Laplace Transform 12.1 INTRODUCTION, Laplace transform is the most widely used integral transform, It is a powerful ‘mathematical technique which enables us to solve linear differential equations by using algebraic methods. It can also be used to solve systems of simultancous differential equations, partial differential equations and integral equations. It is applicable to continuous functions, piecewise continuous functions, periodic functions, step functions and impulse functions. It has many important applications in mathematics, physics, optics, electrical engineering, control engineering, signal processing and probability theory 12.2 LAPLACE TRANSFORM 1f/(0 is a fmction of r defined for all 1 0, then J e~" fle) dt is defined as Laplace transform of f(), provided the integral exists and is denoted by L (/(0)) LUr= fens ot ‘The integral is @ function of the parameter s and is denoted by F(s), 7 (5) or $s) 12.2.1 Sufficient Conditions for the Existence of Laplace Transform “The Laplace transform of function (exists when the following sufficient conditions ae satisfied: (@ (0 is piecewise continuous, ic, f(t) is continuous in every subinterval and f(t) has finite limits atthe end points of each subinterval. Gi) f() is of exponential order of 0, ie, there exists M, czsuch that [/()| Me" forall 0. nother words, Jim fe f(} = finite quantity12.2 PPicincering Mathematioly 12.3 LAPLACE TRANSFORM OF SOME STANDARD FUNCTIONS @ f()=k where kis a constant root) = [Te kal @ sore Proof: L")=[ Putting st=x, dr wore e- 550, n41>0 (ii) f(t) Proot: L{e"} = fete” ar Gy) f(t) = sin at Ls ail ®) f(t) = cos at Proof eve} 2 | ebfeferdnte)] dead aC)wi) fo Proof: £{sinhat} = £1 inh at (vii) f(t) = cosh at Proof: Hcosnat}=L| é Hie l0ce Tronsform Le} nfe"}] (etats=8) Example 1: Find the Laplace transforms by definition: @ f0=3 aid) 0 0) = e081 int (it) foo=t —1 Solutio: @ LI FO) = [Leese a= oce SWEAR AGF ABEF IS) P= BEF DIS 8542) ete Jem =3 () cosh ateosat = Leosat) =~ L{cosharcosat} = 41, fe" cosat +e" cosat) By first shifting theorem, If sea sta eotrarsset)= Af 4Wi teptace transform was, (vii) coshdrsin3r =e 1{sin31} = 49 L{e* coshatsin3r} = 22 fe' sin3t +e sin3} By fist shifting theorem, 7 ys 3 L{e* coshat sin3#} =2] —3__,__3_ (anaes) aa aa] Sst 465434) (3° —2s-+10)(s* +145 +58) (i) sin2rooseooshar =[SB2tsint (Fe) 2 2 1 2 =F (e" sind be" sine +e sin 3t +e sin ges si i sin) 3 Lsin3}= L{sin2tcost cosh} =12{e" sind sine He sind +e int} By first shifting theorem, 21 {sn2¢corr cosh} lass ways Gaya]12.16 Bicineering Mathematioa cos2isint _—_,(sin3r—sint) 1 SOP sin ef MTSE) Io sin gto sin | =z sina ) 2 (es) 1 21 fe" sine" sint) xhe 7 By fits shifting theorem, 3 t Gi Ge 128 445-4 2G Fete + 2eFD 1 {exe 1 2| +2. rere A [aan = jet siar eins (%) sinh tsint = L{sint} = Fil 1 Le sinssins} = Life sint—e sine} 2 By first shifting theorem, a aif 1 Heat) al car Gaara 45416 2G $6s410)s" +105+26) _ 2644) (CF oe F OVE +1026)Wl teptace transform wat, Exercise 12.4 Find the Laplace transforms of the following functions: 1 fet 8. e“(Bsinh21—Scosh 21) ‘ ° [anes 2] Fane: Re , 9, sin2rsin3t — F42ees he 126-1 3. 2e" sind [AM Gar ay@ 26825 10. 6°" coshStsin4t 4. 4a’ ot +654 (42) [a Ao $6450 [ams s#te3] ($F =45+ 20" F165 +20) | (pF 1. e“* cosh sint ‘Ans. : 5 *88+18__ FFE 105426) 12, sin‘ 3 6 6 | os, 443 4. 