ENGINEERING MATHEMATICS II / DAC 20103

CHAPTER 4

LAPLACE TRANSFORM

4.1 Introduction

In mathematics, the Laplace transform is an integral transform named after

mathematician and astronomer Pierre-Simon Laplace (1749-1827). It takes a function of a
positive real variable t (often times) to a function of a complex variable s (frequency).
In engineering, we always encountered problem with piecewise continuous
function. For example

1 0≤𝑡<2
𝑓(𝑡) = {
𝑡−2 𝑡≥2

To solve this problem, we use the method of Laplace transform. This method is one
of the tool that are very useful in solving linear differential equation. It also can be used to
handle piecewise continuous or impulsive force. The idea is to use an integral to transform
the differential equation into an algebraic equation.

4.2 Definition of the Laplace Transform

Given a function (𝑡) , t > 0, its laplace transform of f(t), F(s)= ℒ{f (t)} is defined as

 f (t )   e st f (t )dt  F (s) (4.1)

0

where we assume that the parameter s is real. Later it will be found useful to consider s
complex.
Laplace transform of 𝑓(𝑡) is said to exist if the integral (4.1) converges for some value of
s. Otherwise it does not exist.
In this module, we will not use its definition to find the Laplace transform of a function.
The use of Laplace table below simplifies the steps of solving the problem.

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Table 4.1 : Table of Laplace Transform

f(t) F(s)
k
4.1 k
s
n!
4.2 tn , n=1,2,…
s n 1
1
4.3 e at
sa
a
4.4 sin at
s  a2
2

s
4.5 cos at
s  a2
2

a
4.6 sinh at
s  a2
2

s
4.7 cosh at
s  a2
2

4.8 eat f (t ) F (s  a)
d n F (s)
4.9 n
t f (t ) , n=1,2,… (1)n

ds n

Example 4.1
By using the table of Laplace transform, find the transform of each function below:
(a) 𝑓(𝑡) = 5
(b) 𝑓(𝑡) = 𝑡 3
(c) 𝑓(𝑡) = 𝑒 5𝑡
(d) 𝑓(𝑡) = 𝑡
(e) 𝑓(𝑡) = 𝑒 −5𝑡

Solution
(a) ℒ{𝑓(𝑡)} = ℒ{5}
𝑘
𝐼𝑛 𝑡𝑎𝑏𝑙𝑒 ∶ ℒ{𝑘} = , ℎ𝑒𝑟𝑒 𝑘 = 5
𝑠
5
So, ℒ{5} = 𝑠

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(b) ℒ{𝑓(𝑡)} = ℒ{𝑡 3 }

𝑛!
𝐼𝑛 𝑡𝑎𝑏𝑙𝑒 ∶ ℒ{𝑡 𝑛 } = 𝑠𝑛+1 , ℎ𝑒𝑟𝑒 𝑛 = 3
3! 6
𝑆𝑜, ℒ{𝑡 3 } = 3+1 = 4
𝑠 𝑠

(c) ℒ{𝑓(𝑡)} = ℒ{𝑒 5𝑡 }

1
𝐼𝑛 𝑡𝑎𝑏𝑙𝑒 ∶ ℒ{𝑒 𝑎𝑡 } = 𝑠−𝑎 , ℎ𝑒𝑟𝑒 𝑎 = 5
1
𝑆𝑜, ℒ{𝑒 5𝑡 } = 𝑠−5

(d) ℒ{𝑓(𝑡)} = ℒ{𝑡}

𝑛!
𝐼𝑛 𝑡𝑎𝑏𝑙𝑒 ∶ ℒ{𝑡 𝑛 } = 𝑠𝑛+1 , ℎ𝑒𝑟𝑒 𝑛 = 1
1! 1
𝑆𝑜, ℒ{𝑡} = =
𝑠1+1 𝑠2

(e) ℒ{𝑓(𝑡)} = ℒ{𝑒 −5𝑡 }

1
𝐼𝑛 𝑡𝑎𝑏𝑙𝑒 ∶ ℒ{𝑒 𝑎𝑡 } = , ℎ𝑒𝑟𝑒 𝑎 = −5
𝑠−𝑎
1 1
𝑆𝑜, ℒ{𝑒 −5𝑡 } = 𝑠−(−5) = 𝑠+5

4.3 Some Important Properties of Laplace Transform

4.3.1 Linearity

ℒ{𝑎𝑓1 (𝑡) + 𝑏𝑓2 (𝑡)} = 𝑎ℒ{𝑓1 (𝑡)} + 𝑏ℒ{𝑓2 (𝑡)} ,

𝑤ℎ𝑒𝑟𝑒 𝑎 𝑎𝑛𝑑 𝑏 𝑎𝑟𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

Example 4.2
Find the Laplace transform of each function below:
(a) 𝑓(𝑡) = 8𝑡 2 +3t
(b) 𝑓(𝑡) = (𝑡 + 3)3
(c) 𝑓(𝑡) = (sin 𝑡 − cos 𝑡)2

