Example 9 on page 228

Use Laplace Transform to solve initial value problem:

dy
dt
+ y=f (t) , y ( 0 )=5where f ( t )= {
0 ,∧0 ≤ t< π
3 cos t ,∧t ≥ π

Solution 4
Expressing the function f (t ) in terms of unit step function as
f ( t )=0 {u ( t−0 )−u ( t−π ) } +3 cos t u ( t−π )
f ( t )=3 cos t u ( t−π )

Therefore
dy
+ y=3 cos t u ( t−π ) …………………………(1)
dt

Taking Laplace Transform of (1)

L {dydt + y }=L {3 cos t u ( t−π ) }

As Laplace Transform is linear, apply it on L.H.S and take 3
out from R.H.S:
L {dydt }+ L { y }=3 L {cos t u ( t−π ) }……………………(2)
But
L {dydt }=sY (s )− y ( 0), L { y }=Y (s)
As y ( 0 )=5

L {dydt }=sY (s )−5, L { y }=Y (s) ………(3)

L { cos t u ( t−π ) }

We Know that
 L { f (t)u ( t−a ) }=e L { f (t+a) }
−as

Here a=π
Applying the formula in above expression
L { f (t )u ( t −π ) } =e L { f (t +π ) } ……………………………(4)
−πs

Here f ( t )=cos t

Replacing t by t+ π in above expression

f ( t + π )=cos ( t+ π )

But cos (t + π )=cos ( t ) cos ( π ) −sin ( t ) sin ( π )

cos (t + π )=cos ( t ) (−1 )−sin ( t ) ( 0 )
f ( t + π )=cos ( t+ π )=−cos ( t )

Put in (4)
L { f (t )u ( t −π ) } =e L { f (t +π ) } ……………………………(4)
−πs

L { f (t)u ( t−π ) } =e L {−cos ( t ) }

−πs

L { f ( t )u ( t −π ) } =−e L { cos ( t ) }
−πs

s
L { f (t)u ( t−π ) } =−e
−πs
2
s +1
− πs
−s e
L { f (t)u ( t−π ) } = 2
s +1

Put (3) and (4) in (2)

L {dydt }+ L { y }=3 L {cos t u ( t−π ) }……………………(2)
{ }
−πs
{ sY ( s )−5 }+ Y ( s )=3 −s2 e
s +1
−πs
−3 s e
sY ( s )−5+Y ( s ) = 2
s +1

−πs
3 se
sY ( s ) +Y ( s )=5− 2
s +1
 −πs
3 se
Y ( s ) { s+ 1 }=5− 2
s +1

Divide by s+1 on both sides

−πs
5 3s e
Y ( s )= −
s +1 ( s +1 ) ( s 2+1 )

Taking Laplace Inverse on both sides

{ }
−πs
−1 −1 5 3s e
L { Y ( s) }=L −
s+1 ( s +1 ) ( s 2+ 1 )

As Inverse Laplace Transform is linear, apply it on R.H.S of

above expression:

{ } { }
−πs
−1 5 −1 3 se
y ( t ) =L −L
s +1 ( s+1 ) ( s2 +1 )

Taking 5 and 3 out from denominator of 1st and 2nd terms of

above expression:

y ( t ) =5 L−1 { }
1
s+1
−3 L−1
s e−πs
{
( s +1 ) ( s 2+ 1 ) }
1
But L {e }= s−a ,
at

e at = L−1 { s−a1 },e −(t)

=L−1 { s+11 }, e =L { s+11 }
−t −1

−t
y ( t ) =5 e −3 L
−1
{ s e−πs
( s+1 ) ( s2 +1 ) }……………………(5)
Consider
{ }
− πs
se
( s+1 ) ( s2 +1 )

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(6)

Here a=π , e
−as
=e
−πs
………………(7),
s
F (s )=
( s+ 1 ) ( s 2+1 )
…………(8) and u ( t−a )=u ( t−π )………(9)

Put (7) to (9) in (6)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(6)

L
−1
{
e
−πs s
( s +1 ) ( s 2+ 1 ) }=f (t−π )u ( t−π ) ………………(10)

Consider
s
F (s )=
( s+ 1 ) ( s 2+1 )
s
Taking Inverse Laplace Transform of F (s )=
( s+ 1 ) ( s 2+1 )

L { F( s) } =L
−1 −1

{ s
( s+ 1 ) ( s 2+1 ) }
f (t)=L
−1
{ s
( s+1 ) ( s2 +1 ) }
s A Bs+C
s+1 s 2 +1 ………………………(11)
= +
( s +1 ) ( s +1 ) 2

Multiplying by L.C.M i.e (s+1)(s2 +1) on both sides

s= A ( s 2+ 1 ) +(Bs+C ) ( s+1 )

0 s2 + s= A ( s 2+ 1 ) +B ( s 2+ s )+ C ( s +1 ) ……………(12)

Put s+1=0 or s=−1 in (12)

−1= A (1+1)+ B ( 0 ) +C ( 0 )
−1=2 A
−1
A=
2

Comparing coefficients of 2
s in (12)
0=A + B
B=− A
1
B=
2

Comparing coefficients of s in (12)

1=B+C
C=1−B
1
C=1−
2
1
C=
2
−1 1 1
Putting the values of A=
2 ,
B=
2 and C= 2 in (11)
s A Bs+C
s+1 s 2 +1 ………………………(11)
= +
( s +1 ) ( s +1 )
2

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

s −1 s 1
= + 2 +
( s +1 ) ( s +1 ) 2 ( s +1 ) 2 ( s +1 ) 2(s 2+ 1)
2
Taking Laplace Inverse on both sides

L
−1
{ s
( s +1 ) ( s +1 )
2 } {
=L
−1 −1
+ 2
s
+
1
2 ( s+1 ) 2 ( s +1 ) 2(s 2 +1) }
As Inverse Laplace Transform is linear, apply it on R.H.S of
above expression:

L
−1
{ s
( s +1 ) ( s +1
2
)} { ( )} { ( )} {
=L
−1 −1
2 s+1
+L
−1 s
2
2 s +1
+L
−1 1
2
2 (s + 1) }
−1 1 −1
Taking ,
2 2 and 2 out from 1st, 2nd and 3rd terms of above

expression:

{ } { } { } { }
−1
−1 s −1 −1 1 1 −1 s 1 1
L = L + L + L
( s +1 ) ( s +1 ) ( s+1 ) 2 2 2
2
2 s +1 2 s +1

1
But L {e }= s−a ,
at

e at = L−1 { s−a1 },e −1 (t )

