Lecture 2: Laplace transform:

 Definitions, transfer functions, poles

and zeros, mathematical block
diagrams, block diagram reduction
 Laplace Transformation
• Laplace transform relates time functions to
frequency dependent functions of complex
variables.
– . f(t) is a function in the time domain
– F(s) is a function in the complex frequency
domain
(s-domain)
• Definition:let f(t)be a real variable t defined for

t>0.Then, T  
lim T

 
 st  st
L[ f (t )]  F ( s )  f (t ) e dt  f (t ) e dt
 0  0

0 T
11/30/2020 COEG 304;Lecture 2 2
 Laplace Transformation
Differential Equation


Transform differential
L[ f (t )]  F ( s)   f (t )e dt  st
equation to
algebraic equation. 0
“s “is a complex variable defined by
s    j
Solve equation
by algebra.
where σ and ω are real variables

  j
1

1
Determine
L [ F ( s )]  f (t )  F ( s ) e ts
ds
2 j   j
inverse
transform.

Solution

Steps involved in using the Laplace transform

11/30/2020 COEG 304;Lecture 2 3

 Laplace Transformation
• The Laplace transform is usually used in solving
continuous linear differential equations of the type
encountered in circuit theory and systems.
• The advantage of the Laplace transform is that it makes
cumbersome differential equations algebraic and therefore
the math becomes simpler to handle.
• In the end we can take the inverse and go back to the time
domain. In systems, for example, we stay with the Laplace
variable “s” while investigating system stability, system
performance. We use tools such as the root locus and block
diagrams which are directly in the s variable

11/30/2020 COEG 304;Lecture 2 4

 Basic Theorems of Linearity
L[ Kf (t )]  KL[ f (t )]  KF ( s) where K is a constant

L[ f1 (t )  f 2 (t )]  L[ f1 (t )]  L[ f 2 (t )]
 F1 ( s )  F2 ( s )
L[ f ' (t )]  sF ( s)  f (0)
Where,f(0) is the initial value of f(t),evaluated as the one
sided limit of f(t) as t approaches zero from positive
values. The Laplace transform of a product is not the
product of the transforms
L [ f 1 ( t ) f 2 ( t )]  F1 ( s ) F 2 ( s )
11/30/2020 COEG 304;Lecture 2 5
 Laplace Transformation of a unit step

• Laplace transform of a unit step

u(t)
1

t

 1  st 
L[u (t )]   1e dt  e |
 st

0
s 0

1
L[u (t )] 
s
11/30/2020 COEG 304;Lecture 2 6
 Laplace Transformation of a unit step

• The unit step is called a singularity function

because it does not possess a derivative at t =
0. We also say that it is not defined at t = 0.
Along this line, you will note that many text
books define the Laplace by using a lower
limit of 0- rather than absolute zero.

11/30/2020 COEG 304;Lecture 2 7

 Laplace Transformation of a unit impulse

• An important property of the unit impulse is a

sifting or sampling property. The following is
an important.
t2
 f (t 0 ) t1  t 0  t 2

t1
f (t ) (t  t 0 )dt  
0 t 0  t1 , t 0  t 2
In particular, if we let f(t) = (t) and take the Laplace

L[ (t )]    (t )e dt  e  st 0 s
1
0
11/30/2020 COEG 304;Lecture 2 8
 Laplace Transformation of a unit impulse

f(t) (t – t0)

0 t0
Mathematically:

(t – t0) = 0 t  0

t 0 

 (t  t )dt 1
t0 
0  0

11/30/2020 COEG 304;Lecture 2 9

Laplace transform of the exponential function

 t
f (t )  e
 
F ( s )   e e dt   e
 t  st  (  s ) t
dt
0 0

e 
 ( s  ) t
e 0
   0
( s   )  0 ( s   )
1

s 
11/30/2020 COEG 304;Lecture 2 10
 Laplace Transformation
An important point to remember:

f (t )  F ( s )

The above is a statement that f(t) and F(s) are transform

pairs. What this means is that for each f(t) there is a
unique F(s) and for each F(s) there is a unique f(t).

