Engineering Mathematics III (ENGD2114D)

Inverse Laplace Transform

PRESENTER: DR. MUHAMMAD WAJID SALEEM

[email protected]

PREPARED BY: DR RICHARD SNAPE

DR. AIMAN ELRAGIG
DMU LEICESTER, UK
Recap
For a function , Laplace transform is given as

ℒ ¿
Consequently, inverse Laplace transform is
obtained from:

ℒ −1 (𝐹 ( 𝑠 ) )= 𝑓 (𝑡)
 Inverse Laplace transform
Let is the Laplace transform of , that is,

,
then
is called the inverse Laplace transform of and we write this as

Examples
=

= ℒ −1
( 2
𝑠
𝑠 +4 )
=cos ⁡(2 𝑡 )
Using the table to find inverse Laplace Transform:
Inverse Laplace transform is a linear operator
If ) and

then,

Where and are scalars

Examples

ℒ −1 { 10
+
4
𝑠 − 7 𝑠+3 }
=¿10 ℒ
−1
{ }
1
𝑠−7
+ 4 ℒ −1
1
{ }
𝑠+3
=¿ 10 𝑒 7 𝑡 + 4 𝑒 −3 𝑡

ℒ
−1
{ 1
𝑠
2
−1+
1
𝑠−2
=¿
}
ℒ
−1 1

𝑠
2{ }
− ℒ
−1
{1 }+ ℒ { }
−1 1
𝑠 −2
=¿ 𝑡 −1+𝑒 2𝑡
Exercise If
Find
 Example:
Find

Solution
 Look at table

 Make the function match- this is for

 We’ve got in the denominator, so we need

 Split as follows to make it match

ℒ
−1
[ ]
16
𝑠
3
=¿ ℒ
[ ]
−1 8 × 2

𝑠
3
=¿ 8 ℒ
𝑠[ ]
−1 2 !
3
=¿ 8 𝑡 2
Example:
Find

Solution
 Look at table

 Make the function match: need to

split fractions

ℒ
−1
[ ]
𝑠+1
2
𝑠 +1
=¿ ℒ
−1
[
2
𝑠
+ 2
𝑠 +1 𝑠 +1
1
]
¿ℒ
−1
[ 2
𝑠
𝑠 +1 ] [
+ℒ
−1
2
1
𝑠 +1 ]
 Now these match exactly, so

ℒ
−1
[ ]
𝑠+1
2
𝑠 +1
=¿ cos (𝑡)+sin ( 𝑡 )
 Example:
Find

Solution
 Look at table:
 Make the function match

 Split into partial fractions:

3 𝐴 𝐵𝑠+ 𝐶 𝐴 ( 𝑠 2
+4 ) + ( 𝐵𝑠+𝐶 ) 𝑠
2
=¿ + 2 =¿
𝒔 (𝑠 + 4) 𝑠 𝑠 +4 𝑠 2+ 4

⇒ 3= 𝐴 ( 𝑠 +4 ) + ( 𝐵𝑠+𝐶 ) 𝑠
2

⇒ 3=( 𝐴+ 𝐵 ) 𝑠 2+ 𝐶𝑠+ 4 𝐴
3 3
𝐴= , 𝐵 =− , 𝐶 =0
4 4
 We have
3 3
𝐴= , 𝐵 =− , 𝐶 =0
4 4
Therefore
3 𝐴 𝐵𝑠+ 𝐶 3 −3

( ) ( )
𝑠+ 0 3 1 3 𝑠
=¿ + =¿
4 4
¿ −
2
𝒔 (𝑠 + 4) 𝑠 𝑠 +4
2 + =¿
𝑠 2
𝑠 +4 4 𝑠 4 𝑠2 + 4
Hence

ℒ −1
[ 3
2
]
𝒔 (𝑠 + 4)
=¿ ℒ
[ ( ) (
−1 3 1
4 𝑠
−
3
4 2)]
𝑠
𝑠 +4
=¿
3 −1
4
ℒ
[( ) ( )]
1
𝑠
− 2
𝑠
𝑠 +4
From the table
¿
4[
3 −1 1
ℒ
𝑠( )
−ℒ
−1
2
𝑠
𝑠 +4 ( )]
3
¿ ( 1− cos ( 2 𝑡 ))
4
Exercise
Find
 Laplace Transform of Derivatives
If are continuous on and are of exponential order and if is piecewise
continuous on , then

where .

Examples (special cases):

Using Laplace transform to solve linear ordinary differential equations with constant
coefficients.

=constant for all

, )=,…………,

if =0 , the equation is referred to as homogeneous

 Examples
• . 1st order, linear, nonhomogeneous, variable coefficients

𝑑2 𝑦 𝑑𝑦 2nd order, linear, homogeneous, variable coefficients

𝑎2 ( 𝑡 ) + 𝑎1 ( 𝑡 ) +𝑎 1 ( 𝑡 ) y =0
𝑑𝑡
2
𝑑𝑡

(𝟓) (𝟑) 5th order linear, nonhomogeneous , constants coefficients.

