Engineering Analysis Assistant prof. / Dr. Rafi’ M.S.

Al-Ne’aimi 1

Chapter 1
Laplace Transform (L.T.)

1.1 Introduction
Laplace Transform is a method of solution for solving:-
 Ordinary and Partial differential equations.
 Initial value problems without first determining the general solution.
 Non-homogeneous equations without solving homogeneous equations.

1.2 Definition of Laplace Transform

Let f(t) be a function of t for all t > 0, then its L.T. is F(s) obtained by multiplying
f(t) by 𝒆−𝒔 and integrating from 0 to ∞, thus:
∞
ℒ {𝑓(𝑡)} = 𝐅(𝒔) = ∫ 𝑓(𝑡) 𝒆−𝒔𝒕 𝑑𝑡
0

F(s) is called integral transform of f(t) and s is the transform variable.

1.3 Laplace Transform of some elementary functions

1) Let f(t) = 1
∞
−𝑠𝑡
1 −𝑠𝑡 ∞ 1
F(𝑠) = ∫ 1 𝑒 𝑑𝑡 = − 𝑒 ] = − (𝑒 −∞ − 𝑒 0 )
0 𝑠 0 𝑠
1 1 𝑎
= − (0 − 1) = ∴ ℒ {𝑓(𝑡) = 𝑎} =
𝑠 𝑠 𝑠
2) f(t) = t n n = 1, 2, 3, …
∞ ∞ ∞
𝑛 −𝑠𝑡 𝑛
𝑒 −𝑠𝑡 𝑛−1
𝑒 −𝑠𝑡
F(𝑠) = ∫ 𝑡 𝑒 𝑑𝑡 = 𝑡 ] −∫ 𝑛𝑡 𝑑𝑡
0 −𝑠 0 0 −𝑠

𝑛 ∞ 𝑛−1 −𝑠𝑡 𝑛
=0+ ∫ 𝑡 𝑒 𝑑𝑡 = ℒ { 𝑡 𝑛−1 }
𝑠 0 𝑠
𝑛 𝑛−1
ℒ { 𝑡 𝑛 } = ℒ { 𝑡 𝑛−1 } 𝑤ℎ𝑖𝑐ℎ 𝑚𝑒𝑎𝑛𝑠: ℒ { 𝑡 𝑛−1 } = ℒ { 𝑡 𝑛−2 }
𝑠 𝑠
𝑛−2
ℒ { 𝑡 𝑛−2 } = ℒ { 𝑡 𝑛−3 } , …
𝑠
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 2

∞
𝑛 (𝑛 − 1) (𝑛 − 2) 1 𝑛! 1 𝑛!
∴ F(𝑠) = ∫ 𝑡 𝑛 𝑒 −𝑠𝑡 𝑑𝑡 = … ℒ { 1 } = 𝑛 = 𝑛+1
0 𝑠 𝑠 𝑠 𝑠 𝑠 𝑠 𝑠
∞
Γ(𝑛 + 1)
𝑜𝑟 F(𝑠) = ∫ 𝑡 𝑛 𝑒 −𝑠𝑡 𝑑𝑡 =
0 𝑠 𝑛+1

where, n! = n(n-1)(n-2)……. 1 and Γ is Gamma function defined as:

∞
Γ f(𝑥) = ∫ 𝑡 𝑥−1 𝑒 −𝑡 𝑑𝑡
0

∞
Γ (𝑛 + 1) = ∫0 𝑡 𝑛+1−1 𝑒 −𝑡 𝑑𝑡 (n is an integer value)

Γ (𝑥) = (𝑥 − 1)!

Γ (𝑥 + 1) = (𝑥)!

Γ (−𝑛) = ∞

−1 −1 1
Γ (1/2) = √𝜋 , !=Γ ( + 1) = Γ ( ) = √𝜋
2 2 2

Example (1): Find L.T. of t3.

𝑛! 3! 3×2×1 6
F(t) = t 3 , F(𝑠) = = 𝑠4 = = 𝑠4
𝑠 𝑛+1 𝑠4

3) f(t) = e –a t
∞ ∞
−𝑎𝑡 −𝑠𝑡
F(𝑠) = ∫ 𝑒 𝑒 𝑑𝑡 = ∫ 𝑒 −(𝑎+𝑠)𝑡 𝑑𝑡
0 0
∞
1 −(𝑠+𝑎)𝑡
1 1
=− 𝑒 ] =− (0 − 1) =
𝑠+𝑎 0 𝑠+𝑎 𝑠+𝑎

4) f(t) = sinh at  (e a t − e –a t ) / 2
1
ℒ { sinh 𝑎𝑡 } = [ ℒ { 𝑒 𝑎𝑡 } + ℒ { 𝑒 −𝑎𝑡 } ]
2
1 1 1
= [ − ]
2 𝑠−𝑎 𝑠+𝑎
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 3

1 𝑠+𝑎−𝑠+𝑎 2𝑎 𝑎
= = ⇒ ℒ { sinh 𝑎𝑡 } =
2 (𝑠 − 𝑎)(𝑠 + 𝑎) 2(𝑠 2 − 𝑎2 ) (𝑠 2 − 𝑎2 )

5) f(t) = cosh at  ( e a t + e –a t ) / 2
1
ℒ { cosh 𝑎𝑡 } = [ ℒ { 𝑒 𝑎𝑡 } + ℒ { 𝑒 −𝑎𝑡 } ]
2
1 1 1
= [ + ]
2 𝑠−𝑎 𝑠+𝑎
1 𝑠+𝑎+𝑠−𝑎 2𝑠 𝑠
= = ⇒ ℒ { cosh 𝑎𝑡 } =
2 (𝑠 − 𝑎)(𝑠 + 𝑎) 2(𝑠 2 − 𝑎2 ) (𝑠 2 − 𝑎2 )

6) f(t) = sin at and f(t) = cos at

∞ ∞
−𝑠𝑡
𝑒 −𝑠𝑡 𝑎 ∞
ℒ { sin 𝑎𝑡 } = ∫ sin 𝑎𝑡 𝑒 𝑑𝑡 = sin 𝑎𝑡] + ∫ cos 𝑎𝑡 𝑒 −𝑠𝑡 𝑑𝑡
0 −𝑠 0
𝑠 0
𝑎
= 0 + ℒ { cos 𝑎𝑡 }
𝑠
∞ ∞
−𝑠𝑡
𝑒 −𝑠𝑡 𝑎 ∞
ℒ { cos 𝑎𝑡 } = ∫ cos 𝑎𝑡 𝑒 𝑑𝑡 = cos 𝑎𝑡] − ∫ sin 𝑎𝑡 𝑒 −𝑠𝑡 𝑑𝑡
0 −𝑠 0
𝑠 0
1 𝑎
= − ℒ { sin 𝑎𝑡 }
𝑠 𝑠
1 𝑎 𝑎
By substituting: ℒ { cos 𝑎𝑡 } = − [ ℒ { cos 𝑎𝑡 }]
𝑠 𝑠 𝑠

𝑎2 1 𝑠 2 + 𝑎2 1
ℒ { cos 𝑎𝑡 } (1 + 2 ) = ⇒ ℒ { cos 𝑎𝑡 } ( ) =
𝑠 𝑠 𝑠2 𝑠

𝑠 𝑎 𝑠 𝑎
∴ ℒ { cos 𝑎𝑡 } = ∴ ℒ { sin 𝑎𝑡 } = =
𝑠 2 + 𝑎2 𝑠 𝑠 2 + 𝑎2 𝑠 2 + 𝑎2
Or
1
f(t) = cos at →
2
[ 𝑒 𝑖𝑎𝑡 + 𝑒 −𝑖𝑎𝑡 ]

