Engineering Math 2: Laplace Transform 1 – Tutorial Solutions

Laplace Transform

1. Use the table of Laplace transform to determine 𝑦̅(𝑠) for each of the following
functions:
a. 𝑦(𝑡) = 7𝑒 −(𝑡+√2)
b. 𝑦(𝑡) = (𝑡 + 2)2
c. 𝑦(𝑡) = 2𝑡 3 + 𝑒 2𝑡+5
d. 2𝑡 5 + 4𝑡 2 + 3𝑡 + 2

Solution:

a.
𝑦(𝑡) = 7𝑒 −(𝑡+√2) = 7𝑒 −𝑡 𝑒 −√2
7𝑒 −√2 𝑖𝑠 𝑎 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡
Using the first shifting theorem:
ℒ{𝑒 −𝑎𝑡 𝑓(𝑡)} = 𝐹(𝑠 + 𝑎)
First, find the Laplace transform of 𝑓(𝑡) = 7𝑒 −√2
𝑎
ℒ{𝑎} =
𝑠
7𝑒 −√2
𝑦̅(𝑠) =
𝑠
Introduce the first shift in the s-domain:
ℒ{𝑒 −𝑎𝑡 𝑓(𝑡)} = 𝐹(𝑠 + 𝑎)
7𝑒 −√2 7
𝑦̅(𝑠) = =
𝑠 + 1 𝑒 √2 (𝑠 + 1)

b.

𝑦(𝑡) = (𝑡 + 2)2 = 𝑡 2 + 4𝑡 + 4

From Laplace transform table:

𝑛! 𝑎
ℒ{𝑡 𝑛 } = ; ℒ{𝑎} = ; 𝑎 𝑖𝑠 𝑠𝑜𝑚𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑠 𝑛+1 𝑠

1
 2 4 4
𝑦̅(𝑠) = ℒ{𝑡 2 } + ℒ{4𝑡} + ℒ{4} = 3
+ 2+
𝑠 𝑠 𝑠

2 1 2
𝑦̅(𝑠) = ( 2 + + 2)
𝑠 𝑠 𝑠

c.

𝑦(𝑡) = 2𝑡 3 + 𝑒 2𝑡+5 = 2𝑡 3 + 𝑒 5 𝑒 2𝑡

2 × 3! 𝑒5
𝑦̅(𝑠) = ℒ{2𝑡 3 } + 𝑒 5 ℒ{𝑒 2𝑡 } = +
𝑠4 𝑠−2

d.

𝑦(𝑡) = 2𝑡 5 + 4𝑡 2 + 3𝑡 + 2

𝑦̅(𝑠) = ℒ{2𝑡 5 } + ℒ{𝑡 2 } + ℒ{3𝑡} + ℒ{2}

2 × 5! 4 × 2! 3 × 1! 2
= + + +
𝑠6 𝑠3 𝑠2 𝑠

240 8 3 2
𝑦̅(𝑠) = + + +
𝑠6 𝑠3 𝑠2 𝑠

2. Find the Laplace transform of the function

𝑦(𝑡) = 𝑒3𝑡 𝑒𝜋𝑡 (1 + 2(cos2 (𝑡) + sin2 (𝑡)))

Solution

Let us recall some common trigonometric relationships (we would encounter them in the
module):

cos 2 (𝑡) + sin2 (𝑡) = 1; cos2 (𝑡) − sin2 (𝑡) = 2 cos(2𝑡) ;

1 + cos(2𝑡) 1 − cos(2𝑡)
cos2 (𝑡) = ; sin2 (𝑡) =
2 2

𝑦(𝑡) = 𝑒(3+𝜋)𝑡 (1 + 2(cos2 (𝑡) + sin2 (𝑡))) = 3𝑒(3+𝜋)𝑡

Using first shifting theorem:

1
ℒ{𝑒 −𝑎𝑡 } =
𝑠+𝑎
2
 3
𝑦̅(𝑠) =
𝑠−3−𝜋

3. Find the Laplace transform of 𝑦(𝑡) = sin2 (𝑡)

1 − cos(2𝑡)
Trig Identity: sin2 (𝑡) =
2

1 − cos(2𝑡) 1 cos(2𝑡)
𝑦(𝑡) = sin2 (𝑡) = = −
2 2 2

1 1 1 𝑠
ℒ{sin2 (𝑡)} = ℒ { } − ℒ{cos(2𝑡)} = −
2 2 2𝑠 2(𝑠 2 + 4)