𝒚 +𝟐 𝒚 − 𝟐 𝒚=𝒕𝒂𝒏𝒙

1st order, nonlinear ( ), nonhomogeneous, variable coefficients

𝑑2 𝑦
+ tan ⁡( 𝑦)=0
2nd order, nonlinear ( ), homogeneous, constant coefficients
𝑑𝑡2
𝑑4 𝑦 2 4th order, nonlinear ( ), nonhomogeneous, coefficients
4
+ 𝑦 =2
𝑑𝑥

(𝟑 ) 𝟐 (𝟏 )
−𝟕 𝒚 +𝟏𝟐 𝒚 +𝟑 𝒚 −𝟏𝟐 𝒚 =𝟎 3rd order, linear, homogeneous, constant coefficients
Laplace Transform Solution Steps:

-space -space
Apply Laplace Transformed the Apply Inverse
Differential Transform differential equation Solve transformed Transform Solution
equations: find a to an algebraic equation for of original
solution ? equation in IVP
 Example 1:
,

Step 1: Take Laplace transform to both sides of the DE.

)

(Using linearity property)

[ (Using LT of the 1st derivative)

( 𝑠 +3 ) 𝑌 ( 𝑠 ) =6
Step 2: Solve for : 6
𝑌 ( 𝑠) =
𝑠+ 3
Step 3: Take to find :

𝑦 ( 𝑡 ) =6 𝑒 −3 𝑡
 Example 2: Forced Mass Spring System:
, ,

Undampened Case:

, ,

Step 1: Take Laplace transform to both sides of the DE.

ℒ ( 𝑦 ′ ′ +16 𝑦 )= ℒ ¿
(Using linearity property)

(Using LTF of the 2nd derivative)

𝑠
(𝑠 ¿¿ 2+16) 𝑌 ( 𝑠)=1+ 2
¿
𝑠 +16
1 𝑠
Step 2: Solve for : 𝑌 ( 𝑠) = 2
+ 2 2
𝑠 +16 ( 𝑠 +16)

Step 3: Take to find :

1 1
𝑦 ( 𝑡 ) = sin ( 4 𝑡 )+ 𝑡𝑠𝑖𝑛(4 𝑡 )
4 8
Some Important Functions Used in Engineering:

 The Unit Step Function (A. K. A Heaviside

function)
 The Impulse (Dirac Delta) Function

Definition: Unit Step Function

For , the unit step function is defines as

{
𝑢 ( 𝑡 −𝑎 )= 0 : 𝑡 < 𝑎
1:𝑡 ≥ 𝑎

sometimes written
Second shift theorem
If and , then
ℒ [ 𝑓 ( 𝑡 −𝑎 ) 𝑢(𝑡 − 𝑎) ] =𝑒 −𝑎𝑠 ℒ ( 𝑓 (𝑡 ) )=𝑒 −𝑎𝑠 𝐹 ( 𝑠 )
Example
If
Find ?
Solution:
If
Here we used
=2 ℒ [ ( 𝑡 −6 ) 𝑢(𝑡 −6 )] − ℒ [(8 − 𝑒
3 12 −3 𝑡
)𝑢(𝑡 − 4) ] linearity

We will find each Laplace transform and the add the results up
Lets do the first, which is
Now compare with the
2 ℒ [ ( 𝑡 −6 ) 𝑢(𝑡 −6 )]
3
theorem above:
where is
and ?

𝑓 (𝑡 − 𝑎 )

and 𝑓 (𝑡 )=¿ 𝑡 3

Now apply the second shift theorem ℒ [ 𝑓 ( 𝑡 −𝑎 ) 𝑢(𝑡 − 𝑎) ] =𝑒 −𝑎𝑠 ℒ ( 𝑓 (𝑡 ) )=𝑒 −𝑎𝑠 𝐹 ( 𝑠 )

3! − 6𝑠 6
2 ℒ [ ( 𝑡 −6 )3 𝑢(𝑡 −6 )] =¿ −6𝑠
2𝑒 3
ℒ (𝑡 ¿=¿ 2 𝑒
−6𝑠
3+1
=¿ 2 𝑒 4
=¿
𝑠 𝑠

12 𝑒 −6 𝑠
¿ 4
𝑠
Now the second part, which is
Now compare with the
ℒ [ (8 −𝑒 12 −3 𝑡 )𝑢 (𝑡 − 4) ]=¿ ℒ [ ( 8− 𝑒 −3 (𝑡 −4 ) ) 𝑢 ( 𝑡 − 4 ) ] theorem above:
where is
and ?

𝑓 (𝑡 − 𝑎 )

4 and 𝑓 (𝑡 )=¿ 8 −𝑒 − 3 𝑡

Now applying the second shift theorem ℒ [ 𝑓 ( 𝑡 − 𝑎 ) 𝑢(𝑡 − 𝑎) ] =𝑒 −𝑎𝑠 ℒ ¿

(𝑠
ℒ [ ( 8− 𝑒 −3 (𝑡 −4 ) ) 𝑢 ( 𝑡 − 4 ) ]=¿ 𝑒 −4 𝑠 ℒ [ ( 8 − 𝑒− 3 𝑡 ) ]=¿ 𝑒 −4 𝑠 8 − 1
𝑠+3 )
Hence

ℒ [ 𝑔 (𝑡) ] =
12𝑒 − 6 𝑠
𝑠 4
−𝑒
−4 𝑠 8
(
−
1
𝑠 𝑠+3 )