1 1 1 1 𝑠 + 𝑖𝑎 + 𝑠 − 𝑖𝑎 1 2𝑠 𝑠
F(𝑠) = [ + ] = = =
2 𝑠 − 𝑖𝑎 𝑠 + 𝑖𝑎 2 (𝑠 − 𝑖𝑎)(𝑠 + 𝑖𝑎) 2 (𝑠 2 + 𝑎2 ) 𝑠 2 + 𝑎2
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 4

1
f(t) = sin at →
2𝑖
[ 𝑒 𝑖𝑎𝑡 − 𝑒 −𝑖𝑎𝑡 ]

1 1 1 1 𝑠 + 𝑖𝑎 − 𝑠 + 𝑖𝑎 1 2𝑖𝑎 𝑎
F(𝑠) = [ − ]= = =
2𝑖 𝑠 − 𝑖𝑎 𝑠 + 𝑖𝑎 2𝑖 (𝑠 − 𝑖𝑎)(𝑠 + 𝑖𝑎) 2𝑖 (𝑠 2 + 𝑎2 ) 𝑠 2 + 𝑎2

Basic transforms are listed in the table below. From these almost all the others
can be obtained by the use of the general properties of the Laplace transform.

Example (2): Determine the Laplace transform of the following functions:

i) 𝑒 3𝑡
ii) 𝑐𝑜𝑠ℎ 2𝑡
iii) 3𝑠𝑖𝑛ℎ 2𝑡
iv) 3𝑡 + 4
v) 𝑡 2 + 𝑎𝑡 + 𝑏
vi) 𝑐𝑜𝑠 (𝜔𝑡 + 𝜃)
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 5

vii) 𝑐𝑜𝑠 2 𝑡
viii) 𝑒 𝑎𝑡+𝑏 , (where a, b , 𝜔 and 𝜃 are constants).
ix) 6 𝑒 −5𝑡 + 5 𝑡 3 − 9
x) 2 cos 10𝑡 − 7 sin 4𝑡 + 3 sinh 2𝑡 − 8 cosh 2𝑡

Solution

1
i) 𝒇(𝒕) = 𝒆𝟑𝒕 → 𝐹(𝑠) =
𝑠−3

𝑠
ii) 𝒇(𝒕) = 𝒄𝒐𝒔𝒉 𝟐𝒕 → 𝐹(𝑠) =
𝑠 2 −4

2 6
iii) 𝒇(𝒕) = 𝟑 𝒔𝒊𝒏𝒉 𝟐𝒕 → 𝐹(𝑠) = 3 × =
𝑠2 −4 𝑠 2 −4

3 4
iv) 𝟑𝒕 + 𝟒 → 𝐹(𝑠) = +
𝑠2 𝑠

2! 𝑎 𝑏
v) 𝒕𝟐 + 𝒂𝒕 + 𝒃 → 𝐹(𝑠) = + +
𝑠3 𝑠2 𝑠

𝑠 𝜔
vi) 𝒄𝒐𝒔 (𝝎𝒕 + 𝜽) → 𝐹(𝑠) = 𝑐𝑜𝑠𝜃 − 𝑠𝑖𝑛𝜃
𝑠 2 + 𝜔2 𝑠 2 + 𝜔2

1 1 𝑠
vii) 𝒄𝒐𝒔 𝟐 𝒕 → 𝐹(𝑠) = ( + 𝑠2 +4)
2 𝑠

𝒂𝒕+𝒃
𝒆𝒃
viii) 𝒆 → 𝐹(𝑠) =
𝑠−𝑎

ix) 𝒇(𝒕) = 𝟔 𝒆−𝟓𝒕 + 𝟓 𝒕𝟑 − 𝟗

1 3! 9 6 30 9
𝐹(𝑠) = 6 + 5 3+1 − = + 4−
𝑠+5 𝑠 𝑠 𝑠+5 𝑠 𝑠
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 6

x) 𝒇(𝒕) = 𝟐 𝒄𝒐𝒔 𝟏𝟎𝒕 − 𝟕 𝒔𝒊𝒏 𝟒𝒕 + 𝟑 𝒔𝒊𝒏𝒉 𝟐𝒕 − 𝟖 𝒄𝒐𝒔𝒉 𝟐𝒕

𝑠 4 2 𝑠
𝐹(𝑠) = 2 − 7 + 3 − 8
𝑠 2 + 102 𝑠 2 + 42 𝑠 2 − 22 𝑠 2 − 22

2𝑠 28 6 − 8𝑠
= − +
𝑠 2 + 100 𝑠 2 + 16 𝑠 2 − 4

7) L.T. of Gamma Function

Used for decimal fraction exponent, such as … 𝑡 −1/2
∞
Γ (𝑛) = ∫0 𝑡 𝑛−1 𝑒 −𝑡 𝑑𝑡 ……….. (For n > 0)

∞
Γ (𝑥) = ∫0 𝑡 𝑥−1 𝑒 −𝑡 𝑑𝑡 ……….. (For x > 0)

 Properties of Gamma function:

1. Γ (𝑛 + 1) = 𝑛!

Γ (0 + 1) = 0!

Γ (2 + 1) = 2! = 2 × 1 = 2

Γ (3 + 1) = 3! = 3 × 2 × 1 = 6

2. Γ (𝑛 + 1) = 𝑛 Γ (𝑛)

3. Γ (1/2) = √𝜋

3 1 1 1 1
Γ ( ) = Γ ( + 1) = Γ ( ) = √𝜋
2 2 2 2 2

Example (3): Given: 1/√𝑡 find F(s) = ?

𝑓(𝑡) = 1/√𝑡
∞
𝐹(𝑠) = ∫0 𝑡 −1/2 𝑒 −𝑠𝑡 𝑑𝑡

1
∞ Γ (𝑛+1) Γ (−2+1) Γ (1/2) 𝜋
= ∫0 𝑡 −1/2 𝑒 −𝑠𝑡
𝑑𝑡 = = 1 = =√
𝑠𝑛+1 − +1 𝑠1/2 𝑠
𝑠 2
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 7

8) L.T. of Unit Step Function 𝒇(𝒕)

Let Ua (t) be a unit step function, then it can be defined as:

0 𝑤ℎ𝑒𝑛 0 < 𝑡 < 𝑎 1

Ua (t) = {
1 𝑎<𝑡<∞ 𝒕
0 a
𝑈𝑎 (𝑡)

𝒇(𝒕)
0 𝑤ℎ𝑒𝑛 𝑡 < 0
U0 (t) = {
1 𝑡>0
1

𝒕
0
𝑈0 (𝑡)
Example (4): Find: ℒ { Ua (t) } = ?
∞
ℒ { Ua (t) } = ∫0 Ua (t) 𝑒 −𝑠𝑡 𝑑𝑡

𝑎 ∞
−𝑠𝑡
= ∫ 0.𝑒 𝑑𝑡 + ∫ 1. 𝑒 −𝑠𝑡 𝑑𝑡
0 𝑎

−1 −𝑠𝑡 ∞ −1
= 𝑒 ] = [0 − 𝑒 −𝑎𝑠 ]
𝑠 𝑎 𝑠

𝑒 −𝑎𝑠 1
∴ ℒ { Ua (t) } = and ℒ { U0 (t) } =
𝑠 𝑠

9) L.T. of Periodic Functions

Let 𝑓(t) is a function defined for all 𝑡 > 0 and has the period (P > 0), such
that: 𝑓(t + P) = 𝑓(t) ……….. for all t >0
If 𝑓(t) is piecewise conditions on an interval (p), then its L.T. exists and
equals to:
1 𝑝
ℒ { 𝑓(t) } =
1 – 𝑒 −𝑝𝑠
∫0 𝑓(t). 𝑒−𝑠𝑡 𝑑𝑡
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 8

Example (5): Find L.T. of the periodic square wave function shown in Fig.

