unt 3 Laplace Transform Pog EL ee NS 00! y thematical device whi mation iS & mathematical device which converts one function into another. For e : A _d zg,shenthe differential operator D (= 4) operates on fix) = sin, it gives a new function ppees® Palace transform or Laplace transformation is widely used by scientists and engineers. sexe effective in solving linear differential equations—ordinary as well as partial. eeeeeMrdinary differential equation into an algebraic equation. ppplace transform directly gives the solution of differential equations with given initial ins without the necessity of first finding the general solution and then evaluating the eoay constants. Trench Mathematician Pierre De Laplace (1749-1827) used this transform much earlier sraahile developing the theory of probability. ALDEFINITION. Fu) be a function of ¢ defined for all t 2 0. Then the Laplace transform of F(t), denoted by isdefined by LIF) PUR(t) dt Pride thatthe integral exists, p' is a parameter which may te real or complex. UR) is said to exist if the above integral converges for some value of p otherwise not Thefunetion fip) is ealled the Laplace transform or the mitt of the object function F(t). vy Remark 1, Some authors use the letter s for the parameter instead of p. Therefore, we may also Lines fo trae = fis). Seaman ° rk 2. In general, fl te the object function by & capital letter and its transform by we celterinlomer coer aiations ‘hrekalstinguish between functions and their transforms a preferable LaFCO) = {P) oF EO! = 5p) oF Lif) = Fp) ete. 243ok OF ENGINEERING MATHE) 244 ATEXTBO' MATICg 3.3. LINEARITY PROPERTY ‘hen Ife, ¢, are constants and f, g are functions of tH Lic, fit) + ey(t)) = eyLIMO) + cglg(o)) By definition, Lie, RO + eet) = fees f(y cpatt)) dt safe empindt seal oP! g(t) dt = eLAf(O) + egLig(oy, The result can easily be generalised. UNCTIONS 3.4. LAPLACE TRANSFORM OF SOME SaENTARY Fi a La=4,p>0 P P Liay= foe stdt-| | =H it p>0. 10 P - ! (2) Lie) = —24;, where n is a positive integer. P’ Lied = [eran de= poe (2) oe on putting pt =x o lo” \p) 1p once gy - PM tD ' = Ay [vet ae TSFP provided that p > Oandn +1>ie,n>-1 Ifn is a positive integer, in + 1) =n! Lit" = Saar Note. Forn=1, Li)=—5. P (3) le) = —1_, p>a p-a mks eM eMt dt = fen OmO de = (4) Lisin at) = "yp >0 ert Lisin at) = Lee atdt = f Paat psin at —acos «| Pp 2 cE p>. (5) L{cos at} = P’+a enPt Leos atl = ["e"P".cos at dt =|—2" lo Pe+a? Pos at +asin at)LAPLACE TRANSFORM 245 () Lisinh af} = P Lisinh at} = Jrer'sinh ane [rom [< om 1 1 = If oon ay =f eorm a 0 4 1 2lp-a mal Note, We can also prove it by using linearity property a Liaith afl = LUA (e% — 20 ‘! ‘Thus Lisinh af] = (4 (0 — o°*)) = (eM) 1 L4erehy ah 1) a 2\p-a) 2\ pra) 5’ (7) Lieosh af} = P- Llcosh at} = LiL(e" + e°*)) = Let) +4 ble) -2/L),1/4 P 2\p-a) 2\pra Fagh rp lal. For ready reference, the Laplace transforms of various elementary functions have been in the following table: Fi) TAF) = fip) 1 1ipoo P t 1", n is a positive integer nen) oe ot ) sin at cos at pe sinh at cosh at _ eee sce| aoe 246 TEXTBOOK OF ENGINEERING MATHEMATICS ee eee 3.5. TRANSFORMS OF DISCONTINUOUS FUNCTIONS The Laplace transform of F(t) will exist even’ if the object function F(¢) is discontinuous, provided the integral in the definition of L{F(¢)} exists. ST SHIFTING PROPERTY (MTU 2013) [G.B.7-.U. (C.O.) 2010, 2011) 3.6. FIRST TRANSLATION PROPERTY OR FIR If LIF@)) = fip) then Lie“ F() = flp - @)- Lie FO) = foe" e% FO dt | By definition = free Fede = fp — a) o Remark 1. Lle*" FO! = ip + @). (552) Remark 2. Lie F(b0) = 6 property to the elementary functions of Art. 3.4, we get the following useful Applying this results: n! ' (2) Lie ¢") = —"—7 3 n is a positive integer. (p-ay oo oo =~— P42 (2) Lew sin bt = Sa pF @) Lie cos bt = a BF p-a 2! sit = (5) Llet cosh bt} = —"——e. (4) Lest sinh bt = Sage () Lie" cosh bth = 2 BF 3.7. SECOND TRANSLATION PROPERTY OR_HEAVISIDE’S SHIFTING THEOREM If LAFO) = fp) and GW = {FG mae (UP.T-U. 2006, 2008; U.P.T.U. (C.0.) 