Engineering Mathematics 3

LAPLACE TRANSFORMS

Unit Step Functions

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QA 3.1.2.B(i)

Step 1 Given
H( t) := t if 0 ≤ t < 2
1 − t if t ≥ 2

H( t)
0 2 4

H( t) := t + [ ( 1 − t) − t] ⋅ Φ ( t − 2 )

Step 2 To find h(s) by applying laplace transform

H( t) = t + G( t) ;take laplace transform

1
h( s) = + g ( s)
2
s

To find g(s)

Consider second term of rhs of H(t):

G( t) = ( 1 − 2t) ⋅ Φ ( t − 2 ) In written form, unit step function is

U(t - σ) while in mathcad, Φ(t - σ)

Use theorem
− σ ⋅s
laplace( F( t − σ ) ⋅ Φ ( t − σ ) ) = e ⋅ f( s) , s > s0

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Let

σ := 2

F( t − 2) = 1 − 2⋅ t

F( t) = 1 − 2( t + 2 )

F( t) = −3 − 2 ⋅ t ;take laplace transform

−3 2
f( s) = −
s 2
s

Hence

− 2⋅ s
g ( s) = e ⋅ f( s)

⋅  
− 2⋅ s −3 2
−
2
g ( s) = e
 s s 

⋅  
− 2⋅ s 3 2
g ( s) = − e +
2
s s 

Step 3 Conclusion

1
h( s) = + g ( s) becomes
2
s

⋅  
1 − 2⋅ s 3 2
+e + s>0
2
h( s) =
2
s s s 
;ans

QA 3.1.2.B(ii)

Step 1 Given

H( t) := sin( t) if 0 ≤ t < π
0 if t ≥ π

H( t)
0 2 4 6

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H( t) := sin( t) + ( 0 − sin( t) ) ⋅ Φ ( t − π )

Step 2 To find h(s) by applying laplace transform

H( t) = sin( t) + G( t) ;take laplace transform

1
h( s) = + g ( s)
2
s +1

To find g(s)

Consider second term of rhs of H(t):

G( t) = − sin( t) ⋅ Φ ( t − π) In written form, unit step function is

U(t - σ) while in mathcad, Φ(t - σ)

Use theorem
− σ ⋅s
laplace( F( t − σ ) ⋅ Φ ( t − σ ) ) = e ⋅ f( s) , s > s0

Let

σ := π
F( t − π ) = − sin( t)

F( t) = −sin( t + π)

F( t) = −sin( t) ⋅ cos( π) − cos( t) ⋅ sin( π ) ;take laplace transform

F( t) = sin( t)

1 − sin( t + π ) → sin( t)
f( s) =
2
s +1

Hence

− π⋅s
g ( s) = e ⋅ f( s)

− π⋅s
⋅
 1 
g ( s) = e
2 
 s + 1

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Step 3 Conclusion

1
h( s) = + g ( s) becomes
2
s

⋅  
1 − π⋅s 1
h( s) = +e  s>0
2 2
s s + 1
;ans

QA 3.1.2.B(iii)

Step 1 Given

H( t) := 1 if 0 ≤ t < 1
− 1 if 1 ≤ t < 2
1 if 2 ≤ t

Graph of H(t)

H( t)
0 1 2 3

H( t) := 1 + ( − 1 − 1 ) ⋅ Φ ( t − π ) + [ 1 − ( − 1 ) ] ⋅ Φ ( t − 2 )
H( t) := 1 − 2⋅ Φ ( t − 1) + 2 ⋅ Φ ( t − 2 )

Step 2 To find h(s) by applying laplace transform

Consider second and third term of rhs of H(t):

In written form, unit step function is

Use theorem U(t - σ) while in mathcad, Φ(t - σ)
− σ ⋅s
e
laplace( Φ ( t − σ ) ) = ,s > 0
s

−s − 2s
1 e e
h( s) = − 2⋅ + 2⋅ s>0
s s s
;ans

20094em3 QA 31_2.mcd Copyright 2009 4/16

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QA 3.1.2.B(iv)