=L−1 { s+11 }, e
−t
=L−1 {s +11 }
Similarly

cos t=L−1
{ } 2
s
s +1
, sin t=L−1 2
1
s +1 { }
Therefore,

L
−1
{ s
( s +1 ) ( s +1 )
2 }
=
−1 −t 1
2
1
e + cos t + sin t
2 2

Hence
 −1 −t 1 1
f (t)= e + cos t+ sin t
2 2 2

We require
−1 −(t −π ) 1 1
f ( t−a )=f ( t−π )= e + cos ( t−π ) + sin ( t−π )
2 2 2

−1 −(t −π ) 1 1
f ( t−π ) = e + { cos t cos π +sin t sin π }+ {sin t cos π−sin π cos t }
2 2 2

−1 −(t −π ) 1 1
f ( t−π ) = e + { cos t (−1)+ sint (0) } + { sin t (−1)−( 0)cos t }
2 2 2

−1 −(t −π ) 1 1
f ( t−π ) = e + {−cos t+ 0 } + {−sin t−0 }
2 2 2

−1 −(t −π ) 1 1
f ( t−π ) = e − cos t− sin t ……………………(13)
2 2 2

Put (13) in (10)

L
−1
{
e
−πs s
( s +1 ) ( s 2+ 1 ) } =f (t−π )u ( t−π ) ………………(10)

L
−1
{ ( s +1) ( s + 1) } 2 e
e
−πs s
{ −1
2
=
− ( t −π ) 1 1
}
− cos t− sin t u ( t−π ) ………(14)
2 2

Put (14) in (5)

y ( t ) =5 e−t−3 L−1
{ s e−πs
( s+1 ) ( s2 +1 ) }……………………(5)
y ( t ) =5 e−t−3 { −1 −(t −π ) 1
2
e
1
− cos t− sin t u ( t−π )
2 2 }

3 −( t−π )
−t
y ( t ) =5 e + {e +cos t+sin t } u ( t−π )
2

Example 63 on page 231 / 245

Use Laplace Transform to solve initial value problem:

dy
dt
+ y=f (t) , y ( 0 )=0where f ( t )=
0 ,∧0 ≤t <1
5 ,∧t ≥ 1 {

Solution 63
Expressing the function f (t ) in terms of unit step function as
f ( t )=0 {u ( t−0 )−u ( t−1 ) } +5 { u ( t−π ) }
f ( t )=5 u ( t−1 )

Therefore
dy
+ y=5 u ( t−1 )…………………………(1)
dt

Taking Laplace Transform of (1)

L {dydt + y }=L {5 u ( t−1) }

As Laplace Transform is linear, apply it on L.H.S and take 5
out from R.H.S:
L {dydt }+ L { y }=5 L {u ( t−1) }……………………(2)
But
L {dydt }=sY (s )− y ( 0), L { y }=Y (s)
As y ( 0 )=0

L {dydt }=sY ( s )−0, L { y }=Y (s)

L { }=sY ( s ), L { y }=Y (s) ………(3)
dy
dt

We Know that
−as
e
L { u ( t−a ) } =
s
Here a=1
−s
e
L { u ( t−1 ) }= ……………………(4)
s

Put (3) and (4) in (2)

L {dydt }+ L { y }=5 L {u ( t−1) }……………………(2)
{ }
−s
{ sY ( s ) } +Y ( s )=5 e
s
−s
5e
sY ( s ) +Y ( s )=
s

−s
5e
sY ( s ) +Y ( s )=
s
−s
5e
Y ( s ) { s+ 1 }=
s
Divide by s+1 on both sides
−s
( ) 5e
Y s=
s ( s +1 )
Taking Laplace Inverse on both sides

{ }
−s
5e
L { Y ( s) }=L
−1 −1

s ( s +1 )

Taking 5 out from above expression:

{ }……………………(5)
−s
−1 e
y ( t ) =5 L
s s+1 )
(

Consider

{ }
−s
e
s s+1 )
(

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(6)

Here a=1, e
−as
=e
−s
………………(7),
Put (7) in (6)
L−1 {e−s F (s) }=f (t−1)u ( t−1 )………………(8)

1
Here F (s )=
s ( s+1 ) ………………(9)

1 1
F ( s )= −
s s +1

Taking Laplace Inverse on both sides

L−1 { F( s) } =L {1s − s+11 }
−1

{ f (t) } =L
−1
{ 1s }−L { s+11 }
−1
f ( t )= {1 }−{ e−t }
−t
f ( t )=1−e

f ( t−1 ) =1−e
−(t −1)
………………(10)
Put (9) and (10) in (8)
L−1 {e−s F (s) }=f (t−1)u ( t−1 )………………(8)

{
L−1 e−s
1
s ( s +1 ) }
= { 1−e−(t −1) } u ( t−1 )

{ }
−s
e
= { 1−e } u ( t−1 )………………(11)
−1 −(t −1)
L
s ( s +1 )

Put (11) in (5)

{ }……………………(5)
−s
−1 e
y ( t ) =5 L
s ( s+1 )

y ( t ) =5 { 1−e−(t −1) } u ( t−1 )

−(t−1)
y ( t ) =5u ( t−1 ) −5 e u ( t−1 )

Example 64 on page 231 / 245

Use Laplace Transform to solve initial value problem:

dy
dt
+ y=f (t) , y ( 0 )=0where f ( t )=
1 ,∧0 ≤ t< 1
−1 ,∧t ≥ 1 {
Solution 64
Expressing the function f (t ) in terms of unit step function as
f ( t )=1 { u ( t−0 ) −u ( t−1 ) }−1 { u ( t−1 ) }
f ( t )=u ( t−0 )−u ( t−1 )−u ( t−1 )
f ( t )=u ( t )−2 u ( t−1 )

Therefore
dy
+ y=u ( t ) −2u ( t−1 ) …………………………(1)
dt

Taking Laplace Transform of (1)

L {dydt + y }=L {u ( t )−2 u ( t−1) }

As Laplace Transform is linear, apply it on L.H.S and take 3
out from R.H.S:
L {dydt }+ L { y }=L {u ( t ) }−2 L {u ( t−1) }……………………(2)
But
L {dydt }=sY (s )− y ( 0), L { y }=Y (s)
As y ( 0 )=0

L {dydt }=sY (s )−0, L { y }=Y (s)

L { }=sY (s ), L { y }=Y (s) ………………..(3)
dy
dt
−as
e
We know that L { u ( t−a ) } =
s
−0 (s) −(1)s
e e
L { u ( t ) } −2 L { u ( t−1 ) } = −2
s s
 0 −s
e 2e
L { u ( t ) } −2 L { u ( t−1 ) } = −
s s
−s
1 2e
L { u ( t ) } −2 L { u ( t−1 ) } = − ………………(4)
s s

Put (3) and (4) in (2)

L {dydt }+ L { y }=L {u ( t ) }−2 L {u ( t−1) }……………………(2)
−s
1 2e
sY (s)+Y (s)= −
s s
−s
{ s+1 } Y (s)= 1 − 2 e
s s
Divide by s+1
−s
1 2e
Y (s)= −
s(s+1) s (s +1)