2009; M.T.U. 2012) then, LiG(¢)) = e~? flp). LiG(o) = [er Ge dt =f"e" GO de + fe” Gio at lo 0 le 0+ [em .Fe-a)de = fe". Fie-ade ° Put t-asu = dt=du Sperm Ban de = em [erm Fn du = ev [ere ae =e f(p). CHANGE OF SCALE PROPERTY (SUM) 2008) If LIF) = flp) then L{F(at)} = 22). ala LiF(an) = [ e-*F(ae) dt Put ateu = dr=Zte +f ol Fiat = 22). " ILLUSTRATIVE EXAMPLES example 1 Find the Laplace transform of 7e + 9e* +5 cos t + 7° + 5 sin 3t + 2. Sol. LUTe% + 9% + 5 cost + 78 +5 sin 3t + 2) Example 2. Find the Laplace transforms of (i) sin 2t cos 3t (ii) sin’ 2t sh? 2 (iii) ol. (i) Since sin 2t cos 3f = Llsin 2t cos 3¢) = Ld (sin 5¢ ~ sin ) = 3ULisin 541 ~ Lisin #1) (ii) Since = (iii) Since (iv) = 7 Le%) + 9 Le) + 5 Licos t) +7 L(t) + 5 L (sin 3¢) + 2 11) +5. +2.— 2 tages p-2 p+2 pitt (iv) (1 + te. (2 cos3t sin 20) = ; (sin t-sind) 2 a| ee “al pr+8? p sin Gt = 3 sin 2¢—4 sin® 2¢ (pt +25)(p? + 3 Le sin’ 2t = 3 gin 2¢ - = sin 6t 4 4 1 Sa 1 Lisin® 2¢] = {Fain 2t- gu st} =F Lisin 2t}— ie L{sin 6t) 1_ 6 48 pe + 4p? +36) P cosh 6¢ = 4 cosh® 2t - 3 cosh 2¢ i cosh® 2¢ = Zcosh 2t + cosh 6t 4 4 Licosh® 2¢) = uf cosh 2¢ + 3 cosh oi = Sleosh 2th+ ; Licosh 6¢) 8 pL x pip? - 28) a pt -2 (p - 4p? - 36)” (La tea 14 Hee + Stet (4 ee 1+ Be + Stet + 8c LiCL + te-9) = LG) + Lee) + 3L(te~) + 3L(?e) 0) 1 Poe 4 pe248 ATEXTBOOK OF ENGINEERING MATHEMATIgg Determination of L(t? e™): 3! Lit’) = Liesl a |Using first shifting Property * ~(p+3)t (p+3) Determination of L(t e~): 1 => LW) 7 teed 1 1Using first shifting property : (p+i Determination of L(t? e): 2! Lit) = > ro Let, 2)2—2! 2 lUsing first shifting property (pray (p+ 20° Also, wast P 6 | 3 . 6 P (p+3)) (pt)? (p23) Example 3. Find the Laplace transform of e~ (cos 4t + 3 sin 4t). Sol. L (cos 4t + 3 sin 4t) = L (cos 4t) + 3L (sin 4t) Now, from (1), L{(1 + te) p 12 _p#i2 + 2 p’+16 p?+16 p> +16 Lle-* (cos 4¢ + 3 sin 4) = (P*8)+ 12 | Using first shifting property (p+3 +16 - _ pts p’+6p+25° Example 4. Find the Laplace transform of O 2) (¥-4) (ii) cosh at sin bt (iii) sinh? 2t (iv) e cos t cos 2t 1 Sol. (i) (4 + 2/2 4 p82 4g 42, gy?Pr ‘ FORM pyoe TOS 249 1 V2 4 p-8 ” faa) | LS? + 97 4 BE 4 9) = 1419) 4 14-1) 4 3 Ltt!) 4 3 LOE) 3 =e? p+ n et eet) Gi ensh at sin bt =|——5— ]sin bt 1 i es L(cosh at sin bt) = 3] sin bt) +L(e* sin b1)| = 2[ _& _, 4, 2|(p—ay? +b? (ptay +b? 1Using first shifting property 2 (ii) sinh? 2¢ -( } = Fee" +e —2) Lisinh? 2¢) = 3c )+ Le“) - v0) 3f4_,4_2).3 4[p-4 p+4 p} 2|p'-16 P (iv) cost cos 2¢ = 3 (cos 3t + cos t) 1+, 7 af p+ p+l Let = >| L(e“ cos 3¢ * eos t)| = =| = -— + —_ 5 2. Lle* cos ¢ cos 2¢ ip (e"* cos 31)+ Le" e089) = 5) a 5 * pa aP ad | Using first shifting property (v) | Using first shifting property P Example 5. Find the Laplace transform of fit) defined as fox - when OT. if A Sol. Lywi= [erro de= fen au + [rem tae250 A TEXTBOOK OF ENGINEERING MATHEMRnc. CO". 0° ' “Tent Pp Tp Example 6, Find the Laplace transform of O Fos fest OSISR Ge |, 1st<2 - , P, Qsten , *, O3 f pt a eed 1 Ta (> pcost+sint) 7? Cp) pei |, Lett peed pate? Peed ff er Fwae 0 ott pt gent)? rt)" an get -(S) (S-3) +(r2 fon ee ae -p), =p pF) =p), 2” =p er | Soli) LPO} = [erm Rode = [er cos eae + [er Ode " i) LIFO! a en 2 opt feria] cer des [erm at 0 1 » 4 - $e 2f te dt P pe rt 1 Sal -P Git) LAP 1 = fe“ PO de i 4 = [een dts flamer ae + fren a o> (EB) Cp) ~ nt =pe)3 ~ fix £ sat + {e-mes| 2P Example 7. Find LIF) if sin(t-3} to= : @ Fo 3 mn = oon tot 0, t + Show that L Fran =P - 2p +4 GTAP! © pb Nip Tp) i go. TUB, (Ol © Ter ne Find the Laplace transform of find L (4, (et). yA set 0? (i) FVD = sinh ot sin at (a Fine et sin? (iv) FUty = (t+ 27 ot, 99. Find the Laplace transform of 4) Fit) = ef cos ¢ sin 2 Gi) Fe) =e aint t (ii) FIN = * ain’ Answers 9, Peosb-asin’ p 2abp posjaosn’ 8. oe peta Ip? + (a+ bP iip* + (a - 57) 5, Pip +28) z 48 5. — et ee (p? + 4Xp? +36) (p? = 4)(p? ~ 38) 6 af[__p-a pra | & Gear oi ite prorat 1 --) 25 30 9 (== no— +=, prt M.S era i o— i) Shoe 2 Pad yt[ ey Pe .2(1-) -*) 16. +1 eal « +e 2m 2+ — ain 17. pe -istps bh 1 oH 20. 