WEEK5 CHAPTER1: Laplace transform MAT485/565

4) Second shifting

If ℒ-1 { F(s) } = f(t), then

ℒ-1 {e-as F(s) } = f(t – a) U(t – a)

Example
4𝑒 −4𝑠
a) ℒ-1 { 𝑠(𝑠+4) }

𝑒 −𝜋𝑠 (𝑠+3)
b) ℒ-1 { }
𝑠(𝑠2 +1)

𝑒 −3𝑠
c) ℒ-1 { 𝑠2 (𝑠+4) }

6𝑒 −2𝑠
d) ℒ-1 { }
𝑠2 +4

𝑠
−
𝑠𝑒 2
e) ℒ-1 { 𝑠2 +2 }

8𝑒 −4𝑠
f) ℒ-1 { }
𝑠2 +4

Solution
4𝑒 −4𝑠
a) ℒ-1 { 𝑠(𝑠+4)} = 𝑓(𝑡 − 4)𝑈(𝑡 − 4)
4 𝐴 𝐵
Let F(s) = 𝑠(𝑠+4) = + ⇒ 4 = 𝐴(𝑠 + 4) + 𝐵𝑠
𝑠 𝑠+4
When s = 0 ⇒ 4 = 4A ⇒ A = 1
When s = 1 ⇒ 4 = 5A + B⇒ B = -1
1 1
∴ 𝑓(𝑡) = ℒ −1 {𝐹(𝑠)} = ℒ −1 {𝑠 − 𝑠+4} = 1 − 𝑒 −4𝑡
4𝑒 −4𝑠
ℒ-1 { 𝑠(𝑠+4)} = 𝑓(𝑡 − 4)𝑈(𝑡 − 4) = [1 − 𝑒 −4(𝑡−4) ]𝑈(𝑡 − 4)

𝑒 −𝜋𝑠 (𝑠+3)
b) ℒ-1 { } = 𝑓(𝑡 − 𝜋)𝑈(𝑡 − 𝜋)
𝑠(𝑠2 +1)

(𝑠+3) 𝐴 𝐵𝑠+𝐶
Let F(s) = 𝑠(𝑠2 +1) = + ⇒ 𝑠 + 3 = 𝐴(𝑠 2 + 1) + (𝐵𝑠 + 𝐶)𝑠
𝑠 𝑠2 +1

When s = 0 ⇒ 3 = A

Coeff of s : 1 = C

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WEEK5 CHAPTER1: Laplace transform MAT485/565

Coeff of s2 : 0 = A + B ⇒ B = -3

3 3𝑠 − 1 3 3𝑠 1
∴ 𝑓(𝑡) = ℒ −1 {𝐹(𝑠)} = ℒ −1 { − 2 } = ℒ −1 { − 2 + 2 }
𝑠 𝑠 +1 𝑠 𝑠 +1 𝑠 +1
= 3 − 3 cos 𝑡 + sin 𝑡
𝑒 −𝜋𝑠 (𝑠+3)
ℒ-1 { } = 𝑓(𝑡 − 𝜋)𝑈(𝑡 − 𝜋)
𝑠(𝑠2 +1)

= [3 − 3 cos(𝑡 − 𝜋) + sin(𝑡 − 𝜋)] 𝑈(𝑡 − 𝜋)

𝑒 −3𝑠
c) ℒ-1 { } = f(t - 3) U(t - 3)
𝑠2 (𝑠+4)

1 𝐴 𝐵 𝐶
Let F(s) = 𝑠2 (𝑠+4) = + + ⇒ 1 = 𝐴𝑠(𝑠 + 4) + 𝐵(𝑠 + 4)
𝑠 𝑠2 𝑠+4

+𝐶𝑠 2

When s = 0⇒ 1 = 4B⇒ B = ¼

When s = -4 ⇒ 1 = 16C ⇒ C = 1/16

Coeff of s2 : 0 = A + C ⇒ A = -1/16
1 1 1
−
−1 {𝐹(𝑠)} −1 16 4 16
∴ 𝑓(𝑡) = ℒ = ℒ { + + }
𝑠 𝑠2 𝑠+4

