Chapter 3: Laplace Transform: FT Fs

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PQT 112 [Mathematics for Engineering Technology I]

Chapter 3: Laplace Transform

Chapter 3: Laplace Transform

3.1 Introduction
In reality, Laplace transform has many applications in science and engineering. It has important applications in
mathematics, mechanical vibrations, electrical circuits and control engineering. The main idea behind the
Laplace transformation is that we can solve an equation containing differential equation and integral terms by
transforming the equation in t-domain to one in s-domain with the intention that the problem easier to solve. In
mathematics, it is used for solving ordinary differential equation and integral equations. We begin our discussion
with the definition of Laplace transform.

{
Laplace Transform,  f ( t ) = F ( s ) }

f (t ) F (s)

{
Inverse Laplace Transform, −1 F ( s ) = f ( t ) }
Definition 3.1
Given a function, f (t ), defined for all t ≥ 0. The Laplace transform of f (t ) is defined as
the following integral


L{ f=
(t )} F=
(s) ∫ f (t )e − st dt
0

where L is a Laplace transform operator. The F ( s ) is defined for all s ≥ 0.

Since the integral in an improper integral, by definition evaluated according to the rule
∞ T
= {
 f ( t )} e f ( t ) dt
∫=
− st
lim ∫ e − st f ( t ) dt
T →∞
0 0
Since the result of integral (3.1) depend on s , we can write:
∞ T
= {
 f ( t )} e − st f ( t ) dt lim ∫=
∫= e − st f ( t ) dt F ( s )
T →∞
0 0

In general, other examples can be written as: {


 f ( t )} = F ( s )
 { g ( t )} = G ( s )

 { y ( t )} = Y ( s )

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

Derivation of transformation of some elementary functions

The Laplace transform for some elementary function stated as follows.

Example 1: Show that  {1} =


1
s
Solution:

{ }
*Example 2: Using the definition of the Laplace transformation, determine  f ( t ) if

2 0 ≤ t < 1
( t )  t 1 ≤ t < 4
f=
0 t≥4

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

{ }
Example 3: Using the definition of the Laplace transformation, determine  f ( t ) if

 t 0≤t <2

f ( t ) = 4 − t 2 ≤ t < 4
 0 t≥4

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

*Example 4: Answerthe following questions.


(i) Determine the piecewise function f (t ) for the given graph.

(ii) Next, find the Laplace transform of the function obtained in (i) by using the definition of Laplace transform.

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

3.2 Laplace Transform


Standard table of Laplace Transform

Table of Laplace transform are shown in Figure 1. These are generally used after analysing some elementary
function by using the definition.

Figure 1: Table of Laplace Transform

f (t ) F ( s ) = L { f (t )} f (t ) F ( s ) = L { f (t )}

a a b
e at sin bt
(s − a) + b2
2
s

n! s−a
t n ,=
n 1, 2, … e at cos bt
s n +1 (s − a) + b2
2

1 n!
e at t n e at
(s − a)
n +1
s−a

a dn
sin at
s + a2
2
t n f (t ) (−1) n [ F ( s)]
ds n

cos at s F ( s − a)
e at f (t )
s + a2
2

sinh at a y′(t ) sY ( s ) − y (0)


s − a2
2

s y′′(t )
cosh at s 2Y ( s ) − sy (0) − y′(0)
s − a2
2

Example 1: By using the table of Laplace transforms, find the Laplace transforms for given f ( t ) .
a) f (t ) = 5
Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

b) f ( t ) = e3t
Solution:

c) f ( t ) = cos 3t
Solution:

d) f (t ) = t 3
Solution:

2
e) f ( t ) = sinh t
3
Solution:

5
f) f ( t ) = cosh t
4
Solution:

g) f ( t ) = sin 4t
Solution:

h) f ( t ) = e −10t
Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

3.3 Properties of Laplace Transform

Properties of LT
Linearity
First Shift
Multiply by 𝑡𝑡 𝑛𝑛

3.3.1 Linear Property of Laplace Transform


Theorem 4.1 (Linear Property)

If L { f (t )} and L { g (t )} are exist, and if α and β are constants, then

L {α f (t ) + β g (t )} = α L { f (t )} + β L { g (t )} = α F ( s ) + β G ( s ) .