𝒇(𝒕)
+𝑘 0<𝑡<𝑎
𝑓(t) = {
−𝑘 𝑎 < 𝑡 < 2𝑎

+k
𝑓(t + P) = 𝑓(t), the function is periodic
𝒕
0 a 2a 3a 4a
Solution
−k
1 𝑝
ℒ { 𝑓(t) } = ∫0 𝑓(t). 𝑒 −𝑠𝑡 𝑑𝑡 Here P = 2a
1 – 𝑒 −𝑝𝑠

1 2𝑎
= [∫0 𝑓(t). 𝑒 −𝑠𝑡 𝑑𝑡]
1 – 𝑒 −2𝑎𝑠

1 𝑎 2𝑎
= [∫0 (𝑘) 𝑒 −𝑠𝑡 𝑑𝑡 + ∫𝑎 (−𝑘) 𝑒 −𝑠𝑡 𝑑𝑡]
1 – 𝑒 −2𝑎𝑠

𝑎 2𝑎
𝑘 – 𝑒 −𝑠𝑡 𝑒 −𝑠𝑡
= [ ] + ] ]
1 – 𝑒 −2𝑎𝑠 𝑠 0 𝑠 𝑎

𝑘
= [– 𝑒 −𝑎𝑠 + 1 + 𝑒 −2𝑎𝑠 −𝑒 −𝑎𝑠 ]
𝑠(1 – 𝑒 −𝑎𝑠 )(1+ 𝑒 −𝑎𝑠 )

𝑘
= (1 – 𝑒 −𝑎𝑠 )(1 – 𝑒 −𝑎𝑠 )
𝑠(1 – 𝑒 −𝑎𝑠 )(1+ 𝑒 −𝑎𝑠 )

𝑘 (1 – 𝑒 −𝑎𝑠 )
=
𝑠 (1+ 𝑒 −𝑎𝑠 )

𝑘 𝑒 −𝑎𝑠/2 (𝑒 𝑎𝑠/2 – 𝑒 −𝑎𝑠/2 ) 𝑒 𝜃 − 𝑒 −𝜃

= , but 𝑡𝑎𝑛ℎ 𝜃 =
𝑠 𝑒 −𝑎𝑠/2 (𝑒 𝑎𝑠/2 + 𝑒 −𝑎𝑠/2 ) 𝑒 𝜃 + 𝑒 −𝜃

𝑘 𝑎𝑠
= 𝑡𝑎𝑛ℎ
𝑠 2
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 9

Example (6): Express the following graph in terms of stair case function and
then Find its L.T.?.
𝒇(𝒕)
0 0<𝑡<1
1 1<𝑡<2
𝑓(t) = 2 2<𝑡<3
4
3 3<𝑡<4 3
{5 4<𝑡<5 2
1
0 𝒕
Solution 1 2 3 4 5

∞
ℒ { 𝑓(t) } = ∫0 𝑓(t). 𝑒 −𝑠𝑡 𝑑𝑡

1 2 5
= ∫0 0 . 𝑒 −𝑠𝑡 𝑑𝑡 + ∫1 1. 𝑒 −𝑠𝑡 𝑑𝑡 + ⋯ … … . … + ∫4 4. 𝑒 −𝑠𝑡 𝑑𝑡

𝑓(t) = 0[U0 (t) − U1 (t)] + 1[U1 (t) − U2 (t)] + ⋯ … . . + 4[U4 (t) − U5 (t)]

𝑓(t) = U1 (t) + U2 (t) + U3 (t) + U4 (t) + ⋯ …

𝑒 −𝑠 𝑒 −2𝑠 𝑒 −3𝑠 𝑒 −4𝑠 𝑒 −𝑠

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

𝑒 −𝑠 1 1st. term
=
𝑠 1 − 𝑒 −𝑠
Difference between any two successive terms
Constant

Class Work Tutorial No. (1)

Find the L.T. of the following periodic functions:
𝑡 0<𝑡<𝑎
(a) 𝑓(t) = {
−𝑡 + 2𝑎 𝑎 < 𝑡 < 2𝑎

1 𝑎𝑠
Here P = 2a ⇒ Ans. = 2 𝑡𝑎𝑛ℎ
𝑠 2

𝑠𝑖𝑛 𝑡 0<𝑡<𝜋
(b) 𝑓(t) = {
0 𝜋 < 𝑡 < 2𝜋

1
P=2𝜋 ⇒ Ans. = −2𝜋𝑠
(1 − 𝑒 )(𝑠2 + 1)
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 10

1.4 Laplace Transform Theorems

1. Linearity (Superposition)

ℒ { 𝑎 𝑓1 (𝑡) + 𝑏 𝑓2 (𝑡) } = 𝑎 𝐹1 (𝑠) + 𝑏 𝐹2 (𝑠)

Example (7): 𝑓(𝑡) = 5 𝑒 −2𝑡 + 3 sin 2𝑡

5 6
𝐹(𝑠) = + 2
𝑠+2 𝑠 +4

2. Multiplication by t n

𝑛
𝑑𝑛
ℒ { 𝑡 𝑓(𝑡) } = (−1)𝑛 𝐹(𝑠)
𝑑𝑠 𝑛

Example (8): Find the Laplace transform of the given functions:

(a) 𝒕 𝒔𝒊𝒏 𝜷𝒕 (b) 𝒕𝟐 𝒔𝒊𝒏 𝟒𝒕 (c) 𝒕𝟐 𝒆−𝒕
Solution:

(a) 𝒕 𝐬𝐢𝐧 𝜷𝒕
𝑑
ℒ { 𝑡 1 sin 𝛽𝑡 } = (−1)1 𝐹(𝑠)
𝑑𝑠
𝑓(𝑡) = sin 𝛽𝑡
𝛽 −2 𝛽 𝑠
𝐹(𝑠) = ⇒ 𝐹(𝑠)′ =
𝑠2 + 𝛽2 (𝑠 2 + 𝛽 2 )2
2𝛽𝑠
ℒ { 𝑡 1 sin 𝛽𝑡 } =
(𝑠 2 + 𝛽 2 )2
𝑑2
(b) 𝓛 { 𝒕𝟐 𝐬𝐢𝐧 𝟒𝒕 } = (−1)2 𝐹(𝑠)
𝑑𝑠 2

4 −8𝑠
𝑓(𝑡) = sin 4𝑡 ⇒ 𝐹(𝑠) = ⇒ 𝐹′(𝑠) =
𝑠 2 +16 (𝑠 2 +16)2

(𝑠 2 + 16)2 (−8) + 8 𝑠 × 2 (𝑠 2 + 16) ∗ 2 𝑠 −8 (𝑠 2 + 16) + 32 𝑠 2

′′
𝐹(𝑠) = =
(𝑠 2 + 16)4 (𝑠 2 + 16)3

2
−8 (𝑠 2 + 16) + 32 𝑠 2
ℒ { 𝑡 sin 4𝑡 } =
(𝑠 2 + 16)3
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 11

(c) 𝓛 { 𝒕𝟐 𝒆−𝒕 }

𝑑2
ℒ { 𝑡 2 𝑒 −𝑡 } = (−1)2 𝐹(𝑠)
𝑑𝑠 2
1 −1
𝑓(𝑡) = 𝑒 −𝑡 ⇒ 𝐹(𝑠) = ⇒ 𝐹(𝑠)′ =
𝑠 +1 (𝑠 +1)2

2(𝑠 + 1) 2
𝐹(𝑠)′′ = =
(𝑠 + 1)4 (𝑠 + 1)3
2
ℒ { 𝑡 2 𝑒 −𝑡 } =
(𝑠 + 1)3

3. Multiplication by e at (Shifting on s-axis)

ℒ { 𝑒 𝑎𝑡 𝑓(𝑡) } = 𝐹(𝑠 − 𝑎)