11/30/2020 COEG 304;Lecture 2 11

 Table 1. Common transform pairs.
f (t ) F ( s )  L[ f (t )]
Unit Step 1 or u (t ) 1 T-1
s
Exponential e  t 1 T-2
s 
Sine Wave sin  t  T-3
s 2
2

Cosine Wave cos  t s T-4

s 2
2

Damped Sine Wave e t sin  t  T-5*

(s   )2   2
Damped Cosine Wave e  t cos  t s  T-6*
(s   )2   2
Unit ramp t 1 T-7
s2
Polynomial tn n! T-8
s n 1
e  t t n n! T-9
( s   ) n 1
Unit impulse  (t ) 1 T-10

*Use when roots are complex.

11/30/2020 COEG 304;Lecture 2 12

 Laplace transform

L[tu(t )]   te dt
 st

0  

 udv  uv |   vdu
0
0
0

u=t
dv = e-stdt
1
tu(t )  2
s
11/30/2020 COEG 304;Lecture 2 13
 Laplace transform
  jwt
(e jwt
e )
L[cos(wt )u (t )]   e  st dt
0
2

1 1 1 
   
2  s  jw s  jw 
s
 2
s w 2

11/30/2020 COEG 304;Lecture 2 14

 Laplace transform – Time Shift

L[ f (t  a )u(t  a )]   f (t  a )e  st
a

Let x  t  a , then dx  dt and t  x  a

As t  a, x  0 and as t  , x  . So,
 


0
f ( x )e  s ( x  a ) dx  e as  f ( x )e  sx dx
0

 as
L[ f (t  a )u(t  a )]  e F ( s)
11/30/2020 COEG 304;Lecture 2 15
 Example 1
A force in newtons (N) is given below. Determine the
Laplace transform.

f (t )  50u (t )

50
F (s) 
s
11/30/2020 COEG 304;Lecture 2 16
 Example 2
A voltage in volts (V) starting at t = 0 is given below.
Determine the Laplace transform
2 t
v(t )  5e sin 4t
4
V ( s )  L[v(t )]  5 
( s  2)  (4)
2 2

20 20
 2  2
s  4s  4  16 s  4 s  20
11/30/2020 COEG 304;Lecture 2 17
 Example 3
A pressure in pascals (p) starting at t = 0 is given
below. Determine the Laplace transform.
4 t
p(t )  5cos 2t  3e
s 1
P ( s )  L[ p (t )]  5  2  3
s  (2) 2
s4
5s 3
 2 
s 4 s4
11/30/2020 COEG 304;Lecture 2 18
 Using Matlab with Laplace transform
Use Matlab to find the transform of
te  4 t
Matlab code
syms t,s
laplace(t*exp(-4*t),t,s)
ans =
1/(s+4)^2

11/30/2020 COEG 304;Lecture 2 19

 Initial value theorem
If the function f(t) and its first derivative are Laplace transformable and f(t)
Has the Laplace transform F(s), and the lim sF ( s) exists, then
s

lim sF ( s )  lim f ( t )  f (0) Initial Value

Theorem
s t 0

The utility of this theorem lies in not having to take the inverse of F(s)
in order to find out the initial condition in the time domain. This is
particularly useful in circuits and systems.

11/30/2020 COEG 304;Lecture 2 20

 Initial value theorem- Example 4
Given;

( s  2)
F ( s) 
( s  1)2  5 2

Find f(0)


( s  2) s 2  2s 
f (0)  lim sF ( s )  lim s 2 2
 lim  2 
s   ( s  1)  5
s s
 s  2 s  1  25 
s2 s2  2 s s2
 lim 1
s 2 2 2 2
s s  2 s s  ( 26 s )

11/30/2020 COEG 304;Lecture 2 21

 Final Value Theorem
If the function f(t) and its first derivative are Laplace transformable and f(t)
has the Laplace transform F(s), and the lim sF ( s) exists, then
s

lim sF ( s )  lim f ( t )  f ( ) Final Value

s0
Theorem
t 

Again, the utility of this theorem lies in not having to take the inverse
of F(s) in order to find out the final value of f(t) in the time domain.
This is particularly useful in circuits and systems.

11/30/2020 COEG 304;Lecture 2 22

 Final Value Theorem – Example 5
Given:

( s  2) 2  3 2
note F 1 ( s )  te 2 t cos 3t
F ( s) 
( s  2) 2
 32 
Find f ( ) .