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Solution
(a) ℒ{𝑓(𝑡)} = ℒ{8𝑡 2 + 3𝑡}
= 8ℒ{𝑡 2 } + 3ℒ{𝑡}
2! 1!
= 8( ) + 3 ( )
𝑠 2+1 𝑠1+1
2 1
= 8 ( 3) + 3 ( 2)
𝑠 𝑠
16 3
= 3+ 2
𝑠 𝑠

(b) ℒ{𝑓(𝑡)} = ℒ{(𝑡 + 3)3 }

= ℒ{𝑡 3 + 9𝑡 2 + 27𝑡 + 27}
= ℒ{𝑡 3 } + 9ℒ{𝑡 2 } + 27ℒ{𝑡} + ℒ{27}
3! 2! 1! 27
= + 9 ( 2+1 ) + 27 ( 1+1 ) +
𝑠 3+1𝑠 𝑠 𝑠
6 18 27 27
= 4+ + 2+
𝑠 𝑠3 𝑠 𝑠

(c) ℒ{𝑓(𝑡)} = ℒ{(sin 𝑡 − cos 𝑡)2

= ℒ{(𝑠𝑖𝑛2 𝑡 − 2 sin 𝑡 cos 𝑡 + 𝑐𝑜𝑠 2 𝑡)}
= ℒ{1 − 2 sin 𝑡 cos 𝑡}
= ℒ{1 − sin 2𝑡}
= ℒ{1} − ℒ{sin 2𝑡}
1 2
= − 2
𝑠 𝑠 + 22
1 2
= − 2
𝑠 𝑠 +4

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4.3.2 First Shift Theorem

𝐼𝑓 ℒ{𝑓(𝑡)} = 𝐹(𝑠), 𝑡ℎ𝑒𝑛

ℒ{𝑒 𝑎𝑡 𝑓(𝑡)} = 𝐹(𝑠 − 𝑎) 𝑤ℎ𝑒𝑟𝑒 𝑎 𝑖𝑠 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

Example 4.3
Use first shift theorem to find:
(a) ℒ{𝑒 −𝑡 cos 2𝑡 }
(b) ℒ{𝑡 4 𝑒 5𝑡 }
Solution
(a) Step 1 : Find a and f(t)

Comparing with ℒ{𝑒 𝑎𝑡 𝑓(𝑡)} 𝑎 = −1 𝑓(𝑡) = 𝑐𝑜𝑠2𝑡

Step 2 : Find F(s) = ℒ{𝑓(𝑡)}

𝑠
ℒ{cos 2𝑡} = 𝑠2 +𝑎2
𝑠
=
𝑠 2 + 22
𝑠
𝐹(𝑠) = 2
𝑠 +4

Step 3 : Substitute s-a for s in the result at step 2

𝑠−𝑎
𝐹(𝑠 − 𝑎) = ( )
(𝑠 − 𝑎)2 + 4
𝑠 − (−1)
=( 2 )
(𝑠 − (−1)) + 4
𝑠+1
=( )
(𝑠 + 1)2 + 4
𝑠+1
=( )
𝑠 2 + 2𝑠 + 5

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(b) Step 1 : Find a and f(t)

Comparing with ℒ{𝑒 𝑎𝑡 𝑓(𝑡)} 𝑎= 5 𝑓(𝑡) = 𝑡 4

Step 2 : Find F(s) = ℒ{𝑓(𝑡)}

4!
ℒ{𝑡 4 } =
𝑠 4+1
24
𝐹(𝑠) =
𝑠5

Step 3 : Substitute s-a for s in the result at step 2

24
𝐹(𝑠 − 𝑎) = ((𝑠−𝑎)5 )

24
=
(𝑠 − 5)5

4.3.3 Multiplication by 𝒕𝒏

𝐼𝑓 ℒ{𝑓(𝑡)} = 𝐹(𝑠), 𝑡ℎ𝑒𝑛

𝑑𝑛
ℒ{𝑡 𝑛 𝑓(𝑡)} = (−1)𝑛 𝐹(𝑠) 𝑤ℎ𝑒𝑟𝑒 𝑛 = 1,2,3,
𝑑𝑠 𝑛

Example 4.4
Find Laplace Transform for the following expressions:

(a) t cos 2t

(b) t 2
sinh 5t

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Solution
(a) Compare t cos 2t with ℒ{𝑡 𝑛 𝑓(𝑡)}

𝑛=1 𝑓(𝑡) = cos 2𝑡

ℒ{𝑓(𝑡)} = ℒ{cos 2𝑡}

𝑠
= 2
𝑠 + 22
𝑑1 𝑠 𝑑1
ℒ{𝑡𝑐𝑜𝑠2𝑡} = (−1)1 1
( 2 ) # 𝑚𝑒𝑎𝑛𝑠 𝑑𝑖𝑓𝑓𝑒𝑟𝑒𝑛𝑡𝑖𝑎𝑡𝑒 𝑡𝑜 𝑠 𝒐𝒏𝒆 𝑡𝑖𝑚𝑒.
𝑑𝑠 𝑠 + 4 𝑑𝑠1
d  s 
   Differentiate by using quotient rule formula
ds  s 2  4 
  s 2  4 1  s  2 s  
  
  s  4  
2 2


s2  4

 s2  4
2

(b) Compare t 2
sinh 5t with ℒ{𝑡 𝑛 𝑓(𝑡)}

𝑛=2 𝑓(𝑡) = sinh 5𝑡

ℒ{𝑓(𝑡)} = ℒ{sinh 5𝑡}
5

s  25
2

d2  5 
t 2 sinh 5t  (1)2  
ds 2  s 2  25  d2
# means to differentiate two times
d2  5  ds 2
 2 2 
ds  s  25 
d  5   s  25 0  5(2s)
2
10s
(1)  2  
ds  s  25   s  25  s  25
2 2 2 2

 
d2  5  d  10s 
 2 
ds 2  s  25  ds   s 2  25  
2

 
(2)
s 
 25   10    10s  4s  s 2  25    30s
2 2
2
 250

s  25  s  25 
2 4 2 3

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Exercise 4.1
1. Refer to the Laplace table to find the Laplace transform of the following functions.
1
(a) 𝑓(𝑡) = 2

(b) 𝑓(𝑡) = 𝑡 3
(c) 𝑓(𝑡) = 𝑡 2
(d) 𝑓(𝑡) = sin 2𝑡
(e) 𝑓(𝑡) = 𝑒 5𝑡
(f) 𝑓(𝑡) = cos 4𝑡
(g) 𝑓(𝑡) = 𝑒 −𝜋𝑡
(h) 𝑓(𝑡) = cosh 3𝑡
1
(i) 𝑓(𝑡) = 𝑒 2𝑡
2
(j) 𝑓(𝑡) = sinh 3 𝑡

2. Find the Laplace transform.

(a) 𝑓(𝑡) = 3𝑡 2 + 𝑡 5
(b) 𝑓(𝑡) = cos 8𝑡 − sin 8𝑡
(c) 𝑓(𝑡) = 𝑡 4 + 2𝑡 3 − 4𝑡 2 + 𝑡 + 1
1
(d) 𝑓(𝑡) = 2 cosh(6𝑡 + 1)

(e) 𝑓(𝑡) = 𝑒 2𝑡 − 𝑡 3 + 𝑡 2 − sin 5𝑡

1
(f) 𝑓(𝑡) = cos(3𝑡 + 4 𝜋)

(g) 𝑓(𝑡) = (𝑡 + 2)2 − (𝑒 𝑡 + 3)2

3. Find the Laplace transform.

(a) 𝑓(𝑡) = 𝑡 3 𝑒 −4𝑡 (b) 𝑓(𝑡) = 𝑡 sin 6𝑡
(c) 𝑓(𝑡) = (2𝑡 − 𝑒 2𝑡 )2 (d) 𝑓(𝑡) = 2𝑒 4𝑡 sin 4𝑡
(e) 𝑓(𝑡) = 𝑡 sin 6𝑡 (f) 𝑓(𝑡) = 𝑡 2 cos 𝑡
(g) 𝑓(𝑡) = 𝑡 3 𝑒 4𝑡 − 𝑒 𝑡 cos √7𝑡
(h) 𝑓(𝑡) = 𝑡 2 − 3𝑡 − 2𝑒 −𝑡 sin 3𝑡
(i) 𝑓(𝑡) = 𝑒 −2𝑡 cos√3𝑡 − 𝑡 2 𝑒 −2𝑡

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