Example (9): Find the L.T. of the given functions:

(a) 𝒕𝟐 𝒆−𝒕 (b) 𝒆𝟐𝒕 𝒔𝒊𝒏 𝒕 (c) 𝒆𝟑𝒕 𝒄𝒐𝒔 𝟔𝒕
Solution:
(a) 𝒕𝟐 𝒆−𝒕
2! 2
𝑓(𝑡) = 𝑡 2 ⇒ 𝐹(𝑠) = = 𝑠3
𝑠 2+1
2
ℒ { 𝑒 −𝑡 𝑡 2 } =
(𝑠+1)3

(b) 𝒆𝟐𝒕 𝒔𝒊𝒏 𝒕

1
𝑓(𝑡) = 𝑠𝑖𝑛𝑡 ⇒ 𝐹(𝑠) =
𝑠 2 +1
1
ℒ { 𝑒 2𝑡 sin 𝑡 } =
(𝑠−2)2 +1

(c) 𝒆𝟑𝒕 𝒄𝒐𝒔 𝟔𝒕

ℒ { 𝑒 3𝑡 cos 6𝑡 } = 𝐹(𝑠 − 3)
𝑠 𝑠−3
𝑓(𝑡) = cos 6𝑡 → 𝐹(𝑠) = → ℒ { 𝑒 3𝑡 cos 6𝑡 } =
𝑠 2 +36 (𝑠−3)2 +36
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 12

Example (10): Find the L.T. of the following functions:

i) 𝒇(𝒕) = 𝒕𝟐 𝐬𝐢𝐧 𝟒𝒕 ii) 𝒇(𝒕) = 𝒆−𝒕 𝒕 𝐬𝐢𝐧𝐡 𝒕

Solution:
𝑑2
i) 𝓛 { 𝒕𝟐 𝐬𝐢𝐧 𝟒𝒕 } = (−1)2 𝐹(𝑠)
𝑑𝑠 2

𝑓(𝑡) = sin 4𝑡
4 −8 𝑠
𝐹(𝑠) = ⇒ 𝐹(𝑠)′ =
𝑠 2 + 16 (𝑠 2 + 16)2

(𝑠 2 + 16)2 (−8) + 8 𝑠 ∗ 2 (𝑠 2 + 16) ∗ 2 𝑠 −8 (𝑠 2 + 16) + 32 𝑠 2

𝐹(𝑠)′′ = =
(𝑠 2 + 16)4 (𝑠 2 + 16)3

2
−8 (𝑠 2 + 16) + 32 𝑠 2
ℒ { 𝑡 sin 4𝑡 } =
(𝑠 2 + 16)3

ii) 𝓛 { 𝒆−𝒕 𝒕 𝐬𝐢𝐧𝐡 𝒕 } = 𝐹(𝑠 + 1)

𝑑
ℒ { 𝑡 sinh 𝑡 } = (−1)1 𝐹(𝑠)
𝑑𝑠
𝑓(𝑡) = sinh 𝑡
1 −2 𝑠
𝐹(𝑠) = ⇒ 𝐹(𝑠)′ =
𝑠2 − 1 (𝑠 2 − 1)2
2𝑠
ℒ { 𝑡 sinh 𝑡 } =
(𝑠 2 − 1)2
2 (𝑠 + 1)
ℒ { 𝑒 −𝑡 𝑡 sinh 𝑡 } =
[(𝑠 + 1)2 − 1]2

4. Differentiation in Time Domain

In general:

𝑑 𝑛 𝑓(𝑡)
ℒ { } = 𝑆 𝑛 𝑓(𝑠) − 𝑆 𝑛−1 𝑓(0) − 𝑆 𝑛−2 𝑓 ′ (0)−. … . … … − 𝑓 𝑛−1 (0)
𝑑𝑡 𝑛

𝑑𝑓(𝑡)
ℒ { 𝑓′(𝑡) } = ℒ { } = 𝑆𝑓(𝑠) − 𝑓(0)
𝑑𝑡
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 13

𝑑 2 𝑓(𝑡)
ℒ { 𝑓′′(𝑡) } = ℒ { 2
} = 𝑆 2 𝑓(𝑠) − 𝑆𝑓(0) − 𝑓′(0)
𝑑𝑡
𝑑 3 𝑓(𝑡)
ℒ { 𝑓′′′(𝑡) } = ℒ { 3
} = 𝑆 3 𝑓(𝑠) − 𝑆 2 𝑓(0) − 𝑆𝑓′(0) − 𝑓′′(0)
𝑑𝑡

The Procedure:
a) Continue differentiating R.H.S. till you get an expression in which L.T. of
each term can be found from known formula or can be expressed as f(t).
b) Take L.T. of L.H.S. from theorem of differentiating (Th.4) and that by
known formula, then, the only unknown remains is ℒ { 𝑓(𝑡) }.

Example (11): Find ℒ { 𝑡 sin 𝜔𝑡 }

Solution:
𝑓(𝑡) = t sin ω 𝑡 ⇒ 𝑓(0) = 0
𝑓 ′ (𝑡) = ωt cos ω 𝑡 + sin ω 𝑡 ⇒ 𝑓′(0) = 0
𝑓 ′′ (𝑡) = − ω2 t sin ω 𝑡 + ω cos ω 𝑡 + ω cos ω 𝑡
= 2ω cos ω 𝑡 − ω2 t sin ω 𝑡
= 2ω cos ω 𝑡 − ω2 𝑓(𝑡)

But from (Th.4): ℒ { 𝑓′′(𝑡) } = 𝑆 2 𝑓(𝑠) − 𝑆𝑓(0) − 𝑓′(0)

∴ 𝑆 2 𝑓(𝑠) − 𝑆𝑓(0) − 𝑓′(0) = 2ω ℒ { 𝑐𝑜𝑠 ωt }– ω2 ℒ { 𝑓(t) }
𝑠
𝑆 2 𝑓(𝑠) = 2𝜔 −𝜔2 ℒ { 𝑓(t) }
𝑠 2 +𝜔2
2ω 𝑠
or 𝑆 2 ℒ { 𝑓(t) } = −𝜔2 ℒ { 𝑓(t) }
𝑠 2 +𝜔2
2ω 𝑠
or (𝑆 2 + 𝜔2 ) ℒ { 𝑓(t) } =
𝑠 2 +𝜔2
2ω 𝑠
∴ ℒ { 𝑓(t) } =
(𝑠 2 +𝜔2 )2
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 14

5. Division by t:

𝑓(𝑡) 𝐹(𝑠)
∞
𝑓(𝑡)
ℒ { } = ∫ 𝐹(𝑠) 𝑑𝑠
𝑡 𝑠

Example (12): Find ℒ { sin 𝑡/ 𝑡 }

Solution:
1
𝑓(𝑡) = sin 𝑡 ⇒ 𝐹(𝑠) =
𝑠2 +1

𝑓(𝑡) ∞ ∞ 1
ℒ { } = ∫𝑠 𝐹 (𝑠)𝑑𝑠 = ∫𝑠 𝑑𝑠 = 𝑡𝑎𝑛−1 𝑠|∞
𝑠
𝑡 𝑠2 +1

= 𝑡𝑎𝑛−1 ∞ − 𝑡𝑎𝑛−1 𝑠
𝜋
= − 𝑡𝑎𝑛−1 𝑠
2 𝑠 tan 𝜃 = 𝑠
𝜋 𝜃 𝜃 = 𝑡𝑎𝑛 −1 𝑠
= −𝜃
2
1 1
= 𝑡𝑎𝑛−1
𝑠
= 𝑐𝑜𝑡−1 𝑠