18. ptt pra? 2 4p? = 4p +2 2 in 2 21. (p+ kp? + 2p +8) (p- } A(p- 2) p-2 if 1 | “eA earl 7 + Tae ed (p-2r rls i ofan aad @ 8 1 - 1 |254 ATEXTBOOK OF ENGINEERING MATHEMATIC¢g en 3.9. FUNCTIONS OF EXPONENTIAL ORDER A function Fi) is said to be of exponential order as ¢ > =, if there exist constants M and b ang @ fixed value t, of ¢ such that 1 F@) |< Met, fort? t : we also write F(t) = 0 (e), ¢ + « to mean that F(t) is of exponential order. : im ec" Fi cs From the definition, it is clear that if a constant exists, such that iim e”™ Fit) exists or the value of limit is finite then the function F(t) is of exponential ordor- 3.10. A FUNCTION OF CLASS ‘A’ CA fanetion which is sectionally (or piecewise) continuous over every finite interval in the range £2 0 and is of exponential order as ¢ += is termed as a function of class A. A function F() is, said to be piecewise continuous in any interval [a,b] ifit is defined on that interval and is such that the interval can be broken up into a finite number of sub-intervals in each of which F(e) is continuous. i »_~ 3.11, EXISTENCE THEOREM (U.K.T.U. 2011; M.T.U. 2012) ten eee ea ad If F() is sectionally continuous for f 2 0 and is of exponential order b, then LIF()) = f (p) exists for p > b. In other words, if F(¢) is a function of class A, L (F(¢)} exists. z ‘0 - lem Pwars [rem Roars | oP FO dt =1, +1, I, exists since F(t) is sectionally continuous in every finite interval 0<¢ < ty. Ig is [ler Fala s filet Feolde Ps (say) < iia Mel de as F(t) is of exponential order b ~ M sfer-™ mars. o p-6 Thus the Laplace transform exists for p > 6. Note. The conditions of the theorem are sufficient but not necessary for the existence of Laplace transform. ILLUSTRATIVE EXAMPLES Example 1, Prove that t" is of exponential order as t -> co, Sol. fim (e™.t") = lim a Nan ty Be ay © apg fim ea —= lim 5 = 0 t = 0 (e'), t+ = for any fixed positive value of b 1” is of exponential order.- rue TRANSFORM . = sample 2. Show that o is not of exponential order as t ~> =. go. fim) = in (::| = lime“ iy 1f <0, this limit is infinite if b>d, Tim e—® =e ‘thus, whatever be the value of b, this limit is not finite hence we cannot find a number such that ef < Me™ is not of exponential order as t > =, 342, LAPLACE TRANSFORM OF DERIVATIVES Theorem 1. If F(t) is continuot s for all t >0 and of exponential order bast =, and if F(t) is Mifess Aten Laplace transform of the derivative F'( exists when p > band LIF()) = plAF() - F(O) = pfip) - F(O). 1 If L(F(@®) = Ap) Proof, LIF) = fe" Fat D) = [-* 0 +p J oP! FW de | Integrating by parts l = lim ec?! F(t) — F(O) + pLIFO} (2) ec?! F(t) 2 0ast >= 1 if LIF}! = Ap) since F(t) is of exponential order & as ¢ > then for p > by From (2), LIF()) = pLIF(O) ~ F(0) = pip) — FO Note. If F(t) fails to be continuous at f= 0 but Jim, F(e) = F1O + 0) exists, then LIF(O} = PLIF(! - FO + 0. Theorem 2. If F(t) is continuous, except for an ordinary discontinuity at ¢ = a(a > 0) as given in figure: Then, LIF'()) = pL Fw) - FO) ~e*? (F(a + 0) - Fla-0)) where Fla +0) and F(a - 0) are the limits of Fatt=aas t approaches a from right and from left respectively: The quantity F (a + 0) - Fla ~ 0) ts called the jump at the discontinuity t = a, and e?" F(t) > 0.ast > = Proof. LiF ()] = en Fwde =fen Prods [eh Pd A256 ATEXTBOOK OF ENGINEERING MATHEMATICS —-) TT = [e* so] tof en mode sen | vp [em rode lo =e Fla —0)- F(0) +p f eM FO dt + lim eM F(t) - ec” Fla 4.0) 7 ae LIF) = pLIFW)) - F(0) —e*? (F(a + 0) - Fla - 0)]- | * EL em Reo 3.12.1. Generalization IfF(0) and its first (n — 1) derivatives are continuous functions for all ¢ 2 0 and are of exponential order b as ¢ + © and if F(t) is of class A then Laplace transform of F™t) exists when p > 5 given by F*-1(0), LIF"\(¢)} = p"L(F()} - p?