Taking Inverse Laplace Transform on both sides

{ }
−s
1 2e
L { Y ( s) }=L
−1 −1
−
s(s+ 1) s (s+1)

{ } { }
−s
1 e
L { Y ( s) }=L
−1 −1 −1
−2 L
s(s+ 1) s(s+ 1)

L−1 { Y (s) }=L−1 { } {

1
−
1
s s +1}−2 L−1
e−s e− s
−
s s +1

{} { } { } { }
−s −s
1 1 −1 e −1 e
L { Y ( s) }=L
−1 −1 −1
−L −2 L +2 L
s s+ 1 s s +1

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

{ } { }…………………………(5)
e−s −s
−t −1 −1 e
y (t )=1−e −2 L +2 L
s s +1

Consider

L−1 { }…………………………(6)
e−s
s
The Inverse Laplace Transform of
{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(7)

Comparing (6) and (7)

Here a=1………………(8)
1
F ( s )=
s

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1 {1s }
{ f (t) } ={ 1 }
f (t)=1
f (t−1)=1……………(9)

Put (8) and (9) in (7)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(7)

{ }
−s
−1 e
L =1u ( t−1 )
s

L−1 { }
e−s
s
=u ( t−1 )………………(10)

Consider

{ }…………………………(11)
−s
−1 e
L
s +1

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(7)

Comparing (11) and (7)

Here a=1………………(8)
1
F ( s )=
s+1

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1 { s+11 }
{ f (t) } ={ e−t }
−t
f (t)=e

f (t−1)=e−(t −1)……………(12)

Put (8) and (12) in (7)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(7)

L−1 { }
e− s
s +1
=e−(t −1 ) u ( t−1 )………………(13)

Put (10) and (13) in (5)

y (t )=1−e−t −2 L−1 { }
e−s
s
+2 L−1{ }…………………………(5)
e−s
s +1

y (t )=1−e−t −2 u ( t−1 )+ 2e−(t−1) u ( t−1 )

Example 65 on page 231 / 245

Use Laplace Transform to solve initial value problem:

dy
dt
+2 y=f (t ), y ( 0 )=0where f ( t )= {
t ,∧0 ≤ t<1
0 ,∧t ≥ 1

Solution 65
Expressing the function f (t ) in terms of unit step function as
f ( t )=t { u ( t−0 )−u ( t−1 ) } −0 { u ( t−1 ) }
f ( t )=tu ( t−0 )−tu ( t−1 )−0
f ( t )=tu ( t ) −tu ( t−1 )

Therefore
dy
+2 y=tu ( t )−tu ( t−1 ) …………………………(1)
dt

Taking Laplace Transform of (1)

L {dydt + 2 y }=L {tu ( t )−tu ( t−1) }

As Laplace Transform is linear, apply it on L.H.S and take 2
out from R.H.S:
L {dydt }+2 L { y }=L {tu ( t ) }−L {tu ( t−1) }……………………(2)
But
L {dydt }=sY (s )− y ( 0), L { y }=Y (s)
As y ( 0 )=0

L {dydt }=sY (s )−0, L { y }=Y (s)

L { }=sY (s ), L { y }=Y (s) ………………..(3)
dy
dt

Put (3) in (2)

L {dydt }+2 L { y }=L {tu ( t ) }−L {tu ( t−1) }……………………(2)
sY (s)+2 Y (s )=L { tu ( t ) }−L { tu ( t−1 ) }………………..(4)

Consider
L { tu ( t ) }=L { t u ( t−0 ) }………………..(5)
We know that L { g(t) u ( t−a ) }=e−as L { g(t +a)}……………..(6)
Compare (5) and (6)
g ( t )=t ……………..(7)

a=0……………..(8)

g ( t+ a )=(t+ 0)
g ( t+ a )=t ……………..(9)

Put (7) to (9) in (6)

L { g(t) u ( t−a ) } =e L { g(t +a) }…………………..(6)
−as

L { tu ( t−0 ) }=e L {t }
−0 s

1
L { tu ( t ) }=e
0
2
s
1
L { tu ( t ) }= 2 …………..(10)
s

Consider
L { tu ( t ) }=L { t u ( t−1 ) } ………………..(11)

We know that L { g(t) u ( t−a ) }=e−as L { g(t +a)}……………..(6)

Compare (11) and (6)
g ( t )=t ……………..(12)

a=1……………..(13)

g ( t+ a )=(t+1)……………..(14)

Put (6) and (12) to (13) in (6)

L { g(t) u ( t−a ) } =e L { g(t +a) }…………………..(6)
−as

L { tu ( t−1 ) } =e L {t +1 }
−s

L { tu ( t−1 ) } =e L {t } +e L {1 }
−s −s
 1 −s 1
L { tu ( t−1 ) } =e
−s
+e
s
2
s
−s
e
L { tu ( t ) }= 2 ( s+ 1 )…………..(15)
s

Put (10) and (15) in (4)

sY (s)+2 Y (s )=L { tu ( t ) }−L { tu ( t−1 ) }………………..(4)
−s
1 e
sY (s)+2 Y (s )= 2 − 2 ( s +1 )
s s

−s
{ s+2 } Y (s)= 12 − e 2 ( s +1 )
s s

Divide by (s+2)
−s
1 e ( s+1)
Y (s)= 2
− 2 …………..(16)
s (s+2) s (s+2)

1
Partial fraction of 2
s (s +2)
1 A B C
= + 2+ …………..(17)
s (s +2) s s ( s+2)
2

Multiply by 2
s ( s+2)

1= As( s+ 2)+ B( s+2)+C s

2
…………..(18)
Put s=0 in (18)
1=B(0+2)
1=B(2)
1
B=
2

Put s+2=0 , s=−2 in (18)

1=C ¿
1=4 C
 1
C=
4

(18) can be re-written as

2 2
0=A s + 2 As+ Bs+2 B +C s

Coefficient of 2
s on both sides
0=A +C
1
0=A +
4
−1
=A
4
−1
A=
4
−1 1 1
Put the values of A=
4
, B=
2 and C= 4 in (17)
1 A B C
= + 2+ …………..(17)
s (s +2) s s ( s+2)
2

1 −1 1 1
= + 2+ …………………(19)
s (s +2) 4 s 2 s 4( s+ 2)
2

Put (19) in (16)

−s
1 e ( s+1)
Y (s)= 2
− 2 …………..(16)
s (s+2) s (s+2)