1 1 1
= − 16 + 4 𝑡 + 𝑒 −4𝑡
16

𝑒 −𝜋𝑠 (𝑠+3) 1 1 1
ℒ-1 { 𝑠(𝑠2 +1)
} = [− 16 + 4 (𝑡 − 3) + 16
𝑒 −4(𝑡−3) ] 𝑈(𝑡 − 3)

6𝑒 −2𝑠
d) ℒ-1 { } = f(t – 2) U(t – 2)
𝑠2 +4
6 6
Let F(s) = 𝑠2 +4 then f(t) = ℒ-1 { 𝑠2 +4 } = 3 sin 2t
6𝑒 −2𝑠
ℒ-1 { } = 3 sin 2(t – 2) U (t – 2)
𝑠2 +4

𝑠
−
𝑠𝑒 2
e) ℒ-1 { 𝑠2 +2 } = f(t – ½) U(t – ½)
𝑠 𝑠
Let F(s) =𝑠2 +2 then f(t) = ℒ-1 { 𝑠2 +2 } = cos √2 t
𝑠
−
𝑠𝑒 2
ℒ-1 { 𝑠2 +2 } = cos √2 (t – ½) U(t – ½)

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8𝑒 −4𝑠
f) ℒ-1 { } = f(t – 4) U(t – 4)
𝑠2 +4
8 8
Let F(s) = 𝑠2 +4 then f(t) = ℒ-1 { 𝑠2 +4 } = 4 sin 2t
8𝑒 −4𝑠
ℒ-1 { } = 4 sin 2(t – 4) U(t – 4)
𝑠2 +4

5) Inverse Laplace transform of derivatives

If ℒ-1 { F(s) } = f(t), then
ℒ-1 {F’(s)} = (-1) t f(t)

Or in general
𝑑𝑛
ℒ-1 {𝑑𝑠𝑛 (𝐹(s)} = (-1)n tn ℒ-1 {F(s)} = (-1)n tn f(t)

Example
𝑠
a) ℒ-1 { ln 𝑠−1 }

1
b) ℒ-1 { tan-1 𝑠 }

𝑠2
c) ℒ-1 { 𝑙𝑛 𝑠2 +1 }

𝑠
d) ℒ-1 { }
(𝑠2 +4)2

Solution
𝑠
a) Let F(s) = ln 𝑠−1 = ln s – ln (s – 1)

1 1
F’(s) = 𝑠 − 𝑠−1

Take Laplace inverse both sides

1 1
ℒ −1 {𝐹 ′ (𝑠)} = ℒ −1 { − } ⇒ (−1)𝑡ℒ −1 {𝐹(𝑠)} = 1 − 𝑒 −𝑡
𝑠 𝑠−1

𝑠 𝑒 −𝑡 −1
ℒ −1 {𝐹(𝑠)} = ℒ-1 { ln 𝑠−1 } = 𝑡

1
b) Let F(s) = tan-1 𝑠

1 1 𝑠2 1 1
F’(s) = 1 (− 𝑠2 ) = (− 𝑠2 ) = − 𝑠2 +1
1+ 2 𝑠2 +1
𝑠

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Take Laplace inverse both sides

1
ℒ −1 {𝐹 ′ (𝑠)} = ℒ −1 {− 𝑠2 +1} ⇒ (−1)𝑡ℒ −1 {𝐹(𝑠)} = − sin 𝑡

1 sin 𝑡
ℒ −1 {𝐹(𝑠)} = ℒ-1 { tan-1 𝑠 } = 𝑡

𝑠2
c) Let F(s) = 𝑙𝑛 𝑠2 +1 = 2ln s – ln (s2 + 1)

2 2𝑠
F’(s) = 𝑠 − 𝑠2 +1

Take Laplace inverse both sides

2 2𝑠
ℒ −1 {𝐹 ′ (𝑠)} = ℒ −1 {𝑠 − } ⇒ (−1)𝑡ℒ −1 {𝐹(𝑠)} = 2 − 2 𝑐𝑜𝑠 𝑡
𝑠2 +1

𝑠2 2
ℒ −1 {𝐹(𝑠)} = ℒ-1 { 𝑙𝑛 𝑠2 +1 } = 𝑡 (𝑐𝑜𝑠 𝑡 − 1)