= 1 F(0) — p"~? FO) — Proof. LiF") = pLiF(®) - FO) (Applying Theorem 1) = pIpLiF(t)) — F(0)] - FO) = p*LIF()] - pF(O) - F(0) Again LIF"(®)} = pLIF“() - F’) = plp*LiF()) - pF(0) ~ F(0)] - F(0) = p'LIF()) - p°F(0) - pF) - FO) Proceeding, we get LIF) = p"LIF@)) — p"-! FO) ~ p"? FO) — pF) — F-1(0), 3.13. INITIAL-VALUE THEOREM If F() is continuous for all ¢ 2 0 and is of exponential order as ¢ -> = and if F’(¢) is of class A then lim F(t)= lim pLiF(t)}, 0 poe 3.14, FINAL-VALUE THEOREM If F(t) is continuous for all ¢ 2 0 and is of exponential order as t -> < and if F'(t) is of class A then lim F(t) = lim pL(F(t)} oe pao 1 P+) @ lim FO (i tim Fe, Sol. (i) By final-value theorem, lim Fit)= lim pLF@) = jim —1__1 value they 0 p+B Example 3. If L (F () = then, find (ii) By initial-value theorem, lim F)= lim pLIFO) = lim —P _ yi) 1 (0 pom P= p(p+B) p= papRM 3A5= LEIBNITZ RULE develop the theory of Laplace transforms further, te erin cinder the integral signe we state the following result for as Let a= |" f,ardzasacs sphere u, and up may depend on the parameter a then, do _ pm of du a So pm oF lu da if Ag Mt Hea, a) FE — Flay 0) FE AQ) P of 7 i forasaSbiffix, a) and >> are continuous in both x and a in some region of xa plane including 1, SxS Uy aS youre! then ond g TRANSFORM pxample 4 If Lit sin « (j) Lloot cos at + sin cot} Sol. let =f sin ot, of COS Gt + sin Lot co cos oot ~ ot sin ant ‘Also = 0, F(0) = 0, F(0) = = —20p Given : (= oe w LIF (®)) = Pf(p) - FO) . 2wp 2op* Llot cos a + sin wt} = p. 9 = = > Reo "Gro ii) LIF “(O} = P*/(P) - pF) ~ FO 3 5 Li2ecos wt - 0% sin wt) = p’ 2op' (+o? . 2p" Li2eos at ~ of sin atl = ey oa at Example 5. If F(t) = ec ns be Sol. Le) ‘L(cos bt) = L(e™ — cos bt) = es p-a pte Now, us osbt\_p>(_1____P__\q, \-SG& ate) 7 7 {rvs (p=) log (>? vol = ffs a)? - log (p® wl , find the Laplace transform of F(t. 259[A TEXTBOOK OF ENGINEERING MATHEMATICg 260 sina! noe the Laplace transform of SS at Example 6. Find the Laplace transform of « Does ; exist? 7 sinat ——— exists. Sol. Since tim S28 — a, the Laplace transform of “7 ~ © mht Now, Lsin af 1 sat) -[ ea) its Laplace transform does not exist. The function 22% js discontinuous at £ = 0, 80 Example 7. Find the Laplace transform of weew (ii) t sin? 3t 1 pts Sol. (i) Le a 3 oS!) =(- 1) Ue e) = 1 Aliter: Le) = = Let) = pret (i) sin? 3¢ = = / L(t sin? 31) = Sloss 2 = (18) (-1) (p" + 36py2 (Sp? + 36) = SAP +12) PB? (p? +36)" (iii) LiL - cos ¢. L(=*) ie tLAPLACE TRANSFORM oa ee et tar tie ee 2 P gp (Pe +1 - a 1 “eel JP DS Pioe(a4-2) Bota [: Pd) peea 2 pe) 2 old 1-cost = uf z )= op F tos (1+, . t 1 Example 8. Given afe } = Ga show that 1 Sol. Let Fit) = 2 LIF) = p LIF)! —F(O) = p ma zo Example 9. Find the Laplace transform of iy Ses tacos et (UK.T.U. 2012) i 1 , pat _ gy = Sol. (D Since Lle*!—e "l= > Tap tl (1 1 } 7 SGR ale 7 [netnv01-me cos) |» 142 log 1 -log f 0-log 142A TEXTBOOK OF ENGINEERING MATHEMATiog 262 “ae ; 1 ° athe [; lt 40°) - 5 ego! +88] oD te lp prea?) 1, phd 2 log ot | = =I : =f log F vt = her a Example 10, Find the Laplace ne of the following functions: (i) t sin 3t cos 2t (ii) te" cosh t (iii) Pe" cos t. : ee af_5 i Sol. (i) Usin 3 cos 21) = <1 (sin Bt + sin t) = =| 5 +—— 2 alp 457 p+] ; aie 1 = Utsin3t eos 2) =-£}2/> _, es Mote ral a 1 5p P — ep)- 2p)| =P +P lp Pe 25F OP wir] Peer Ga (i) We cosh t) = fe(Se (a |store? ia 2 p pea = ent ACL Tye). ee ie | pP Fal = (p+2F | ~ (ii) Me™ 0 TG pee (p+2P +1 pvdpes = Ute cost)= pone pte |: al ptsapss dy’ |p' +4n+5] dp ro +4p +5) _ Ap® + 6p? + 9p +2) (p+ 4p +6) Example 