Lecture 13.

Inverse Laplace Transformation

Inverse Laplace Transform
Polynomials
P l
i l
Roots, zeros and poles
p
numbers
Complex
Step & Delta functions

Solving
g Differential Equations
q

Example: For zero initial conditions, solve

d 2 y (t )
d y (t )
+ 11
+ 30 y (t ) = 4 u (t )
2
dt
dt

Laplace transform approach automatically includes initial conditions

in the solution

L d y(t ) = s Y(s) y(0)

dt

d 2 y (t )
L 2 = s 2 Y(s) s y(0) y' (0)
dt
2

Solving
g Differential Equations
q
((contd))

Laplace transform of the equation

4
s Y ( s ) sy (0) y ' (0) + 11sY ( s ) 11y (0) + 30Y ( s ) =
s
2

s 2 y (0) + s ( y ' (0) + 11) + 4

Y (s) =
s ( s 2 + 11s + 30)
Easy to solve the differential equation in Laplace space,
but needs to transform the solution to real space!
p

Inverse Laplace
p
Transform
3

Inverse Laplace
p
Transform

Consider that F(s) is a ratio of polynomial expressions

N ( s)
F ( s) =
D (s
( s)

The n roots of the denominator, D(s) are called the poles

Poles
P l really
ll d
determine
t
i th
the response and
d stability
t bilit off th
the system
t
The m roots of the numerator, N(s), are called the zeros

Inverse Laplace
p
Transform
We will use p
partial fractions expansion
p
with the method
of residues to determine the inverse Laplace transform
Three possible cases (need proper rational, i.e., n>m)
1. simple poles (real and unequal)
2. simple complex roots (conjugate pair)
3. repeated roots of same value

1. Simple
p Poles

Simple poles are placed in a partial fractions expansion

F (s) =

K 0 (s + z1 )L (s + z m )
Kn
K1
K2
=
+
+K+
(s + p1 )(s + p 2 )L (s + p n ) s + p1 s + p 2
s + pn

The constants, Ki, can be found from (use method of residues)

K i = ( s + pi ) F ( s ) s = p

Finally,
y, tabulated Laplace
p
transform p
pairs are used to invert
expression, but this is a nice form since the solution is

f (t ) = K 1 e p1 t + K 2 e p2 t + L + K n e pn t
6

2. Complex
p
Conjugate
j g
Poles

Complex poles result in a Laplace transform of the form

K 1
K1
K1
K 1*
+
+L =
+
+
F (s) =
s + ( j ) s + ( + j )
s + ( j ) s + ( + j )

The K1 can be found using the same method as for simple poles

K 1 = ( s + j ) F ( s ) s = + j
WARNING: the "positive" pole of the form +j MUST be the one that
is used
The corresponding time domain function is

f (t ) = 2 K 1 e t cos( t + ) + L
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3. Repeated
p
Poles

When F(s) has a pole of multiplicity r, then F(s) is written as

F (s) =

P1 ( s )

Q 1 ( s ) (s + p1 )

K 11
K 12
K 1r
=
+
+L+
+L
r
2
s + p1 (s + p1 )
(s + p1 )

Where the time domain function is then

f (t ) = K 11 e p1t + K 12 t e p1t

t r 1 p1t
+ L + K 1r
e +L
(r 1)!

Th t is,
That
i we obtain
bt i the
th usuall exponential
ti l but
b t multiplied
lti li d b
by t's
t'

3. Repeated
p
Poles ((contd.))
The K1j terms are evaluated from
K1 j

1
d r j
r
(
)
=
s
+
p
F (s)
1
r j
(r j )! ds

]
s = p1

This actually simplifies nicely until you reach s terms,

that is for a double root (s+p1)
d
2
2
(
s + p1 ) F ( s )
K 12 = (s + p1 ) F ( s )
K 11 =
s = p1
ds
s = p1

Thus K12 is found jjust like for simple

p roots

Note this reverse order of solving for the K values

9

The Finger
g Method
Lets suppose
pp
we want to find the inverse Laplace
p
transform of

5 ( s + 1)
F( s) =
s ( s + 2)( s + 3)

Well use the finger method which is an easy way of

visualizing the method of residues for the case of simple
roots (non-repeated)
We note immediately that the poles are
s1 = 0 ; s2 = 2 ; s3 = 3

10

The Finger
g Method ((contd))

For each pole (root), we will write down the function F(s) and put our
finger over the term that caused that particular root, and then
substitute that pole (root) value into every other occurrence of s in
F(s); lets start with s1=0

5 ( s + 1)
5 (0 + 1)
5 (1) 5
F( s) =
=
=
=
s ( s + 2)( s + 3) ( s )(0 + 2)(0 + 3) (2)(3) 6

This resultl gives

Thi
i
us the
h constant coefficient
ffi i
for
f the
h inverse
i
transform
f
of that pole; here: e0t

11

The Finger
g Method ((contd))

Lets finger the 2nd and 3rd poles (s2 & s3)

5 ( s + 1)
5 (2 + 1)
5 (1) 5
F( s) =
=
=
=
s ( s + 2)( s + 3) (2)( s + 2)(2 + 3) (2)(1) 2
5 ( s + 1)
5 (3 + 1)
5 ( 2 )
10
F( s) =
=
=
=
s ( s + 2)( s + 3) (3)(3 + 2)( s + 3) (3)(1)
3

They have inverses of e2t and e3t

The final answer is then

5 5 2 t 10 3t
f (t ) = + e e
6 2
3
12

Initial Value Theorem

The initial value theorem states

lim f (t ) = lim s F( s )
t 0

Oftentimes we must use L'Hopital's Rule:

If g(x)/h(x) has the indeterminate form 0/0 or / at x=c, then

g ( x)
g ' ( x)
= lim
lim
x c h( x )
x c h' ( x )

13

Final Value Theorem

The final value theorem states

lim f (t ) = lim s F ( s )
t

s 0

The initial and final value theorems are useful for determining initial
and steady-state
steady state conditions
conditions, respectively
respectively, for transient circuit
solutions when we dont need the entire time domain answer and we
dont want to perform the inverse Laplace transform

14

Initial and Final Value Theorems

The initial and final value theorems also provide quick ways to
somewhat check our answers
Example: the finger method solution gave

5 5 2 t 10 3t
f (t ) = + e e
6 2
3

Substituting tt=0
0 and tt= yields

5 5 0 10 0 5 + 15 20
=0
+ e e =
6 2
3
6
5
15
5
f (t = ) = + 10 e e =
6
2
6

f (t = 0) =

15

Initial and Final Value Theorems

What would initial and final value theorems find?

First, try the initial value theorem (L'Hopital's too)

5 ( s + 1)

=
s ( s + 2)( s + 3)

f (0) = lim s F( s ) = lim

s

5 ( s + 1)
5
5
f (0) = lim d 2
= lim
= =0
s
s

2s +5
ds s + 5 s + 6
d
ds

Next, employ final value theorem

5 ( s + 1)
5 (1)
5
f () = lim s F( s ) = lim
=
=
s 0
s 0 ( s + 2)( s + 3)
(2)(3) 6

This gives us confidence with our earlier answer

16

Class Examples
p

Find Inverse Laplace Transforms of

s
Y( s) =
( s + 1) 2
s
Z( s ) = 2
s + 4s +8

17