( s  2) 2  3 2
f ( )  lim sF ( s )  lim s
s0 s0 ( s  2) 2
3 2
 0

11/30/2020 COEG 304;Lecture 2 23

 Inverse Laplace Transforms
by Identification
•When a differential equation is solved by
Laplace transforms, the solution is obtained as a
function of the variable s. The inverse transform
must be formed in order to determine the time
response. The simplest forms are those that can
be recognized within the tables and a few of
those will now be considered.

11/30/2020 COEG 304;Lecture 2 24

 Example 6 – Inverse Laplace Transform.

Determine the inverse transform of the

function below
5 12 8
F (s)   2 
s s s3
3t
f (t )  5  12t  8e

11/30/2020 COEG 304;Lecture 2 25

 Example 7 – Inverse Laplace Transform.
Determine the inverse transform of the
function below
200
V (s)  2
s  100
 10 
V ( s )  20  2 2 
 s  (10) 

v(t )  20sin10t
11/30/2020 COEG 304;Lecture 2 26
Example 8 – Inverse Laplace Transform.
Determine the inverse transform of the
function below
8s  4
V (s)  2
s  6 s  13
When the denominator contains a quadratic,
check the roots. If they are real, a partial fraction
expansion will be required. If they are complex,
the table may be used. In this case, the roots are

s1,2  3  2i
11/30/2020 COEG 304;Lecture 2 27
 Example 8 - Continuation.

s  6 s  13
2

 s  6 s  (3)  13  (3)
2 2 2

 s  6s  9  4
2

 ( s  3)  (2)
2 2

11/30/2020 COEG 304;Lecture 2 28

 Example 8 - Continuation.

8( s  3) 4  24
V (s)  
( s  3)  (2) ( s  3)  (2)
2 2 2 2

8( s  3) 10(2)
 
( s  3)  (2) ( s  3)  (2)
2 2 2 2

3t 3t
v(t )  8e cos 2t  10e sin 2t

11/30/2020 COEG 304;Lecture 2 29

 Using Matlab with Laplace transform
Use Matlab to find the transform of
s( s  6)
F ( s) 
( s  3)( s 2  6s  18)

Matlab code
syms s,t

ilaplace(s*(s+6)/((s+3)*(s^2+6*s+18)))

ans =
-exp(-3*t)+2*exp(-3*t)*cos(3*t)
11/30/2020 COEG 304;Lecture 2 30
 Partial Fraction Expansion
N ( s)
F ( s) 
D( s)
n 1
N ( s )  an s  an 1s
n
 ...  a1s  a0
m 1
D( s )  bm s  bm 1s
m
 ...  b1s  b0
N (s)
F (s) 
bm ( s  p1 )( s  p2 )....( s  pm )
11/30/2020 COEG 304;Lecture 2 31
 Poles and Zeroes
The roots of D(s) are called poles and they may
be classified in four ways
– Real poles of first order.
– Complex poles of first order (including purely
imaginary poles)
– Real poles of multiple order
– Complex poles of multiple order (including purely
imaginary poles)
Zeros: the roots to the numerator polynomial
11/30/2020 COEG 304;Lecture 2 32
Partial Fraction Expansion [F(s) has distinct pole]

N ( s) N (s)
F (s)   n
D( s)
 (s  p )
i 1
i

k1 k2 kn
F (s)    ... 
s  p1 s  p2 s  pn

k j  ( s  p j ) F ( s ) |s  p j j = 1,2,….n

f1 (t )  k1e p1t
 k2e p2t
 ......k n e pn t

11/30/2020 COEG 304;Lecture 2 33

 Example 9
Determine inverse transform of function below.
s6 s6
F ( s)  2 
s  3s  2 ( s  1)( s  2)
s6 A1 A2
F ( s)   
( s  1)( s  2) s  1 s  2
s  6 1  6
A1  ( s  1) F ( s )  s 1    5
s  2  s 1 1  2
11/30/2020 COEG 304;Lecture 2 34
 Example 9 - Continuation.

s  6 2  6
A2  ( s  2) F ( s )  s 2    4
s  1  s 2 2  1
5 4
F (s)  
s 1 s  2
t 2 t
f (t )  5e  4e
11/30/2020 COEG 304;Lecture 2 35
 Example 10
Determine exponential portion of inverse transform of
function below
50( s  3)
F (s) 
( s  1)( s  2)( s  2 s  5)
2