11, Find the Laplace transform ofthe following functions: A ol ny cam (G.BI.U. 2012) (iy Lees 2 Sol. (i) Le" sin t) = ——>— p+ DP +1LAPLAGE TRANSFORM 263 2 Fr 1 P (ii) L(1~cos 2t) = — ~ Pp pe +2? l-cos2t) f(a eee pA 2 t S, pp +4 - = [toe »- 2 tog n* +9] 2 iP Example 12. Evaluate: a et gin? @ [Peer sinede wf ata. (G.B.7.U. (SUM) 2010] (U.P.T.U, 2008; G.B.T.U. (C.O.) 2010, 2011] Sol. (i) L(sin ¢) 2 Le sin = OLD ~ as = op 24p (p> -1) By definition, j ee sint dt = (pee Dt Put p=1 rete sinede = o 7 x 1 1/1 (ii) Lin? = 5141 — cos 2 =3(2-523)264 A TEXTBOOK OF ENGINEERING MATHEMATIC, (5) By definition, fer". o Put p=1 = 2 1 sin?t — Liga, fe dt = 7 log 5: Example 13. Find the Laplace transform of : 4 isin (U.P.TU. 2007) © ert cost at cole o Git) ot EE ae, 0 Sol. (i) L(cos #) = p+l (sa + eos t) = —P*t — = pip) vy) ‘L(e* cos ¢) +b f@ ot 2 pp) ot, ue cost dt] pl? = Ta apeD (ii) L(sin Pal sint rae ud -1 » = cot"! uf : Jef pai? = 9 ~ tn p=cot'p sin t Ly] | — =— cot! p. (i) a ii) (24) = cot" p 1 as done in part (ii) sint Le’ 7 = cot (p-1) uf of Sint a) = 2 cota y—1), 0 t P : Example 14. Find the value of @ [ e* # cos te de eit pi Of, : Gi) [Fe tin ede. Sol. (i) L(cos t) =6(p* - 6p? +1) (1+ p?)* 6(p* - 6p? +) 48 2 [et fontae | By definition Replacing p by s, we get [let feos edt = Se =8e + 0 (+s?) (ii) Lt sin t) = ff em-tsine de = | By definition Putp =3 6 3 - tsintdt=—8- = Jf et tsin edt = 305 = Sp: Example 15. Find the Laplace transform of cos Vt (asin Hence fina 2 ) wa f'? EE ax it lo x 3 5 Sol. (i) sin p= gp -® cae f vet? 2 Usin Je)=L[ 0 - Sr tor -Eeleshale : ve aw = Lsin Wasa Now, L[Ltcin vo] =p Lin Y-0 Le. F()=0 obs)[A TEXTBOOK OF ENGINEERING MATHEMATiog wf" (He")a | Put 2x = w so that 2dx = du Ne oe ow, La-e = oa t-e")_ p-(4__1 -[>«(525)] HC)-fG-pa) on ea), Z [eres 221) wo-te (2) =e 22 L] f (252 )au| = + toe t(1+2). 0, u P. Example 16. Find the Laplace transform of @ te sin 2 [G.B.T.U. (SUM) 2010] (ii) te" sin 4¢ (G.B.T.U. (C.0.) 2011) Sol. (i) L (sin 2¢) 7 peed dt2 2 4p ino ---2(_2_) 2? 2p 2 PS oe 4(44] par ? * Gea? 4(p+D_ 4p +4 L(e~ sin 28) = a apa [o+nr+af PP +2p +5" 4 ii) L(sin 4¢) = (ii) sin 40) = 5 L(@ sin 4t) = o(ata)-£ =8p dp* \ p? +16) ~ dp \(p? + 16) ~-9[ @ 10" 19.29" 119.29 _-9[ 28-30? (p? + 16)* =~ 8) +16» L(et. sine) = —g|16-3(p- vp? | _ 8(3p? - 6p~13) {@-n? +16) (p? = 2p +17pplAce TRANSFORM Example 17. Using Laplace transfor: evaluate the following integrals: {U.P.T.U. (SUM) 2007) e! sin Vat ofa Sol.(i) — L(sin Jt) a = fens lo t Putting p = 1, we get -1siny3t if 1)_" fret A at = cot (4)-3 1 1 if pt atgHtty fees Wi) Let) =o 5a te p+2] _, pt4 Ip pee -syle- (ie2* 2) =e Po - 4 a wlog (2+ = fe ( Ja oe (28 : Putting p = 0, we get a2 goat f(a oe i t (| anes OR, Example 18. Prove that | et aud F QLT.U. 2011) Sol. L(sin u) = 1 peti i 1 ents a tan™ (2) u( 4 iE jp peed P.1. 2 3. 4. |p rexrb00K OF ENGINEERING MATHEMATICS “tein (fi sttanje= tow (G P P Putting p = 1, we get fhe -1 SIN gy dt = tan” Lae t ‘TEST YOUR KNOWLEDGE Find the Laplace transforms of (i) t sinh at Gi) @ sin 2t (iv) tet sin at (UK.T.U. 2012) (iii) 2 (w)tsintt cosh 3¢ (viii) sin at — at cos at (vii) ¢ (8 sin 2¢ ~ 2 cos 2¢) at + 2) sin 3t. (ix) tet, p>a;n isa positive integer (*) e- 2 5 If LIF(t)) = fp), show that Lie? Fi)! Sain. Use this result to obtain L(t? cos at). ip 1-cos at 1, at) 3p” +a? re show that L eo : ( } oS { } Pipe Find the Laplace transform of ‘ . a? @ ne wre ii SOB CO8E ip SINE ¢ 7 t w Sant (iy) Sst (oi) (Giiiy jin St cost | 7 Evaluate: of sata (UP.TU. 2009) (i) [= iat t at Wii) j (UP.7.U, (SUM) 2008 ; G.B.T.U. 201!) = cos 6t - cos 4t wf o) 5 —oe wa fe - Sint dt. (M.T.U, 2012) (Af.7.U. 2018) Find the Laplace transform of @ f et sing sing ' eae ; iy [| at (uy ff SO8at=eO8 be ay : :i Place TRANSFORM pte lage tanto p Find the Laplace transform of tit of f f cos at dt dt dt a Jo to (U.P.1.U. (SUM) 2009) in at dt (ig sine wo fi ee jete . (ivy {Re sin du du Show that: (G.B.T.U, 2013) 1 TH wal p 6 Pert sin zeae = 55 (SiG Y site ae = & 2 i sinh (ii) (Peete) a = Zoot (2)4 3 tog (1 he a @)+5 og ( 5) Answers 2 iy SGP =O iii) (p* +4) mF 2a (p-a) 23p? +4) +9 8+ 12p- 2p? (iv) v) + wo oii) 8+ 12P 20 oe ey Pip +4 1) oF (i) Fe aF ee sa" ‘ nt! a — 18p* + 126p* - 162p + 432 iti) io) pt ~ 18p* + 1286p - 162p ee pate (p-ay*? ©) (pe +9 2p(p? - 3a”) (pr +a?)