1.1.

Laplace’s Development

The Laplace transform of an expression 𝑓(𝑡), 𝑔(𝑡), ℎ(𝑡) is denoted by

𝐿{𝑓(𝑡)}, 𝐿{𝑔(𝑡)}, 𝐿{ℎ(𝑡)} (𝐹(𝑠), 𝐺(𝑠), 𝐻(𝑠)).

The definition of the Laplace transform of an expression is:

∞
𝐿{𝑓(𝑡)} = ∫𝑡=0 𝑓(𝑡)𝑒 −𝑠𝑡 𝑑𝑡 = 𝐹(𝑠)

The parameter 𝑠 must be sufficient to ensure convergence of the integral.

∞
𝐿{𝑓(𝑡)} = ∫ 𝑓(𝑡)𝑒 −𝑠𝑡 𝑑𝑡 = 𝐹(𝑠), 𝑎𝑙𝑠𝑜,
𝑡=0

∞
𝐿{𝑓(𝑡)} = ∫ 𝑓(𝑡)𝑒 −𝑠𝑡 𝑑𝑡 = 𝐹(𝑠)
0

Table 1: Established standard transforms

𝑓(𝑡) 𝐹(𝑠)
𝑎 𝑎
𝑠
𝑒 𝑎𝑡 1
𝑠−𝑎
𝑡𝑛 𝑛!
𝑠 𝑛+1
sin 𝑎𝑡 𝑎
𝑠 2 + 𝑎2
cos 𝑎𝑡 𝑠
𝑠 2 + 𝑎2
sinh 𝑎𝑡 𝑎
𝑠 2 − 𝑎2
cosh 𝑎𝑡 𝑠
𝑠 2 − 𝑎2
Example 1
7
𝐿{7} =
𝑠

1
𝐿{𝑒 8𝑡 } =
𝑠−8

1
𝐿{𝑒 −6𝑡 } =
𝑠+6

5
𝐿{sin 5𝑡} =
𝑠 2 +25

𝑠
𝐿{cos 7𝑡} =
𝑠 2 +49

2
𝐿{sinh 2𝑡} =
𝑠2 − 4

𝑠
𝐿{cosh 4𝑡} =
𝑠 2 − 16

1
𝐿{𝑡 0 } = 𝐿{1} =
𝑠

120
𝐿{𝑡 5 } =
𝑠6

1.2. Linearity of Laplace transform

𝐿{𝑓(𝑡) ± 𝑔(𝑡)} = 𝐿{𝑓(𝑡)} ± 𝐿{𝑔(𝑡)}

𝐿{𝑘𝑓(𝑡)} = 𝑘𝐿{𝑓(𝑡)} Where 𝑘 is a multiplying constant

In addition, two transforms must not be multiplied together to form a product

Example 2

1. 𝐿{2 sinh 3𝑡 + 3 sin 3𝑡} = 2𝐿{sinh 3𝑡} + 3𝐿{sin 3𝑡}

3 3 6 9
= 2. + 3. = +
𝑠2 − 9 𝑠2 + 9 𝑠2 − 9 𝑠2 + 9
 3(5𝑠 2 − 9)
=
𝑠 4 − 81

2. 𝐿{cos 6𝑡 + 𝑡} = 𝐿{cos 6𝑡} − 𝐿{𝑡}

𝑠 1 𝑠 3 − 𝑠 2 + 36
= 2 − = 2 2
𝑠 + 36 𝑠 2 𝑠 (𝑠 + 36)

3. 𝐿{3cosh 2𝑡 + 2𝑒 −2𝑡 } = 3𝐿{cosh 2𝑡} + 2𝐿{𝑒 −2𝑡 }

𝑠 1 3𝑠(𝑠 + 2) + 2(𝑠 2 − 4)
= 3. 2 + 2. =
𝑠 −4 𝑠+2 (𝑠 + 2)(𝑠 2 − 4)

5𝑠 2 + 6𝑠 − 8
=
(𝑠 + 2)(𝑠 2 − 4)