Step 1 Given

H( t) := 0 if 0 ≤ t < 1
1 if 1 ≤ t < 3
2 if 3 ≤ t

Graph of H(t)

H( t)
0 2 4

H( t) := 0 + ( 1 − 0 ) ⋅ Φ ( t − 1) + ( 2 − 1) ⋅ Φ ( t − 3 )

H( t) := Φ ( t − 1 ) + Φ ( t − 2)

Step 2 To find h(s) by applying laplace transform

Consider first and second term of rhs of H(t):

Use theorem

− σ ⋅s
e
laplace( Φ ( t − σ ) ) = ,s > 0
s

−s − 2s
e e
h( s) = + s>0
s s
;ans

QA 3.1.2.B(v)

Step 1 Given
−t
H( t) := e if 0 ≤ t < 1
0 if 1 ≤ t Graph of H(t)

H( t)
0 2 4

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 Engineering Mathematics 3

H( t) := e
−t (
+ 0−e
−t ) ⋅ Φ ( t − 1)
−t −t
H( t) := e − e ⋅ Φ ( t − 1)

Step 2 To find h(s) by applying laplace transform

1
h( s) = + g( s)
s+1

Consider second term of rhs of H(t):

Use theorem

− σ ⋅s
g ( s) = laplace( F( t − σ ) ⋅ Φ ( t − σ ) ) = e ⋅ f( s) , s > s0

Let

σ=1

−t
F( t − 1) = −e

− ( t+ 1) −t −1
F( t) = −e = −e ⋅ e ;take laplace transform

−1 1
f( s) = − e ⋅
s+ 1
−1
−e
f( s) =
s+1

By theorem

−s  −s e 
−1
g ( s) = e ⋅ f( s) = −e ⋅ 
 s + 1
− ( s+ 1)
−e
g ( s) =
s+ 1

Step 3 Conclusion

1
h( s) = + g( s) becomes
s+1

− ( s+ 1)
1 e
h( s) = − s > −1
s+1 s+1
;ans

Step 4 (Optional: Verify using mathcad)

1 exp( − s − 1 )
H( t) laplace , t → −
( s + 1) ( s + 1)

verified as correct

20094em3 QA 31_2.mcd Copyright 2009 6/16

 Engineering Mathematics 3

QA 3.1.2.B(vi)

Step 1 Given

H( t) := 1 if 0 ≤ t < 3
0 if 3 ≤ t

Graph of H(t)

H( t)
0 2 4

H( t) := 1 + ( 0 − 1 ) ⋅ Φ ( t − 3)

H( t) := 1 − Φ ( t − 3 )

Step 2 To find h(s) by applying laplace transform

1
h( s) = + g ( s)
s

Consider second term of rhs of H(t):

G( t) = − Φ ( t − 3 )

Use theorem

− σ ⋅s
e
laplace( Φ ( t − σ ) ) = ,s > 0
s

Let

σ=3
− 3s
−e
g ( s) =
s

Step 3 Conclusion

1
h( s) = + g ( s) becomes
s

− 3s
1 e
h( s) = − s>0
s s
;ans

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Step 4 (Optional: Verify using mathcad)

1 exp( − 3 ⋅ s)
H( t) laplace , t → −
s s

verified as correct

QA 3.1.2.B(vii)

Step 1 Given

H( t) := 2 ⋅ t if 0 ≤ t < 1
t if 1 ≤ t
Graph of H(t)

H( t)
0 1 2

H( t) := 2⋅ t + ( t − 2 ⋅ t) ⋅ Φ ( t − 1 )

H( t) := 2t − t⋅ Φ ( t − 1 )

Step 2 To find h(s) by applying laplace transform

2
h( s) = + g ( s)
2
s

Consider second term of rhs of H(t):

G( t) = − t⋅ Φ ( t − 1 )

Use theorem

− σ ⋅s
laplace( F( t − σ ) ⋅ Φ ( t − σ ) ) = e ⋅ f( s) , s > s0
Let

σ=1

F( t − 1) = −t

F( t) = −( t + 1 ) = − t − 1 ;apply laplace transform formula

−1 1
f( s) = −
2 s
s

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By theorem

−s
g ( s) = e ⋅ f( s)