® 2 Doole 5) toe (222 1 piso eles i) 0 (g wi) oe > ii) 10g iiea (io) Glee | 14, (B42 i) 2 tog [2 +4} a ©) 4 tog( 222) (wi) Jos [| (of log 1+ 5 (viii) 3. tan“! (2) = tan? (2 : ( 22 (ii) w2 (iii) log () iv) log 2 2 () toss (vi) w4 Pe est pt pty Cee ar ae ee © Zoot p+ (i) Ae 222) (i Fy loe|1+—e] Go) Flow | Fes 4 oq Gy 82+) wn cot"! (224) Pana) pip + ap +I oro 8 iv) 4 cot? (24). > 3 LAPLACE TRANSFORM OF SOME SPECIAL FUNCTIONS ‘The error function denoted by erf Jf is defined as dn (1) The error func! 2 pv of i= [le lo Note, lim erfx=Oand Jim erfx=1.——EAMPLES | ILLUSTRATIVE EXAMPLI (erf fi) and hence prove that 3p48 Lit. erf 2t)= Fp ‘ Sol. By definition, A) 2 pf ont an - ext = fe fe a Example f. Find 4 2 ft 2,70 ert = i) (8 +O in Jo ! ok (dO _.— oe. . rcw/2) 19/2) 72 3/2) _ 15/2) = +(5 De Bap? qistp Now, Leerf Qt) = als are i. 1" > v + = d 2 p(3p+8) ___3p+8 Le erf 20) =— Gp ie yap Pips ay? Foo (peo? essel function of order n is given by err Lr 2°Tin+D 2.(2n +2) 2.4(2n + 2)(2n + 4) (2) The Bessel function. Bi J, @) & ritasreD le, Bessel function of order zero is given by AE et 2 27.4 27.4? 6? Example 2. Find L(J, (t)], where Jo (t) is the Bessel ie Hence * otherwise obtain LIJ, (1. ° e Bessel function of order zero. Jy (x)= 1- 2 Sol. By definition, J,(t) = 1-e A)— Fl ApLace TRANSFORM Eo ———————— We know by the recurrence relation, Jy =- Jo were J 4g,{t)is the Bessel function of order one. L9,(0) = — LE S(O] = ~ (pL (0) — = = Ld, = (g) The sine integral. The sine integral, denoted by S, (¢) is defined as swf S22 =f aay (4) The cosine integral. The cosine integral, denoted by C; (0), is defined as cGw=fs , Example 3. Find LIC,()), where C(t) J COS Easy, Le Sol. Let F=f S# du=-f! £084 dy | ow . so that, set = tF()=-cost d ->= F(t) = gp UPON d =

0. wsbovdes0 pip) = 5 log n+ »= [ATEXTBOOK OF ENGINEERING MATHEMATICS, 2 fo) = 5 ogo? +1 i 1 function is ee complementary error function. The complementary rF0 defined as 2 ee er) = Lert = [et du. Example 4. Evaluate: Llerf. Yb)- : Sol. L (erf, ff) = L (1 - erf (ye) = LA) - Lierf (A = 5 7 pipe) jal ii 11 is defined as (6) The exponential integral function. ‘The exponential integral 1s E,= <6 Example 5. Evaluate: L (B, (t)|, where E(0 = J we di Sol. ugg «tf =a Put u=tw sothat —"=") 2 r ae eet at} av 1On changing the order of integration ole 1 1a vf (Ae eer h plo peo yi togo-leetw 0) = toe(2+ J 25 soe h | (7) Laguerre polynomial. ‘This polynomial is defined as nigh), L,@) = Example 6. ange LIL, (0)), where L,(t) is Laguerre polynomial and n is a (+)v® integer. ape ( ecatoans sol. UL,wi =f, (nar a i dt et fend fe t")dt | nid i 1) Jet GP (gat yn qv -3 (p- fe t pny 4 -f (p- De? oS (et eat ——tamen ls -p fT ete-m at (wv Ferm Oe ie mat dt” (= nt PLAGE TRANSFORM ; | { Sean [ ee me ete ae ete Fee et en ar af =" (p= on y" on epee et Ba (8) Unit Step Function (or Heaviside’s Unit Step Function) The unit step function u(t - a) is defined as u(t-a) _ 10, for ta’ Where a2 0. : _ {0, for t<0 Asa particular case, u(t) = { me. { | lo at Sevea | 0, for t « Second Shifting Theorem IfLiF(O} = lp), then L{F(t- a). u(t -)) =e? flp). LIF@- a). u(t -a)) = [er Fe—a). uta) dt = [em FG-a)dt= frome Fan du, where u = =e? I oP F(u) du = e*? fp) Note. Ifa = 0, LIF(¢) u(t)) = fp) = LIF).274 ATEXTBOOK OF ENGINEERING MATHEMATIC rms of Heaviside’s unit step function ; Example 7. Express the following functions inter sint, O2n (ii) Fp) = tae ngs cost, O2n 1, O6 Sol. () FU) = 2lult) - ult =m) + sin € fult ~ 2n)) = Dutt) — u(t — 1) + sin (t 2m + 2x) ult - 2x) 2 F() = 2lu(t) — ult — m)} + sin (¢— 2n) u(t — 20) ‘Taking Laplace transform, we get a LIF()} = 2 G S }: e-% L (sin ¢) | Using second shifting theorem PP j-e™*) eo” = fo)=2 - ) Gi) F(t) = Mult) — u(t - 1)) + 2lult ~ 1) - ult - 2) ; + Blut — 2) — ult — 3) + ian F(t) = u(t) + u(t — 1) + ult - 2) + u(t - 3) +...