2
ℒ{sin2 (𝑡)} =
𝑠(𝑠 2+ 4)

4. Find the Laplace transform of the function 𝑦(𝑡) = 𝑡 sin(4𝑡)

Solution:

Recall the general formulae for Laplace transform of 𝑡 multiplied by a function of t:

𝑑𝑛 𝑌(𝑠)
ℒ{(𝑡 𝑛 𝑦(𝑡))} = (−1)𝑛
𝑑𝑠 𝑛

𝑑
𝑛 = 1; ℒ{(𝑡𝑦(𝑡))} = − 𝑌(𝑠)
𝑑𝑠

4
𝑦(𝑡) = sin(4𝑡) ⇒ 𝑌(𝑠) =
𝑠2 + 16

Using quotient’s rule:

𝑑𝑢 𝑑𝑣
𝑢(𝑠) 𝑑𝑌 𝑣 𝑑𝑠 − 𝑢 𝑑𝑠
𝑖𝑓 𝑌(𝑠) = ; =
𝑣(𝑠) 𝑑𝑠 𝑣2

𝑑𝑢 𝑑𝑣
𝑙𝑒𝑡 𝑢 = 4; = 0 and 𝑣 = 𝑠 2 + 16; = 2𝑠
𝑑𝑠 𝑑𝑠

𝑑 𝑑 4
ℒ(𝑡 sin(4𝑡)) = − ℒ{sin(4𝑡)} = − ( 2 )
𝑑𝑠 𝑑𝑠 𝑠 + 16

𝑑 (𝑠 2 + 16) ⋅ 0 − 4(2𝑠) 8𝑠
=− ( 2 2 )= 2
𝑑𝑠 (𝑠 + 16) (𝑠 + 16)2

3
 8𝑠
ℒ(𝑡 sin(4𝑡)) =
(𝑠 2 + 16)2

5. Determine the Laplace transform of the function: 𝑦(𝑡) = 𝑡 2 sin(4𝑡)

𝑑𝑛 𝑌(𝑠)
ℒ{(𝑡 𝑛 𝑦(𝑡))} = (−1)𝑛
𝑑𝑠 𝑛

2
𝑑2
𝑛 = 2; ℒ{𝑡 𝑦(𝑡)} = 2 𝑌(𝑠)
𝑑𝑠

Recall from previous problem set:

4
𝑌(𝑠) = ℒ(sin(4𝑡)) =
𝑠2 + 16

2
𝑑2 4 𝑑 8𝑠
∴ ℒ(𝑡 sin(4𝑡)) = 2 ( 2 ) = (− 2 )
𝑑𝑠 𝑠 + 16 𝑑𝑠 (𝑠 + 16)2

𝑑 8𝑠 (𝑠 2 + 16)2 ∙ (8) − (8𝑠) ∙ 4𝑠(𝑠 2 + 16)

(− 2 ) = − ( )
𝑑𝑠 (𝑠 + 16)2 (𝑠 2 + 16)4

8(𝑠 2 + 16)2 − 32𝑠 2 (𝑠 2 + 16) 8(𝑠 2 + 16)(𝑠 2 + 16 − 4𝑠 2 )

=− = −
(𝑠 2 + 16)4 (𝑠 2 + 16)4

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

6. ℒ{cosh(𝑎𝑡) cos(𝑎𝑡)}

1
ℒ{cos(𝑎𝑡) cosh(𝑎𝑡)} = {(𝑒 𝑎𝑡 + 𝑒 −𝑎𝑡 ) cos(𝑎𝑡)}
2

1 1
= {(𝑒 𝑎𝑡 + 𝑒 −𝑎𝑡 ) cos(𝑎𝑡)} = {(𝑒 𝑎𝑡 cos(𝑎𝑡) + 𝑒 −𝑎𝑡 cos(𝑎𝑡))}
2 2

1 𝑠−𝑎 𝑠+𝑎
ℒ{(𝑒 𝑎𝑡 cos(𝑎𝑡) + 𝑒 −𝑎𝑡 cos(𝑎𝑡)} = ( 2 2
+ )
2 (𝑠 − 𝑎) + 𝑎 (𝑠 + 𝑎)2 + 𝑎2
7. ℒ{sinh(𝑎𝑡) sin(𝑎𝑡)}