Y ( s )=
−1 1
+ 2+
1
4 s 2 s 4 ( s +2 )
−e−s ( s+1)
{−1 1
+ 2+
1
4 s 2 s 4 (s+2) }
−s −s −s
−1 1 1 e (s+ 1) e ( s+1) e (s+1)
Y ( s )= + 2+ + − −
4 s 2 s 4 ( s +2 ) 4s 2s
2
4 (s +2)
e−s (s +1+1−1)
Y ( s )=
−1 1
+ +
1
+
4 s 2 s 2 4 ( s +2 ) 4 s s ( )
e−s s 1 e−s s 1
+ − + −
2 s2 s2 ( )
4 (s +2)
 −s
Y ( s )=
−1 1
+ +
1
+
4 s 2 s 2 4 ( s +2 ) 4
e−s
1+ −
s ( )
1 e−s 1 1 e (s+ 2−1)
+ −
2 s s2 4 ( s+2) ( )
−s −s
−1 1 1 e−s e−s e−s e−s e ( s+ 2 ) e (1)
Y ( s )= + 2+ + + − − − +
4 s 2 s 4 ( s +2 ) 4 4 s 2 s 2 s2 4 ( s+ 2 ) 4 (s+2)

−s −s −s −s −s
−1 1 1 e e e e e
Y ( s )= + + + − − − +
4 s 2 s 2 4 ( s +2 ) 4 4 s 2 s 2 4 4 (s +2)

−s −s −s −s −s
−1 1 1 e e e e e
Y ( s )= + 2+ + − − − 2+
4 s 2 s 4 ( s +2 ) 4 4 4 s 2 s 4 (s +2)

−s −s −s
−1 1 1 e e e
Y ( s )= + + − − +
4 s 2 s 2 4 ( s +2 ) 4 s 2 s2 4( s+ 2)

Taking Inverse Laplace Transform on both sides

{ 4 s } {2 s } { } { } { } { }
−s −s −s
L
−1
{ Y ( s ) }=L−1 −1 + L−1 1 2 + L−1 1
−L
−1 e
−L
−1 e
+L
−1 e
4 ( s +2 ) 4s 2s
2
4 (s+2)

{1s }+ 12 L { s1 }+ 14 L { s+1 2 }− 14 L {es }− 12 L { es }+ 14 L {(s+e 2) }

−1 −1 −s −1 −s −1 −s
1 −1 −1
y ( t ) =− L 2 2
4

{ } { } { }
−s −1 −s −1 −s
−1 1 1 1 e 1 e 1 e
y (t)= { 1 }+ {t } + { e−2 t }− L−1 − L + L
4 2 4 4 s 2 s
2
4 ( s+2)

{ } { } { }……(20)
−s −1 −s −1 −s
−1 1 1 −2 t 1 −1 e 1 e 1 e
y (t)= + t+ e − L − L + L
4 2 4 4 s 2 s
2
4 (s+2)

Consider

{ }…………………………(21)
−s
−1 e
L
s

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(22)

Comparing (21) and (22)

Here a=1………………(23)
1
F ( s )=
s
………………(24)

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1 {1s }
{ f (t) } ={ 1 }
f (t)=1
f (t−1)=1……………(25)

Put (23) to (25) in (22)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(22)

L −1
{ }
e−s
s
=1u ( t−1 )

{ }
−s
e
=u ( t−1 )………………(26)
−1
L
s

Consider

{ }…………………………(27)
−s
−1 e
L 2
s

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(22)

Comparing (27) and (22)

Here a=1………………(23)
1
2 ………………(28)
F ( s )=
s

Taking Inverse Laplace Transform of above expression

L−1 { F(s) } =L−1
{}
1
s2
{ f (t) } ={ t }
f (t)=t
f ( t−1 ) =t−1……………(29)

Put (23), (28) and (29) in (22)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(22)

{ }
−s
−1 e
L 2
=(t−1)u (t−1 )
s

{ }
−s
e
=(t−1)u (t−1 )………………(29)
−1
L 2
s

Consider

{ }…………………………(30)
−s
−1 e
L
s +2

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(22)

Comparing (11) and (7)

Here a=1………………(23)
1
F ( s )=
s+ 2

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1 { } 1
s+ 2

{ f (t) } ={ e−2 t }
−2t
f (t )=e

f (t−1)=e
−2(t −1 )
……………(31)
Put (23) and (31) in (22)
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(22)

{ }
−s
e
u ( t−1 )………………(32)
−1 −2(t−1)
L =e
s +2

Put (26), (29) and (32) in (20)

{ } { } { }……….(20)
−s −1 −s −1 −s
−1 1 1 −2 t 1 −1 e 1 e 1 e
y (t)= + t+ e − L − L + L
4 2 4 4 s 2 s
2
4 (s+2)

−1 1 1 −2 t 1 1 1 −2 (t −1)
y (t)= + t+ e − { u ( t−1 ) }− { (t−1 ) u ( t−1 ) } + {e u ( t−1 ) }
4 2 4 4 2 4

y (t)=
−1 1 1 −2 t 1 1 1
[
+ t+ e − + ( t−1 ) − e−2(t−1) u ( t−1 )
4 2 4 4 2 4 ]
Example 66 on page 231 / 245
Use Laplace Transform to solve initial value problem:

2
d y
2
+4 y=f ( t ) , y ( 0 )=0 , y ' (0)=−1
dt

where {
f ( t )= 1 ,∧0 ≤ t< 1
0 ,∧t ≥ 1

Solution 66
Expressing the function f (t ) in terms of unit step function as
f ( t )=1 { u ( t−0 ) −u ( t−1 ) }−0 { u ( t−1 ) }
f ( t )=u ( t )−u ( t−1 )−0
f ( t )=u ( t )−u ( t−1 )

Therefore
2
d y
2
+4 y=u ( t )−u ( t−1 )…………………………(1)
dt

Taking Laplace Transform of (1)

{ }
2
d y
L 2
+ 4 y =L { u ( t )−u ( t−1 ) }
dt

As Laplace Transform is linear, apply it on L.H.S and take 2

out from R.H.S:

{ }
2
d y
L 2
+4 L { y }=L { u ( t ) }−L { u ( t−1 ) }……………………(2)
dt

But

{ }
2
d y
=s Y ( s )−sy ( 0 )− y ' ( 0 ) , L { y }=Y (s)
2
L 2
dt

As y ( 0 )=0 , y '(0)=−1

{ }
2
d y
=s Y ( s )−s ( 0 )− (−1 ), L { y }=Y (s)
2
L 2
dt

{ }
2
d y
=s Y ( s )+ 1, L { y }=Y (s) ………………..(3)
2
L 2
dt

Put (3) in (2)

{ }
2
d y
L 2
+4 L { y }=L { u ( t ) }−L { u ( t−1 ) }……………………(2)
dt

s Y ( s )+1+ 4 Y ( s )=L { u ( t ) }−L { u ( t−1 ) }

2

s Y ( s )+ 4 Y ( s )=−1+ L { u ( t ) }−L { u ( t−1 ) }

2

{ s2 + 4 } Y ( s )=−1+ L { u ( t ) }−L { u ( t−1 ) } ………………..(4)