3 G+tl Gta) G+ 12.4.4 Second Shifting Theorem i L{s@)}=Fe) and g@=f-a) toa =0 tea “ FO) then L{g(1)} Proof: 1{f()}= [> e" fear Leto} = fe" oa = fer ours [er sa-ayar12.18 Bvginecering Mathematical x20 xe 9 fede =e fe" fone rer flerpod er) Example 1: Find the Laplace transforms of the following functions: @ g@=cos(t—a) t>a ii) gi)=e* t>a =0 0 ta Gin, &()=sin| Gy) g@= 0-9 1 =0 te, Solutio @ Let f= cost LPO} = FG By second shifting theorem, 1s} Gi) Let fee’ L{FO}= Fos) By second shifting theorem, Us} Git) Let f= sine L{fO}=FO) By second shifting theorem, L{so}Wi eptace transform 3219, iv) Let faye’ 3 Lf O}= Fo = By second shifting theorem, Le} Exercise 12.5 Find the Laplace transforms of the following functions: (,_20) 2a 1. f@=cos[1-AE] > [ans Ua) Qe (x) 7. =o <> 3. fy=ssins| 1-7 pt =o 2 FQ) =(t-2)" =0 red 12.4.5 Multiplication by t 1 {f(} =F, then L710} Proof: L{f(t)}= F(s)= [7 (ar Differentiating both the sides wrt. s using DUIS, a ae a Seep eroe [Zero = [cre ypeods = Fe" {1 O}ar =-L {FO} Le soh- dL Fe) Similarly, L{PFO}=CN12.20, Bvginecering Mathematica In general, Fs) Lf fy}=Cy" P Example 1: Find the Laplace transforms of the following funetions: Gi) tsin at (ii) feos’ t (ii) tin’ (iv) tsin2rcosht () iFsine (vi) te" sine i (=) (it # coset (ix) Pe’ sina () (+te*y’ Solution: © Lfsinat}=— a (_a@ 2as Lesnar} =F Lfsinat) = F(a) —_A(9-3)'(s-2)?12.24 BE tgineering Mathematica Exercise 12.6 Find the Laplace transforms of the following functions: 1. teosat 10. (¢+sin21)* [ams 1. (¢sinb21)* [+s 12, Fe cosh2r s_,t__s_ a Ie =H! 3. teostwr—a) [a 4. tivemi 18. Pe“ sin3s Fans <1) 5. tosh FAHY 14, ti+sin2¢ [. ses 6. tsinh 2esin3r (FHP | Ans. > 1S. te (cost—sint) sod? S647 lots @ ears Ans: ay | 7. t(3sin2¢-2c0s2t) 16. (tos 21° << +4) 8, re" sin2t 1. [a A(s-3) | [ans Gory 18, cost 9. ( -3r+2)sin3r 63° = 18s" +1265" ory 625+ 432]Bi teptace transform 12s 12.4.6 Division by t ra 1{po}= Fe, then L/L} ~ f° royas Proof: L{fO}= Fls)= fre" sae Integrating both the sides warts from toe, J Foods =f" [Pe pened Since s and tare independent variables, interchanging the order of integration, [row f[ferroede =f =r Ly {£0} offer ar =1{ 0h ivy \ e* sinw du Jar J Loos ‘Ans, : —logS——cot™ 2. [ aeea | 12.6 HEAVISIDE’S UNIT STEP FUNCTION This defined as wo w=0 <0 ' 10 poo The displaced (delayed) unit step function u(~ a) ep resents the function u(t) which is displaced by a dis- Fig. 12.1 tance “a’ to the right Kea) wt-a)=0 tb fra) Feea) eb) Fig. 12.5 ‘Case IV: When any function f(0) is multiplied by the function [u(t a) —u(¢~)] lying between a-<1 20 () FO. Solution: ( Expressing /( in terms of unit step function, (=P ue) — ue 1) + Ar u(t 1) LES (0) =L{E u(t) — (t= 1) + Atte DY SLAP ui} - LAF u(t 1) 4 Lt u(t 1) a2 ee) +4" Ee) aie (BB Nate 2. f 2.2 3) Gi) Expressing f( in terms of unit step function, S(O = sin 2eult— 29) - sin 2tu(e— 40) LL S(O} = Hsin 24 u(t ~ 228) - sin 28 u(t — 4) = {sin 24 u(t 22)} ~ L{sin 2¢ u(t ~ 49} © L{sin 206+ 209} —e-™ L(sin 20+ 49} e L{sin 21} ~ &* L{sin 20) 2 2 Fea ead ii) Expressing f() in terms of unit step function, S(O = €08 f u(t) ~ cos u(t = A) + sin u(t) ILS (D) =L{c0s t u(t) ~ cos t u(t 4) + sin t u(t 2)} = Loos 1 u()} —L{cos t u(t— m)) +L{sint u(t - 2} —e*" Lhoos (b+ m)) +e" Lf sin (0+ 29) +1 ef L{cos t) +6 L{-sin t) val Fa 1 [ste GD]Wi teptace transform 1249, iv) Expressing f() in terms of unt step function F(= [eos 1 u(t) — cost u(t~ 7] + [cos 21 u(t ~ 2) — cos 2 u(t 27] + cos 31 u(t = 2) = cost u(t) + (608 24 ~ 605 ) u(t 2) + (608 31~ 08 21) t= 27) LAND} = Loos t ul} + LX (60s 21~ 608 1) u(t = a)} + L{ (Gos 31 ~ cos 21) u(t= 229} +7 Leos 204 2) C08 4M) +e" L {cos 3(1+ 2) FH = cos 20+ 2m} +e" Loos 21+ c08 #} +e L{cos 31— cos 2t) Fa ( ) ter] ee Fat laa ea) Exercise 12.12 (U) Find the Laplace transforms of the following functions: 1. fu(t—2) Bote u(t= 1) f (1632.48 48 24) [ [ans.s (8 i Jans: « 2. (1+ 32-4 + 2r*) u(t—3) 4. cos tu(t- 1) Jans: o( (UD) Express the following functions in terms of Heaviside’s unit step function and hence, find the Laplace transform. Leone o 2012.50, Bvginecering Mathematica DIRAC DELTA OR UNIT IMPULSE FUNCTION Consider the function f(#) as shown in Fig. 12.7. 