Given ODE

Subsidiary Equation

Solution of Subsidiary
Equation

Solution of ODE

𝑓(𝑡) 𝑡≥0 𝒇(𝒕)

∞
𝑭(𝒔) = 𝓛(𝒇) = ∫ 𝒆−𝒔𝒕 𝒇(𝒕)𝒅𝒕
𝟎
𝓛 𝐹(𝑠)
𝑓(𝑡) 𝐹(𝑠)
𝓛−𝟏(𝑭) = 𝒇(𝒕)
𝓛−𝟏(𝓛(𝒇)) =𝒇 𝓛(𝓛−𝟏 (𝑭)) =𝑭

𝓛{𝒂𝒇(𝒕) + 𝒃𝒈(𝒕)} = 𝒂𝓛{𝒇(𝒕)} + 𝒃𝓛{𝒈(𝒕)}

𝒆𝒂𝒕 𝒇(𝒕) 𝑭(𝒔 − 𝒂)

𝓛{𝒆𝒂𝒕 𝒇(𝒕)} = 𝑭(𝒔 − 𝒂)

𝒆𝒂𝒕𝒇(𝒕) = 𝓛−𝟏 {(𝑭(𝒔 − 𝒂)}

𝓛(𝒇′ ) = 𝒔𝓛(𝒇) − 𝒇(𝟎)

𝓛(𝒇′′ ) = 𝒔𝟐 𝓛(𝒇) − 𝒔𝒇(𝟎) − 𝒇′ (𝟎)

𝓛(𝒇(𝒏) ) = 𝒔𝒏 𝓛(𝒇)−𝒔𝒏−𝟏𝒇(𝟎)−𝒔𝒏−𝟐𝒇′ (𝟎) − ⋯ − 𝒇(𝒏−𝟏) (𝟎)

 𝒕
𝟏
𝓛 {∫ 𝒇(𝝉)𝒅𝝉} = 𝑭(𝒔)
𝟎 𝒔

𝒕
𝟏
∫ 𝒇(𝝉)𝒅𝝉 = 𝓛−𝟏 { 𝑭(𝒔)}
𝟎 𝒔

𝑓(𝑡) = 1
𝑓(𝑡) = 𝑒 𝑎𝑡
𝑓(𝑡) = cos 𝜔𝑡
𝑓(𝑡) = sin 𝜔𝑡
𝑓(𝑡) = sinh 𝑡 cos 𝑡
2𝑠−1
ℒ(𝑓) =
𝑠 2 −6𝑠+18
3𝑠−137
ℒ(𝑓) =
𝑠 2 +2𝑠+401

𝑓(𝑡) = 𝑡 sin 𝜔𝑡

1
𝑠(𝑠 2 +𝜔2 )
1
𝑠 2 (𝑠 2 +𝜔 2 )

𝒚′′ + 𝒂𝒚′ + 𝒃𝒚 = 𝒓(𝒕), 𝒚(𝟎) = 𝑲𝟎 𝒚′(𝟎) = 𝑲𝟏

𝒀 = 𝓛(𝒚)

𝑦 ′′ − 𝑦 = 0, 𝑦(0) = 1 𝑦 ′ (0) = 1
𝑦 ′′ + 𝑦 ′ + 9𝑦 = 0, 𝑦(0) = 0.16 𝑦 ′ (0) = 0
𝑦 ′′ + 𝑦 = 2𝑡, 𝑦(𝜋/4) = 𝜋/2 𝑦 ′ (𝜋/4) = 2 − √2
 0 𝑖𝑓 𝑡 < 0
𝑢(𝑡) = {
1 𝑖𝑓 𝑡 > 0