Consider
−as
e
We know that L { u ( t−a ) } =
s
−0 s
e
L {u ( t ) }=
s
1
L {u ( t ) }=
s
………………..(5)
−s
e
L { u ( t−1 ) }= ………………..(6)
s

Put (5) and (6) in (4)

{ s2 + 4 } Y ( s )=−1+ L { u ( t ) }−L { u ( t−1 ) } ………………..(4)
−s
{ s2 + 4 } Y ( s )=−1+ 1 − e
s s
−s
{ s2 + 4 } Y ( s )= 1−s − e
s s
Divide by 2
s +4 on both sides
−s
1−s e
Y ( s )= 2
− 2
s ( s + 4) s (s + 4)

Y ( s )=
11 1 s
{
1 2
− 2 − 2 −e−s
4 s 4 s +4 2 s +4}11 1 s
−
4 s 4 s 2 +4

{} { } { } { } { }
−s −s
1 1 1 s 1 2 1 e 1 se
Y ( s )= − 2
− 2
− +
4 s 4 s + 4 2 s +4 4 s 4 s2 + 4

Taking Inverse Laplace Transform on both sides

{s } { } { } { } { }
−1 −s −1 −s
L
−1
{ Y ( s ) }= 1 L−1 1 − 1 L−1 2
s
2
1 −1 2
− L 2 2
1
− L
e 1
+ L
se
2 2
4 4 s +2 2 s +2 4 s 4 s +2

{ } { }…(7)
−1 −s −1 −s
{ y ( t ) }= 1 { 1 }− 1 {cos 2t }− 1 { sin 2 t }− 1 L e 1
+ L
se
2 2
4 4 2 4 s 4 s +2

Consider
 { }…………………………(8)
−s
−1 e
L
s

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(9)

Comparing (8) and (9)

Here a=1………………(10)
1
F ( s )=
s
………………(11)

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1 {1s }
{ f (t) } ={ 1 }
f (t)=1
f (t−1)=1……………(12)

Put (10) to (12) in (9)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(9)

L−1 { }
e−s
s
=1u ( t−1 )

{ }
−s
e
=u ( t−1 )………………(13)
−1
L
s

Consider

{ }…………………………(14)
−s
−1 se
L 2 2
s +2

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(15)

Comparing (14) and (15)

Here a=1………………(16)
s
2 ……………(17)
F ( s )= 2
s +2

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1
{ }
2
s
s +2
2

{ f (t) } ={ cos 2 t }
f (t)=cos 2 t
f (t−1)=cos 2(t−1)……………(18)

Put (16) to (18) in (9)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(9)

{ }
−s
se
=cos 2(t−1)u ( t−1 )………………(19)
−1
L 2 2
s +2

Put (13) and (19) in (7)

{ } { }…(7)
−1 −s −1 −s
{ y ( t ) }= 1 { 1 }− 1 {cos 2t }− 1 { sin 2 t }− 1 L e 1
+ L
se
2 2
4 4 2 4 s 4 s +2
1 1 1 1 1
{ y ( t ) }= { 1 }− {cos 2t }− { sin 2 t }− { u(t−1)} + { cos 2(t−1)u ( t−1 ) }
4 4 2 4 4

1 1 1 1
y ( t ) = − cos 2t− sin 2 t− { 1−cos 2(t−1) } u ( t−1 )
4 4 2 4

Example 67 on page 231 / 245

Use Laplace Transform to solve initial value problem:
 2
d y
2
+4 y=sin tu ( t−2 π ) , y ( 0 )=1 , y ' (0)=0
dt

Solution 67
2
d y
2
+4 y=sin t u ( t−2 π )…………………………(1)
dt

Taking Laplace Transform of (1)

{ }
2
d y
L 2
+ 4 y =L { sin t u ( t−2 π ) }
dt

As Laplace Transform is linear, apply it on L.H.S and take 4

out from L.H.S:

{ }
2
d y
L 2
+4 L { y }=L { sin t u ( t−2 π ) }……………………(2)
dt

But

{ }
2
d y
=s Y ( s )−sy ( 0 )− y ' ( 0 ) , L { y }=Y (s)
2
L 2
dt

As y ( 0 )=1 , y '(0)=0

{ }
2
d y
=s Y ( s )−s ( 1 )−( 0 ), L { y }=Y (s)
2
L 2
dt

{ }
2
d y
=s Y ( s )−s, L { y }=Y (s) ………………..(3)
2
L 2
dt

Put (3) in (2)

{ }
2
d y
L 2
+4 L { y }=L { sin t u ( t−2 π ) }……………………(2)
dt

s Y ( s )−s + 4 Y ( s )=L { sin t u ( t−2 π ) }

2

s Y ( s )+ 4 Y ( s )=s+ L {sin t u (t−2 π ) }

2
{ s2 + 4 } Y ( s )=s+ L { sin t u ( t−2 π ) } ………………..(4)

Consider
L { sin t u ( t−2 π ) }

We know that L {f (t )u ( t −a ) }=e−as L { f (t+a)}……………..(5)

Here a=2 π ………………..(6)
f ( t )=sin t
f ( t +a )=f ( t +2 π )
f ( t +a )=sin ( t+ 2 π )
f ( t +a )=sin ( t ) cos 2 π +sin ( 2 π ) cos t
f ( t +a )=sin ( t ) (1)+ ( 0 ) cos t
f ( t +a )=sin ( t )
L { f (t+a) } =L { sin ( t ) }
1
L { f (t+a) } = 2 ………………..(7)
s +1

Put (6) and (7) in (5)

L { f (t )u ( t −a ) }=e L { f (t+a) } ……………..(5)
−as

1
L { sin t u ( t−2 π ) }=e
−2 πs
2 ……………..(8)
s +1

Put (8) and in (4)

{ s2 + 4 } Y ( s )=s+ L { sin t u ( t−2 π ) } ………………..(4)

{ s2 + 4 } Y ( s )=s+ e−2 πs 21
s +1
Divide by { s2 + 4 } on both sides
s −2 πs 1
Y ( s )= +e
2
s +4 ( s +1 ) ( s 2 +4 )
2

Y ( s )= 2
s
s +2
2
1 1
+ e−2 πs 2 − 2
3 [1
s +1 s + 4 ]
 s
Y ( s )= 2 2 + −
[
1 e−2 πs e−2 πs
s +2 3 s2 +1 s 2+ 4 ]
Taking Inverse Laplace Transform on both sides

{ } [ ]
−2 πs −2 πs
s 1 −1 e e
L
−1
{ Y ( s ) }=L−1 2 2
+ L 2
− 2
s +2 3 s +1 s +4

