Laplace Transformation

Laplace Transformation
Definition:
dt e t f s F t f t f
st

0
) ( ) ( )} ( { ) ( L
Usefulness:
differential algebraic
equations equations
Analogy:
time domain frequency domain
b a b a
a a
log log
log
+

Circuit Analysis Using Laplace Transforms

Time domain
(t domain)
Complex frequency
domain (s domain)
Linear
Circuit
Differential
equation
Classical
techniques
Response
waveform
Laplace Transform
Inverse Transform
Algebraic
equation
Algebraic
techniques
Response
transform
L
L
-1
Basic Laplace Transform Pairs
Laplace Transform of Some Basic Functions
dt e t t
st

0
) ( )} ( { L
dt e t
st

0
0
) (
1
) (
0
0

dt t
Laplace Transform of Some Basic Functions
dt e t u t u
st

0
) ( )} ( { L
dt e
st

0
s
e
s
st
1
1
0

]
]
]

Laplace Transform of Some Basic Functions

dt e t u t t u t
st

0
) ( )} ( { L
dt te
st

0
2
0
0
1
1
)
1
(
s
dt e
s
e
s
t
st st

+
]
]
]

Laplace Transform of Some Basic Functions

dt e e e
st t t

0
} {

L
dt e
t s

0
) (

]
]
]

+
s
e
s
t s
1
1
0
) (
Basic Laplace Transformation Properties
Proofs of Basic Laplace Transformation
Properties
s
s F
d f
t
) (
} ) ( {
0

L
dt
s
e
t f d f
s
e
st
t
st

,
`

.
|

]
]
]

0
0
0
) ( ) (
s
s F
dt e t f
s
st
) (
) (
1
0

Proof:
dt e d f d f
st
t t

]
]
]

0 0 0
) ( } ) ( { L
Proofs of Basic Laplace Transformation
Properties
) 0 ( ) ( }
) (
{

f s sF
dt
t df
L
[ ] ( )dt se t f e t f
st st

0
0
) ( ) (
) 0 ( ) ( ) ( ) 0 (
0

f s sF dt e t f s f
st
Proof:
dt e
dt
t df
dt
t df
st

0
) (
}
) (
{ L
Poles and Zeros of F(s)
Scale factor: K = b
m
/a
n
Poles: s = p
k
(k = 1, 2, ..., n)
Zeros: s = z
k
(k = 1, 2, ..., m)
0 1
1
1
0 1
1
1
) (
a s a s a s a
b s b s b s b
s F
n
n
n
n
m
m
m
m
+ + + +
+ + + +

K
K
) ( ) )( (
) ( ) )( (
) (
2 1
2 1
n
m
p s p s p s
z s z s z s
K s F

K
K
Critical frequencies
Pole-Zero Diagrams
1 : pole
1
1
) (

+

s
s
s F

1
s-plane

pole location
zero location

j
j
s-plane

j s
s
s
s A
s F
t

+ +
+

: poles
: zero
) (
) (
) (
2 2

s-plane
0 0 : pole
1
) (
j s
s
s F
+

Poles and Waveforms

If poles in right-plane,
waveform increases without
bound as time approaches infinity
If poles on j-axis,
waveform neither decays nor grows
If poles in left-plane,
waveform decays to zero
as time approaches infinity
Real poles produce
exponential waveforms
Complex poles come in
pairs that produce
oscillatory waveforms
Inverse Laplace Transforms
m < n, i.e., F(s) is a proper rational function
) ( ) )( (
) ( ) )( (
) (
2 1
2 1
n
m
p s p s p s
z s z s z s
K s F

K
K
residues :
) ( ) ( ) (
) (
2
2
1
1
i
n
n
k
p s
k
p s
k
p s
k
s F

+ +

K
( ) ) ( ) (
2 1
2 1
t u e k e k e k t f
t p
n
t p t p
n
+ + + K
How to determine ks?
Distinct poles:
i
p s
i i
s F p s k

) ( ) (
Repeated poles of multiplicity r: r associated residues
i
p s
r
i i
s F p s k

) ( ) (
0
1 1 ) ( ) (

r q s F p s
ds
d
k
i
p s
r
i
q
q
q
i
L
Example of Inverse Laplace Transforms
3
3
2
2
1
1
3 2 1
1

