Inverse Laplace

Transformations

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 UsingTable Directly
• If the function F(s) is easy use the Table
pair (and properties if necessary).

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 Using Partial Fraction
Expension
• Consider that F(s) is a ratio of polynomial
expressions N ( s)
F ( s) 
D ( s)
• The n roots of the denominator, D(s) are called
the poles
– Poles determine the stability of the system
• The m roots of the numerator, N(s), are called
the zeros

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 Inverse Laplace Transform
• Use partial fractions expansion
• Three possible cases (for proper rational,
i.e., order of D(s)>N(s)
1. simple poles (real and unequal, i.e. distinct)
2. simple complex roots (conjugate pair)
3. repeated roots of same value

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 1. Simple Poles
• Simple poles are placed in a partial fractions
expansion
K 0 s  z1 s  z m  K1 K2 Kn
F ( s)    
s  p1 s  p2 s  pn  s  p1 s  p2 s  pn
• The constants, Ki, can be found from (use
method of residues)
K i  ( s  pi ) F ( s ) s   p
i

• Finally, tabulated Laplace transform pairs are

used to invert expression, but this is a nice form
since the solution is
f (t )  K1 e  p1 t  K 2 e  p2 t    K n e  pn t
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Simple Poles Example:
Given:

4( s  2) A1 A2 A3
F ( s)    
( s  1)( s  4)( s  10) ( s  1) ( s  4) ( s  10)

Find A1, A2, A3

( s  1)4( s  2) ( s  4)4( s  2)
A1  |  4 27 A2  | 49
( s  1)( s  4)( s  10) s  1 ( s  1)( s  4)( s  10) s  4

( s  10)4( s  2)
A3  |   16 27
( s  1)( s  4)( s  10) s  10


f (t )  (4 27)e  t  (4 9)e  4t  (16 27)e 10t u(t ) 
 For cases when N(s)=D(s), add an extra term!
2s 2  3s  2
G( s)  2
s  3s  2

Extra term from coefficient of highest power in the

numerator.
Solution:

Find A1 and A2 using PFE. A1= -4 , A2= 1

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 2. Complex Conjugate Poles
• Complex poles result in a Laplace transform of the form
K1 K1* K1  K1   
F ( s)      
s  (  j ) s  (  j ) s  (  j ) s  (  j )
• The K1 can be found using the same method as for
simple poles
K1  (s    j ) F (s) s   j
WARNING: the pole of the form –+j MUST be the one
that is used
• The corresponding time domain function is
f (t )  2 K1 e  t cos t     
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 Complex Roots: An Example.

For the given F(s) find f(t)

( s  1) ( s  1)
F ( s)  
s( s 2  4 s  5) s( s  2  j )( s  2  j )

A K1 K 1*
F ( s)   
s s2 j s2 j

( s  1) 1
A  | 
( s 2  4 s  5) | s  0 5

( s  1)  2 j 1
K1  || s   2  j   0.32  108 o
s( s  2  j ) ( 2  j )( 2 j )
Complex Roots: An Example. (continued)

We then have;

0.2 0.32  108o 0.32  108o

F ( s)   
s s2 j s2 j
Recalling the form of the inverse for complex roots;

f (t )  2 K1 e  t cos t     

f (t )   0.2  0.64 e2t cos(t 108o ) u (t )

 
 3. Repeated Poles
• When F(s) has a pole of multiplicity r, then F(s)
is written as
P1 ( s) K11 K12 K1r
F ( s)       
Q 1 ( s) s  p1  s  p1 s  p1  s  p1 
r 2 r

• Where the time domain function is then

 p1t  p1t t r 1  p1t
f (t )  ( K11 e  K12 t e    K1r e  )u (t )
r  1!
• That is, we obtain the usual exponential but
multiplied by t's
 3. Repeated Poles (cont’d.)
• The K1j terms are evaluated from
K1 j 
1 d r j
r  j ! ds r j

s  p1 r
F ( s) 
s   p1

K11 K12
• For double root (s+p1)², F( s)  
s  p1 s  p1 2

K12  s  p1  F ( s)
2
s   p1
K11 
d
ds

s  p1 2 F (s) 
s   p1

f (t )  ( K11 e p1t  K12 t e p1t )u(t )