1
y ( t ) =cos 2 t+ L−1 2
3 s +1 3
− L
[ ]
e−2 πs 1 −1 e−2 πs
s 2+ 4 [ ]……………..(9)
Consider

[ ]…………………………(10)
−2 πs
−1 e
L 2
s +1

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(11)

Comparing (10) and (11)

Here a=2 π ………………(12)
1
F ( s )= 2 ………………(13)
s +1

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1
{ }
1
s +1
2

{ f (t) } ={ sin t }
f (t)=sint
f (t−2 π )=sin (t−2 π )
f ( t−2 π )=sin ( t ) cos 2 π −sin ( 2 π ) cos t
f ( t−2 π )=sin ( t ) (1)−(0)cos t
f ( t−2 π )=sin ( t )………………(14)

Put (12) to (14) in (11)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(11)

{ }
−2 πs
e
=sin (t ) u ( t−2 π ) ………………(15)
−1
L 2
s +1

Consider

L−1
[ ]…………………………(16)
e−2 πs
s 2+ 4

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(11)

Comparing (16) and (11)

Here a=2 π ………………(17)
1
F ( s )= 2 ………………(18)
s +4

Taking Inverse Laplace Transform of above expression

L−1 { F(s) } =L−1
{ } 2
1
s +4

f (t)=L−1
{ }
2
1
s +2
2

1 −1 2
f (t)= L
2 s2 +22{ }
 1
f (t)= {sin 2 t }
2
1
f (t)= sin 2 t
2
1
f (t−2 π )= sin 2 ( t−2 π )
2
1
f (t−2 π )= sin ( 2 t−4 π )
2

1
f ( t−2 π )= {sin ( 2 t ) cos 4 π −sin ( 4 π ) cos 2 t }
2
1
f ( t−2 π )= {sin ( 2 t ) (1)−(0)cos 2 t }
2
1
f ( t−2 π )= sin ( 2 t )………………(19)
2

Put (17) to (19) in (11)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(11)

{ }
−2 πs
e 1
= sin ( 2 t ) u ( t−2 π )………………(20)
−1
L 2
s +4 2

Put (15) and (20) in (9)

[ ] [ ]……………..(9)
−2 πs −2 πs
1 −1 e 1 −1 e
y ( t ) =cos 2 t+ L 2
− L 2
3 s +1 3 s +4
1 11
y ( t ) =cos 2 t+ sin ( t ) u ( t−2 π )− sin ( 2 t ) u ( t−2 π )
3 32

y ( t ) =cos 2 t+
[ 1
3
1
]
sin t− sin 2 t u ( t−2 π )
6

Example 68 on page 231 / 245

Use Laplace Transform to solve initial value problem:
 2
d y dy
2
−5 + 6 y=u ( t−1 ) , y ( 0 )=0 , y '(0)=1
dt dt

Solution 68
2
d y dy
2
−5 + 6 y=u ( t−1 ) …………………………(1)
dt dt

Taking Laplace Transform of (1)

{ }
2
d y dy
L 2
−5 + 6 y =L {u ( t−1 ) }
dt dt

As Laplace Transform is linear, apply it on L.H.S:

{ } { }
2
d y dy
L 2
−5 L +6 L { y }=L { u ( t−1 ) }…………………………(2)
dt dt

But

{ }
2
d y
=s Y ( s )−sy ( 0 )− y ' ( 0 ) , L { y }=Y (s)
2
L 2
dt

L {dydt }=sY ( s )− y ( 0)
As y ( 0 )=0 , y '(0)=1

{ }
2
d y
=s Y ( s )−s ( 0 )− (1 ), L { y }=Y (s)
2
L 2
dt

L {dydt }=sY ( s )−( 0)

{ }
2
d y
=s Y ( s )−1, L { y }=Y (s) ………………..(3)
2
L 2
dt

L {dydt }=sY ( s )………………..(4)

 { } { }
2
d y dy
Put (3) and (4) in (2) L 2
−5 L +6 L { y }=L { u ( t−1 ) }(2)
dt dt

{ s2 Y ( s )−1 }−5 {sY ( s ) } +6 { Y (s)}=L { u ( t −1 ) }

s Y ( s )−1−5 sY ( s ) +6 Y (s)=L { u ( t−1 ) }
2

s Y ( s )−5 sY ( s )+ 6Y ( s )=1+ L {u ( t−1 ) }

2

{ s2 −5 s+ 6 } Y ( s )=1+ L { u ( t−1 ) }
( s−3 ) ( s−2 ) Y ( s )=1+ L { u (t−1 ) }……………………(5)

Consider
L { u ( t−1 ) }
−as
e
We know that L {u ( t−a ) } = s

Here a=1………………..(6)
−s
e
L { u ( t−1 ) }= ………………..(7)
s

Put (7) in (5)

( s−3 ) ( s−2 ) Y ( s )=1+ L { u (t−1 ) }……………………(5)
−s
( s−3 ) ( s−2 ) Y ( s )=1+ e
s
Divide by ( s−3 ) ( s−2 ) on both sides
1 −s 1
Y ( s )= +e
( s−3 )( s−2 ) s ( s−3 )( s−2 )

Y ( s )=
1
−
1
s−3 s−2
+ e−s
1
−
1
[ +
1
6 s 2 ( s−2 ) 3 ( s−3 ) ]
Y ( s )=
1
−
1
+
e− s
−
[
e−s
+
e− s
s−3 s−2 6 s 2 ( s−2 ) 3 ( s−3 ) ]
−s −s −s
1 1 e e e
Y ( s )= − + − +
s−3 s−2 6 s 2 ( s−2 ) 3 ( s−3 )

Taking Inverse Laplace Transform on both sides

L { Y ( s ) }=L−1
−1
{ } { }
1
s−3
−L −1 1
+ L
s−2 6 s
− L
2 { } { } { }
1 −1 e− s 1 −1 e−s 1 −1 e−s
+ L
s−2 3 s−3

{ } { } { }…….(8)
−1 −s −1 −s −1 −s
1 e 1 e 1 e
y ( t ) ={ e } −{ e } + L
3t 2t
− L + L
6 s 2 s−2 3 s−3

Consider

L−1 { }…………………………(9)
e−s
s

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(10)

Comparing (9) and (10)

Here a=1………………(11)
1
F ( s )=
s
………………(12)

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1 {1s }
{ f (t) } ={ 1 }
f (t)=1
f (t−1)=1……………………(13)

Put (11) to (13) in (10)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(10)

{ }
−s
−1 e
L =1u ( t−1 )
s
 { }
−s
e
=u ( t−1 )………………(14)
−1
L
s

Consider

L−1 { }…………………………(9)
e−s
s−2

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(10)

Comparing (9) and (10)

Here a=1………………(11)
1
F ( s )=
s−2
………………(15)

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1 { s−21 }
{ f (t) } ={ e 2 t }
2t
f (t)=e

f (t−1)=e 2(t−1)……………………(16)

