Laplace Transform and the ZTransform

Engr. Lester James U. Agum

Several techniques used in solving engineering problems are based on the replacement of functions of a real variable (usually time or distance) by certain frequencydependent representations, or by functions of a complex variable dependent upon frequency. Laplace and Z transform are very important technique for linear control system analysis. LAPLACE TRANSFORM relates time functions to frequency dependent functions of a complex variable.
Z-TRANSFORM - relates time sequences to a different but related, type of frequency function.

LAPLACE TRANSFORM
Definition
Let f(t) be a real function of a real variable t defined for t>0. Then

L [f(t)] = F(s) = lim T f(t)e-stdt 0< <T

as T approaches to infinity and approaches to 0

s is a complex variable defined by s=+, where and

are real variables and =-1

Definition If f(t) is defined and single valued for t>0 and F() is absolutely convergent for some real number 0 that is, 0 |f(t)|e- t dt = lim t |f(t)| e- t dt <+
0 0

then f(t) is Laplace Transformable for Re(s)> 0 .

Example 1
The Laplace transform of e-t is

Inverse Laplace Transform

After the solution has been obtained in terms of s, it is necessary to invert this transform to obtain the time domain solution. The transformation from the s domain to t domain is called inverse Laplace Transform.

Let F(s) be the Laplace transform of a function f(t), t>0. The contour integral
L - [F(s)] = f(t) = 1/(2j) c-jc+j F(s)est ds Where j=-1 and c>0 is called the inverse Laplace transform of F(s).

Time Function

Laplace Transform

Unit Impulse
unit step unit ramp Polynomial Exponential

(t)
1(t) t tn e-at

1
1/s 1/s n! / sn+1 1 / (s+a)

Sine Wave
Cosine Wave

sin wt
cos wt

w / (s+w)
s / (s+w) w / (s+a) + w (s+a) / (s+a) + w

Damped Sine Wave e-at sin wt Damped Cosine Wave e-at cos wt

Properties Laplace Transform and its Inverse

Property # 1
The Laplace transform is a linear transformation between functions defined in t-domain and functions defined in the s-domain. That is, if F1(s) and F2(s) are the Laplace transforms of f1(t) and f2(t), respectively, then, a1F1(s) + a2F2(s) is the Laplace transform of a1f1(t) + a2f2(t), where a1 and a2 are arbitrary constants. Example:

L [3e-t e-2t]

Property # 2
The inverse Laplace transform is a linear transformation between functions defined in the s-domain and functions defined in the t-domain. That is if f1(t) and f2(t) are the inverse Laplace transforms of F1(s) and F2(s), respectively, then b1f1(t) + b2f2(t) is the inverse Laplace transform of b1F1(s) + b2F2(s), where b1 and b2 are arbitrary constants. Example:

L 1 [2/(s+1) - 4/(s+3)] =

Property # 3
The Laplace transform of the derivative df/dt of a function f(t) whose Laplace transform is F(s) is

L [df/dt] = s F(s) f(0+)

where f(0+) is the initial value of f(t), evaluated as the one-sided limit of f(t) as t approaches zero from positive values.

Example:

L [d/dt (e-t)] =

Property # 4
The Laplace transform of the integral 0t f()d of a function f(t) whose Laplace transform is F(s) is

L [0t f()d ] = F(s) / s

Example:

L [0t e- d ] =

Property # 5
The initial value f(0+) of the function f(t) whose Laplace transform is F(s) is

f(0+) = limt->0f(t) = lims->sF(s)

This relation is called the Initial Value Theorem Example:

t>0

lim t>0 e-3t =

Property # 6
The final value f() of the function f(t) whose Laplace transform is F(s) is

f() = limt> f(t) = lims>0 sF(s)

if limt> f(t) exists. This relation is called the Final Value Theorem. Example :

limt>(1-e-t) = lims>0 (s / (s(s+1))) = 1

Property # 7
The Laplace transform of a function f(t/a) (Time Scaling) is

L [f(t/a)] = aF(as)
where F(s) = L [f(t)] Example :

Property # 8
The inverse Laplace transform of a function f(s/a) (Frequency Scaling) is

L -[f(s/a)] = aF(at)
where L - [f(t)] = F(s) Example: L [1/ 9(1/3)s + 1)] =

Property 9
The Laplace transform of the function f(t-T) (Time Delay), where T>0 and f(t-T) = 0 for t<=T, is L [f(t-T)] = e-st F(s) Where F(s) = L [f(t)].

Property # 10
The Laplace Transform of the function e-at f(t) is given by L[e-at f(t) ] = F (s+a) Where F(s) = L [f(t)] (Complex Translation)

Property # 11
The Laplace transform of the product of two functions f1(t) and f2(t)is given by the complex convolution integral

L [f1(t) f2(t)] = 1/(2j) c+jwc-jw F1(w) F2(s-w) dw

Where F1(s) = L [f1(t) ], F2(s)= L [f2(t)].

Property # 12
The inverse Laplace transform of the product of the two transforms F1(s) and F2(s) is given by the convolution integrals
L -[F1(s) F2(s) ]=t0+ f1 () f2 (t - )d = t0+ f2 () f1 (t - )d

Where L [F1(s) ] = f1 (t ), L [F2(s) ] = f2 (t ),