4. 𝐿{3𝑒 3𝑡 − 𝑡 0 } = 3𝐿{𝑒 3𝑡 } − 𝐿{𝑡 0 }

1 1 3𝑠 + (𝑠 − 3)
= 3. + =
𝑠−3 𝑠 𝑠(𝑠 − 3)

4𝑠 − 3
=
𝑠(𝑠 − 3)

1.3. Laplace’s Theorems

Theorem 1: The first shift theorem

Recall that 𝐿{𝑓(𝑡)} = 𝐹(𝑠) (First Shift Theorem)

So, 𝐿{𝑒 −𝑎𝑡 𝑓(𝑡)} = 𝐹(𝑠 + 𝑎)

So, the transform of 𝐿{𝑓(𝑡)} where all parameter 𝑠 are replaced by (𝑠 + 𝑎) is S-shifting
Example
𝑠−2
𝐿{𝑒 2𝑡 cosh 2𝑡} =
(𝑠−2)2 − 4

1
𝐿{𝑒 −𝑡 𝑡 0 } =
𝑠+1

8
𝐿{𝑒 −2𝑡 4𝑠𝑖𝑛2𝑡} =
(𝑠+2)2 + 4

2
𝐿{𝑒 −2𝑡 𝑠𝑖𝑛ℎ 2𝑡} =
(𝑠+2)2 − 4

Theorem 2: Multiplying by 𝑡 𝑎𝑛𝑑 𝑡 𝑛

Recall that 𝐿{𝑓(𝑡)} = 𝐹(𝑠)

So, 𝐿{𝑡𝑓(𝑡)} = −𝐹 ′ (𝑠)

∞ ∞
−𝑠𝑡
𝑑𝑒 −𝑠𝑡
𝐿{𝑡𝑓(𝑡)} = ∫ 𝑡𝑓(𝑡)𝑒 𝑑𝑡 = ∫ 𝑓(𝑡) (− ) 𝑑𝑡
𝑡=0 𝑡=0 𝑑𝑠

𝑑 ∞
=− ∫ 𝑓(𝑡) 𝑒 −𝑠𝑡 𝑑𝑡 =−𝐹 ′ (𝑠)
𝑑𝑠 𝑡=0

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

Example

𝑑 2 2(2𝑠) 4𝑠
𝐿{𝑡 sinh 2𝑡} = − ( )= =
𝑑𝑠 𝑠 2 − 4 (𝑠 2 − 4)2 (𝑠 2 − 4)2

𝑑 𝑠 (𝑠 2 − 4)−𝑠(2𝑠) −𝑠 2 + 4+2𝑠 2 𝑠 2 +4
𝐿{𝑡𝑐𝑜𝑠ℎ 2𝑡} = − ( )= − = =
𝑑𝑠 𝑠 2 − 4 (𝑠 2 − 4)2 (𝑠 2 − 4)2 (𝑠 2 − 4)2

𝑑 𝑠 2 +4 2𝑠(𝑠 2 +12)
𝐿{𝑡 2 𝑐𝑜𝑠ℎ 2𝑡} = − { }=
𝑑𝑠 (𝑠 2 − 4)2 (𝑠 2 − 4)3
 𝑑 4𝑠 4(3𝑠 2 −4)
𝐿{𝑡 2 sinh 2𝑡} = − { }=
𝑑𝑠 (𝑠 2 − 4)2 (𝑠 2 − 4)3

1.4. Inverse Transforms

Recall 𝐿{𝑓(𝑡)} = 𝐹(𝑠), then 𝑓(𝑡) = 𝐿−1 {𝐹 (𝑠)}

The right-hand-side is the inverse transform

Example

1
𝐿−1 { 2} = 𝑡 1
𝑠

1
𝐿−1 { } = 𝑒 −4𝑡
𝑠+4

2
𝐿−1 { } = sinh 2𝑡
𝑠 2 −4

20
𝐿−1 { } = 4𝑠𝑖𝑛5𝑡
𝑠 2 + 25

To effectively solve the inverse transform problem, rules of partial fractions are discussed

1. This procedure is applicable if the numerator of the original fraction is at least one degree less

than the degree of the denominator. If this is not the case the original fraction must be reduced by

division.