- FORM LARLACE TRANS! 275 (ii) FO) = Mult) - u(t - 2)) + atte — 2)—ult -4)) + Slu(t — 4) - u(t - 6)) = u(t) + ult ~ 2) + u(t — 4) — Bult - 6) 1 ec? oP 36-80 LIF) = + gece Ses Pb op 1 = Rp) = (1 +e + ete — Sent) (iv) F(t) = sin t u(t — W/2) asin (t-% 42 )u(t—2) 200s (t-Z}u(t-2 sin (: s+ z)4(+-3) eles (« Aue x) LIF) =e 2” L(cos t) | Using second shifting theorem ,~ (Rn/2) a pemae a Heys pti Example 9. Find the Laplace transform of (= D2 ut-) (UPTV. 2008) (ii) sintu(t-») (U.P-T.U. 2008) (ie ult -2) (iv) et 1 -ut-2). Sol. (i) Comparing (¢ — 1)? u(t - 1) with F(t —a) u(t — a), we have a= land Fit)= 0? 2 ftp) = LIF(e)) = Pp L(t - 1)? u(t — 1) = ep) | By second shifting property ert Bae (ii) Expressing sin ¢ as a function of (¢ — x), we have sin t = sin ((t—x) + x] =—sin(t-7) Comparing - sin (t - x) u(t ~ =) with F (¢ - a) u(t - a), we get a=nand F(t)=—sint 1 fp) = LIPO) = - L{sin t u(t — n)} =e fip) | By second shifting property276 ATEXTBOOK OF ENGINEERING MATHEMATIgg See A a 3 (ii) L{u-2)} = £— P ee | By first shifting property ve) La -w@-2e 3 - P oie eevee, | By first shifting property pti p+ Example 10. Express the function shown in the —(() diagram in terms of unit step function and obtain its Laplace transform. (U.P.T.U. 2009) Sol. Here, - « roe {ot 1g Fit) = (¢- 1) (u(t - 1) - ut 2)) +(3-0 lult-2)-u(e-3)) = (t-3) u(t —3) - 2(¢ - 2) u(t - 2) + (@- Dut-D) Hence, LIF(¢)) = Li(e - 3) u(t - 3)) — 2 Lie - 2) u(t — 2} + Le - D ule DI ~'{1-u(@e-2)}] = | By second shifting property P Example 11. Express the following function interms of unit step function and find its Laplace transform: fu) O2 or fit) = (t~ Dlu(t - 1) - u(t - 2)) + ult — 2) = (t= 1 ult-1)-(@-2) ult -2) By second shifting theorem, If Life = F(p), then Lift -a) ult -a)} =e F(pyLAPLACE TRANSFORM, 277 —_———— Here, Lito) = Uo) = 4 Pp 1 Lit 1 ult) ee? and Le age) cee et) Hence, L(t 1) u(t = 1) = (1-2) u(t -2)) Example 12, Sketch the following functions and express them interms of unit step functions. Hence obtain the Laplace transform. Dra lt, Oa This function is represented in the figure. Integrat- 5 a ing this function, we get -+ e As €40, the function 8,(t—a) tends to be infinite at x = a and zero elsewhere, with the characteristic property that its integral across ¢ = a is unity. If 8,(¢ - a) represents a force acting for short duration ¢ at time f = a, then the integral ff sa-mat= ft a=Fere-a=1 o , e Lt, feta) dt=1 eso}, represents unit impulse at ¢ = a. Hence the limiting form of ,(t ~ a) as € > 0 is expressed as unit impulse function denoted by 5(t - a). ‘Thus the unit impulse function 5(¢ ~ a) is defined as follows: o, for t=a (t-a)= aa) fe for tea such that ff Mo ae=i Laplace Transform of Unit Impulse Function If tt) is a function of ¢ continuous at ¢ = a, then ff R05.e-aae= [Ao fatLAPLACE TRANSFORM, ne EEE then 279 =(ate-a) fo). 4 =fo), whereaceca+e (by mean value theorem for integrals) Ase O,weget — f” fu) &e-a)dt = ta). Cor. 1. List -a)} = iF © &t—a)dt =e", Cor. 2 Lis) =e = 1, Example 14, Evaluate: fo) Set 8-3) dt i [oo aa) ae, Sol. (i) fe" e—3) dt =[e4),,, =e? ii) [eo se-aa= [vo ae- ol - [ow ae-arae =0-0-$(a)=- 9a). Example 15. Find the Laplace transform of @# &t-5) (ii) cos t log t 8(t — n), Sol.) LO KE- 5) = [em 8 50-5) ae = Hew | By definition (ii) Leos t log ¢ &(t - m)) = is "cos t log t &(t — x) dt | By definition = cos log xe?" =~ log re? (10) Periodic Functions. If f(t) is a periodic function with period T, i.e, fit + T) = fit), Lift) = at fen fi) dt. | (U.P-T.U. (C.0.) 