1
ℒ{sinh(𝑎𝑡) sin(𝑎𝑡)} = {(𝑒 𝑎𝑡 − 𝑒 −𝑎𝑡 ) sin(𝑎𝑡)}
2

1 1
= {(𝑒 𝑎𝑡 − 𝑒 −𝑎𝑡 ) sin(𝑎𝑡)} = {(𝑒 𝑎𝑡 sin(𝑎𝑡) − 𝑒 −𝑎𝑡 sin(𝑎𝑡)}
2 2

4
 1 1 𝑎 𝑎
ℒ{(𝑒 𝑎𝑡 sin(𝑎𝑡) − 𝑒 −𝑎𝑡 sin(𝑎𝑡)} = ( 2 2
− )
2 2 (𝑠 − 𝑎) + 𝑎 (𝑠 + 𝑎)2 + 𝑎2

8. ℒ{cosh(2𝑡) sin(3𝑡)}

1
ℒ{cosh(2𝑡) sin(3𝑡)} = {(𝑒 2𝑡 + 𝑒 −2𝑡 ) sin(3𝑡)}
2

1 1
= {(𝑒 2𝑡 + 𝑒 −2𝑡 ) sin(3𝑡)} = {(𝑒 2𝑡 sin(3𝑡) + 𝑒 −2𝑡 sin(3𝑡)}
2 2

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

Inverse Laplace Transform

9. Find the function 𝑦(𝑡) whose inverse Laplace transform is given by:

𝑠+𝜋
𝑠2 + 2𝜋𝑠 + 5𝜋 2

Use completing the squares in the denominator

𝑠+𝜋 𝑠+𝜋
𝑦(𝑡) = ℒ −1 { } = ℒ −1 { }
𝑠2 + 2𝜋𝑠 + 5𝜋 2 (𝑠 + 𝜋)2 + 4𝜋 2
Isolate 𝜋 and check for similarity of resulting expression with the table (hint:
trigonometric functions)
𝑠
ℒ −1 { 2 } = cos(2𝜋𝑡)
𝑠 + 4𝜋 2
Reintroduce 𝜋 and use the inverse transforms of the first shifting theorem:
𝑠+𝜋
𝑦(𝑡) = ℒ −1 { } = 𝑒 −𝜋𝑡 cos(2𝜋𝑡)
(𝑠 + 𝜋)2 + 4𝜋 2

10. Using Laplace transform table, determine 𝑦(𝑡) for each of the following
functions:
3𝑠 − 37
𝑎. )
𝑠2
− 3𝑠 − 4
1
𝑏. )
(𝑠 − 1)(𝑠 − 2)2
4𝑠 2
𝑐. )
(𝑠 − 1)(𝑠 − 2)2

5
 5𝑠 2 − 23𝑠 + 26
𝑑. )
(𝑠 − 1)(𝑠 + 1)(𝑠 − 2)

Solution:

a.)

3𝑠 − 37 3𝑠 − 37 𝐴 𝐵
𝑦̅(𝑠) = = ≡ +
𝑠 2 − 3𝑠 − 4 (𝑠 + 1)(𝑠 − 4) 𝑠 + 1 𝑠 − 4

Multiply through by the common denominator:

3𝑠 − 37 = 𝐴(𝑠 − 4) + 𝐵(𝑠 + 1)

3𝑠 − 37 = 𝐴𝑠 − 4𝐴 + 𝐵𝑠 + 𝐵

Group coefficients of 𝑠:

𝑠: 3 = 𝐴 + 𝐵 ⟹ 𝐴 = 3 − 𝐵;

𝑠 0 : − 37 = −4𝐴 + 𝐵 ⟹ −12 + 5𝐵 = −37

𝐵 = −5; 𝐴 = 8

8 5
𝑦(𝑡) = −
𝑠+1 𝑠−4

Use first shifting theorem

𝑦(𝑡) = 8𝑒 −𝑡 − 5𝑒 4𝑡

b.)

