
( )
1 2
F s
s s s
= +
+ +
2
( ) 12 4 2
t t
f t e e

= +
Example
2
2
2 5 20
d y dy
y
dt dt
+ + =
(0) 0 and '(0) 10 y y = =
| |
2
20
( ) 0 10 2 ( ) 0 5 ( ) s Y s sY s Y s
s
+ + =
2 2
20 10
( )
( 2 5) 2 5
Y s
s s s s s
= +
+ + + +
Example, Cont.
2 2
20 4
( 2 5) ( 2 5)
As B
s s s s s s
+
= +
+ + + +
20 4
(1)(1 2 5) 1 (1 2 5)
A B +
= +
+ + + +
20 4
( 1)(1 2 5) 1 (1 2 5)
A B +
= +
+ +
4 A= 8 B =
Example, Cont.
2 2 2
4 4 8 10 4 4 2
( )
2 5 2 5 2 5
s s
Y s
s s s s s s s s
+
= + + = +
+ + + + + +
2 2 2 2
2 5 2 1 5 1 ( 1) (2) s s s s s + + = + + + = + +
2 2 2 2
4 4( 1) 3(2)
( )
( 1) (2) ( 1) (2)
s
Y s
s s s
+
= + +
+ + + +
( ) 4 4 cos 2 3 sin2
t t
y t e t e t

= +
Initial- and Final-Value Theorems
For the given differential equations find the initial and final
value of y(t)
( ) 6 ( ) 8 ( ) 2 ( ) y t y t y t u t + + =
* Apply Initial- and Final-Value Theorems
Laplace
transform of the
function.

Apply final-value
theorem

Apply initial-
value theorem

) 4 ( ) 2 (
2
) (
+ +
=
s s s
s Y
| |
4
1
) 4 0 ( ) 2 0 ( ) 0 (
) 0 ( 2
) ( lim =
+ +
=

t f
t
| | 0
) 4 ( ) 2 ( ) (
) ( 2
) ( lim
0
=
+ +

=

t f
t
( ) 6 ( ) 8 ( ) 2 ( ) y t y t y t u t + + =
Step functions
A plot of uc(t) is :
Steps functions are used to form piecewise continuous functions.


Unit step function(Heaviside function):
Step functions
For a given function f(t), if it is multiplied with uc(t), then
uc picks up the interval [c;).




Rectangular pulse. The plot of the function looks like
for 0 a < b < 1. We see it can be
expressed as
and it picks up the interval [a; b).
Example
For the function
In terms of the unit step function, f(t) can rewritten as:
Laplace transform of Step functions
uc(t)
Shift of a function
Given f(t), t > 0, then
is the shift of f by c units.
Shift of a function
Let y = t - c, so t = y + c, and dt = dy,
which is equivalent to
Note now we are only considering the domain t > 0. So u0(t) = 1 for all t > 0.
Example
For the function
In terms of the unit step function, f(t) can rewritten as:
The Laplace transform is
Example
For the function
In terms of the unit step function, f(t) can rewritten as:
The Laplace transform is
Summary

0 ) 0 ( ' ) 0 ( 2 8 6
2
2
= = = + + y y y
dt
dy
dt
y d
ODE w/initial conditions

Apply Laplace transform
to each term
Solve for Y(s)

Apply partial fraction
expansion
Apply inverse Laplace
transform to each term


s s Y s Y s s Y s / 2 ) ( 8 ) ( 6 ) (
2
= + +
) 4 ( ) 2 (
2
) (
+ +
=
s s s
s Y
) 4 ( 4
1
) 2 ( 2
1
4
1
) (
+
+
+

+ =
s s s
s Y
4 2 4
1
) (
4 2 t t
e e
t y

+ =
Steps for Solving an ODE