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Physical World Signal World
Operational Calculus
hard problem

0 ) 0 ( ' ) 0 (
"
= =
= +

y y
te y y
t
simple equation


solution Y


solution y


2
2
) 1 (
1
) 1 (
+
= +
s
Y s
transform
L
1
L
inverse
transform
algebraic
operation
Solve ?
2 2
) 1 )( 1 (
1
+ +
=
s s
Y
t t
e te t t y

+ + =
2
1
2
1
cos
2
1
) (
Laplace Transforms
Def:

Inverse:
Linearity:
Shifting Theorom:
0 ), ( for ) ( ) ( ) (
0
> = =
}

t t f dt t f e f L s F
st
) ( ) (
1
F L t f

=
)} ( { )} ( { )} ( ) ( { t g bL t f aL t bg t af L + = +
)} ( { ) (
) ( )} ( {
1
a s F L t f e
a s F t f e L
at
at
=
=

List of Laplace Transforms

f(t)
L(f)
f(t)
L(f)
1
1
1/s
7
cos et
2
t
1/s
2
8
sin et
3
t
2
2!/s
3
9
cosh at
4
t
n
(n=0, 1,)
10
sinh at
5
t
a
(a positive)
11
e
at
cos et
6
e
at
12
e
at
sin et
1
!
+ n
s
n
1
) 1 (
+
+ I
a
s
a
a s
1
2 2
e + s
s
2 2
e
e
+ s
2 2
a s
s

2 2
a s
a

2 2
) ( e +

a s
a s
2 2
) ( e
e
+ a s
Review: Partial Fractions
n
n k
k k
n
k
m
m
m
p s
A
p s
A
p s
A
p s
A
p s
A
p s p s p s
a s a s

=

+ +

) ( ) ( ) ( ) (
) ( ) ( ) (
2
2
1
1
1
1
12
1
11
2 1
0
1
1
Case I: unrepeated real factor
Case II: repeated real factor



Case III: unrepeated complex factor
Case IV: repeated complex factor
n
n k k
k k
n
k
m
m
m
p s
A
p s
A
c bs s
B s A
c bs s
B s A
c bs s
B s A
p s p s c bs s
a s a s

+
+ +
+
+
+ +
+
+
+ +
+
=
+ +
+ +

) ( ) ( ) ( ) (
) ( ) ( ) (
2
2
2
1 1
1 2
12 12
2
11 11
2
2
0
1
1
Existence for Laplace transform
piecewise continuous on every finite
inteval in the range of
satisfy

for some constant k and M.
Conclusion:
The Laplace transform of exists for all s > k
0 all for | ) ( | > s

t Me t f
kt
) (t f
) (t f
0 > t
) (t f
Condition:
Transform of Derivatives
THEORM 1
Laplace of f(t) exists
f(t) exists and piecewise continuous for t>=0



THEOREM 2
) 0 ( ) ( ) ' ( f f sL f L =
) 0 ( ) 0 ( ' ) 0 ( ) ( ) (
) 1 ( 2 1 ) (
=
n n n n n
f f s f s f L s f L
Differential Equations
1 0
) 0 ( ' ) 0 ( ) ( ' " K y K y t r by ay y = = = + +
) ( )] 0 ( [ )] 0 ( ' ) 0 ( [
2
s R bY y sY a y sy Y s = + +
) ( ) ( ) ( )] 0 ( ' ) 0 ( ) [( ) (
1
) (
2
s Q s R s Q y y a s s Y
b as s
s Q
+ + + =
+ +
=
) ( ) (
1
Y L t y

=
1
st
step
2
nd
step
3
rd
step
Questions
Does Laplace transform always exist?


When can Laplace transform be used to solve differential
equations?

Advantages?


Transform of Integrals
s
s F
s
f L
d f L
t
) ( ) (
} ) ( {
0
= =
}
t t
}
) (
{ ) (
1
0
s
s F
L d f
t

=
}
t t
Unit Step Function

>
<
=
a t
a t
a t u
if 1
if 0
) (
) (t u
) ( a t u
t-Shifting
) ( ) ( t u t f
) 10 ( t f
) 10 ( ) 10 ( t u t f
Applications t-shifting
THEOREM

) ( )} ( ) ( { s F e a t u a t f L
as
=
)} ( { ) ( ) (
1
s F e L a t u a t f
as
=
s
e
a t u L
as
= )} ( {
Dirac Delta (unit impulse) Function
Impulse of f(t), for



Generalized function



Laplace transform
}

=
=
0
1 ) ( and
otherwise 0
if
) ( a t
a t
a t o o
as
e a t L

= )} ( {o
1 0
t t t s s
t
t
Convolution
Definition


Property

Application
}
= - =
t
d t g f t g f t h
0
) ( ) ( ) )( ( ) ( t t t
)} ( ) ( { ) )( * (
1
s G s F L t g f

=
) ( ) ( ) (
1
) (
2
s Q s R s Y
b as s
s Q
=
+ +
=
}
=
t
d t t q t y
0
) ( ) ( ) ( t t t
0 ) 0 ( ' 0 ) 0 ( ) ( ' " = = = + + y y t r by ay y 1. Solve
2. Calculate integral
Illustration of convolution (I)
f (o) g (o)
g (- o) g (x- o)
1
1
-1 -1
1
1/2
1/2
1/2
(a) (b)
(c)
(d)
o
o
o
o
Illustration of convolution (II)
f (o)g(x - a)
1
1 1
1/2
(e) (f)
o o
1/2
-1
0Z x Z 1
x
f (o)g(x - a)
1
x x-1
1Z x Z 2
f (x) - g(x)
1
(g)
1/2
2
x
Linear System Applications
Definition: A linear mapping of a set of input functions
into a corresponding set of output functions



Transfer function: ratio of the Laplace transform of the
output of the system to that of the input of the system



)} ( { ) ( t x f t y =
Transfer Function Properties
Completely characterizes the systems (initially relaxed)

Independent of inputs and outputs

Equals the Laplace transform of the impulse response of
system

Can be used to find the response to another system input
(using convolution or partial fraction)