Put (11), (15) and (16) in (10)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(10)

L−1 { }
e−s
s−2
=e 2(t −1 ) u ( t−1 )………………(17)

Similarly

L−1 { }
e−s
s−3
=e3 (t −1) u ( t−1 ) ………………(18)
Put (14), (16) to (18) in (8)

{ } { } { }…….(8)
−1 −s −1 −s −1 −s
1 e 1 e 1 e
y ( t ) ={ e } −{ e } + L
3t 2t
− L + L
6 s 2 s−2 3 s−3

1 1 1
3t
y ( t ) =e −e +
2t
{ u ( t−1 ) }− {e 2(t −1) u ( t−1 ) }+ {e3 (t−1) u ( t−1 ) }
6 2 3

y ( t ) =e 3t −e 2 t +
[ 1 1 2 (t −1) 1 3(t−1)
− e
6 2
+ e
3 ]
u ( t−1 )

Example 69 on page 231 / 245

Use Laplace Transform to solve initial value problem:
2
d y
2
+ y=f ( t ) , y ( 0 )=0 , y '(0)=1
dt
where

{
0 ,0 ≤ t< π
f ( t )= 1 , π ≤ t<2 π
0 ,t ≥ 2 π

Solution 69
Expressing the function f (t ) in terms of unit step function as
f ( t )=0 {u ( t−π ) −u ( t−π ) }+ 1 {u ( t−π )−u ( t−2 π ) } +0 {u ( t−2 π ) }
f ( t )= { u ( t−π ) −u ( t−2 π ) }

Therefore
2
d y
2
+ y=u ( t−π )−u ( t−2 π )…………………………(1)
dt

Taking Laplace Transform of (1)

 { }
2
d y
L 2
+ y =L { u ( t−π )−u ( t−2 π ) }
dt

As Laplace Transform is linear, apply it on L.H.S:

{ }
2
d y
L 2
+ L { y }=L {u ( t−π ) } −L {u ( t−2 π ) }……………………(2)
dt

But

{ }
2
d y
=s Y ( s )−sy ( 0 )− y ' ( 0 ) , L { y }=Y (s)
2
L 2
dt

As y ( 0 )=0 , y '(0)=1

{ }
2
d y
=s Y ( s )−s ( 0 )− (1 ), L { y }=Y (s)
2
L 2
dt

{ }
2
d y
=s Y ( s )−1, L { y }=Y (s) ………………..(3)
2
L 2
dt

Put (3) in (2)

{ } { }
2 2
d y d y
L 2
+ L { y }=L 2
+ L { y }=L { u ( t−π ) }−L { u ( t−2 π ) }…(2)
dt dt

{ s2 Y ( s )−1 }+ { Y (s )}=L { u ( t−π ) }−L { u ( t−2 π ) }

s Y ( s )−1+Y ( s)=L { u ( t−π ) }−L { u ( t−2 π ) }

2

s Y ( s )+Y ( s )=1+ L {u ( t−π ) } −L { u ( t−2 π ) }

2

{ s2 +1 } Y ( s )=1+ L { u ( t−π ) }−L { u ( t−2 π ) }…………………(4)

Consider
−as
e
We know that L { u ( t−a ) } =
s
L { u ( t−π ) }
Here a=π ………………..(5)
−πs
e
L { u ( t−π ) }= ………………..(6)
s
−2 πs
e
L { u ( t−2 π ) } = ………………..(7)
s

Put (6) and (7) in (4)

{ s2 +1 } Y ( s )=1+ L { u ( t−π ) }−L { u ( t−2 π ) }……………(4)

{ }{ }
−πs −2 πs
{ s2 +1 } Y ( s )=1+ e − e
s s

Divide by ( s2 +1 ) on both sides

−πs −2 πs
1 e e
Y ( s )= + 2 − 2
s +1 s ( s +1 ) s ( s + 1 )
2

Taking Inverse Laplace Transform on both sides

{ } { }{ }
− πs −2 πs
1 e e
L−1 { Y ( s ) }=L−1 + L−1 −
s ( s +1 ) s ( s2 +1 )
2 2
s +1

{ }{ }…………….(8)
− πs −πs −2 πs −2 πs
−1 e se e se
y ( t ) =sin t+ L − 2
− − 2
s s +1 s s +1

Consider

{ }…………………………(9)
−πs
−1 e
L
s

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(10)

Comparing (9) and (10)

Here a=π ………………(11)
1
F ( s )=
s
………………(12)

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1 {1s }
{ f (t) } ={ 1 }
f (t)=1
f (t−π)=1……………………(13)

Put (11) to (13) in (10)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(10)

{ }
−πs
e
=u ( t−π )………………(14)
−1
L
s

Similarly

{ }
−2 πs
e
=u ( t−2 π )………………(15)
−1
L
s

Consider

{ }…………………………(15)
−πs
−1 se
L 2
s +1

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(10)

Comparing (15) and (10)

Here a=π ………………(11)
s
F ( s )= 2………………(16)
s +1
Taking Inverse Laplace Transform of above expression
L−1 { F(s) } =L−1
{ } s
s +12

{ f (t) } ={ cos t }
f (t)=cos t
f (t−π)=cos (t−π )
f (t−π)=cos t cos π + sin π sin t
f (t−π)=cos t (−1)+(0)sin t
f ( t−π ) =−cos t ………………(17)

Put (11), (16) and (17) in (10)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(10)

{ }
−πs
se
=−cos t u ( t−π )………………(18)
−1
L 2
s +1

Similarly

{ }
−2 πs
se
=cos t u ( t−2 π ) ………………(19)
−1
L 2
s +1

Put (14), (15), (18) and (19) in (8)

{ }{ }…………….(8)
− πs −πs −2 πs −2 πs
−1 e se e se
y ( t ) =sin t+ L − 2
− − 2
s s +1 s s +1

y ( t ) =sin t+ { u ( t−π ) +cos t u ( t−π ) }− {u ( t−2 π )−cos t u ( t−2 π ) }

y ( t ) ={ 1+cos t } u ( t−π )− {1−cos t } u ( t−2 π ) +sin t

Example 70 on page 231 / 245

Use Laplace Transform to solve initial value problem:
2
d y dy
2
+4 +3 y=1−u ( t−2 )−u ( t−4 )+ u ( t−6 ) , y ( 0 )=0 , y ' (0)=0
dt dt

Solution 70
Expressing the function f (t ) in terms of unit step function as
2
d y dy
2
+4 +3 y=1−u ( t−2 )−u ( t−4 )+ u ( t−6 )…………(1)
dt dt

Taking Laplace Transform of (1)

{ }
2
d y dy
L 2
+ 4 +3 y =L { 1−u ( t−2 )−u ( t−4 ) +u ( t−6 ) }
dt dt

As Laplace Transform is linear, apply it on L.H.S:

{ } { }
2
d y dy
L 2
+4 L + 3 L { y }=L { 1 }−L { u ( t−2 ) }−u ( t−4 )+u ( t−6 )(2)
dt dt

But

{ }
2
d y 2
L 2
=s Y ( s )−sy ( 0 )− y ' ( 0 )
dt

L {dydt }=s Y ( s) − y ( 0)
L { y }=Y (s)

As y ( 0 )=0 , y '(0)=0

{ }
2
d y 2
L 2
=s Y ( s )−s ( 0 )− ( 0 )
dt

L {dydt }=s Y ( s) −( 0)
L { y }=Y (s)
 { }
2
d y
=s Y ( s )………………..(3)
2
L 2
dt

L {dydt }=s Y ( s)………………..(4)

L { y }=Y (s) ………………..(5)
Put (3) to (5) in (2)

{ } { }
2
d y dy
L 2
+4 L + 3 L { y }=L { 1 }−L { u ( t−2 ) }−u ( t−4 )+u ( t−6 )(2)
dt dt

1
s Y ( s )+ 4 s Y ( s ) +3 Y ( s )= −L { u ( t−2 ) } −u ( t−4 )+ u (t−6 )
2
s

{ s2 + 4 s +3 } Y (s)= 1 −L { u ( t−2 ) }−u ( t−4 ) +u ( t−6 ) …………(6)

s

Consider
L { u ( t−2 ) }
−as
e
We know that L {u ( t−a ) } = s
a=2
−2 s
e
L { u ( t−2 ) }= ………………..(7)
s
−4 s
e
L { u ( t−4 ) }= ………………..(8)
s
−6 s
e
L { u ( t−6 ) } = ………………..(9)
s

Put (7) to (9) in (6)

{ s2 + 4 s +3 } Y (s)= 1 −L { u ( t−2 ) }−u ( t−4 ) +u ( t−6 ) …………(6)
s
−2 s −4 s −6 s
( s+1 ) ( s +3 ) Y (s)= 1 − e − e + e
s s s s

(Divide by( s+1 ) ( s +3 ) on both sides

−2 s −4 s −6 s
1 e e e
Y ( s )= − − +
s s +1 s+ 3 s s+1 s +3 s s+ 1 s+3 s s +1 )( s+3 )
( ) ( ) ( ) ( ) ( )( ) (
Taking Inverse Laplace Transform on both sides

{ } { } { } { }
−2 s −4 s −6 s
1 e e e
L
−1
{ Y ( s ) }=L −1
−L
−1
−L
−1
+L
−1

s ( s +1 ) ( s +3 ) s ( s+1 )( s+3 ) s ( s +1 )( s+ 3 ) s ( s +1 )( s+3 )

1
L−1 { Y ( s ) }= L−1
3
− L
s 2 {}
1 1 −1 1 +1 −1 1
s+ 1 6
L
1
− L−1
s+3 3 { }
s
+ L
2 s+1 6
L{ }s +3 3{ } { } { } { } {
e−2 s 1 −1 e−2 s −1 −1 e−2 s 1 −1 e−4 s 1 −1
− L
s
+ L
2

{ } { } { } { } { } {
−2 s −2 s −1 −2 s −4 s −4 s −1 −4s
1 1 −t 1 −3 t 1 −1 e 1 −1 e −1 e 1 −1 e 1 −1 e −1 e
y ( t ) =¿ { 1 }− { e } + { e }− L + L L − L + L L
3 2 6 3 s 2 s+1 6 s +3 3 s 2 s+1 6 s+3

………………..(10)
Consider

L−1 { }…………………………(11)
e−2 s
s

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(12)

Comparing (11) and (12)

Here a=2………………(13)
1
F ( s )=
s
………………(14)

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1 {1s }
{ f (t) } ={ 1 }
f (t)=1
f (t−2)=1……………………(15)

Put (13) to (15) in (12)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(12)
 { }
−2 s
e
=u ( t−2 )………………(16)
−1
L
s

Similarly

{ }
−4 s
e
=u ( t−4 ) ………………(17)
−1
L
s

L−1 { }
e−6 s
s
=u ( t−6 ) ………………(18)

Consider

{ }…………………………(19)
−2 s
−1 e
L
s +1

The Inverse Laplace Transform of

{ f (t−a)u ( t−a ) } =L−1 {e−as F (s)}
Or
L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(20)

Comparing (19) and (20)

Here a=2………………(21)
1
F ( s )=
s+1
………………(22)

Taking Inverse Laplace Transform of above expression

L−1 { F( s) } =L−1 { s+11 }
{ f (t) } ={ e−t }
−t
f (t )=e

f (t−2)=e ……………(23)
−(t −2)

Put (21) to (23) in (20)

L−1 {e−as F (s) }=f (t−a)u ( t−a )………………(20)
 { }
−2 s
e
u ( t−2 )………………(24)
−1 −(t −2 )
L =e
s +1

Similarly

{ }
−2 s
e
u ( t−2 ) ………………(25)
−1 −3(t −2)
L =e
s +3

L−1 { e−4 s
s +1 }
=e−(t −4) u ( t−4 )………………(26)

{ }
−4s
e
u ( t−4 )………………(27)
−1 −3(t −4)
L =e
s +3

L−1 { e−6 s
s +1 }
=e−(t −6 ) u ( t−6 )……………….(28)

{ }
−6 s
e
u ( t−6 )………………(29)
−1 −3(t −6)
L =e
s +3

Put (16) to (18) and (24) to (29) in (10)

1 1
3 2
1
6
1
y ( t ) =¿ − e−t + e−3 t − L−1
3 s { }
+ L
2 s +1 6
L { } − L
s+ 3 3 s { }
+ L
2 s +1 6 { }
e−2 s 1 −1 e−2 s −1 −1 e−2 s 1 −1 e− 4 s 1 −1 e−4 s −1 −1 e−4 s 1
L + L
s+ 3 3 { } { }
………………..(10)

1 1 −t 1 −3 t 1 1 1 1 1 1
y ( t ) =¿ − e + e − { u ( t−2 ) } + {e−( t−2 ) u ( t−2 ) }− {e−3 (t −2) u ( t−2 ) }− { u ( t−4 ) } + {e−(t− 4) u ( t−4 ) }− {e−3 (
3 2 6 3 2 6 3 2 6
1 1 1 1 1
3 2[ 1
6 ] 1 1
3 2 [ 1
6 ] 1 1
3 2 [ 1
y ( t ) =¿ − e−t + e−3 t − − e−(t −2 )+ e−3 (t −2) u ( t−2 )− − e−(t −4 )+ e−3 (t−4 ) u ( t−4 )+ − e−(t −6 ) + e−3 (t −
3 2 6 6