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f (t) F (s)
1. δ(t) 1
1
2. u(t) s
1
3. tu(t) s2
n!
4. t n u(t) s n+1
5. e −at u(t) 1
s+a
ω
6. (sin ωt)u(t) s 2 +ω 2
s
7. (cos ωt)u(t) s 2 +ω 2
Theorem R∞ Name
1. L{f (t)} = F (s) = 0− f (t)e −st dt Definition
2. L{kf (t)} = kF (s) Linearity theorem
3. L{f1 (t) + f2 (t)} = F1 (s) + F2 (s) Linearity theorem
4. L{e −at f (t)} = F (s + a) Frequency shift theorem
5. L{f (t − T )} = e −sT F (s) Time shift theorem
1 s
6. L{f (at)} = aF(a) Scaling theorem
Example
1
e.g. Find the inverse Laplace transform of F (s) = (s+3)2
.
Theorem Name
7. L{ df
dt } = sF (s) − f (0−) Differentiation
2
8. L{ ddt 2f } = s 2 F (s) − sf (0−) − f 0 (0−) Differentiation
n
L{ ddt nf } = s n F (s) − nk=1 s n−k f (k−1) (0−)
P
9. Differentiation
Rt
10. L{ 0− f (τ )dτ } = F (s) s Integration theorem
11. f (∞) = lims→0 sF (s) Final value theorem
12. f (0+) = lims→∞ sF (s) Initial value theorem
Example
df
L{ } = sF (s) − f (0−)
dt
with F (s) = 1. The ILT of 1 is δ(t). Therefore,
dδ(t)
f (t) =
dt
5 K2 (s + 1)
= K1 +
s +2 s +2
This should be valid for all s. Let s approach -1 to eliminate
everything else on the R.H.S.. We get K1 = 5. Apply the same
strategy to obtain K2 = −5. Returning to our full F (s) we have,
5 5
F (s) = s − +
s +1 s +2
We can now apply known Laplace transforms and theorems,
dδ(t)
f (t) = − 5e −t + 5e −2t
dt
Case 2: Real and Repeated Roots
e.g.
2
F (s) =
(s + 1)(s + 2)2
This can be expanded as follows,
2 K1 K2 K3
= + +
(s + 1)(s + 2)2 s + 1 (s + 2) 2 s +2
2 2(s + 2)2
= + K2 + (s + 2)K3
s +1 s +1
Letting s = −2 we get K2 = −2.
To find K3 we differentiate the equation above...
2 2(s + 2)2
= + −2 + (s + 2)K3
s +1 s +1
Differentiating w.r.t. s,
−2 2s(s + 2)
2
= + K3
(s + 1) (s + 1)2
Rt 2
Inductor v (t) = L di(t)
dt i(t) = 1
L 0 v (τ )dτ v (t) = L d dtq(t)
2
Rt
Capacit. v (t) = 1
C 0 i(τ )dτ i(t) = C dvdt(t) v (t) = 1
C q(t)
VC (s) 1
=
V (s) LCs 2 + RCs + 1
1/LC
=
s 2 + RL s + LC
1
1 1
Inductor V (s) = LsI (s) I (s) = Ls V (s) Ls Ls
1 1
Capacit. V (s) = Cs I (s) I (s) = CsV (s) Cs Cs
impedance = resistance
admittance = conductance
We can again apply KVL, which says that the sum of these
mini-outputs (voltages) around the loop must be zero,
The same algebraic steps as before produce the same final result.
First Example: Via DE
Stating the Problem in the Freq. Domain
Resistors, Inductors, and Capacitors
First Example: In the Freq. Domain
Operational Amplifiers
Second Example: Mesh Analysis
Pattern of Impedances
KVL and KCL apply in the frequency domain because they are
expressions about linear combinations of time-domain signals. The
linearity of the LT implies that such expressions remain valid in the
frequency domain.
Another perspective is to represent components by their
impedances (or admittances) and then treat them as if they were
pure resistances in a DC circuit—only with weird levels of
1
resistance (Ls for inductors, Cs for capacitors). Following this
strategy the impedances of the three components can be summed
as series resistances:
1
Ls + R + I (s) = V (s)
Cs
1
Ls + R + I (s) = V (s)
Cs
I (s) 1
= 1
V (s) Ls + R + Cs
Assume the mass is travelling to the right, pulled by the force f (t).
All other forces oppose this motion. Draw the free body diagram:
The sum of opposing forces must equal the sum of applied forces,
d 2 x(t) dx(t)
M 2
+ fv + Kx(t) = f (t)
dt dt
Example: Via DE
Translational Mechanical Systems Example: Problem Stated in the Freq. Domain
Linearly Independent Motions
d 2 x(t) dx(t)
M 2
+ fv + Kx(t) = f (t)
dt dt
We can apply the Laplace transform, assuming zero initial
conditions:
From which,
X2 (s) (s + 1)
= 2 2 .
F(s) s (s + 2s + 2)
Frictionless
FIGURE P2.10