1 Tr T 10 i eereE SO T 2 z r =0 otherwise 1 ‘The width ofthis fantion is Fan its amplitude is ++ Hence, the area of this function is one unit. As T— 0, 2 * the fanction becomes delta funtion or unit impulse ig. 12.7 faction, jim f()= bo) Dirac delta function has zero amplitude everywhere ex- 40 cept at = 0, At¢= 0, the amplitude ofthe function i 1 infntly loge auch thatthe area under its curve i equal to one nit. Hence, its defined as, —— a S()=0 r#0 ami [Laar=l ro Rig 128 ‘The displaced (delayed) delta or unit impulse function 4-0) (t ~ a) represents the function 5(0) which is displaced bya distance ‘a’ to the right. at a)=0 tea and [5a Some properties of Dirac delta function: © [rama ro) Fig. 12.9 (i) [FO ot-ayde = fla) 12.7.1 Laplace Transform of Dirac Delta Functions () Laplace transform of 5(t) a=0 140 [lewmar=1 t=0 LL} = ler Bnd =le “do =1Bi teptace transform 1251 (ii) Laplace transform of 6(t- a) St-a)=0 tea and [7 o(t-a)dr=1 ta Lat—a)} = fe" apa =le",, [From property (i)] (iii) Laplace transform of f(t) 5(t- a) F() Ht=a) =0 tea and [7 f()8U-ayar= f(a) tea Lif) da a)) = Je FDU aya =le"Mh, [From property (i) =ewf(a) ‘Example 1: Find the Laplace transforms ofthe following functions: @ sin21 3[+-2) -e 3-2) Gi) rue) +8 50-4) Gil) # u(t 2)— cosh 5( 1-2). Solution: @ LO 6(0-a)} = f(a) Gi) LS H(t a} = fla) L{tu(t—4) +8 it~ 2)} =e L(flt+ 4)) +148 3-4} Se L(t 4} be 4 ity LE (t-a)) and LY uta) L {8 u(t =2) — cos ht S(t ~ 2)} = LE u(t~ 2)} ~ L{cos ht 8(¢~2)} =e L{(r+ 29) —e* cosh? 8) cea? ) 4 cosh] yooh}12.52, Bb tgincering Mathematical Example 2: Evaluate the following integrals ay ft, {,_#) Gi) ("Pet si of cov2o| 1-7 Jae Gi) [PP e* sint5¢—-2)40. Git) [Fe dog" 8-3) at. Solution: 0 fF fose-aar= fa) ffeos2ra( 2 ]ar= cos =o 0 ea) «i [po s0-aar= fa) fe sine ot¢—2) r= (VF e? sin2 = 4e™ sind (ii) J) fo8e-aar= f(a) [fe dogo" 6-3) r= 3"(og3)" Exercise 12.13 () Find the Laplace transforms of the following functions L tu(t-4)-# 5-2) pons karay-ae>] ane 2e 2. sin2 50-2) est 3) 3. Pu(t—2)—coshr 5(t- 4) [anes dens 6. (e+ log t) tt -2) ] Ans. - [Ams. : (e+ log 2) € aF2e+)-0 crs] (QD) Evaluate the following integrals: sins 3(¢-a)de 1 fpsinara[e— Za 2 Ans. :e~ (sin a ~ cos a)]Bi teptace transform 1253, 12.8 LAPLACE TRANSFORM OF PERIODIC FUNCTIONS A function f (0 is said to be periodic if there exists a constant TUT > 0) such that S(t+1)=f (0, forall values of. fUtM=fe+T+D=ft+D=f0 In general, f(¢ + n7) =f(0 for allt, where m is an integer (positive or negative) and T is the period of the function If/(0 isa piecewise continuous periodic function with period 7, then Lf)= fle" reode Proof: Lf o}= [ler soars fe" fends =f In the second integral, putting t= x4 7, dt = dx When 15 Dope, epee Lisoy= fle sends fe? fey = [ler findr se” Pen send afer oarse” fre" soar = [ler sodr rer Linn) (ie Lif} = fle" fnae 1 fie"soar ime LfO}= Example 1: Find the Laplace transform of (=k 0<¢] f0)=f0+2—) roses )| [Ans Fenssothas we] 4. =| 00s at] 1>0 [ams 1 12.9 INVERSE LAPLACE TRANSFORM IEL{f(D} =F(s), then f(0)is called inverse Laplace transform of F(s) and symbolically written as = EMFO)} where Lis called the