∞ 1−𝑒 𝑡 1
Example (13): Proof that ∫0 𝑒 −2𝑡 𝑡
𝑑𝑡 = 𝑙𝑛
2
Solution:
𝑓(𝑡) 1 − 𝑒 𝑡
=
𝑡 𝑡
1 1
ℒ { 1 − 𝑒𝑡 } = ℒ { 1 } − ℒ { 𝑒𝑡 } = − = 𝐹(𝑠)
𝑠 𝑠−1
∞ ∞
1 − 𝑒𝑡 1 1
ℒ { } = ∫ 𝐹(𝑠)𝑑𝑠 = ∫ [ − ] 𝑑𝑠
𝑡 𝑠 𝑠 𝑠 𝑠−1
𝑠 ∞
∞
= 𝑙𝑛 𝑠 − 𝑙𝑛(𝑠 − 1)| = 𝑙𝑛 𝑠 |
𝑠−1 𝑠
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 15

𝑠 𝑠−1
= 0 − 𝑙𝑛 = 𝑙𝑛
𝑠−1 𝑠
From given integral, s = 2

1−𝑒 𝑡 𝑠−1 2−1 1

∴ ℒ { } = 𝑙𝑛 = 𝑙𝑛 = 𝑙𝑛 2
𝑡 𝑠 2

6. Integration in Time Domain:

𝑓(𝑡) 𝐹(𝑠)
𝑡 𝑡
𝐹(𝑠) 𝐹(𝑠)
∫ 𝑓(𝑡) 𝑑𝑡 ℒ { ∫ 𝑓(𝑡) 𝑑𝑡 } =
0 𝑠 0 𝑠

Example (14): Find the L.T. of the following functions:

𝒕 𝒕
(𝒊) ∫𝟎 𝐬𝐢𝐧 𝒕 𝒅𝒕 (𝒊𝒊) ∫𝟎 𝒆−𝒕 𝒕 𝐬𝐢𝐧 𝒕 𝒅𝒕
Solution:
𝑡
(𝒊) ∫0 sin 𝑡 𝑑𝑡
1
𝑓(𝑡) = sin 𝑡 ⇒ 𝐹(𝑠) =
𝑠2 +1
𝑡 1
ℒ { ∫0 sin 𝑡 𝑑𝑡 } =
𝑠 (𝑠 2 +1)
𝑡
(𝒊𝒊) ∫ 𝑒 −𝑡 𝑡 sin 𝑡 𝑑𝑡
0

1
𝑓(𝑡) = sin 𝑡 ⇒ 𝐹(𝑠) =
𝑠2 +1

𝑑 2s
ℒ { 𝑡 sin 𝑡 } = (−1)1 𝐹(𝑠) = − 𝐹′(𝑠) =
𝑑𝑠 (𝑠 2 +1)2
2 (s+1)
ℒ { 𝑒 −𝑡 𝑡 sin 𝑡 } =
[(𝑠+1)2 +1]2

𝑡 𝐹(𝑠) 2 (s+1)
∴ ℒ { ∫0 𝑒 −𝑡 𝑡 sin 𝑡 𝑑𝑡 } = =
𝑠 𝑠 [(𝑠+1)2 +1]2
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 16

Class Work Tutorial No. (2)

Find the L.T. of each of the following functions:

2
(a) {sin2 𝑡 } ⇒ Ans.
𝑠 (𝑠 2 +4)
2
(b) { 𝑡 2} ⇒ Ans.
𝑠3
sin 𝑡 𝑠
(c) { 𝑡 } ⇒ Ans. 𝑐𝑜𝑡 −1
𝜔

cot 2 𝑡 − cot 3𝑡 1 𝑠2 + 9
(d) { } ⇒ Ans. 𝑙𝑛
𝑡 2 𝑠2 + 4

−2𝑡 𝑡 sin 𝑡 𝑐𝑜𝑡 −1 (𝑠+2)

(e) {𝑒 ∫0 𝑑𝑡 } ⇒ Ans.
𝑡 (𝑠+2)

𝑡 3𝑠2 – 4𝑠 – 2
(f) {𝑡 ∫0 𝑒 −𝑡 𝑠𝑖𝑛𝑡 𝑑𝑡} ⇒ Ans.
(𝑠3 + 2𝑠2 + 2𝑠)2

1.5 Inverse of Laplace Transform

(a) If L.T. of each term can be found from known formula, then f(t)
can be determined directly by the inverse of L.T. using:
 L.T. tables directly, or
 L.T. Theorems

Table of General properties of Laplace transforms.

F(s) F(t) = ℒ −1 { 𝑓(𝑠) }

1. Linearity (Superposition)
𝑎 𝑓1 (𝑠) + 𝑏 𝑓2 (𝑠) 𝑎 𝐹1 (𝑡) + 𝑏 𝐹2 (𝑡)
𝑓(𝑠/𝑎) 𝑎 𝐹(𝑎𝑡)
eat
2. Multiplication by (Shifting on s-axis)
𝑒 𝑎𝑡 𝐹(𝑡)
𝑓(𝑠 − 𝑎)
1/𝑠 1
1/𝑠 2 𝑡
1/𝑠 𝑛 , 𝑛 = 1, 2, 3, … … .. 𝑡 𝑛−1 /(𝑛 − 1)! , 0! =1
1/(𝑠 − 𝑎) 𝑒 𝑎𝑡
1/(𝑠 − 𝑎)𝑛 , 𝑛 = 1, 2, 3, … … .. 𝑡 𝑛−1 𝑒 𝑎𝑡 /(𝑛 − 1)! , 0! = 1
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 17

f(s) F(t) = ℒ −1 { 𝑓(𝑠) }

1/(𝑠 2 + 𝑎2 ) 𝑠𝑖𝑛 𝑎𝑡/𝑎
1
2 𝑒 𝑏𝑡 𝑠𝑖𝑛 𝑎𝑡/𝑎
(𝑠 − 𝑏) + 𝑎2
𝑠/(𝑠 2 + 𝑎2 ) 𝑐𝑜𝑠 𝑎𝑡
𝑠−𝑏
𝑒 𝑏𝑡 cos 𝑎𝑡
(𝑠 − 𝑏)2 + 𝑎2
1/(𝑠 2 − 𝑎2 ) 𝑠𝑖𝑛ℎ 𝑎𝑡/𝑎

𝑠/(𝑠 2 − 𝑎2 ) 𝑐𝑜𝑠ℎ 𝑎𝑡
1
𝑒 𝑏𝑡 𝑠𝑖𝑛ℎ 𝑎𝑡/𝑎
(𝑠 − 𝑏)2 − 𝑎2
𝐹(𝑡 − 𝑎) 𝑡>𝑎
𝑒 −𝑎𝑠 𝑓(𝑠) 𝑢(𝑡 − 𝑎) = {
0 𝑡<𝑎
3. Multiplication by t n (−1)𝑛 −1 𝑑 𝑛
𝑑𝑛 ℒ { 𝑛 𝑓(𝑠) }
If ℒ { 𝑡 𝑛 𝐹(𝑡) } = (−1)𝑛 𝑑𝑠𝑛
𝑓(𝑠) 𝑡𝑛 𝑑𝑠
𝑓′(𝑠) −𝑡 𝐹(𝑡)
𝑓′′(𝑠) 𝑡 2 𝐹(𝑡)
𝑓 𝑛 (𝑠) (−1)𝑛 𝑡 𝑛 𝐹(𝑡)
4. Differentiation in Time Domain
𝑑𝑓(𝑡)
If ℒ { 𝑓′(𝑡) } = ℒ { 𝑑𝑡 } = 𝑆𝑓(𝑠) − 𝑓(0) 𝐹′(𝑡)