*Example 1: Find Laplace transform for the following functions:


a) {
 −2t 3 + 7t}
Solution:

b) {
 2t 4 − e −4t }
Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

c) {
 −2 cos 5t + 6t − 9e −5t }
Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

3.3.2 First Shift Property of Laplace Transform


Theorem 4.2 (First Shift Property)

If L { f (t )} = F ( s ) and a is a constant, then

L {e at f (=
t )} F ( s − a ) .

{
Proof:  f ( t )} = e − st f ( t )

0

= ∫ e− ( s −a )t f ( t )
0

= ∫e
− pt
f ( t ); p= s − a
0

= F ( p ) since p= s − a
= F (s − a)

*Example 1: Find Laplace transform for the following functions:


a) f ( t ) = e t
3t 4

Solution:

b) f ( t ) = e −4t sin ( 3t )
Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

c) (t )
f= ( sin t − cos t )
2
et
Solution:

3.3.3 Laplace Transform of Multiplying by 𝒕𝒕𝒏𝒏


Theorem 4.3 (Multiplying by t n )

Given t n with n = 1, 2,3, . If L { f (t )} = F ( s ) then

dn
L {t n f (t )} = (−1) n [ F ( s)].
ds n

Example 1: Find Laplace transform for the following functions:


a) f ( t ) = t sinh 3t
Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

b) f ( t ) = t 2 sin t
Solution:

f ( t ) 5t cos t − 2t 2 sin t
c) =
Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

3.4 Inverse Laplace Transform

{ }
Laplace Transform,  f ( t ) = F ( s )

f (t ) F (s)

{ }
Inverse Laplace Transform, −1 F ( s ) = f ( t )

Definition 4.2 (Inverse Laplace Transform)

{ }
If L f ( t ) = F ( s ) , then f ( t ) is called inverse Laplace transforms of F ( s ) and is written as

L−1 {F ( s )} = f ( t ) . The operator L


-1
is known as the operator of inverse Laplace transforms.

*Example 1: Find the inverse Laplace transform of the following functions.


6
a) F (s) =
s
Solution:

5
b) F (s) =
s − 36
2

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

3.5 Properties of Inverse Laplace Transform

Properties of ILT Linearity

First Shift

Rational Function

3.5.1 Linear Property of Inverse Laplace Transform


Theorem 4.4 (Linear Property of Inverse Laplace Transform)

If L−1 { F ( s )} = f ( t ) and L−1 {G ( s )} = g ( t ) , and if α and β are constants, then


L−1 {α F ( s ) + β G ( s )} =α L−1 { F ( s )} + β L−1 {G ( s )} =α f ( t ) + β g ( t ) .

*Example 1: Find the inverse Laplace transform of the following functions.


5s + 12
a) F (s) =
s2 + 4

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

s+9
b) F (s) =
3s 2 + 12
Solution:

2 s + 5 3s − 9
F (s)
c) = +
s 2 + 25 s 2 + 4
Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

3.5.2 First Shift Property of Inverse Laplace Transform


Theorem 4.5 (First Shift Property of Inverse Laplace Transform)

{ }
If L F ( s ) = f ( t ) and a is a constant, then
−1

L−1 { F ( s − a )} =
e at f ( t ) ,

or can also be written as

L−1 { F ( s − a )} =
e at L−1 { F ( s )}.

Example 1: Find the inverse Laplace transform of the following functions.