inverse Laplace transform operator. Inverse Laplace transform can be found by the following methods (@) Standard results Gi) Second shifting theorem Git) Differentiation of Fis) (iv) Partial fraction expansion (v) Convolution theorem, 12.9.1 Standard Results Inverse Laplace transforms of some simple functions can be found by standard results and properties of Laplace transform,Bi teptace transform 12.59 Example 1: Find the inverse Laplace transforms of the following functions: Bid go Seed Ga dott Bet? Og © Temas © Feast oy i) “ 2843 Gry LO) =3 008 31+ sin 31 4s+15 iy = E4F(O} = Leosh 3143 inh ase2_ Ast) O) Fo 8425510 (s+) +9 De“ cos 3¢ 243 _ 24241 Met) HY | 1 Fe292 GaP Hl Fel Gel Hl Gaal sure =2eu 1S been Lev cos tte" sin reo arer {been teersint 3s-D+1012.60, Bb tgincering Mathematico (iti) FO) FSG Pie 7 | Exercise 12.15 Find the inverse Laplace transforms of the following functions: 3e-12 6 1 48 Cny Ans.:3eos231—H sn 277] 1 Ans. (sin 2¢ 210820 1° ) [Ans.: 4e“a-9]Bi teptace transform 161, 12.9.2 Partial Fraction Expansion Po ‘Any function #() can be writen as T= where) and 0) ae polynomials in For performing partial fraction expansion, the degree of P(s) must be less than the degree of Q(s).Ifnot, P(s) must be divided by Q(s), so thatthe degree of P(s) becomes less than that of Q(2). Assuming that the degree of P(e) is less than that of O(), four possible cases arise depending upon the factors of (9). Case I: Factors are linear and distinct, P(s) Fo= Oo _ = aed By pavtal action expansion, B PO a ab (Case TE Factors are linear and repeated P(s) F(s) = ——>__ (sta)(s+b)" By partial fraction expansion, 8, ay (Case IIL: Factors are quadratic and distinct, Fo By partial fraction expansion, Fsy= Case IV: ‘actors are quadratic and repeated, POs) 20" Gye tasdy By partial fraction expansion, AstB | C+D, Cs+D, 6s+D, FO" Syareb Faced @eardy Creede Example 1: Find the inverse Laplace transforms of the following functions: st2 ‘iy S12 iy) 2 a1SS- s(s+D(8+3) #843) (s+D(s-212.62, Bvginecering Mathematica std +65" +148 Seth wey ea \ Bnew 7 sia wi s in 2 wit) s(s—I(s' +4) ¢ (8 +18 +4) wo (Star +h) o ets gy sh (s+ 2s+5)(s +2842) (8 +4s+8)(8 445413) » 28 2 a oo TG Git) SS (wiv) 35° 468-4 Gay 542 s(s+1)(s+3) By partial faction expansion, 4,8 € Fo= 44 Fy w s stl s43 $+ 2=Als + Is +3) + Bos +3) + Cols +1) a Putting s = 0 in Eq. (1), 2234 an2 3 Putting s= -1 in Eq (1), 1=B(-1Q) a 2 Putting s =~3 in Eq, (1), F)= IMFO} =Bi teptace transform 12.63, 42. +3) GF) = By partial fraction expansion, 4 F)= Bc oe s+ 2=Asls+3)+B(s+3)+ C8 w Putting s = 0 in Eq. (1), 2=3B Be 3 Putting s = ~3 in Eq. (1), “1=9¢ 1 3 Equating the coefficients of = 0-44 Sé—15s-11 Gi Fg SESE MO CDG By partial faction expansion Fy=-4 +4 = a ep 1Ss~ 11 =A(s-2)' + Be + 1) (5-2) + CUS + 1) @ Putting s =~1 in Eq, (1), Putting s=2 -21=3C 7 quating the coefficients of =, S=A4B B Eq. (1),12.64, Bvginecering Mathematical 1 F= s-2 G2" oro = £4 bya | daft | DUR} = L tat! tral IE toy sete de THe 42 (436407 By partial fraction expansion, (FO = rye Aer Bp 2 = 3 sl Ga Ge s+ 2=A(s +1) + Bis +3) (s+ 1) + Cls + 3) (8 +1) + Dis + 3) ( Putting s = -3 in Eq, (1), “1=-84 aah 3 Putting s==1 in Ea (), 1=2p 1 Equating the coefficients of ', 0-448 boi 1k sey 2 GHD = Fle" Har +21-De]Bi teptace transform 1265 fo rey = Se AME OPO CaF By partial fraction expansioa, r- 4,4 _,_£ PD FG Gy Gy P+ 60+ 1d = Als +2) + AG +2)°+ 016+ 2)+D AS + (A+ B)e + (2A + 4B + Os (SAAB +2C4D) (1) Eaquating the coefliciens of», 4-1 Equating the coefficients of =, 6-64 +B B=0 Equating the