𝑆 2 𝑓(𝑠) − 𝑆𝑓(0) − 𝑓 ′ (0) 𝐹′′(𝑡)

𝑛 𝑛−1 𝑛−2 ′ 𝑛−1 (0)
𝑆 𝑓(𝑠) − 𝑆 𝑓(0) − 𝑆 𝑓 (0)−. … − 𝑓 𝐹 (𝑛) (𝑡)
5. Division by t:
∞ 𝐹(𝑡)
∫ 𝐹(𝑢) 𝑑𝑢 𝑡
𝑠

6. Integration in Time Domain: 𝑡

𝑓(𝑠) ∫ 𝐹(𝑢) 𝑑𝑢
0
𝑠
7. Shifting on t – axis:
𝑓(𝑡 − 𝑎) 𝑈𝑎𝑡
𝑒 −𝑎𝑠 𝐹(𝑠) = ℒ { 𝑓(𝑡 − 𝑎) 𝑈𝑎𝑡 }

Example (1): Determine the inverse Laplace transforms of:

4 3𝑠 5 9 𝑠+1
i) − 𝑠2 +16 + −𝑠 ii) ln
𝑠−2 𝑠 2 −4 𝑠−1
𝑠 𝑠2 +1
𝐢𝐢𝐢) iv) ln
(𝑠 2 +1)2 𝑠+1
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 18

Solution:
4 3𝑠 5 9
i) ℒ −1 { − + − }
𝑠−2 𝑠2 +16 𝑠2 −4 𝑠

5
= 4𝑒 2𝑡 − 3 cos 4𝑡 + sinh 2𝑡 − 9
2
𝑠+1
ii) 𝑙𝑛 or 𝐹(𝑠) = 𝑙𝑛(𝑠 + 1) − 𝑙𝑛(𝑠 − 1)
𝑠−1

ℒ−1 {𝐹′(𝑠)} = ℒ−1 {𝑑𝑠 (𝑙𝑛(𝑠 + 1) − 𝑙𝑛(𝑠 − 1))}

−1 −1 𝑑
𝑓(𝑡) =
𝑡 𝑡

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

−𝑡 𝑡
𝑒 𝑡 − 𝑒 −𝑡 2 sinh 𝑡
𝑒 −𝑒 = −𝑡 𝑓(𝑡) ⇒ 𝑓(𝑡) = =
𝑡 𝑡

𝑠 1
iii) or 𝐹(𝑠) = ⇒ 𝑓(𝑡) = sin 𝑡
(𝑠 2 +1)2 𝑠2 +1

−2𝑠
𝐹 ′ (𝑠) =
(𝑠 2 + 1)2

𝑛
𝑑𝑛
Recalling that ℒ { 𝑡 𝑓(𝑡) } = (−1)𝑛 𝐹(𝑠)
𝑑𝑠 𝑛
𝐹𝑜𝑟 𝑛 = 1, ℒ { 𝑡 𝑓(𝑡) } = −1 𝐹 ′ (𝑠)

−𝒕 𝒇(𝒕) = 𝓛−𝟏 { 𝑭′ (𝒔) }

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

𝑠2 +1
iv) 𝑙𝑛 or 𝐹(𝑠) = 𝑙𝑛(𝑠 2 + 1) − 𝑙𝑛(𝑠 + 1)
𝑠+1
2𝑠 1
𝐹 ′ (𝑠) = −
(𝑠 2 + 1) (𝑠 + 1)

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

−𝑡
𝑒 −𝑡 − 2 cos 𝑡
2 cos 𝑡 − 𝑒 = −𝑡 𝑓(𝑡) ⇒ 𝑓(𝑡) =
𝑡
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 19

Example (2): Find the inverse Laplace transform of the following functions:
1 𝑆 𝑆
i) ii) iii)
(𝑆 2 −2𝑆+5) 𝑆 2 +4 (𝑆 2 −1)2

1 𝑒 −3𝑆
iv) v) ℒ −1 { }
𝑆 (𝑆 2 +4) 𝑆3

Solution:
1
i)
(𝑆 2 −2𝑆+5)
1 sin 2𝑡
ℒ −1 { }=
𝑆 2 +4 2

1 1 𝑒𝑡
ℒ −1 { } = ℒ −1 { }= sin 2𝑡
𝑆 2 −2𝑆+5 (𝑆−1)2 +4 2

𝑆
ii)
𝑆 2 +4
1 sin 2𝑡 sin 2(0)
ℒ −1 { }= ⇒ =0
𝑆 2 +4 2 2
𝑆 𝑑 1 𝑑 sin 2𝑡
ℒ −1 { 2 }= ℒ −1 { 2 } = 𝑑𝑡 2
= cos 2𝑡
𝑆 +4 𝑑𝑡 𝑆 +4

𝑆
iii) 𝑦(𝑠) =
(𝑆 2 −1)2
∞
−1
𝑠
𝑦(𝑡) = 𝑡. ℒ {∫ 𝑑𝑆}
𝑠 (𝑠 2 − 1)2
∞
−1
−1 −1
1
𝑦(𝑡) = 𝑡. ℒ [ ] = 𝑡. ℒ [0 + ]
2 (𝑠 2 − 1) 𝑆 2 (𝑠 2 − 1)
1 1 𝐴 𝐵
= = +
2 (𝑠 2 − 1) 2 (𝑠 − 1)(𝑠 + 1) (𝑠 − 1) (𝑠 + 1)
1 1
A = lim =
s→+1 2 (s + 1) 4
1 −1
B = lim =
s→−1 2 (s − 1) 4
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 20

1 1 𝑡 𝑡 sinh 𝑡
𝑦(𝑡) = 𝑡. ℒ −1 [ − ] = [𝑒 𝑡 − 𝑒 −𝑡 ] =
4 (𝑠 − 1) 4 (𝑠 + 1) 4 2
1
iv) 𝑦(𝑠) =
𝑆 (𝑆 2 +4)

1
𝐹(𝑠) =
𝑠2 + 4
𝑡
1
𝑦(𝑡) = ∫ ℒ −1 { } 𝑑𝑡
0 𝑠2 + 4
1 sin 2𝑡
ℒ −1 { }=
𝑠2 + 4 2
1 𝑡 − cos 2𝑡 𝑡 1 – cos 2𝑡
𝑦(𝑡) = ∫0 sin 2𝑡 𝑑𝑡 = | =
2 4 0 4

𝑒 −3𝑆
v) ℒ −1 { }
𝑆3
1 𝑡2
ℒ −1 { 3 } =
𝑠 2
𝑒 −3𝑆 (𝑡−3)2 𝑈3𝑡
ℒ −1 { }=
𝑠3 2

(b) If L.T. can not be found from known formula directly, then f(t) can
be determined by the inverse of L.T. using one of the following
methods:
 Square completion method in the denominator,
 Partial fraction method,
 Convolution theorem.