2009; G.B.T.U (C.0,) 2010) = lo 4 a ar afer pode [er = at : Here, Lyol= [ew Anat = [ler fades f° em fo dt + [er Rode + Putting t =u, t=u+T,¢=u + 2T,.. in the successive integrals 7 Lion = [em fun du + [Pero fut Td + fem 2D flu + 27) due + vnon , Since flu) =flu+T)= flu +27) Life) = ffem flu) du +e%T fem fu) du + 6-27 [fem flu) du +. we have 1 7 1 t (1 tePTee Ty...) i eP* flu) di 3 [rem fo aeFariutiottis ined Example 16. Find the Laplace trancform of a periodic fonctions boon (f= UT. for Qt eT leae-toth ware of | ity i iod a) (i) 10) = sin (®) for 01 ca. (Rectified sine mave of period 1 ¢t t 1 7 —_— ot fa Sol.) Here, LY = 7 aT f er fitdt= oF J Z felt i) =| (5) a (-2) _te)ax all |e a) = atta pats pte (+e )an From (1), Lfit)) = Ate an__ y (=e? )(a?p? + 2°) on ax coth 2 att | a apt en)” phan? 17, Draw the graph and find the La ic POE penal eit iplace transform of the triangular wave f= { 4 OKtse 2e-t, e2 ww no ios ast oe (et Oa —_ Git) = 0, tea’ = SS fip) = i e-P! F(t)dt | By definition © Ap)= [ree eM Rede = [eM FW dt . dt=du Putt+a=u from Fu -addu = [oP Fu-a)dt = fer odes fer Fe-aat = [e™ Godt = LiGio) lo , lo Hence the result. Remark. We may write G(t) interms of Heaviside’s unit step function as F(t - a) U(t - a) or FU-a) Ht-a) The theorem can be restated as If L* (fip)) = Fi), then Le? fip)) = F(t a) Ut - a). CHANGE OF SCALE PROPERTY 1 t Naa “1 srt), If Lip) = F(t), then Ltflap)) +r(+) fip)= Pex -F)dt | By definition ee a flap) = (em Fede Cerele}a-nfer) 1 t Lap) = > F(£}.iy = A TEXTBOOK OF ENGINEERING MATHEny, ATIog, 3.25. USE OF PARTIAL FRACTIONS i rtial fractions, it b = en ions, it becomes easier tg Whenever it is convenient to break an expression manipulate inversion term by term. Example 1. Find the inverse Laplace transform of ap+l 2 - 1? oo @ oe (i pP4 (UPTV. (SUM) 2009) 4p+15 p+ cy PS ine pat Prod wbt "7 ay (gy? 7 ay (8 : (ora) “C27 (3 cos 8 4in 2 2 Example 2. Find the inverse Laplace transform of 6 _3+4p , 8-6 35-3 9p? 1616p? +9 1) id | 2p-18 pe dali perees ys (iii) pe p-2 p-9 Brae 34+4p LL" | 5 - S35 Sol. (Bs 9p? - 16 e3r(>_ p-F2)~ 3 =|) )-¥ [oar Jet288 A TEXTBOOK OF ENGINEERING MATHEMATICS, eS 2 “Ta 4 4e% +2 cosh 3¢ - 6 sinh 3t + 4e" + 2 cosh 3t - 6 sinh 3t. , 1 =2cos 3t+3 sin 3f-4e3 + rt Example 3. Find the Inverse Laplace transform of 2 2p+1 .(vp-1 ap peed (Et ) Gir ») polf_2pth |p f[pt@+) ya Soli) Li [2245] [aes =L 2 e a(vp-1) _ja(p+i1-2¥p)_yafl, 1 2 (ii) L ( P ] = Lt) |=L + -F @ P pop p “(Qe Gi) va z sltt-27altt—4 ee ii) pi + dat = (p® + 2a - (ap)? = (p? - 2ap + 2a®) (p? + 2ap.+ 24%) = lp a? +a") (p +a)? +a) P. P. pi+da® ~ (pa) +a"} (pra? +a) i 1 a +a?” (pray ta®Pre ware} “ara 1 <1 sin at sinh at. 2a? (iv) 5) pe 1 V2 Jp+3/2) V2 ° \fp+3/2 1 .-arw fant Example 4. Find the Inverse Laplace transform of 15 (Oy ape 8 “T2) © Vat" 15 wij lot al | By first shifting property ~\ net. 15. 2 sin St = 5e% sin 3. (p+2)+6 wf p+2 - 1 1{(e+2)+6|_ ya) P42), gr) {eres @ratei* (rare a Peer. sents ) worn (fa)-oete Fa eX cost+Ge*sint =e (cost +6sint). pe+2a7 1 1 + 1 ;| pi+4a* 2 (p-a)? +a? (ptay +a (iv)A TEXTBOOK OF ENGINEERING 290 co ; a 1 -—— lara (pray ta oa Ae seu = f[detsinart ge “sinat] = 2( ae" a a = Asin at cosh at. a Example 6. Evaluate : (it) rt { Pe? oxfe2) wo (Sa ep mr eo went =) (wi L (er) so (GBT. 2011) Sol. (i) We have 1 “(a P Se i t>2) 2) u(t-2). Lie a Fy 0, ~ ele J | By second shifting theorem I say (ii) rife : ak 1 = rfer 2) {58 23} -u-oue-o =P _ge"8 Hence L ete }=6-pue-v-s¢-9 0-9, | By second shifting theorem = cosh wt = F(t) cosh w(t-a), t i 0, # 124} = eosh ott a) uta) | By second shifting theore™ 7 a Go) Weave 1*[ Jeenus ial wri Tp) var” 1( oP) gtt-n be Wri) \reey’ °?1)e i ye_y. 0, rer) | YR@=D | By second shifting theore™ a