coefficients of M=12444B+C C=14-12-0=2 Equating the coefficients of, 0-84 +484204D D--8-0-4--12 roe 2-2 = Te2 Gan Gray rere) = 0 [} 0" «Lea 1 (sea ? wie er (4 P= 2) no tt WD FO = Gy By partial fraction expansion, ABs FH #42 354 1= Ae +2) +Be+O +1) in) Putting s = 1 in Eq. (1), 2-34 4a 2 Equating the coefficients of =, 0-448 B=12.66, Bvginecering Mathematical Equating the coefficients of s*, l=24+C sG-De +A) By partial fraction expansion, A,B Cs+D 44 S44 = AG Ie +4) + Bole +4) + (Cs¥D) a(¢-1) Putting s = 0 in Eq, (1), 4=-44 Az Putting s = 1 in Eq. (1), 5=5B B=1 Equating the coefficients of s', O-A+B+C c=1-1=0 Equating the coefficients of s, 1=44448-D we Ener L {tall loos cos 2] oy)Bi teptace transform Bet ix) F()=$ © FO“ Ga Let By partial fraction expansion, Ge)= xta x+bP x= A+ B+ Beta!) o Putting x =a in Bq, (1), we =A Ca +B) 4 Putting x =~ 6? in Eq. (I), —BaBCh +a) 242043 CFO By as4 56 +2842) Lets? +282 Ge) By partial faction expansion, AB oe) = A © x+S x42 x4 3=AG+2)4 BO 45) w12.68 Bvginecering Mathematica Putting x=-S in Eq. (1), -2=-34 A= 3 Putting x=2 in Eq. (1), 1 - 3 (642842) 3G 1 \yty.{_ 4} Gaya 3” [ep] 1 A sinareden sine 2 42 (S454) (6 #45713) moore ital" baal] Gi) F(s)=! 2 2s 2s ea (st ° +2)" sy 2s 1f 42420-52428 ° Gate a—2s) 2| 42+ 2-29) (il) F(s)= | yo 2-H] GrisBi teptace transform 12.69, Gil) Fal Gea By partial fraction expansion, F(s) fave sl Fos41 1= AG? -s+1)+(Bs +O) (6+) 1 in Eg. (1), A o Equating coeflicients of O= A+B B 3 Equating coefficients of s, AtB+C 2 3By putial fraction expansion, Ast B sD (F-23842) 2542) Fo) 8 3s +69—4= (Ast BY (5! 2st2)+Cs+D = As’ +s*(B-2A)+sQA-28+C)+2B+D Equating e A= Equating coefficients of #, -3=B-2A B=-342=-1 ating coeflicients of s, 6=24-2B+C C=6-2-2=2 Equating coefficients of -4=28+D D=-4+2 ficients of °,Wi teptace transform wn sol 25-2 + *O° Fa EG -aty =e (cost +tsint) Exercise 12.16 Find the inverse Laplace transforms of the following functions: “(De +4) Ans.: L(+6r-e") ‘Ans. 3e! +2.¢0821—Ssin 2 ans: La sere ns. 3 +2c082¢—Ssin2r] 3. 3, 28oe-l (4h (s+ [Ams : Ie" =te" [ ] [ames doin Ercort] ztimes 4 1 s*(s+3) 9. 1 s(s-) a a Ans. : —(-2+31+2e "+30" [Am a7 1 5 wy ot Gri (4D [Ans.: e* d-8r+8r)] « —1 [ans : Leeinr—te} (5-2) (543) 212.72, Bvginecering Mathematical Ss43 un, — 83 GHD E2543) [ans ene cos +2, 2 a (C= 254 2 F425+D) [see Bea] ; 10 3, 10 2545) [Ans, : 2-e'(2cos2¢-sin 24)] 1 2 sinh at cosar ta 8427 x GE Far) 1 +L coshat sinat [Ans.: 26" +e (sin31—cos39 | 2a 12.9.3 Convolution Theorem i(8)} =O and 1" {F,(s)} = f,(), then ERR haf fu ftw w where [hw Awd = K+ LO Proof: F(s)-F(s)=L{HO}-L{ KO} =f Uaw- Je" Fav =f flere pwhodu dv =f 100) fee nc oe Putting w+v=1, dv=dr When y=0,0 faa vos, toe FOF [Aa [Le hw ue Jo Jer" Gan few ‘The region of integration is bounded by the lines w= 0 and w= 1, To change the order of integration, draw a vertical strip which starts from the line w = 0 and terminates on the line v= 1. Therefore, u varies from 0 to f and varies from 0 to w,Bi teptace transform ae73, FOS) FQ) = fe" J RGA wdudt =uff, fon ftw} o Hence, L'{F(s)-F()} = [AAC - wide Note: Convolution operation is commutative i. "0% Af, fen fe mau} = 1{f, fer f ony} Fig. 12.47 Example]: Find the inverse Laplace transforms of the following functions: oJ _ w ip (s+2)(5-D Fea » 1 1 ' “aay “Gen © 1 : s © Seep OO OF © ae 1 « 1 iy 00040 eae @ ape Seay atm 2" ey —_ 1 __ Crary Cry GFDe HBeD 1 o) Sa Solution: 1 @ Fo-—1\_ O° GED A (s)=— La R= fe SAtyae By convolution theorem, 1 {RG} = [lem eu =e fie fae) Gi) Fo) = F6+ Let R(s) = 1 FO-= ey # i(t)= te