−s
g ( s) = e ⋅ 
 −1 −
1
2 s
s 

Step 3 Conclusion

2
h( s) = + g ( s) becomes
2
s

2 −s
+ e ⋅
 −1 −
1
s>0
s
h( s) =
2 2
s s 
;ans
2 −s
− e ⋅
 1 + 1
s
h( s) =
2 2
s s 

Step 4 (Optional: Verify using mathcad)

2 exp( − s) exp( − s)
H( t) laplace , t → − −
2 s 2
s s

verified as correct

QA 3.1.2.B(viii)

Step 1 Given

H( t) := sin( t) if 0 ≤ t < π
0 if π ≤ t

Graph of H(t)

H( t)
0 2 4 6

t
H( t) := sin( t) + ( 0 − sin( t) ) ⋅ Φ ( t − π )

H( t) := sin( t) − sin( t) ⋅ Φ ( t − π )

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Step 2 To find h(s) by applying laplace transform

1
h( s) = + g ( s)
2
s +1

Consider second term of rhs of H(t):

G( t) = − sin( t) ⋅ Φ ( t − π)

Use theorem

− σ ⋅s
laplace( F( t − σ ) ⋅ Φ ( t − σ ) ) = e ⋅ f( s) , s > s0

Let

σ=π

F( t − π ) = − sin( t)

F( t) = −sin( t + π) ;expand before apply laplace transform

formula
F( t) = sin( t)
− sin( t + π ) → sin( t)

1
f( s) =
2
s +1

By theorem

− π⋅s
g ( s) = e ⋅ f( s)

⋅  
− π⋅s 1
g ( s) = e
2 
s + 1

Step 3 Conclusion

⋅  
2 − π⋅s 1
h( s) = +e 
2 2 s>0
s s + 1
;ans

Step 4 (Optional: Verify using mathcad)

1 exp( − s⋅ π )
H( t) laplace , t → +
(s 2
+1 ) ( s2 + 1)
verified as correct

20094em3 QA 31_2.mcd Copyright 2009 10/16

 Engineering Mathematics 3

QA 3.1.3(i)

Step 1 Given

H( t) := cos( t) if 0 ≤ t < π
sin( t) if π ≤ t

Graph of H(t)

H( t)
0 2 4 6

H( t) := cos( t) + ( sin( t) − cos( t) ) ⋅ Φ ( t − π )

Step 2 To find h(s) by applying laplace transform

s
h( s) = + g ( s)
2
s +1

Consider second term of rhs of H(t):

G( t) = ( sin( t) − cos( t) ) ⋅ Φ ( t − π )

Use theorem

− σ ⋅s
laplace( F( t − σ ) ⋅ Φ ( t − σ ) ) = e ⋅ f( s) , s > s0

Let

σ=π

F( t − π ) = sin( t) − cos( t)

F( t) = sin( t + π ) − cos( t + π ) ;expand before apply laplace transform

formula
F( t) = −sin( t) + cos( t)
sin( t + π) − cos( t + π) → − sin( t) + cos( t)

−1 s
f( s) = +
2 2
s +1 s +1

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By theorem

− π⋅s
g ( s) = e ⋅ f( s)

⋅  
− π⋅s s− 1
g ( s) = e
2 
s + 1

Step 3 Conclusion

⋅  
s − π⋅s s− 1
h( s) = +e 
2 2 s>0
s +1 s + 1
;ans

Step 4 (Optional: Verify using mathcad)

s exp( − s⋅ π ) s
H( t) laplace , t → − + exp( − s⋅ π ) ⋅
(s
2
+1 ) (s
2
+1 ) (s
2
+1 )
verified as correct

QA 3.1.3(ii)

Step 1 Given
2
G( t) := t ⋅ Φ ( t − 1 )

Graph of G(t)

G ( t)
0 1 2 3

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Step 2 To find h(s) by applying laplace transform