1
d) Let F(s) = 𝑠2 +4

−2𝑠
F’(s) = (𝑠2 +4)2

Take Laplace inverse both sides

−2𝑠 𝑠
ℒ −1 {𝐹 ′ (𝑠)} = ℒ −1 {(𝑠2 +4)2} ⇒ (−1)𝑡ℒ −1 {𝐹(𝑠)} = −2 ℒ −1 {(𝑠2 +4)2}

𝑡 𝑠
ℒ −1 {𝐹(𝑠)} = ℒ-1 {(𝑠2 +4)2 }
2

𝑠 𝑡 1 𝑡
⇒ ℒ-1 {(𝑠2 +4)2 } = 2 ℒ −1 {𝑠2 +4} = sin 2𝑡
4

6) Division by S
If ℒ-1 { F(s) } = f(t), then
𝐹(𝑠) 𝑡
ℒ-1 { } = ∫0 𝑓(𝑢)𝑑𝑢
𝑠

Example
1
a) ℒ-1 {𝑠(𝑠2 +16)}

1
b) ℒ-1 {𝑠2 (𝑠−1)}

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1
c) ℒ-1 {𝑠(𝑠−2)}

1
d) ℒ-1 {𝑠3 (𝑠2 −1)}

Solution
1 1 1
a) Let F(s) = (𝑠2 +16) ⇒ 𝑓(𝑡) = ℒ −1 {𝑠2 +16} = sin 4𝑡
4

1 𝐹(𝑠) 𝑡 𝑡1 1 1
ℒ-1 {𝑠(𝑠2 +16)} = ℒ −1 { } = ∫0 𝑓(𝑢)𝑑𝑢 = ∫0 sin 4𝑢 𝑑𝑢 = [− 4 cos 4𝑢|𝑡0 ]
𝑠 4 4

1
= 16 (1 − cos 4𝑡)

1 1
b) Let f(s) = 𝑠−1 ⇒ 𝐹(𝑡) = ℒ −1 {𝑠−1} = 𝑒 𝑡

1 𝑓(𝑠) 𝑡 𝑡
ℒ-1 {𝑠(𝑠−1)} = ℒ −1 { } = ∫0 𝐹(𝑢)𝑑𝑢 = ∫0 𝑒 𝑢 𝑑𝑢 = 𝑒 𝑢 |𝑡0 = 𝑒 𝑡 − 1
𝑠
1 1 1 𝑡
ℒ-1 {𝑠2 (𝑠−1)} = ℒ − 1 {𝑠 } = ∫0 (𝑒 𝑢 − 1) 𝑑𝑢 = 𝑒 𝑢 − 𝑢|𝑡0 = 𝑒 𝑡 − 𝑡 − 1
𝑠(𝑠−1)

1 1
c) Let F(s) = 𝑠−2 ⇒ 𝑓(𝑡) = ℒ −1 {𝑠−2} = 𝑒 2𝑡

1 𝐹(𝑠) 𝑡 𝑡 1 1
ℒ-1 {𝑠(𝑠−2)} = ℒ −1 { } = ∫0 𝑓(𝑢)𝑑𝑢 = ∫0 𝑒 2𝑢 𝑑𝑢 = 𝑒 𝑢 |𝑡0 = (𝑒 2𝑡 − 1)
𝑠 2 2

1 1
d) Let F(s) = (𝑠2 −1) ⇒ 𝑓(𝑡) = ℒ −1 {𝑠2 −1} = sinh 𝑡

1 𝐹(𝑠) 𝑡 𝑡
ℒ-1 {𝑠(𝑠2−1)} = ℒ −1 { } = ∫0 𝑓(𝑢)𝑑𝑢 = ∫0 sinh 𝑢 𝑑𝑢 = cosh 𝑢|𝑡0
𝑠

= cosh 𝑡 − 1
1 𝑡
ℒ-1 {𝑠2 (𝑠2 −1)} = ∫0 (cosh 𝑢 − 1)𝑑𝑢 = (sinh 𝑢 − 𝑢)|𝑡0 = sinh 𝑡 − 𝑡

𝑡
1 𝑡 𝑢2 𝑡2
ℒ-1 {𝑠3 (𝑠2 −1)} = ∫0 (sinh 𝑢 − 𝑢)𝑑𝑢 = (cosh 𝑢 − )| = cosh 𝑡 − −1
2 0 2

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