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Introduction
Functions
Properties
Applications
Inverse Laplace/Tables
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Contents
The Unit Step Function
The Unit Impulse
The Exponential
The Sine
The Cosine
Composite Functions
To productively use the Laplace Transform, we need to be able to transform functions from the time domain to the Laplace
domain. We can do this by applying the definition of the Laplace Transform
but this quickly becomes tedious. Our goal is to avoid having to evaluate the integral by finding the Laplace Transform of many
useful functions and compiling them in a table. Thereafter the Laplace Transform of functions can almost always be looked by using
the tables without any need to integrate. A table of Laplace Transform of functions is available here.
Some references change the definition of the step so that the bottom inequality becomes a strict inequality (t>0) and either leave (0) undefined or say that (0)=.
Although there is a discontinuity at t=0, we draw a vertical line to help guide the eye and to indicate that the blue line is a single function.
so
reveals a problem. The evaluation of the upper limit of the integral only goes to zero if the real part of the complex variable
"s" is positive (so e-st0 as s). In this case we say that the "region of convergence" of the Laplace Transform is the
right half of the s-plane (since s is a complex number, the right half of the plane corresponds to the real part of s being
positive). As long as the functions we are working with have at least part of their region of convergence in common (which
will be true in the types of problems we consider), the region of convergence holds no particular interest for us. Since the
region of convergence will not play a part in any of the problems we will solve, it is not considered further.
The unit impulse is discussed elsewhere, but to review. The impulse function is everywhere but at t=0, where it is infinitely large.
The area of the impulse function is one. The impulse function is drawn as an arrow whose height is equal to its area.
Since e-st is continuous at t=0, that is the same as saying it is constant from t=0- to t=0+. So we can replace e-st by its value evaluated
at t=0.
So the Laplace Transform of the unit impulse is just one. Therefore the impulse function, which is difficult to handle in the time
domain, becomes easy to handle in the Laplace domain. It will turn out that the unit impulse will be important to much of what we do.
The Exponential
We can either define the function piecewise (the first definition), or as an exponential multiplied by the unit step (the second
definition). The second one is more compact, so we will generally use that one. Because all of our functions are equal to zero for
t<0, the multiplication by (t) will often be implicit and we won't actually show (t), except in cases where it is needed for clarity.
If a>0, the function increases without bound. If a<0 the function decays to zero - decaying exponentials are much more common in
Since (t) is equal to one for all positive t, we can remove it from the integral
(note)
Note that the function (t) is implicit in the last equation. This is how we will commonly write our functions.
Note that if a=1, we get a step function and L(s)=1/s.
The Sine
so
But we've already done this integral (the exponential function, above)
The Cosine
The cosine can be found in much the same way, but using Euler's identity for the cosine.
The decaying sine or cosine is likewise handled in the same way. Consider, first, the decaying sine wave.
The rest of the derivation follows that of the sine function (i.e., put over a common denominator, and solve)
The Ramp
So far (with the exception of the impulse), all the functions have been closely related to the exponential. It is also possible to find
the Laplace Transform of other functions. For example, the ramp function:
We start as before
Integration by parts is useful at this point
Composite Functions
It is often quite easy to find the Laplace Transform of functions not in the table, by expressing them as a sum of functions in the
table that are scaled and/or delayed. To understand this we need to use two Laplace Transform properties that are derived on the
next page. We need the linearity property
and the time delay property
Solution:
We know the Laplace Transform of both of these functions
Let's see if we can use this information to find the Laplace Transform of the rectangular pulse. We can form the original
rectangular pulse function from the step and the delayed step in two ways
Method 1
Method 2
The first method doesn't help us, because we have no property of the Laplace Transform the lets us deal with multiplied
functions in the time domain. However, the second method can be used because it represents y(t) as the sum of functions,
so we can use the linearity property. So we get
and y(t)=2.5z(t)
Solution:
We need to figure out how to represent the function as the sum of functions with which we are familiar. For this function, we
need only ramps and steps; we apply a ramp function at each change in slope of y(t), and apply a step at each discontinuity.
Starting at t=0 we need to increase the slope of the function, so we add in a ramp with a slope of 0.5.
Starting at t=2, the slope decreases (to zero), so we need to subtract a ramp with a slope of -0.5.
Also at t=2, there is a negative discontinuity, so we need to subtract a step of height -1.
Functionally we want:
so
and does yield the correct function. However if we do this we end up with the product of two functions that are in the
table
and we have no way to deal with products of functions. That is why, when choosing the basic functions that make
up the composite function, only addition is allowed. (note)
Solution:
This function is more complicated than the last, but we can still create it as a sum of ramps and steps; we apply a ramp
function at each change in slope of y(t), and apply a step at each discontinuity.
At t=0 there is a discontinuity, so we need to add a step of height 2.
Also at t=0, we need to decrease the slope of the function, so we add in a ramp with a slope of -4/3 (rise/run=-2/1.5).
Starting at t=1.5 we need to increase the slope of the function, so we add in a ramp with a slope of 8/3 (since the slope
was -4/3 we need to increase it by 8/3 so that the resulting slope is 4/3).
Starting at t=3, the slope decreases (to zero), so we need to subtract a ramp with a slope of -4/3 (since the slope was 4/3
we need to decrease it by 4/3 so that the resulting slope is 0).
Also at t=3, there is a negative discontinuity, so we need to subtract a step of height -2.
The constituent functions are shown in the plot below. If you add them up, you get the original function (shown in black).
Solution:
This function is a little different than the previous in that it involves more than ramps and steps. The most obvious way to
represent this function is as a sine wave multiplied by a rectangular pulse. But recall that we can't use generally use
multiplication of functions (we have no multiplication property), only addition (by use of the linearity property). So the
question becomes: what functions can we add to create the given function?
After a little thought it becomes apparent that we can take a sine wave starting at t=0, and subtract off a cosine beginning
at t=2.5.
When composing a complex function from elementary functions, it is important to only use addition. If you create a
function by adding two functions, its Laplace Transform is simply the sum of the Laplace Transform of the two function. If
you create a function by multiplying two functions in time, there is no easy way to find the Laplace Transform of the
resulting function.
Copyright 2005 to 2015 Erik Cheever This page may be freely used for educational purposes.
Comments? Questions? Suggestions? Corrections?
Erik Cheever
Department of Engineering
Swarthmore College