Use theorem

− σ ⋅s
laplace( F( t − σ ) ⋅ Φ ( t − σ ) ) = e ⋅ f( s) , s > s0

Let

σ=1

2
F( t − 1) = t

2
F( t) = ( t + 1 ) ;expand before apply laplace transform
formula
2
F( t) = t + 2 ⋅ t + 1

2 2 1
f( s) = + +
3 2 s
s s

Step 3 Conclusion

By theorem

−s
g ( s) = e ⋅ f( s)

g ( s) = e ⋅ 
−s 2 2 1
+ +  s>0
3 2 s
s s
;ans

QA 3.1.3(iii)

Step 1 Given
−t
H( t) := e ⋅ Φ ( t − π )

Graph of H(t)

H( t)
0.05

0 2 4 6
t

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 Engineering Mathematics 3

Step 2 To find h(s) by applying laplace transform

Use theorem

− σ ⋅s
laplace( F( t − σ ) ⋅ Φ ( t − σ ) ) = e ⋅ f( s) , s > s0

Let

σ=π

−t
F( t − π ) = e

− ( t+ π )
F( t) = e ;apply laplace transform formula

−π −t
F( t) = e ⋅e

−π 1
f( s) = e ⋅
s+1

Step 3 Conclusion

By theorem

− πs
g ( s) = e ⋅ f( s)

⋅ e 
− π⋅s −π 1
g ( s) = e ⋅ 
 s + 1

− π ⋅ ( s+ 1)
e
g ( s) = s > −1
s+ 1
;ans

QA 3.1.3(iv)

Step 1 Given

F( t) := t if 0 ≤ t < 1
1 if 1 ≤ t < 2
( − t) if 2 ≤ t
Graph of F(t)

F( t)
0 1 2 3

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F( t) := t + ( 1 − t) ⋅ Φ ( t − 1) + ( −t − 1) ⋅ Φ ( t − 2 )

F( t) := t + ( 1 − t) ⋅ Φ ( t − 1) − ( t + 1 ) ⋅ Φ ( t − 2 )

Step 2 To find h(s) by applying laplace transform

1
f( s) = + g 1 ( s) + g 2 ( s)
2
s

Consider second and third term of rhs of F(t):

G1 ( t) = ( 1 − t) ⋅ Φ ( t − 1 )

G2 ( t) = − ( t + 1 ) ⋅ Φ ( t − 2 )

Use theorem

− σ ⋅s
laplace( F( t − σ ) ⋅ Φ ( t − σ ) ) = e ⋅ f( s) , s > s0

To find g 1 ( s)

Let

σ=1

F1 ( t − 1 ) = 1 − t

F1 ( t) = 1 − ( t + 1 ) = − t ;apply laplace transform formula

−1
f1 ( s) =
2
s

By theorem

−s
g 1 ( s) = e ⋅ f1 ( s)

−s
−e
g 1 ( s) =
2
s

To find g 2 ( s)

Let

σ=2

F2 ( t − 2 ) = − t − 1

F2 ( t) = − ( t + 2 ) − 1 ;apply laplace transform formula

F2 ( t) = − t − 3

−1 3
f2 ( s) = −
2 s
s

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By theorem

− 2s
g 2 ( s) = e ⋅ f2( s)

⋅ 
− 2⋅ s −1 3
g 2 ( s) = e − 
2 s
s

Step 3 Conclusion

1
f( s) = + g 1 ( s) + g 2 ( s)
2 s>0
s

−s ;ans
⋅ 
1 −e − 2⋅ s −1 3
f( s) = + +e − 
2 2 2 s
s s s
−s
⋅ 
1 e − 2⋅ s 1 3
f( s) = − −e + 
2 2 2 s
s s s

Step 4 (Optional: Verify using mathcad)

1 exp( −s) exp( − 2 ⋅ s) exp( − 2 ⋅ s)

F( t) laplace , t → − − 3⋅ −
2 2 s 2
s s s

verified as correct

20094em3 QA 31_2.mcd Copyright 2009 16/16