Chapter 6

The Laplace Transform

6.1 Direct and inverse Laplace transforms
Laplace transform pairs
Laplace transform properties
6.2 Solving differential equations
Partial fraction expansion
Constant-coefficient LDEs
LDE systems
Vector-matrix differential equations
Integral and integral-differential equations
LDE with time-dependent coefficients
6.3 System identification
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Direct and inverse Laplace transforms

Laplace transform pairs

see Table 6.1 for comprehensive list

The Laplace transform

Basic Laplace transform pairs

F ( s ) = L  f (t )  =  f (t )e − st dt time domain Laplace (s) domain
0
f (t ) F (s)

(t ) 1
1 1/ s
t 1/ s 2
1/ (s + a)
sin ( t )  / ( s 2 + 2 )
f (t ) = L −1  F ( s )  cos ( t )  / ( s 2 + 2 )

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Direct and inverse Laplace transforms
Laplace transform properties Table 6.2
time domain Laplace (s) domain
property (theorem) f (t ) F (s)
Linearity a1 f1 (t ) + a2 f 2 (t ) a1F1 ( s) + a2 F2 ( s)

Frequency shift e− at f (t ) F ( s + a)

Time shift f (t − a) 1(t − a) e− as F ( s)

df (t ) sF ( s) − f (0)
Time derivatives dt
d 2 f (t ) df (t )
s 2 F ( s) − sf (0) −
dt 2 dt t =0
t
 F ( s ) + f (t )dt  / s
Time integral  f (t )dt
0
  t =0 

Final value lim f (t ) lim sF ( s)

t → t →0
lim f (t ) lim sF ( s)
Initial value t →0
t →
t 0
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Steps for Laplace Transformation Method

1. Derive the mathematical model of the dynamic

system

2. Use Laplace Transformation to convert the

mathematical model from the time domain to the
frequency domain

3. Rearrange the equation and find the Partial

Fraction Expansion

4. Use Inverse Laplace Transformation to convert the

mathematical model back to the time domain

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Solving differential equations
Partial fraction expansion
complicated N ( s) Sum of simpler
F ( s) =
fraction D( s ) (partial) fractions

roots of D(s)

Four cases
• real and simple (distinct)
• complex and simple
• real and multiple (repeated)
• complex and multiple Three methods
• cover-up
• fraction combination
• s derivative
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 Xcs Xo 5 15 10
Example 1 3 3 15
St

Solution SX 10
557
3 15
53 5
Use Laplace Transformations and find X(s)
52 10 Xs ÉI 3

lot Requires Partial

Fraction Expansion
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10est
t 1ft
best t
E

56 t x̅
other way

wrist
Example 1

Use Partial Fraction Expansion

• Multiply equation by s2 and let s=0, C1 = 5/3

• Multiply equation by (s+3) and let s=-3, C3=5/9
• Use Fraction Combination method and calculate C2=-5/9

• Use Inverse Laplace Transformation

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Example 2

Solution
Use Partial Fraction Expansion

• Multiply equation by s and let s=0, a = 1

• Multiply equation by (s+1)2 and let s=-1, b=-1
• Multiply equation by (s+1)2, take the s-derivative, and let s=-1, c
= -1. This step is explained below We can Solve bo
amino 5 1 and use
Gb

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Example 2 the dervitue
use
don't methode
Find the s-derivative

MEEEEE

Let s=-1, c = -1
Thus, the function F(s) is

Use Inverse Laplace Transformation

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Example 3

Solution:
Use Laplace Transformations and find X(s)

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Example 3 G
S 4553 t2 825 75C3 8513SH5t
4 12 5444 222 72375 534 854BS IS
Use Partial Fraction Expansion
C 4 4 8 4C 22 7 3 13

Use Inverse Laplace Transformation

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Example 4 s x 55 Fox loxes
7 5 75 151 204

Solution:
Use Laplace Transformations and find X(s)
5 5

use our methode

f There is no sure

b CVR method e

XD Be cost
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A
 for mutilie by S while 5 0

to to
g

AI
for 8 2

1H
for C IS A B 5 1

C
Example 4

• Multiply equation by s and let s=0, A = 2

• Multiply equation by (s+2) and let s=-2, B =-10/3
• Multiply equation by (s+5) and let s=-5, C =4/3
• Use Inverse Laplace Transformation

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Example: Find the inverse transform of each of the following.

157

Frictie
Solution
m
f t 6coS F Sin ft

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Example: Find the inverse transform of each of the following.

Sta 5221542
Solution

52 85 21 6 16 5 454
44 is my

Fsi
i iff ai m

r
t
fl sinmet 3c.se

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Example: Find the inverse transform of each of the following.

Solution
S 5 S 2
at 5 2

AtSIS

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 WM W
Example: Find the inverse transform of each of the following.
There is No values
hence
A
Solution t.is I s 2itl

at 295 II web
718 2
CERT
EI
Dios e Esincter

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 by 82
mutible mutiny

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 miltible by 5 1
S Fi j I_
Esr
Citd
rr
SEE IE

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inverse

ft get be cos t a sink

 Me

i t x̅
SIR IS Li o

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Lobontiu: System Dynamics for Engineering Students, Copyright (c) 2010 Elsevier Inc.
LÉ Ri V
Effy

imilities

t
t
 Solution

1
2
Sato
S 0.1 V O.IR 42
11 ilt ligm I s 3

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Example 5

Iron naivete

EE
IEetnttibieth X
3X 2X 2

52 3512 41
3 45 2
5 5 115 2 Lobontiu: System Dynamics for Engineering Students, Copyright (c) 2010 Elsevier Inc.
8 1525 1
mitible
a
cities C I

I 2ét e
at
Example 5

Solution:
−t −2t
mx + cx + kx = f x(t ) = 1 − 2e + e
−1
L L
Partial Fraction
X (s) =
f
=
2 Expansion 1 2 1
X (s) = − +
s ( ms + cs + k ) s ( s + 1)( s + 2 )
2
s s +1 s + 2
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Solving differential equations
Vector-matrix differential equations
 L  x(t ) =  X ( s)

   
t
X ( s ) = X ( s ) X ( s )
 X 1 ( s ) =  x1 (t ) e dt
− st 1 2

 0
s-unknowns vector
 
Laplace-transformed
 X ( s ) = x (t ) e − st dt unknown vector
 2


0
2
individual s-unknowns

Multiple-DOF undamped forced mechanical system

 M  x(t ) +  K  x(t ) =  f (t )
L
 M  ( s 2  X (s) − s  x(0) −  x(0)) +  K  X (s) = F ( s)
s-domain solution
 X ( s) = ( s 2  M  +  K ) ( M  (x(0) + s x(0)) + F (s))
−1

Time-domain solution L −1

(
(    )  M  (x(0) + s x(0)) + F (s) 
 )
−1
 
x (t ) = L 
 X ( s )
 = L s 2
M + K
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 might come with out response
Example 6
Stop after matrix

Physical model Lumped-parameter model

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 KLXEXI
f
Kix
TIJA S
Mix kit k X K2 X2 0

Mixz K2X2 K2
X f t

tax D Mix2 K2X2 K2 x f t

jjijicss.no
1 2 2 0 X x2 x Sct
ssmxzess in

54

1ˢᵗ E
Lexie Exact
Example 6
Solution:

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Example 6

Using MATLAB:

Use Partial Fraction Expansion and Inverse Laplace Transformation

Lobontiu: System Dynamics for Engineering Students, Copyright (c) 2010 Elsevier Inc.