Example (3): Find the inverse Laplace transform of the following functions:
1 3𝑠−1 𝑠+1
i) ii) iii)
𝑠2 +2𝑠+2 𝑠2 +2𝑠+10 (𝑠−1) (𝑠−2)

𝑠+1 5𝑠2 −7𝑠+17 𝑠

iv) v) vi)
(𝑠−1)2 (𝑠−2) (𝑠−1) (𝑠2 +4) (𝑠−3)5

Solution:
1
i)
𝑠 2 +2𝑠+2
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 21

1 1 1
𝐹(𝑠) = = (𝑠+1)2 ℒ −1 {(𝑠+1)2 } = 𝑒 −𝑡 sin 𝑡
𝑠2 +2𝑠+2 +1 +1
3𝑠−1
ii)
𝑠2 +2𝑠+10
3𝑠 − 1 3𝑠 − 1 3(𝑠 + 1) − 3 − 1
𝐹(𝑠) = = =
𝑠 2 + 2𝑠 + 1 + 9 (𝑠 + 1)2 + 9 (𝑠 + 1)2 + 9

3(𝑠 + 1) 4 4
ℒ −1 { − } = 𝑒 −𝑡
(3 cos 3𝑡 − sin 3𝑡)
(𝑠 + 1)2 + 9 (𝑠 + 1)2 + 9 3

𝑠+1
iii)
(𝑠−1) (𝑠−2)
𝑠+1 𝐴 𝐵
𝐹 (𝑠) = (𝑠−1) (𝑠−2) =
(𝑠−1 )
+(
𝑠−2)
𝑠+1
𝐴 = lim = −2
𝑠→1 (𝑠 − 2)
𝑠+1
𝐵 = lim =3
𝑠→2 (𝑠 − 1)
−2 3
ℒ −1 { + } = −2 𝑒 𝑡 + 3 𝑒 2𝑡
(𝑠 − 1) (𝑠 − 2)

𝑠+1
iv)
(𝑠−1) 2 (𝑠−2)
𝑠+1 𝐴 𝐵 𝐶
𝐹 (𝑠) = (𝑠−1) 2 (𝑠−2) =
(𝑠−1)2
+ (𝑠−1) + (𝑠−2)
𝑠+1
𝐴 = lim = −2
𝑠→1 (𝑠 − 2)
𝑑 (𝑠 + 1) (𝑠 − 2) × 1 − (𝑠 + 1) × 1 𝑠−2−𝑠−1
𝐵 = lim = lim = lim = −3
𝑠→1 𝑑𝑠 (𝑠 − 2) 𝑠→1 (𝑠 − 2)2 𝑠→1 (𝑠 − 2)2
𝑠+1
𝐶 = lim =3
𝑠→2 (𝑠 − 1)2
−2 3 3
ℒ −1 { 2
− + } = −2 𝑒 𝑡 𝑡 − 3 𝑒 𝑡 + 3 𝑒 2𝑡
(𝑠 − 1) (𝑠 − 1) (𝑠 − 2)
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 22

5𝑠 2 −7𝑠+17
v)
(𝑠−1) (𝑠 2 +4)

5𝑠 2 − 7𝑠 + 17 𝐴 𝐵𝑠 + 𝐶
= +
(𝑠 − 1) (𝑠 2 + 4) (𝑠 − 1) (𝑠 2 + 4)
5𝑠 2 − 7𝑠 + 17 15
𝐴 = lim = =3
𝑠→1 (𝑠 2 + 4) 5
5𝑠 2 − 7𝑠 + 17 𝐴(𝑠 2 + 4) + (𝐵𝑠 + 𝐶)(𝑠 − 1)
=
(𝑠 − 1) (𝑠 2 + 4) (𝑠 − 1) (𝑠 2 + 4)
5𝑠 2 − 7𝑠 + 17 = 𝐴𝑠 2 + 4𝐴 + 𝐵𝑠 2 − 𝐵𝑠 + 𝐶𝑠 − 𝐶
5𝑠 2 − 7𝑠 + 17 = (𝐴 + 𝐵)𝑠 2 + (𝐶 − 𝐵)𝑠 + 4𝐴 − 𝐶
𝐴+𝐵 =5 ⇒ 𝐵=5−3=2
𝐶 − 𝐵 = −7 ⇒ 𝐶 = −7 + 2 = −5
Or 4𝐴 − 𝐶 = 17 ⇒ 𝐶 = 4(3) − 17 = −5
3 2𝑠 5
𝐹(𝑠) = + 2 − 2
(𝑠 − 1) (𝑠 + 4) (𝑠 + 4)
5
𝑓(𝑡) = 3 𝑒 𝑡 + 2 cos 2𝑡 − sin 2𝑡
2

𝑠
vi)
(𝑠−3)5
𝑠 𝐴 𝐵 𝐶 𝐷 𝐸
𝐹 (𝑠) = (𝑠−3)5 =
(𝑠−3)5
+ (𝑠−3)4 + (𝑠−3)3 + (𝑠−3)2 + (𝑠−3)
𝐴 = lim 𝑠 = 3
𝑠→3
𝑑
𝐵 = lim (𝑠) = lim (1) = 1
𝑠→3 𝑑𝑠 𝑠→3

𝑑2
𝐶 = lim 2 (𝑠) = lim (0) = 0
𝑠→3 𝑑𝑠 𝑠→3

−1
3 1 3𝑡
𝑡4 3𝑡
𝑡3 3𝑡
3𝑡 4 𝑡 3
ℒ { + + 0 + 0 + 0} = 3 𝑒 + 𝑒 =𝑒 ( + )
(𝑠 − 3)5 (𝑠 − 3)4 4! 3! 4! 3!
𝑠 𝑠−3+3 1 3
Or = (𝑠−3)5 = (𝑠−3)4 + (𝑠−3)5
(𝑠−3)5

−1
3 1 3𝑡
3𝑡 4 𝑡 3
ℒ { + }=𝑒 ( + )
(𝑠 − 3)5 (𝑠 − 3)4 4! 3!
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 23

1.6 Convolution Theorem

If F(s) and G(s) are the Laplace transform of f(t) and g(t), respectively, then:

𝑡
ℒ −1 { 𝐹(𝑠) ∗ 𝐺(𝑠)} = ℎ(𝑡) = ∫0 𝑓(𝜆) 𝑔(𝑡 − 𝜆) 𝑑𝜆 for t ≥ 0

Properties of Convolution:
f*g=g*f (Commutative law)
f * ( g1 + g2 ) = f * g1 + f * g2 (Distributive law)
f * ( g1 * g2 ) = ( f * g1 ) * g2 (Associative law)
1*g≠g and 1*f≠f Prove that using convolution.

1
Example (4): Find the inverse Laplace transform of
𝑠2 (𝑠−1)

Solution:
1 1 1
= = 𝐹(𝑠) ∗ 𝐺(𝑠)
𝑠 2 (𝑠 − 1) 𝑠 2 (𝑠 − 1)
1
𝑓(𝑡) = ℒ −1 { 𝐹(𝑠) } = ℒ −1 { 2 } = 𝑡
𝑠
1
𝑔(𝑡) = ℒ −1 { 𝐺(𝑠) } = ℒ −1 { } = 𝑒𝑡
(𝑠 − 1)
𝑡
−1
1
ℒ { 2 } = ℎ(𝑡) = ∫ 𝑓(𝜆) 𝑔(𝑡 − 𝜆) 𝑑𝜆
𝑠 (𝑠 − 1) 0
𝑡
= ∫ 𝑒 𝜆 (𝑡 − 𝜆) 𝑑𝜆
0
𝑡
= |(𝑡 − 𝜆) 𝑒 𝜆 + 𝑒 𝜆 |0

= (0 + 𝑒 𝑡 ) − (𝑡 + 1)

ℎ(𝑡) = 𝑒 𝑡 − 𝑡 − 1
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 24

1.7 Solution of Initial Value Problems by Laplace Transform

L.T. can also be used to solve initial value problems of linear ODEs.
𝐿{ 𝑦 ′ (𝑡) } = 𝑠 𝑦(𝑠) − 𝑦(0)
𝐿{ 𝑦 ′′ (𝑡) } = 𝑠 2 𝑦(𝑠) − 𝑠 𝑦(0) − 𝑦 ′ (0)
𝐿{ 𝑦 ′′′ (𝑡) } = 𝑠 3 𝑦(𝑠) − 𝑠 2 𝑦(0) − 𝑠 𝑦 ′ (0) − 𝑦 ′′ (0)
𝐿{ 𝑦 𝑛 (𝑡) } = 𝑠 𝑛 𝑦(𝑠) − 𝑠 𝑛−1 𝑦(0) − 𝑠 𝑛−2 𝑦 ′ (0) − ⋯ − 𝑠 𝑦 𝑛−2 (0) − 𝑦 𝑛−1 (0)

Example (5): Use L.T. to solve the following initial value problem.