𝟎 𝒊𝒇 𝒕 − 𝒂 < 𝟎
𝒖(𝒕 − 𝒂) = {
𝟏 𝒊𝒇 𝒕 − 𝒂 > 𝟎

𝒆−𝒂𝒔
𝓛{𝒖(𝒕 − 𝒂)} =
𝒔

0 𝑖𝑓 𝑡 < 𝑎
𝑓(𝑡 − 𝑎)𝑢(𝑡 − 𝑎) = { ,
𝑓(𝑡 − 𝑎) 𝑖𝑓 𝑡 > 𝑎

𝓛{𝒇(𝒕 − 𝒂)𝒖(𝒕 − 𝒂)} = 𝑭(𝒔)

𝒇(𝒕 − 𝒂)𝒖(𝒕 − 𝒂) = 𝓛−𝟏 {𝒆−𝒂𝒔 𝑭(𝒔)}

𝓛{𝒇(𝒕)} = 𝑭(𝒔)

𝑒 −𝑠 𝑒 −2𝑠 𝑒 −2𝑠
+ 𝑠 2+1 + (𝑠+2)2
𝑠 2 +1

2(𝑒 −𝑠 −𝑒 −3𝑠 )
𝑠 2 −4
(1+𝑒 −2𝜋(𝑠+1) )(𝑠+1)
(𝑠+1)2 +1
c06.qxd 10/28/10 6:33 PM Page 248

248 CHAP. 6 Laplace Transforms

6.8 Laplace Transform: General Formulas

Formula Name, Comments Sec.

ⴥ
F(s) ⫽ l{ f (t)} ⫽ 冮
0
eⴚstf (t) dt Definition of Transform
6.1
f (t) ⫽ lⴚ1{F(s)} Inverse Transform

l{af (t) ⫹ bg(t)} ⫽ al{ f (t)} ⫹ bl{g(t)} Linearity 6.1

l{eatf (t)} ⫽ F(s ⫺ a)

s-Shifting
lⴚ1{F(s ⫺ a)} ⫽ eatf (t) (First Shifting Theorem) 6.1

l( f r ) ⫽ sl( f ) ⫺ f (0)

l( f s ) ⫽ s 2l( f ) ⫺ sf (0) ⫺ f r (0) Differentiation of Function

l( f (n)) ⫽ s nl( f ) ⫺ s (nⴚ1)f (0) ⫺ Á 6.2
Á ⫺f (nⴚ1)
(0)
t
le 冮 f (t) dtf ⫽ 1s l( f )
0
Integration of Function

t
( f * g)(t) ⫽ 冮 f (t)g(t ⫺ t) dt
0
t
⫽ 冮 f (t ⫺ t)g(t) dt
0
Convolution 6.5

l( f * g) ⫽ l( f )l(g)

l{ f (t ⫺ a) u(t ⫺ a)} ⫽ eⴚasF(s)

˛

t-Shifting
ⴚ1 6.3
l {eⴚasF (s)} ⫽ f (t ⫺ a) u(t ⫺ a) (Second Shifting Theorem)

l{tf (t)} ⫽ ⫺F r (s) Differentiation of Transform

ⴥ 6.6
f (t)
le
t
f ⫽ 冮
s
F( 苲
s ) d苲
s Integration of Transform

p 6.4
l( f ) ⫽
1
1 ⫺ eⴚps
冮
0
eⴚstf (t) dt f Periodic with Period p Project
16
c06.qxd 10/28/10 6:33 PM Page 249

SEC. 6.9 Table of Laplace Transforms 249

6.9 Table of Laplace Transforms

For more extensive tables, see Ref. [A9] in Appendix 1.

F (s) ⫽ l{ f (t)}
˛ f (t) Sec.