) )( )( (
) (
) (
p s
k
p s
k
p s
k
p s p s p s
z s
K s F

3
1 3
2
1 2
1
3 2
1
1
) ( ) (

) )( (
) (
) ( ) (
p s
p s k
p s
p s k
k
p s p s
z s
K s F p s

Multiply with (s-p
1
)
Set s = p
1
1
3 1 2 1
1 1
1

) )( (
) (
) ( ) (
1
k
p p p p
z p
K s F p s
p s

Similarly,
3
2
) ( ) (
) ( ) (
3 3
2 2
p s
p s
s F p s k
s F p s k

Example of Inverse Laplace Transforms
2
1
2
2
2
0
2
1
1
2
2 1
1
) ( ) )( (
) (
) (
p s
k
p s
k
p s
k
p s p s
z s
K s F

) (
) (

) (
) (
) ( ) (
2
1
2
0
2
1
2
2 1
1
1
2
2
p s k k
p s
p s k
p s
z s
K s F p s + +

Multiply with (s-p
2
)
2
Set s = p
2
0
2
1 2
1 2
2
2

) (
) (
) ( ) (
2
k
p p
z p
K s F p s
p s

Differentiate w.r.t. s
) ( ) (
1
2
2
2
2
k s F p s
ds
d
p s

Inverse Laplace Transforms

m n, i.e., F(s) is an improper rational function
For example:
3 1
2
3 4
2
2
3 4
8 12 6
) (
2
1
2
1
2
2
2 3
+
+
+
+ +
+ +
+
+ +
+ +
+ + +

s s
s
s s
s
s
s s
s s s
s F
Recall:
{
{ s s
dt
t d

'

'

) 0 (
) (
1

(t) L L
(t) L
[ ] ) ( ) ( 2
) (
) (
3
2
1
2
1
t u e e t
dt
t d
t f
t t
+ + +

Inverse transform:
Pathological waveforms usually do not occur in real circuits
Improper rational functions may occur during manipulation
Pathologic waveforms
Additional Laplace Transform
Properties and Pairs
Proofs of Some Additional Properties
{
0 for ) ( )} ( ) ( { then
), ( ) ( If
>

s F e t u t f
s F t f
s
L
L

+
t t dt e t f
t s
' Let ' ) ' (
0
) ' (
) ( ' ) ' (
0
s F e dt e t f e
s st s

Proof:
dt e t u t f t u t f
st

0
) ( ) ( )} ( ) ( { L
t translation:
Proofs of Some Additional Properties
{
0 for ) (
1
)} ( { then
), ( ) ( If
>

s
F t f
s F t f
L
L
t t
t
d e t f
t s

' Let )
'
( ) ' (
0
' ) (
) (
1
' ) ' (
1
0
' ) (

s
F dt e t f
t s

Proof:
dt e t f t f
st

0
) ( )} ( { L
Scaling:
Proofs of Some Additional Properties
) ( lim (t) lim
) ( lim (t) lim
0
0
s sF f
s sF f
s t
s
t

+
+

+
0
0
0
) (
lim
) (
lim )) 0 ( ) ( ( lim dt e
dt
t df
dt e
dt
t df
f s sF
st
s
st
s s
) 0 ( ) 0 ( 0
) (
lim
0
0
0 +

+

f f dt e
dt
t df
s
Proof:
dt e
dt
t df
f s sF
st

0
) (
) 0 ( ) (
Initial/Final Values:
) 0 ( ) ( lim
+

f s sF
s
Proofs of Some Additional Properties
dt e
dt
t df
f s sF
st
s s

0
0 0
) (
lim )) 0 ( ) ( ( lim
) 0 ( ) (
) (
lim
0
0
0

f f dt e
dt
t df
s
Proof of Initial/Final Values:
) ( lim ) ( lim
0
t f s sF
t s

Initial-value property holds when F(s) is a proper rational
function (f(0
+
) is well defined)
Final-value property holds when poles of sF(s) are in the left-
half plane (except for a simple pole at the origin)
Proofs of Some Additional Properties
{


d t f f
d t f f s F s F
t
t

0
1 2
0
2 1 2 1
1
) ( ) (
) ( ) ( ) ( ) ( L
( ) ) ) ( ) ( ) ( ) (
0
2 1 2 1


d e s F f s F s F
s

Convolution Property:


d e f s F
s

0
1 1
) ( ) (
Proof:
) ) ( ) ( ) (
0 0
2 1
d dt e t u t f f
st

,
`

.
|

dt e d t f f
st
t

,
`

.
|

0 0
2 1
) ( ) (
Example of Convolution Property
t
te
s

'

'

+
2
1
) (
1
L
Show:
Proof:
t
t
t
te d e

d e e
s s
t
t
) (
0
1
) (
1
) (
1

'

'

+
L