A1 A2
F1 ( s )  
s 1 s  2

11/30/2020 COEG 304;Lecture 2 36

 Example 10 - Continuation.
50( s  3)  (50)(2)
A1     25
( s  2)( s  2s  5)  s 1 (1)(4)
2

50( s  3)  (50)(1)
A2     10
( s  1)( s  2s  5)  s 2 (1)(5)
2

t 2 t
f1 (t )  25e  10e
11/30/2020 COEG 304;Lecture 2 37
 Partial Fraction Expansion for
First-Order Complex Poles

( s  bs  c)  p1,2    i
2

As  B
F ( s)  2  R( s)
s  bs  c

11/30/2020 COEG 304;Lecture 2 38

 Example 11
50( s  3) 25 10 As  B
   2
( s  1)( s  2)( s  2 s  5) s  1 s  2 s  2 s  5
2

50(3) 25 10 B B  25
  
(1)(2)(5) 1 2 5
50(4) 25 10 A  B A  15
  
(2)(3)(8) 2 3 8
25 10 15s  25
F (s)    2
s  1 s  2 s  2s  5
11/30/2020 COEG 304;Lecture 2 39
 Example 11 - Continuation.
15s  25
F2 ( s )  2
s  2s  5
s  2 s  5  s  2s  1  5  1  ( s  1)  (2)
2 2 2 2

15s  25 15( s  1) 5(2)

F2 ( s )   
( s  1)  (2)
2 2
( s  1)  (2) ( s  1) 2  (2) 2
2 2

f (t )  f1 (t )  f 2 (t )
t 2 t t t
 25e  10e  15e cos 2t  5e sin 2t

11/30/2020 COEG 304;Lecture 2 40

 Second-Order Real Poles
•Assume that F(s) contains a denominator factor
of the form (s+)2. The expansion will take the
form shown below.

C1 C2
F (s)    R( s)
(s   ) s  
2

C1  ( s   ) 2 F ( s ) 
s 

 t  t  t
f1 (t )  C1te  C2 e  (C1t  C2 )e
11/30/2020 COEG 304;Lecture 2 41
 Example 12
Determine inverse transform of function below
60
F ( s) 
s ( s  2) 2

60 A C1 C2
F ( s)    
s ( s  2) 2
s ( s  2) ( s  2)
2

60  60
A  sF ( s )  s 0  2
  15
( s  2)  s 0 (0  2) 2

60  60
C1  ( s  2) F ( s ) 
2
    30
s 2 s  s 2 2
11/30/2020 COEG 304;Lecture 2 42
 Example 12 Continuation.
60 15 30 C2
F ( s)    
s ( s  2) 2
s ( s  2) s  2
2

60 15 30 C2 C2  15
  
(1)(1  2) 2
1 (1  2) (1  2)
2

60 15 30 15
F (s)    
s ( s  2) 2
s ( s  2) s  2
2

2 t 2t 2 t
f (t )  15  30te  15e  15  15e (1  2t )
11/30/2020 COEG 304;Lecture 2 43
 Laplace Transform Operations

f (t ) F (s)
f '(t ) sF ( s )  f (0) O-1
t
F (s) O-2
 0
f (t )dt
s
e  t f (t ) F (s   ) O-3

f (t  T )u (t  T ) e  sT F ( s ) O-4

f (0) lim sF ( s ) O-5

s 

lim f (t ) lim sF ( s )* O-6

t  s 0

*Poles of sF ( s ) must have negative real parts.