1 1>s 1
2 1>s 2 t
3 1>s n (n ⫽ 1, 2, Á ) t nⴚ1>(n ⫺ 1)!
t 6.1
4 1> 1s 1> 1pt
5 1>s 3>2 2 1t> p
6 1>s a (a ⬎ 0) t aⴚ1>⌫(a)

1
7 eat
s⫺a
1
8 teat
(s ⫺ a)2
1 1 t 6.1
9 (n ⫽ 1, 2, Á ) t nⴚ1eat
(s ⫺ a) n (n ⫺ 1)!
1 1 kⴚ1 at
10 (k ⬎ 0) t e
(s ⫺ a) k ⌫(k)

1 1
11 (a ⫽ b) (eat ⫺ ebt)
(s ⫺ a)(s ⫺ b) a⫺b
s 1
12 (a ⫽ b) (aeat ⫺ bebt)
(s ⫺ a)(s ⫺ b) a⫺b

1 1
13 sin vt
s ⫹v
2 2 v
s
14 cos vt
s 2 ⫹ v2
1 1
15 sinh at
a
s ⫺a
t 6.1
2 2

s
16 cosh at
s2 ⫺ a2
1 1 at
17 e sinh vt
(s ⫺ a)2 ⫹ v2 v
s⫺a
18 eat cos vt
(s ⫺ a) ⫹ v 2 2

1 1
19 (1 ⫺ cos vt)
s(s ⫹ v )
2 2
v2
x 6.2
1 1
20 (vt ⫺ sin vt)
s 2(s 2 ⫹ v2) v3

(continued )
c06.qxd 10/28/10 6:33 PM Page 250

250 CHAP. 6 Laplace Transforms

Table of Laplace Transforms (continued )

F (s) ⫽ l{ f (t)}
˛ f (t) Sec.

1 1
21 (sin vt ⫺ vt cos vt)
(s ⫹ v )
2 2 2
2v3
s t
22 sin vt t 6.6
(s 2 ⫹ v2) 2 2v
s2 1
23 (sin vt ⫹ vt cos vt)
(s ⫹ v )
2 2 2 2v
s 1
24 (a 2 ⫽ b 2) (cos at ⫺ cos bt)
(s 2 ⫹ a 2)(s 2 ⫹ b 2) b 2 ⫺ a2

1 1
25 (sin kt cos kt ⫺ cos kt sinh kt)
s ⫹ 4k
4 4
4k 3
s 1
26 sin kt sinh kt
s 4 ⫹ 4k 4 2k 2
1 1
27 (sinh kt ⫺ sin kt)
s4 ⫺ k 4 2k 3
s 1
28 (cosh kt ⫺ cos kt)
s4 ⫺ k 4 2k 2

1
29 1s ⫺ a ⫺ 1s ⫺ b (ebt ⫺ eat)
22pt 3
a⫺b
eⴚ(a⫹b)t>2I0 a
1
30 tb I 5.5
1s ⫹ a 1s ⫹ b 2
1
31 J0(at) J 5.4
2s ⫹ a 2 2

s 1
32 eat(1 ⫹ 2at)
(s ⫺ a) 3>2
1pt
kⴚ1>2
1p t
a b
1
33 (k ⬎ 0) Ikⴚ1>2(at) I 5.5
(s 2 ⫺ a 2)k ⌫(k) 2a

34 eⴚas>s u(t ⫺ a) 6.3

35 eⴚas d(t ⫺ a) 6.4

1 ⴚk>s
36 e J0(2 1kt) J 5.4
s
1 ⴚk>s 1
37 e cos 2 1kt
1s 1pt
1 1
38 ek>s sinh 2 1kt
s 3>2
1pk
k >4t
eⴚk1s eⴚk
2
39 (k ⬎ 0)
3
22pt

(continued )
c06.qxd 10/28/10 6:33 PM Page 251

Chapter 6 Review Questions and Problems 251

Table of Laplace Transforms (continued )

F (s) ⫽ l{ f (t)}
˛ f (t) Sec.

1
40 ln s ⫺ln t ⫺ g (g ⬇ 0.5772) g 5.5
s
s⫺a 1 bt
41 ln (e ⫺ eat)
s⫺b t

s 2 ⫹ v2 2
42 ln (1 ⫺ cos vt) 6.6
s2 t
s2 ⫺ a2 2
43 ln (1 ⫺ cosh at)
s 2 t
v 1
44 arctan sin vt
s t
1 App.
45 arccot s Si(t)
s A3.1