Lt12.74, Bvginecering Mathematical By convolution theorem, E'{F Co} = fe" tu) du = ftw jedi [ewe He) 0-29 HD EC) Ste" +26" +1-2 “ L (i) FO-T Ro=t FA=1 + [2 ete By convolution theorem, EF} fe “fE “ ding 4u=x', du = dx Putting 2 When w=0, x=0 u=t, ae L (Fo) 62S ga kert Wh ©) PO- ae Let R= x) FD = Filt)=e* By convolution theorem, {FC} fue 2% = te 4 16Bi teptace transform 25, 1 (= 2°43) ) F= +626 125° 625" 025 | (wi) Fe = sea) Let R= f@=4sinat By convolution theorem, [22 Lacon ELF (s) = [2 sina du =* (vii) F)= aD Let A) =< 1 (= sint By convolution theorem, LEO} ff sinw (du |@—1) (-cosu)-sinuf, =1~sint12.76, Bvginecering Mathematical (viii) Fo) = (f+a°y Let y= AO)=s +8 Pea ft) = cosat J.t)~ cosat By convolution theorem, E'{F(o} = J cosau cosa(t= wa [{teosat + cos(2au—at)}du |.cosar + sin 2au—at) <2 ina sat cone) ix) Fis) = “ e het R= L(t)= cosat By convolution theorem, E{F(s)}= [cosau 4 sina(t wu "[sin at + sina(t—2u) due t+ cosa(t-2u) =Lesinar jesinat +S cosatt—2u] = 3788 4O-T RF j= hone fa= bana yconohen hor, r{ro}=f +t sinaw Tsinb(e sd = ffsinaw sinb(t-ijdu 208 ((a~ Bu + br} —cos (a+b) u~ br} JeBi teptace transform sea, 1 [sinf(a—bju+ br} sinf(a+byu-br}f 2ab ab ave i, sinat _sindt_sindr a+b a-b ath sinbt_) (i) Fi) = ey 1 FOG F(0)=sint FO) By convolution theorem, 1° (FQ) = f'sinu eau = fe sin du (sinu cos) Gi) Fy= SE )_— (+ Te ROT aed st “(stir A()=e" cost By convolution theorem, EPO) fe cos cos (t=) du = shen [cost + cos (2u—r)] due Le cost, cos (2u - 1) +2 sin(2u—1)}] 1 o cos14 © (cost +2 sint) +cost—4 Pile @ sint—6 081) + 2sine +6 e082)]12.78, Bvginecering Mathematica (xiii) Fs) Let R= 1 _ +2) +9 FO =F sins By convolution theorem, sin 30-1) du EBC) = fins Sfisinse sin3(1—1) du = -— f'[c0831—cos(6u~ 30] dx 18 _ =| cosy Sin u= 31) oxy Haat) a \ [oss] Gv) FO) Ss Let ho= eS Lo-sy Slt) =e cos2t By convolution theorem, EMH (o}= [6 cos2ue"-" cos 2(¢—u) du * feos 2ucos2(¢ —u) du = J[eos21-+ cos 4u—20)] du (sin 2+ 21 cos 2t)Bi teptace transform 1219 1 ©) FO" erin (= eye te RO aad BOTS 1 “(etal £0. f(t)=e™ sint By convolution theorem, |-@sinu—cosw) LMR )} = [Je since du = 6°" fe sind = [e" @sinr—cos1) +1] [e"@sint -cost) +e" ] 1 evi) Fy 6) FO" ay Considering F() asa product of three functions, ror (6 +4) stl s+ 1 1 Let Ri) = we et hO=Ty FOG F(0=Hsin2s Kee By convolution theorem, ER (o- Ro} [Esindu eu = I (sin2u—2c0s2u) 7 ) 0s 2 10 (sinzuene2u LHR (EORO)} = To le {cinau 200821) ~2(cos2u-+ 2sin24)} +24 a] J © (4sin21— 40829 +214 [east -tniy aed] 10 tet a oA Gein2r 40821 5 50° »12.80 Exercise 12.17 Bb tgincering Mathematico Find the inverse Laplace transforms of the following functions: 1 —1 (+36 (5-38) ee - [Ans rele" e616) | ao (se +4y [ans sine 3 .ooy : . [ase Lemar asn] 1 6. (coshat—1) 1 2A (sin2r+-2¢ 00820) 36 ) 1 A easinar—sine 3 | Ans. J (arcosh at sinh at) [ams un, 4 (SF +a +b) [ans 12. s CHF jan (asinat~bsinbs) | B. (sta’y ' , ana. (sna atcosat i; ww )| 3 w th (8 +68413)° tint} Ter v6 - 4 [ Ans.:Lesin2r] L 4 1 6 OD Fay [ans.:4arconaresih2n} — ADE) [amsBi teptace transform at 12.9.4 Differentiation of F(s) We know that, If L{/(}= Fe), then Lt FO}=-FO, ie, EYP O@}=-10 Hence, Z'{F()}=/0= te {Fs} Example 1: Find the inverse Laplace transforms of the following functions: sta feral Seat () tog St Gi) oy Git) © top te tog to F Pal 08 GD (x) tan" (45) (ad) cot“(s#1) (ail) 2tanhs. = log(s +a)—log(s +b) oa POT Te L{Fo}= ae Gd F()= og 2s F4b P= L{FO}= ero =2(cosat—cosbr) 7 Gi) F(s) = log: log(s* +a*)—log(s +5)" = log(s? +a*)-2log(s+4)12.82. Bvginecering Mathematica Foe Fea stb