2. Factorize the denominator into its prime factors

3. Linear factor (𝑠 + 𝑎) gives

𝐴
𝑤ℎ𝑒𝑟𝑒 𝐴 𝑖𝑠 𝑡ℎ𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑤𝑒 𝑎𝑟𝑒 𝑡𝑜 𝑑𝑒𝑡𝑒𝑟𝑚𝑖𝑛𝑒
(𝑠+𝑎)
 𝐴 𝐵 𝐴 𝐵
4. Repeated factor (𝑠 + 𝑎)2 gives + , (𝑠 + 𝑎)3 gives + +
(𝑠+𝑎) (𝑠+𝑎)2 (𝑠+𝑎) (𝑠+𝑎)2

𝐶
,
(𝑠+𝑎)3

𝑃𝑠+𝑄
5. Quadratic factor (𝑠 2 + 𝑝𝑠 + 𝑞) gives
𝑠2 +𝑝𝑠 +𝑞

𝑃𝑠+𝑄 𝑅𝑠+𝑇
6. Repeated factor (𝑠 2 + 𝑝𝑠 + 𝑞) 2 gives +
𝑠2 +𝑝𝑠 +𝑞 (𝑠 2 +𝑝𝑠 +𝑞) 2

Example 1

5𝑠−8
Determine 𝐿−1 { }
𝑠(𝑠− 4)

5𝑠 − 8 𝐴 𝐵
= + , 5𝑠 − 8 = 𝐴(𝑠 − 4) + 𝐵𝑠
𝑠(𝑠 − 4) 𝑠 (𝑠 − 4)

𝑠 = 0 𝑎𝑛𝑑 4

When𝑠 = 0, −8 = −4𝐴, 𝐴 = 2

When𝑠 = 4, 5(4) − 8 = 4𝐵, 𝐵 = 3

5𝑠 − 8 2 3
= +
𝑠(𝑠 − 4) 𝑠 (𝑠 − 4)

5𝑠 − 8
𝐿−1 { } = 3𝑒 4𝑡 + 2
𝑠(𝑠 − 4)

Example 2

𝑠 2 + 3𝑠−7
Determine 𝐿−1 { }
(𝑠−1)(𝑠 2 +2)

𝑠 2 + 3𝑠−7 𝐴 𝐵𝑠+𝐶
= + , 𝑠 2 + 3𝑠 − 7 = 𝐴(𝑠 2 + 2) + (𝐵𝑠 + 𝐶)(𝑠 − 1)
(𝑠−1)(𝑠 2 +2) (𝑠−1) (𝑠 2 +2)

𝑠=1
When𝑠 = 1, 1 + 3 − 7 = 3𝐴, 𝐴 = −1

Equate the coefficient of 𝑠 2

1 = 𝐴 + 𝐵, 1 = 𝐵 − 1, 𝐵 = 2

Equate the coefficient of the constant term

−7 = 2𝐴 − 𝐶, −7 = 2(−1) − 𝐶, 𝐶 = 5

𝑠 2 + 3𝑠 − 7 1 2𝑠 5
= − + +
(𝑠 − 1)(𝑠 2 + 2) (𝑠 − 1) (𝑠 2 + 2) (𝑠 2 + 2)

−1
𝑠 2 + 3𝑠 − 7 5
𝐿 { } = 2𝑐𝑜𝑠√2𝑡 + 𝑠𝑖𝑛√2𝑡 − 𝑒 𝑡
(𝑠 − 1)(𝑠 2 + 2) √2

Example 3

𝑠 2 − 2𝑠+3
Determine 𝐿−1 { }
(𝑠−2)3

𝑠 2 − 3𝑠+3 𝐴 𝐵 𝐶
= + + , 𝑠 2 − 2𝑠 + 3 = 𝐴(𝑠 − 2)2 + 𝐵(𝑠 − 2) + 𝐶
(𝑠−2)3 (𝑠−2) (𝑠−2)2 (𝑠−2)3