11/30/2020 COEG 304;Lecture 2 44

 Significant Operations for Solving
Differential Equations

L[ f '(t )]  sF ( s )  f (0)
L[ f "(t )]  s F ( s )  sf (0)  f '(0)
2

 t
 F (s)
L  f (t )dt 
 0  s

11/30/2020 COEG 304;Lecture 2 45

 Procedure for Solving DEs

d2y dy
b2 2  b1  b0 y  f (t )
dt dt
 d2y dy 
L b2 2  b1  b0 y   L  f (t ) 
 dt dt 
b2  s 2Y ( s )  sy (0)  y '(0) 
b1  sY ( s )  y (0)   b0Y ( s )  F ( s )

F ( s) sb2 y (0)  b2 y '(0)  b1 y (0)

Y (s)  
b2 s  b1s  b0
2
b2 s  b1s  b0
2

11/30/2020 COEG 304;Lecture 2 46

Example 13. Solve DE shown below.
dy
 2 y  12 y (0)  10
dt
 dy 
L    2 L  y   L  12
 dt 
12
sY ( s )  10  2Y ( s ) 
s
12
 s  2  Y ( s)  10 
s
10 12
Y (s)  
s  2 s ( s  2)
11/30/2020 COEG 304;Lecture 2 47
 Example 13. Continuation.
12 A1 A2
 
s ( s  2) s s  2
 12   12 
A1  s     6
 s( s  2)  s 0  s  2  s 0
 12  12 
A2  ( s  2)      6
 s ( s  2)  s 2  s  s 2

10 6 6 6 4
Y ( s)     
s2 s s2 s s2
2 t
y (t )  6  4e
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Example 14. Solve DE shown below.

dy
 2 y  12sin 4t y (0)  10
dt
12(4)
sY ( s )  10  2Y ( s )  2
s  16
10 48
Y (s)  
s  2 ( s  2)( s  16)
2

48 A B1s  B2
  2
( s  2)( s  16) s  2 s  16
2

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 Example 14. Continuation.

48  48
A 2    2.4
s  16  s 2 20
48 2.4 B1s  B2
  2
( s  2)( s  16) s  2 s  16
2

48 2.4 B2
  B2  4.8
(2)(16) 2 16

48 2.4  B1  B2 B1  2.4
 
(1)(17) 1 17
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 Example 14. Continuation.

10 2.4 2.4 s 4.8

Y (s)    2  2
s  2 s  2 s  16 s  16

2 t
y (t )  12.4e  2.4 cos 4t  1.2sin 4t

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Example 15. Solve DE shown below.
2
d y dy
2
 3  2 y  24
dt dt
y (0)  10 and y '(0)  0
24
s Y ( s )  10s  0  3  sY ( s )  10  2Y ( s) 
2

s
24 10 s  30
Y (s)   2
s ( s  3s  2) s  3s  2
2

24 10 s  30
 
s ( s  1)( s  2) ( s  1)( s  2)
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Example 15. Continuation.
24 12 24 12
  
s( s  1)( s  2) s s  1 s  2
10 s  30 20 10
 
( s  1)( s  2) s  1 s  2
12 4 2
F (s)   
s s 1 s  2
t 2 t
f (t )  12  4e  2e
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Example 16. Solve DE shown below.
2
d y dy
2
 2  5 y  20
dt dt
y (0)  0 and y '(0)  10
20
s Y ( s )  0  10  2  sY ( s )  0  5Y ( s) 
2

s
20 10
Y (s)   2
s ( s  2s  5) s  2s  5
2

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Example 16. Continuation.
20 4 As  B
  2
s ( s  2s  5) s ( s  2s  5)
2

20 4 A B
 
(1)(1  2  5) 1 (1  2  5)
20 4 A  B
 
(1)(1  2  5) 1 (1  2  5)

A  4 B  8
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Example 16. Continuation.

4 4 s  8 10 4 4 s  2
Y (s)   2  2   2
s s  2s  5 s  2s  5 s s  2s  5

s  2s  5  s  2s  1  5  1  ( s  1)  (2)
2 2 2 2

4 4( s  1) 3(2)
Y ( s)   
s ( s  1)  (2) ( s  1) 2  (2) 2
2 2

t t
y (t )  4  4e cos 2t  3e sin 2t

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 Transfer Function
• Transfer Function(TF) of a LTI differential equation
system is defined as ratio of Laplace transform of
output to the Laplace transform of input, under
assumption that all initial conditions are zero
L[o / p ]
TF  G ( s ) 
L[i / p ] Zero initial Condition
m 1
Y ( s ) bo s  b1s  ....  bm
m
  n 1
X ( s ) ao s  a1s  ....  an
n

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 Block Diagram
• Graphical way of illustrating the relations
between different states in a system
• Block diagram elements:

Block diagram reduction is a graphical way of

determining/reducing system transfer functions
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