E{F@}= - QB THF () () = log, eS F)= 1 1 =-F (eoshat-1) = (1-coshat) 1 log(e-—F log(s +0) 2-1 2s4] piro)=-te'fhs (5) = log = tog(s* +1)—loge—log(s (9) FC =tog EA = +1) tops testo P= fe tt ¥als sil (i) FG) = tan i yt I+ ( FE epeo)-te |) sinf—e* sins)Bi teptace transform 1283, oo) Feo =" 2 Fis)= De) sinbt ©) Fis)= cots L{FO} (xi) FE) = cot '(s 4) 1 PO=-To ayaf 4 | od sine Pry Veal (xii) F(s) =2 tans =2. = log(1+s)-log-s) rye FCs) ie 1 2 = Leet e') = sinh gine) =F sinh12.84 Btgincering Mathematica Exercise 12.18 Find the inverse Laplace transforms of the following functions: [ans :2 (cosa) 7 | Ans % 9, tans +0) [Ans ~tesine| qi 4 toe 10. tan ‘1 11 cot" as ee FH a2) 12, co'(2) [ane —2o sia] ; / 6. tor | Ams. = (cosh | 12.9.5 Second Shifting Theorem (Heaviside’s Unit Step Function) We know that if L{ f()} = F(.), then by second shifting theorem of Laplace transform, L{fa-aut-a)} Hence, “F()}= faa u(t-a)Bi teptace transform 1285, Example 1: Find the inverse Laplace transforms of following functions: © wo 5 ” sv Is$2 S+2s$2 Solution: 1 i) Let Fy =, @ bet FO= TS E{F(}ee* L') riers Gi) Let Fis) = (e+ 4y cipoject elt ee Le R)} LS etenertacy 4-9 4-3) u(t—3) Gi) Let F(®) {FO} odin 2 “Ro}= ; sin 2(¢-3)u(t—3) Gv) Let F(s) EYfe"Foo} sin3(¢-2)u(¢-2)12.86 Bvginecering Mathematica 1 etd L trep-2| () Let Fis) 1 er ae rif} =e sint Dfe"F(o)} =e sine n)u(t—2) sl vi) Let F(a)=— 2th (vi) Let F)= [_e lor I{F(s)}= i" cere cost Tere} e™ cos(t-2)u(t=2) (vii) Let Fis) = (i) Let FO) SS ieWi teptace transform at, Exercise 12.19 Find the inverse Laplace transforms of the following functions: 1 (ery fame 5, det "Fest 12.10 APPLICATION OF LAPLACE TRANSFORM. TO DIFFERENTIAL EQUATIONS WITH CONSTANT COEFFICIENTS The Laplace transform is useful in solving linear differential equations with given initial conditions by using algebraic methods. Initial conditions are included from the very beginning of the solution, sitet EE Mek Sieur [ame quali ‘transform “a12.88 Bvginecering Mathematica save Paryact", y Example 1: Soh ary » yO)=1, Solution: Taking Laplace transform of both the sides, 1 me 1 sY()-142V()= [=I] 1 std GtDM= Tete OED s¥(9)~ y(0) +275) By partial fraction expansion, A,B a 42 543 S44 = A543) + B(o+2) Y(s)= my Putting s=~ 2 in Ba, (1), ‘A=2 Putting 3 in Bq. (1), B=-1 v3 Taking inverse Laplace transform of both the sides, y()=26" Example 2: Solve 24 ymeos24, »(0)=1. ar Solution: ‘Taking Laplace transform of both the sides, s¥(s)- yO)+Y(9) sYQ)-14 (8) fx =1] (nV Fy esd OTN By partial fraction expansion, Bot +4 8 4s44= As +4)+Bs+C) (s+) a Ye=sBi teptace transform 1289 1 ins. (), A iquating coefficients of », 1-448 41 35 Equating cocflicients of A=4A+C (,_4)_4 3) Be los 4.1 SF aa 5 Fea ‘Taking inverse Laplace transform of both the sides, 4 YO=F 4d 2 yet 44 cosar+? sin2r rOage ts 5 Example 3: Solve y"+4y'48y=1, ¥O)=0, y(O)m. Solution: Taking Laplace transform of both the sides, [#7@-9@- yO) }+4[s7@- vO] +870 =4 (= t}e4rr0 +876) ferret =] (8 +45 +8)¥(s) oH ro s(s' +4548) By partial fraction expansion, A, Bese Y@)= FS +4s+8 St1= ACs’ +4548)4(Bs+C)s wo Putting s = 0 in Eq, (1), 1=84 1 412.90 Bvginecering Mathematica Equating coeflicients of =, 0-448 B= Equating coeflicients of s, 1=44+C 1 (42-2 1 Bs Bray ea 2 raed Example 4: Solve "+. » WO=L, y'(O)=0. Solution: Taking Laplace transform of both the sides, [F¥@-9-YO} 10 #Y(S)-s4¥(6 [-»@=1 '@=0] (F+DY@)= el wo FEW Fel FEW FH 1 1 soso Ys) Fu ‘Taking inverse Laplace transform of both the sides, M(t) = cost-+1—sint Example 5: Solve y"#y a0 +21, yO=4, y'O= Solution: Taking