𝑠=2

When𝑠 = 2, 1 = 𝐶, 𝐶 = 3

Equate the coefficient of 𝑠 2

1 = 𝐴, 𝐴 = 1

Equate the coefficient of the constant term

3 = 4𝐴 − 2𝐵 + 𝐶, 3 = 4 − 2𝐵 + 3, 𝐵 = 2
 𝑠 2 − 3𝑠 + 3 1 2 3
= + +
(𝑠 − 2)3 (𝑠 − 2) (𝑠 − 2)2 (𝑠 − 2)3

−1
𝑠 2 − 3𝑠 + 3 3 2 2𝑡
𝐿 { 3
} = 𝑡 𝑒 + 2𝑡𝑒 2𝑡 + 𝑒 2𝑡
(𝑠 − 2) 2

2 3 3 2 3
Recall that 𝐿{𝑡 2 } = 𝑡ℎ𝑒𝑟𝑒𝑓𝑜𝑟𝑒 𝐿 { 𝑡 2 𝑒 2𝑡 } = . (𝑠−2)3 = (𝑠−2)3
𝑠3 2 2

Example 4

𝑠 2 −3𝑠−4
Inverse 𝐿{𝑓(𝑡)} =
(𝑠−3)(𝑠−1)2

−1
𝑠 2 − 3𝑠 − 4
𝑓(𝑡) = 𝐿 { }
(𝑠 − 3)(𝑠 − 1)2

𝑠 2 − 3𝑠 − 4 𝐴 𝐵 𝐶
≡ + +
(𝑠 − 3)(𝑠 − 1)2 (𝑠 − 3) (𝑠 − 1) (𝑠 − 1)2

𝑠 2 − 3𝑠 − 4 = 𝐴(𝑠 − 1)2 + 𝐵(𝑠 − 1)(𝑠 − 3) + 𝐶(𝑠 − 3)

𝑊ℎ𝑒𝑛 𝑠 = 1, 𝐶 = 3

𝑊ℎ𝑒𝑛 𝑠 = 3, 𝐴 = −1

[𝑠 2 ] ⇒ 1 = −1 + 𝐵; 𝐵 = 2
3 2 1
𝑓(𝑡) = 𝐿−1 { + − }
(𝑠 − 1)2 (𝑠 − 1) (𝑠 − 3)

𝑓(𝑡) = 3𝑡𝑒 𝑡 + 2𝑒 𝑡 − 𝑒 3𝑡

= 𝑒 𝑡 (3𝑡 + 2) − 𝑒 3𝑡

Example 5
2𝑠 2 −6𝑠−1
𝐿{𝑓(𝑡)} = find the inverse
(𝑠−3)(𝑠 2 −2𝑠+5)
 2𝑠 2 − 6𝑠 − 1
{𝑓(𝑡)} = 𝐿−1 [ ]
(𝑠 − 3)(𝑠 2 − 2𝑠 + 5)

2𝑠 2 − 6𝑠 − 1 𝐴 𝐵𝑠 + 𝐶
= ≡ +
(𝑠 − 3)(𝑠 2 − 2𝑠 + 5) (𝑠 − 3) (𝑠 2 − 2𝑠 + 5)

𝑓(𝑡) = 2𝑠 2 − 6𝑠 − 1 ≡ 𝐴(𝑠 2 − 2𝑠 + 5) + (𝐵𝑠 + 𝐶)(𝑠 − 3)

𝑤ℎ𝑒𝑛 𝑠 = 3, 𝐴 = −1⁄8

[𝑠 2 ] ⇒ 2 = 𝐴 + 𝐵, 𝐵 = 17⁄8

[𝐶𝑇] ⇒ −1 = 5𝐴 − 3𝐶, 𝐶 = 1⁄8

17𝑠 1 1
𝑓(𝑡) = + −
8((𝑠 − 1)2 + 4) 8((𝑠 − 1)2 + 4) 8(𝑠 − 3)
1 1
= {𝑒 𝑡 (17𝑐𝑜𝑠2𝑡 + 𝑠𝑖𝑛2𝑡) − 𝑒 3𝑡 }
8 2