1 𝐴 𝐵 𝐶
𝑦̅(𝑠) = 2
=( + + )
(𝑠 − 1)(𝑠 − 2) (𝑠 − 1) (𝑠 − 2) (𝑠 − 2)2

Multiply through by the common denominator:

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

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

Group coefficients:

𝑠 2 : 𝐴 + 𝐵 = 0 ⟹ 𝐴 = −𝐵

6
 𝑠: −4𝐴 − 3𝐵 + 𝐶 = 0 ⟹ 𝐵 + 𝐶 = 0 ⇒ 𝐵 = −𝐶

𝑠 0 : 4𝐴 + 2𝐵 − 𝐶 = 1 ⟹ −4𝐵 + 2𝐵 + 𝐵 = 1

𝐵 = −1; 𝐴 = 1; 𝐶 = 1

𝑠2 𝐴 𝐵 𝐶 1 1 1
𝑦̅(𝑠) = 2
= + + 2
= − +
(𝑠 − 1)(𝑠 − 2) (𝑠 − 1) (𝑠 − 2) (𝑠 − 2) (𝑠 − 1) (𝑠 − 2) (𝑠 − 2)2

Using first shifting theorem:

𝑦(𝑡) = 𝑒 𝑡 − 𝑒 2𝑡 + 𝑡𝑒 2𝑡

c.)

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

Multiply through by the common denominator:

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

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

Group coefficients:

𝑠2: 𝐴 + 𝐵 = 4 ⟹ 𝐴 = 4 − 𝐵

𝑠: −4𝐴 − 3𝐵 + 𝐶 = 0

−4(4 − 𝐵) − 3𝐵 + 𝐶 = 0

𝐶 = 16 − 𝐵

𝑠 0 : 4𝐴 + 2𝐵 − 𝐶 = 0

4(4 − 𝐵) + 2𝐵 − 16 + 𝐵 = 0

𝐵 = 0; 𝐴 = 4; 𝐶 = 16

4𝑠 2 4 16
𝑦̅(𝑠) = 2
= +
(𝑠 − 1)(𝑠 − 2) (𝑠 − 1) (𝑠 − 2)2

𝑦(𝑡) = 4𝑒 𝑡 + 16𝑡𝑒 2𝑡

7
 d.)

5𝑠 2 − 23𝑠 + 26 𝐴 𝐵 𝐶
𝑦̅(𝑠) = = + +
(𝑠 − 1)(𝑠 + 1)(𝑠 − 2) (𝑠 − 1) (𝑠 + 1) (𝑠 − 2)

Use Heaviside cover up technique:

i. Set 𝑠 = 1 cover up and solve for 𝐴:

5𝑠 2 − 23𝑠 + 26 5(1)2 − 23(1) + 26
𝐴= = = −4
(𝑠 + 1)(𝑠 − 2) (1 + 1)(1 − 2)
ii. Set 𝑠 = −1 cover up and solve for 𝐵:
5𝑠 2 − 23𝑠 + 26 5(−1)2 − 23(−1) + 26
𝐵= = =9
(𝑠 − 1)(𝑠 − 2) (−1 − 1)(−1 − 2)
iii. Set 𝑠 = 2 cover up and solve for 𝐶:
5𝑠 2 − 23𝑠 + 26 5(2)2 − 23(2) + 26
𝐶= = =0
(𝑠 − 1)(𝑠 + 1) (2 − 1)(2 + 1)
5𝑠 2 − 23𝑠 + 26 4 9
𝑦̅(𝑠) = =− +
(𝑠 − 1)(𝑠 + 1)(𝑠 − 2) (𝑠 − 1) (𝑠 + 1)

𝑦(𝑡) = 9𝑒 −𝑡 − 4𝑒 𝑡

11. Use the Laplace transform table to determine the function 𝑦(𝑡) for each of the
following functions:

2
𝑎. )
𝑠 2 + 6𝑠 + 18

𝑠+2
𝑏. )
𝑠2 + 6𝑠 + 18

Solution:

2
𝑎. )
𝑠2 + 6𝑠 + 18

Using completing the square technique:

2 2 2 3
= =
𝑠2 + 6𝑠 + 18 (𝑠 + 3) + 9 3 (𝑠 + 3)2 + 32
2

2
𝑦(𝑡) = 𝑒 −3𝑡 sin(3𝑡)
3

8
 𝑠+2
𝑏. )
𝑠2 + 6𝑠 + 18

𝑠+2 𝑠+2 𝑠+3−1 𝑠+3 1 3

= ⇒ ⇒ −
𝑠2 + 6𝑠 + 18 (𝑠 2
+ 3) + 3 2 (𝑠 2
+ 3) + 3 2 (𝑠 2
+ 3) + 3 2 3 + 3)2 + 32
(𝑠