𝒚′′ + 𝟑 𝒚′ + 𝟐𝒚 = 𝒔𝒊𝒏 𝟐𝒕 𝐰𝐡𝐞𝐫𝐞 𝒚(𝟎) = 𝟐 𝐚𝐧𝐝 𝒚′ (𝟎) = −𝟏

Solution:
𝐿{ 𝑦 ′′ (𝑡) } + 3 𝐿{ 𝑦 ′ (𝑡) } + 2 𝐿{ 𝑦(𝑡) } = 𝐿{ sin 2𝑡 } … (1)
Taking LT then using the initial conditions 𝑦(0) = 2 and 𝑦 ′ (0) = −1
𝐿{ 𝑦 ′′ (𝑡) } = 𝑠 2 𝑦(𝑠) − 𝑠 𝑦(0) − 𝑦 ′ (0) = 𝑠 2 𝑦(𝑠) − 2𝑠 + 1
𝐿{ 𝑦 ′ (𝑡) } = 𝑠 𝑦(𝑠) − 𝑦(0) = 𝑠 𝑦(𝑠) − 2
2
Substituting into Eq.(1) and setting 𝐿{ 𝑦(𝑡) } = 𝑦(𝑠) and 𝐿{ sin 2𝑡 } =
𝑠 2 +4
2
[𝑠 2 𝑦(𝑠) − 2𝑠 + 1] + 3 [𝑠 𝑦(𝑠) − 2] + 2 𝑦(𝑠) =
𝑠2 + 4
2
𝑠 2 𝑦(𝑠) + 3 𝑠 𝑦(𝑠) + 2 𝑦(𝑠) − 2𝑠 + 1 − 6 = 2
𝑠 +4
2
(𝑠 2 + 3𝑠 + 2) 𝑦(𝑠) = 2 + 2𝑠 + 5
𝑠 +4
2𝑠 3 + 5𝑠 2 + 8𝑠 + 20 + 2
(𝑠 + 2)(𝑠 + 1) 𝑦(𝑠) =
𝑠2 + 4
2𝑠3 + 5𝑠2 + 8𝑠 + 22
𝑦(𝑠) =
(𝑠+2) (𝑠+1) (𝑠2 +4)

Solving y(s) by partial fraction method yields:

−5 17 3 𝑠+2
𝑦(𝑠) =
4 (𝑠+2)
+ 5 (𝑠+1)
− 20 (𝑠2 +4)

Taking the inverse LT gives the solution of the initial value problem:
5 17 3 1
𝑦(𝑡) = − 𝑒 −2𝑡 + 𝑒 −𝑡 − cos 2𝑡 − sin 2𝑡 … 𝑓𝑜𝑟 𝑡 > 0
4 5 20 20
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 25

1.8 Solution of Systems of ODEs by Laplace Transform

Example (6): Use L.T. to solve the following initial value problem.

𝒙′ − 𝟐 𝒙 + 𝒚 = 𝐬𝐢𝐧 𝒕
𝒚′ + 𝟐 𝒙 − 𝒚 = 𝟏 𝐰𝐡𝐞𝐫𝐞 𝒙(𝟎) = 𝟏 𝐚𝐧𝐝 𝒚(𝟎) = −𝟏

Solution:
1
𝑠 𝑥(𝑠) − 𝑥(0) − 2 𝑥(𝑠) + 𝑦(𝑠) =
𝑠2 + 1
1
𝑠 𝑦(𝑠) − 𝑦(0) + 2 𝑥(𝑠) − 𝑦(𝑠) =
𝑠
Using the initial conditions:
1
𝑠 𝑥(𝑠) − 1 − 2 𝑥(𝑠) + 𝑦(𝑠) = … … … (1)
𝑠2 + 1
1
𝑠 𝑦(𝑠) + 1 + 2 𝑥(𝑠) − 𝑦(𝑠) = … … . . (2)
𝑠

1 1
𝑠 𝑥(𝑠) + 𝑠 𝑦(𝑠) = +
𝑠2 + 1 𝑠

𝑠 + 𝑠2 + 1
𝑠 𝑥(𝑠) + 𝑠 𝑦(𝑠) =
𝑠 (𝑠 2 + 1)
𝑠2 + 𝑠 + 1
𝑥(𝑠) + 𝑦(𝑠) = 2 2
𝑠 (𝑠 + 1)

𝑠2 + 𝑠 + 1
𝑥(𝑠) = 2 2 − 𝑦(𝑠) … . . … (3)
𝑠 (𝑠 + 1)
Substitute Eq.(3) into Eq.(2):

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

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

2 𝑠2 + 2 𝑠 + 2 + 𝑠4 + 𝑠2 1
𝑦(𝑠) (𝑠 − 3) + − =0
𝑠 2 (𝑠 2 + 1) 𝑠
Chapter 1: Laplace Transform L.T. Assistant prof. / Dr. Rafi’ M.S. Al-Ne’aimi 26

𝑠4 + 3 𝑠2 + 2 𝑠 + 2 − 𝑠3 − 𝑠
𝑦(𝑠) (𝑠 − 3) + =0
𝑠 2 (𝑠 2 + 1)

−(𝑠 4 − 𝑠 3 + 3 𝑠 2 + 𝑠 + 2)
𝑦(𝑠) = … … (4) (𝑃𝑎𝑟𝑡𝑖𝑎𝑙 𝑓𝑟𝑎𝑐𝑡𝑖𝑜𝑛)
𝑠 2 (𝑠 − 3) (𝑠 2 + 1)

𝐴 𝐵 𝐶 𝐷𝑠 + 𝐸
𝑦(𝑠) = + + +
𝑠2 𝑠 𝑠 − 3 𝑠2 + 1

2/3 5/9 43/45 −3/5 𝑠 + 1/5

𝑦(𝑠) = + − +
𝑠2 𝑠 𝑠−3 𝑠2 + 1

𝟐 𝟓 𝟒𝟑 𝟑𝒕 𝟑 𝟏
𝒚(𝒕) = 𝒕+ − 𝒆 − 𝐜𝐨𝐬 𝒕 + 𝐬𝐢𝐧 𝒕
𝟑 𝟗 𝟒𝟓 𝟓 𝟓

Substitute Eq.(4) into Eq.(3):

𝑠2 + 𝑠 + 1 𝑠4 − 𝑠3 + 3 𝑠2 + 𝑠 + 2
𝑥(𝑠) = 2 2 + 2
𝑠 (𝑠 + 1) 𝑠 (𝑠 − 3) (𝑠 2 + 1)

𝑠3 + 𝑠2 + 𝑠 − 3 𝑠2 − 3 𝑠 − 3 + 𝑠4 − 𝑠3 + 3 𝑠2 + 𝑠 + 2
𝑥(𝑠) =
𝑠 2 (𝑠 − 3) (𝑠 2 + 1)

𝑠4 + 𝑠2 − 𝑠 − 1
𝑥(𝑠) = 2 (partial fraction)
𝑠 (𝑠 − 3) (𝑠 2 + 1)

1/3 4/9 43/45 2/5 𝑠 + 1/5

𝑥(𝑠) = + + −
𝑠2 𝑠 𝑠−3 𝑠2 + 1

1 4 43 3𝑡 2 1
𝑦(𝑡) = 𝑡 + + 𝑒 − cos 𝑡 − sin 𝑡
3 9 45 5 5