Chapter (2) Mathematical Background

=   1   1   s  j  s  j
0          2
 s  j   s  j   s  j  s 2

Equating the real and imaginary parts of both sides of the equation we get

£ sin t  2 2
(2.22)
s 
s
£ sin t  (2.23)
s2   2
2.4.2 Some Basic Operations
Laplace transform tables can conveniently be used to find the
transform of a given function f(t). Table 2.1 shows Laplace transforms
of time functions that appear frequently in linear control system analysis.
Laplace transforms of functions as well as theorems on the Laplace
transformation that are useful in the study of linear control systems are
presented in the following sections.
Multiplication by a constant
The Laplace transform of the product of a constant k and a time
function f (t) is the constant k multiplied by the Laplace transform of f (t);
that is
£[kf(t)]  kF(s) (2.24)
Where F(s) is the Laplace transform of f(t)

Laplace transform of the sum or difference of two function

The Laplace transform of the sum (or difference) of two time
functions is the sum (or difference) of the Laplace transforms of the
time functions that is,
£[f 1 (t )  f 2 (t ) ]  F1 (s)  F(s) (2.25)

Where F1(s) and F2(s) are the Laplace transforms of f1(t) and f2(t)
respectively.
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Chapter (2) Mathematical Background

Table 2.1 Laplace Transform Pairs

f (t) F(s)
1 Unit impulse δ(t) 1

2 Unit step 1 (t) 1

s

3 t 1
s2
4 e  at 1
sa
5 te  at 1
( s  a) 2

6 sin  t 
s2  2

7 cos  t s
s 2
2

8 tn ( n = 1, 2, 3, ….) n!
s n 1
9 tne-at (n= 1,2,3,……….) n!
( s  a) n 1

10 1
(e  at  e bt )
1
ba ( s  a ) ( s  b)

11 1 s
(bebt  ae  at )
ba ( s  a ) ( s  b)

12 1 
1
1 
(be at  ae bt )
1

ab  a  b  s ( s  a ) ( s  b)

13 e-at sin  t 
( s  a) 2   2

14 e-at cos  t sa

( s  a) 2   2

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Chapter (2) Mathematical Background

15 1 1
(at 1  e  at ) 2
a2 s ( s  a)

16 n  n2
e  n t sin (  n 1   2 t )
1 2 s 2  2 n s   n2
17 1 s
e   nt sin (  n 1   2 t  )
1 2 s  2 n s   n2
2

1 2
  tan 1


18 1
1
e   nt sin (  n 1   2 t  )  n2
1 2 s ( s 2  2 n s   n2 )

1 1 2
  tan


Laplace transform of the derivative of a function:

Let £[f(t)] F(s) , then


d d
£[ f(t)]   [ f(t)]e -st dt
dt 0
dt

Integration by parts with

d
u = e-st dv = f ( t ) dt
dt

du   s e st dt v  f (t )
  

in  udv  uv   vdu
0 0 0

gives

d  
£[ f(t)] f (t ) e  st
dt
 s  f (t ) e  st dt
0 0

4-37
Chapter (2) Mathematical Background

or
d
£[ f(t)]  s F ( s)  f (0) (2.26)
dt

Laplace transform of the second derivative of a function:

From Eq. (2.26)
£[f ' (t)]  s F (s)  f (0)

Let f \ (t) = g(t)

then £[f ' ' (t)]  £[g' (t)]  s £[g(t ) ]  g (0)

 s£[ f ' (t ) ]  f ' (0)

 s 2F(s) ]  sf (0)  f ' (0) (2.27)

Therefore, the Laplace transform of the n th derivative may be
expressed as:
n n n 1 n 2 n -1

£[f (t ) ]  s F (s)  s f(0)  s f (0)  ..............  f (0) (2.28)

Laplace transform of the integral of a function:


£  f(t)dt   [  f(t)dt]e-st dt
0


 e  st   e  st
 (  f (t )dt )    f (t ) dt
  s 0 0  s

1 1
  f(t)dt t  0   f(t) e  st dt
s s0
F ( s) 1
   f (t )dt (2.29)
s s t 0

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 Chapter (2) Mathematical Background

If the initial value of the integral is zero, then the Laplace transform of
the in00tegral of f(t) is given by F(s)/s.
The Shifting theorem:
In this case the function f(t) is translated to the right by a times
units to become f ( t – a ) u (t-a) , where u ( t – a ) is the unit step
function which guarantees that
f ( t – u ) = f (t) for t ≥ a
=0 t<a
then


£f (t  a) u (t  a    f (t  a) u (t  a) e  st
dt
0

The integral is zero for t<a, then we may write



£f (t  a) u (t  a   f (t  a) u (t  a) e  st
dt
a

Therefore

£ f (t  a) u (t  a)  £[f( )u( )]   [ f ( )u ( ) e
 st (  a )
d
0

 e as  f ( ) e s d because u ( )  0 for   0
0

This means
£ f (t  a) u (t  a) e st £[f(t); for a  0 (2.30)

Laplace transform of f (t) and f(t) / t

Consider the fundamental definition

F (s)    f (t )  e  st dt
0

then ,

4-39
Chapter (2) Mathematical Background


d
F ( s)    tf (t ) e
 st
dt   £t f (t ) 
ds 0

and ,

d2
ds 2
F ( s)  t
2

f (t ) e st dt  £ t 2 f (t ) 
0

And mathematical induction leads to the general result


£ t f (t )  (  1)
n
d n F ( s)
ds n
n
(2.31)

Also , suppose that the fundamental definiation :


£  f (t )   f (t ) e  st dt
0

is integrated from s to  with respect to s , then

 

 F ( s)    f (t ) e 
 st
ds  ds dt
s 0 s



   f (t ) e 
 st
 ds dt
0 s

 
 f (t )  st 
   e  dt
0
t s

f (t )  st
 
0
t
e dt

or

 f (t ) 
0 F ( s ) ds  £  t 
 
(2.32)

Laplace transform of the functions t sin ωt and t cos ωt

For f(t)= t sin ωt, and from Eq. (2.31)
d d 
£ t sin t    £  sin t   
ds ds   s 2
2

4-3:
Chapter (2) Mathematical Background

2s
 (2.33)
(s   2 )2
2

Also
d  s 
£ t cos t     2 
ds  s   2 

s2   2
 2 (2.34)
(s   2 )2

Laplace Transform of t2
£[t 2 ]  £[t.t]
d  1 
  
ds  s 2 

Hence
2 2!
£[t 2 ]  or (2.35)
s3 s3
By mathematical induction we observe that
n!
£ (t n )  (2.36)
s n 1
Laplace transform of exponentially damped functions
The Laplace transform of any exponentially damped function
can be found by first taking the Laplaced transform of the function
itself and then applying Eq (2-19). For example

 
£ t 2 e  at 
2
( s  a)3


£ e  at cos t   sa
( s  a) 2   2
2 ( s  a )

£ t e  at sin t  
(s  a) 2
 2 
2

4-3;
Chapter (2) Mathematical Background

Laplcace transform of the unit impluse function

Fig. 2.2 shows a rectangular pulse of duration x and height 1/x.
This pulse may be represented in terms of a step function and a
delayed function as:
1
f (x)   u (t )  u ( t  x)
x

F(t)

1
x

x time , t
Fig. 2.2 A pulse of height 1/x and duration x.

The unit impulse is a function that possesses unbounded strength and

infinitesimal duration. Therefore it may be expressed as
1
 (t )  lim x0  u (t )  u ( t  x) , x  o (2.37)
x

Hence
1  1 e xs 
£ (t )  lim x 0   
x s s 

4-42