Laplace transform of both the sides, [#¥@)-9@-»O]+[s¥6)-»O] FY() 454245794Bi teptace transform B91 2a+s) +4s42 1 Example 6: Solve (D’ +9)y =18¢, y(0)=0, (5) Solution: Taking Laplace transform of both the sides, [# ¥@)-9@-y@]+9r9, Let y'(Q)=4 ‘Taking inverse Laplace transform of both the sides, y(t) = 21+ 4 sin 3 Pating 1=% and eye Hence, y()=21+22—1"? singe = 20+ (7-1 sin3v Example 7: Solve (D'-2D+1)y =e", y=2 and Dy A at 120. Solution: Taking Laplace transform of both the sides, [#¥)-9@-'@]-2[s¥(9)- 1] + Y=12.92, Bvginecering Mathematica [#¥@)-25+1]-2[s¥()-2]+¥0) = @ =p r= 142s(s—D. 1 (-1 Y= 28-7846 oy Y= By partial fraction expansion, 2s 1846 = A(s-I? + BOSD 4+C ® Putting s = 1 in Eq. (1), cel Equating coefficients of, A= Equating coefficients of, -1=-244B, Ba-T44= Example 8: Solve y"—6y't9y=He", (0) =2,y"(0) Solution: Taking Laplace transform of both the sides, #YG)-s HO) ¥'O~6 LY) - O14 919) = Te [¥(s)— 2s—6]—6 [s¥(s)—2]+ 9¥ (8) = ero), 1-8 [s7(8)-2}+ 9918) = 2 age G49) Ye)= atte 6-3F Y@)= St 6-3) eyBi teptace transform 1298 %) 6-35 G3 ‘aking inverse Laplace transform ofboth the sides, 4 y= 26" 420" y= 268" L. cre" +20" 2 Example 9: Solve (D'+2D+45)y =e“ sint, (0) =0, y'(0) Solution: Taking Laplace transform of both the sides, LF Y(s) ~ s9(0)- y'O)]+2Ls¥(8)- »(O)]+ 5Y(s) = #¥)- 25Y(9)+SY(¢) == — (6 42545) Kis) By partial fraction expansion, A+B Cs4+D "= S342 Fa 243 =(As+B)(s! +28+5)+(Ce+DY(s* +2642) =(AF0) 8° #244 B+2C+D)s* HSA+2B42C +2D)s+(SB+2D) ating the coefficients of ss, s and s', 4+C-0 244+B+2C+D=1 544+2B42C+2D=2 5B+2D=3 Solving these equations, 4=0,8=4,C=0,D=2 3 312.94 Bvginecering Mathematical i ee ee MO= 3 F002 3 Fa2s45 FGA a3 Ga ad ‘Taking inverse Laplace transform ofboth the sides, HO = Fe sings Le" sindt= = (sint +sin22 3 : Solve y”"#9y = c0s2t, wo=3(4} Solution: Taking Laplace transform of both the sides, Example 1 [#¥@)-syO)-y'O14+97(s) Let y(0)= 4 #'Y(¢)-#- A+ 9Y(8) = (49) Y= %= Gaga ‘Taking inverse Laplace transform of both the sides, 1 4 4 (= Le0s21 + Zeos31+Ssin3¢ WO= 5 ; ; Jeos2r+Secosat+4sinar sors Solve y""—2y"" + 5y"=0, y(0) = 0,9") = 0,9"(0)= 1 Example L Solution: Taking Laplace transform of both the sides, [FY()-# yO) O-Y’O]-AFV)-9O YO + [21 -YO)] = 9 -287(8) +58 ¥(8) =0 [+ ¥(0)= 0,9") = 0,90) =} (6-25 455) (9) = £9)Bi teptace transform 1298 ) 4 HBP S55 PBF) By partial fraction expansion, A, Bese y= 44, eo (On Fans A(E=25 45) + (Bs + Os w Putting s = 0in Eq. (1), Equating coefficients ofs, 0=-244€ phase 2 Lbs 2 Hs) S's S$ a2e45 SPDs Ss SG ed 5 GHA “Taking inverse Laplace transform ofboth the sides, Lt 1 y= tLe cose te sine v 55 5 Example 12: Solve »”” ~3y"+3y’—y=He', x) =1,y')=0,9"(0) Solution: raking Laplace transform of both the sides, [s'¥(s)-s*y@)-9'@)- y"@]-AEVE)-9)- YO] ¥(s) = (0) -¥6) = +31 HG) - yO) — YO) = Fy 7 : 2 is ¥(s)—# +2]-31e'¥(9)—s1431sY(9)--¥(9 =— | le Y(s) 1-318°Y(8)~ 51487) -1I-Y(0) = [- )=1,9"@) =0,y"(0)= 2) 3s-DY(s) +(s8 3041) G-YY@= +(e 3541) ey12.96 Bvginecering Mathematica 2 (s-I=(s-)=1 G-) ‘Taking inverse Laplace transform of both the sides, wi) Lege ett abett sett te et Set 0 : Solve Vary f'yare Example 18: Solve 2-42y+f ydr =sint, 90 Solution: Taking Laplace transform of both the sides, 51) - 0) 42¥)42¥00) svg-1s2v9+t@=— Fi =1] : +H (2-H poche +2041 Ys) ss +2) = Ginga) © By partial fraction expansion, 4B C+D ¥) a Bl Gy Fa s(+2)= AG+D(¢ + +B +4 (Ce4D) CHIP o Putting s = -1 in Eq. (1), -3=28 Be @ Equating coefficients of ¢ 0=4484+D ® Equating the coefficients of, nate @ Equating the coefficients of x 0=44B+2C+D 6)