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 3. Repeated Poles (cont’d.)
• The K1j terms are evaluated from
K1 j 
1 d r j
r  j ! ds r j
s  p1 r
F ( s) 
s   p1

• For triple root (s+p1)3, F(s)  K11  K12 K13


s  p1 s  p1 2 s  p1 3
• K  s  p 3 F( s)
13 1
s   p1
K12 
d
ds

s  p1 3 F(s) 
s   p1

s=-p1
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  p1t  p1t t 31  p1t
f (t )  ( K11 e  K12 t e  K13 e )u (t )
3  1!
 p1t  p1t t 2  p1t
f (t )  ( K11 e  K12 t e  K13 e )u (t )
2

Lect11 EEE 202 15

Triple pole example

Find x(t)

Solving for coefficients

s=-1

Then solve K13 followed by K12 then K11

s=-2

s=-2

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 t  2t  2t t 2 3t
x(t )  (2 e  2 e  2t e  6 e )u (t )
2
x(t )  (2 et  2 e2t  2 t e2t  3te 3t )u(t )
2

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CONVOLUTION VS MULTIPLICATION

Methods to find the output of a system

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 CONVOLUTION
Convolution is a time domain operation

Consider the following LTI (linear time invariant) system

System
x(t) y(t)
h(t)

x(t) is the input to the system.

h(t) is the impulse response of the system.
y(t) is the output of the system.

y(t)=h(t)*x(t) use the convolution integral equation

 MULTIPLICATION

For the same LTI system

X(s) Y(s)
H(s)

the inverse Laplace transform of H(s) is the system’s

impulse response h(t). H(s) is also called the transfer function.

Also
Y(s)=H(S)X(s) Multiplication in the frequency domain

To find y(t), find inverse Laplace Transform of Y(s)

 Example: Find output
Example using the convolution integral. Given x(t) and h(t) find y(t)

x(t) y(t) = ?
e-4t u(t)

 t t
 4( t  )  4( t  )
y( t )   e u( )d   e d  e  4t  e 4 d
 0 0

 4t
t
4  4t 1 4   t  1 1  4t 
y( t )  e  e d  e e |  0    e  u( t )
0 4 4 4 
Same example but using Laplace.
1
x(t) = u(t) X ( s) 
s

h(t) = e-4tu(t) 1
H ( s) 
s4

1 A B 14 14
Y ( s)     
s( s  4) s s  4 s s4

y( t ) 
1
1  e 4 t u(t ) Much easier!
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SYSTEM STABILITY AND POLE LOCATIONS
An LTI system is stable is all poles on the left hand plane
(LHP) N ( s) Roots are zeros o
F ( s) 
D ( s) Roots are poles x

jω s-plane

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EXAMPLE OF POLES AND ZEROS ON THE s-PLANE

Is the system stable?

Note that poles and zeros can be real, imaginary or
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complex.
 SOLVING ORDERNARY DIFFERENTIAL
EQUATIONS (ODE) WITH
LAPLACE TRANSFORM
The obtained solution is the TOTAL solution. It includes
the homogeneous and forced response. Or zero input and
zero state response.

Main property used is the time differentiation property

Initial conditions

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 Example of Solution of an
ODE
d2y dy
2
 6  8 y  2 y(0)  y' (0)  0 • ODE w/initial conditions
dt dt
L equal to zero
s 2 Y ( s )  6s Y ( s )  8 Y ( s )  2 / s • Apply Laplace transform
to each term
Y (s) 
2 • Solve for Y(s)
s ( s  2) ( s  4)

1 1 1 • Apply partial fraction

Y ( s)   
4s 2 ( s  2) 4 ( s  4) expansion
1 e 2t e 4t • Apply inverse Laplace
y(t )  (   )u (t ) transform to each term
4 2 4
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