1
a) F (s) =
4s − 3

Solution:

10
b) F (s) =
( s + 2)
4

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

5s
c) F (s) =
( s − 2)
2

Solution:

−5
d) F (s) =
( s + 3) +9
2

Solution:

s+3
e) F (s) =
s + 6 s + 10
2

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

1 2
F (s)
f) = +
2s + 1 s + 4
2

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

12 s + 10 20 3 7
g) (s)
F= − 4 + 2 +
18s + 16 s
2
4s − 2 s − 3

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

3.5.3 Inverse Laplace Transform of Rational Functions


A rational function is basically a division of two polynomial functions. It is a polynomial divided by another
P (s)
polynomial. In general, the rational function of s can be written as when the degree of Q ( s ) is higher
Q (s)
than P ( s ) . The several examples inverse Laplace transform involving the rational function which needs rules of
partial fraction in order to solve it.

A
1. A linear factor ( s + a ) gives partial fraction .
(s + a)
A B
2. A repeated linear factor ( s + a ) gives partial fraction +
2
.
( s + a ) ( s + a )2

(s + a)
n
3. A repeated linear factor gives partial fraction
A B C Z
+ + + ... + .
(s + a) (s + a) (s + a)
2 3
(s + a)
n

As + B
4. A quadratic factor s 2 + bs + c gives .
s + bs + c
2

(s + bs + c )
n
5. A repeated quadratic factor gives
2

As + B Cs + D Ys + Z
+ + ... + .
( s + bs + c ) ( s 2 + bs + c )
2 2
( s 2
+ bs + c )
n

where A, B,...Z are constants.

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

Example 1: Find the inverse Laplace transform of the following functions.


1
a) F (s) =
( s + 1)( s − 2 )
Solution:

2s − 5
b) F (s) =
( s + 2s + 1) ( s − 1)
2

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

2 s − 13
c) F (s) =
s ( s − 4 s + 13)
2

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

s 2 + 2s − 4
d) F (s) = 3
s − 5s 2 + 2 s + 8

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

3.6 Initial Value Problem (IVP)


How to solve initial value problems of first order and second order linear differential equations by using Laplace
transform???????

The Laplace transform has many applications, mostly involving solving differential equations. Previously,
methods discussed in Chapter2 fail to apply if the equation involve f ( t ) in the form of piecewise continuous
functions, periodic functions, step function and delta function. By using this method, it provides us another way
for solving differential equations. In general, the steps in solving differential equations shown as follows
algorithm.

L { y ( t )} = Y ( s )
L { y=
′ ( t )} sY ( s ) − y ( 0 )
L { y′′ ( t )} = s 2Y ( s ) − sy ( 0 ) − y′ ( 0 )

L { y n (=
t )} s nY ( s ) − s n −1 y ( 0 ) − s n − 2 y′ ( 0 ) −  − y n −1 ( 0 )

Method of Solution:

1. Transformed differential equation becomes an algebraic equation into Y ( s )


2. Substitute initial conditions y ( a ) = b and y ' ( a ) = c
3. Solve for Y ( s )

{
4. Apply inverse Laplace transform, −1 Y ( s ) }
5. Obtained y ( t ) which is original solution for given differential equation.

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

3.6.1 First Order Linear Differential Equation


Example 1: Use the method of Laplace transform to find the solution of the initial value problem
y '+ 2 y =
1, y ( 0) = 0

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

*Example 2: Use the method of Laplace transform to find the solution of the initial value problem
y '− 5 y =
15t , y ( 0) = 2

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

Example 3: Use the method of Laplace transform to find the solution of the initial value problem
t 2 e3t , y ( 0 ) = −1
y′ − y =

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

3.6.2 Second Order Linear Differential Equation


Example 1: Use the method of Laplace transform to find the solution of the initial value problem
y ''+ y =2, y ( 0 ) 0,=
= y ' ( 0) 1

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

*Example 2: Use the method of Laplace transform to find the solution of the initial value problem
y ( 0 ) 0,=
4e −2t , =
y′′ − y′ − 12 y = y ' ( 0) 1

Solution:

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PQT 112 [Mathematics for Engineering Technology I]
Chapter 3: Laplace Transform

Example 3: Use the method of Laplace transform to find the solution of the initial value problem
y′′ + 6 y′ + 3 y =
0, = y ( 0 ) 1,=y ' ( 0) 4

Solution:

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