1
𝑦(𝑡) = 𝑒 −3𝑡 cos(3𝑡) − 𝑒 −3𝑡 sin(3𝑡)
3

Further Problems on Laplace Transform

12. Use the table of Laplace transform to determine 𝑦̅(𝑠) for each of the following
functions of 𝑦(𝑡).

𝑑𝑦
𝑎. ) − 3𝑦 = 0; 𝑦(0) = −10
𝑑𝑡
𝑑2 𝑦 𝑑𝑦
𝑏. ) 2
−2 + 10𝑦 = 𝑒 2𝑡 ; 𝑦(0) = 0, 𝑦 ′ (0) = 1
𝑑𝑡 𝑑𝑡
Solution

𝑑𝑦
𝑎. ) − 3𝑦 = 0; 𝑦(0) = −10
𝑑𝑡

From Laplace transform table:

𝑑𝑦
ℒ{ } = 𝑠𝑦̅ − 𝑦(0)
𝑑𝑥

This is the subsidiary equation in complex frequency domain, 𝑠. Substitute for this in the
main equation and noting that ℒ{𝑦} = 𝑦̅:
(𝑠𝑦̅ − 𝑦(0)) − 3𝑦̅ = 0
Substitute for 𝑦(0):
(𝑠𝑦̅ + 10) − 3𝑦̅ = 0
𝑠𝑦̅ + 10 − 3𝑦̅ = 0
𝑠𝑦̅ − 3𝑦̅ = −10
𝑦̅(𝑠 − 3) = −10
−10
𝑦̅ =
(𝑠 − 3)
From Laplace transform table, use first shifting theorem and find inverse transform:

9
 𝑦(𝑡) = −10𝑒 3𝑡

𝑑2 𝑦 𝑑𝑦
𝑏. ) 2
−2 + 10𝑦 = 𝑒 2𝑡 ; 𝑦(0) = 0, 𝑦 ′ (0) = 1
𝑑𝑡 𝑑𝑡
Introduce the subsidiary equations and note the Laplace transform of the variable

𝑑2 𝑦
ℒ{ } = 𝑠 2 𝑦(𝑠) − 𝑠𝑦(0) − 𝑦 ′ (0)
𝑑𝑡 2

𝑑𝑦
ℒ{ } = 𝑠𝑦̅ − 𝑦(0)
𝑑𝑥

ℒ{𝑦} = 𝑦̅

1
ℒ{𝑒 2𝑡 } =
𝑠−2

The equation becomes:

1
𝑠 2 𝑦(𝑠) − 𝑠𝑦(0) − 𝑦 ′ (0) − 2(𝑠𝑦(𝑠) − 𝑦(0)) + 10𝑦(𝑠) =
𝑠−2

Substitute for 𝑦(0) = 0, 𝑦 ′ (0) = 1:

1
𝑠 2 𝑦(𝑠) − 1 − 2(𝑠𝑦(𝑠)) + 10𝑦(𝑠) =
𝑠−2
Rearrange by taking -1 to the right hand side of the equation
1
𝑠 2 𝑦(𝑠) − 2(𝑠𝑦(𝑠)) + 10𝑦(𝑠) = +1
𝑠−2
Making the right hand side have a common denominator (addition of terms):

𝑠−1
𝑠 2 𝑦(𝑠) − 2(𝑠𝑦(𝑠)) + 10𝑦(𝑠)) =
𝑠−2

𝑠−1
𝑦(𝑠) =
(𝑠 − 2)(𝑠 2 − 2𝑠 + 10)

Decomposing into partial fractions:

𝑠−1 𝐴 𝐵𝑠 + 𝐶 1 1 𝑠 − 10
𝑦(𝑠) = = + = ( − )
(𝑠 − 2)(𝑠 2 − 2𝑠 + 10) 𝑠 − 2 (𝑠 2 − 2𝑠 + 10) 10 𝑠 − 2 (𝑠 2 − 2𝑠 + 10)

Using completing the square to further decomposition of the second term:

10
 𝑠 − 10 𝑠 − 10 (𝑠 − 1) − 9 𝑠−1 9
⇒ ⇒ ⇒ −
𝑠2 − 2𝑠 + 10 (𝑠 − 1) + 9 (𝑠 − 1) + 9 (𝑠 − 1) + 9 (𝑠 − 1)2 + 9
2 2 2

The overall equation becomes:

1 1 𝑠−1 3
𝑦(𝑠) = ( − 2
+3∙ )
10 𝑠 − 2 (𝑠 − 1) + 9 (𝑠 − 1)2 + 9

1 2𝑡
𝑦(𝑡) = (𝑒 − 𝑒 𝑡 cos(3𝑡) + 3𝑒 𝑡 sin(3𝑡))
10

11