4

CHAPTER

The Laplace Transform

In the linear mathematical

models for a physical system such CHAPTER CONTENTS
as a spring/mass system or a
series electrical circuit, the input
or driving function represents 4.1 Definition of the Laplace Transform
either an external force f(t) or an 4.2 The Inverse Transform and Transforms of Derivatives
impressed voltage E(t). In 4.2.1 Inverse Transforms
Section 3.8 we considered
problems in which f and E were 4.2.2 Transforms of Derivatives
continuous. However, 4.3 Translation Theorems
discontinuous driving functions
4.3.1 Translation on the s-axis
are not uncommon. Although we
have solved piecewise-linear 4.3.2 Translation on the t-axis
differential equations using the 4.4 Additional Operational Properties
techniques of Chapters 2 and 3,
the Laplace transform discussed 4.4.1 Derivatives of Transforms
in this chapter is an especially 4.4.2 Transforms of Integrals
valuable tool that simplifies the
solution of such equations. 4.6 Systems of Linear Differential Equations
Chapter 4 in Review

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4.1 Definition of the Laplace Transform

Definition 4.1.1 Laplace Transform
Let f be a function defined for t  0. Then the integral
q
+5 f (t)6  #
0
e st f (t) dt (2)

is said to be the Laplace transform of f, provided the integral converges.

l{ f (t)}  F (s), l{g(t)}  G(s), l{y(t)}  Y(s), and +5h(t)6 H(s).

EXAMPLE 1 Using Definition 4.1.1

Evaluate +{1}.
SOLUTION From (2),

q b
+516  #0
e st(1) dt  lim
bSq 0
#e st
dt

e st b e sb  1 1
 lim 2  lim 
bSq s 0 bSq s s

provided s  0. In other words, when s  0, the exponent sb is negative and esb S 0 as
b S q. The integral diverges for s  0.

EXAMPLE 2 Using Definition 4.1.1

Evaluate +{t}.
SOLUTION From Definition 4.1.1, we have +{t}  e0q estt dt. Integrating by parts and
using limtSq test  0, s  0, along with the result from Example 1, we obtain

q
te st q 1 test b
#
q q
1 1
+5t6 
s
2 
0 s 0
estdt  lim
bSq s
2 
0 s #0
e dt  0 +
st
s #
0
estdt

1 1 1 1
+516  a b  2 .
s s s s
EXAMPLE 3 Using Definition 4.1.1
Evaluate (a) +{e–3t} (b) +{e6t}.
SOLUTION In each case we use Definition 4.1.1.
q q
(a) +5e 3t 6  #0
e 3te st dt  #0
e (s  3)t dt

q b
e 1s  32t  lim e
1s  32t
 † †
s3 bSq s3
0 0
1
 .
s3

The last result is valid for s  3 because in order to have limtSq e(s 3)t  0 we must require
that s  3  0 or s  3.

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q q
(b) +5e 6t 6  #
0
e 6te st dt  #0
e (s 2 6)t dt

e (s 2 6)t q e (s 2 6)t b

 `  lim `
s26 0 bSq s 2 6 0
1
 .
s26

In contrast to part (a), this result is valid for s  6 because limtSq e (s 2 6)t  0 demands
s  6  0 or s  6.

EXAMPLE 4 Using Definition 4.1.1

Evaluate +{sin 2t}.
SOLUTION From Definition 4.1.1 and integration by parts we have
q q
e st sin 2t q 2
+5sin 2t6  #
0
e st
sin 2t dt 
s
2 
0 s #0
e st cos 2t dt

q
2

s #
0
e st cos 2t dt, s . 0

lim e st cos 2t  0, s . 0 Laplace transform of sin 2t

tSq
T T
q
2 e cos 2t q 2st
 c
s s
2 2
0 s #
0
e st sin 2t dtd

2 4
 2 2 +5sin 2t6.
s2 s
At this point we have an equation with +{sin 2t} on both sides of the equality. Solving for
that quantity yields the result
2
+{sin 2t}  2
, s  0.
s 4

Theorem 4.1.1 Transforms of Some Basic Functions

1
(a) +{1} 
s
n! 1
(b) +{t n}  n  1 , n  1, 2, 3, … (c) +{eat} 
s s 2 a
k s
(d) +{sin kt}  2 2
(e) +{cos kt}  2
s k s  k2
k s
(f ) +{sinh kt}  2 2
(g) +{cosh kt}  2
s 2k s 2 k2

+ Is a Linear Transform

ᏸ{a f (t)  b g(t)}  a ᏸ{ f (t)}  b ᏸ{g(t)}  a F (s)  b G(s). (3)

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EXAMPLE 5 Linearity of the Laplace Transform

Evaluate (a) +51  5t6 (b) +52e6t 2 15 sin 2t6 (c) +{10e3t  5t  8}
SOLUTION Using property (3)
1 5
(a) +51  5t6  +516  5+5t6   2.
s s

2 30
(b) +52e 6t 2 15 sin 2t6  2 +5e 6t 6 2 15 +5sin 2t6  2 2 .
s26 s 4

(c) +{10e3t  5t  8}  10 +{e3t} 2 5+{t}  8 +{1}

10 5 8
 2 2 .
s3 s s

f(t)
et
Definition 4.1.2 Exponential Order
A function f is said to be of exponential order if there exist constants c, M  0, and T  0
t
such that | f (t)|  Mect for all t  T.

(a)
Theorem 4.1.2 Sufficient Conditions for Existence
f(t)
et If f (t) is piecewise continuous on the interval [0, q) and of exponential order, then +{ f (t)}
exists for s  c.

e –t
t

(b)
EXAMPLE 6 Transform of a Piecewise-Continuous Function
f(t)
2e t 0, 0#t,3
Evaluate +{ f (t)} for f (t)  e
2, t $ 3.
2 cos t
SOLUTION This piecewise-continuous function appears in FIGURE 4.1.5. Since f is defined in
two pieces, +{ f (t)} is expressed as the sum of two integrals:
t
q 3 q
+5 f (t)6  #
0
e stf (t) dt  #
0
e st(0) dt  #
3
e st(2) dt
(c)

FIGURE Functions with blue graphs are 2e st q

 2
of exponential order s 3

2e 3s
 , s . 0.
2
s
f(t) et ect
y
2

t t
c 3
2
FIGURE f (t)  et is not of
FIGURE Piecewise-continuous function
exponential order
in Example 6

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4.1 Exercises Answers to selected odd-numbered problems
In Problems 1–18, use Definition 4.1.1 to find +{ f (t)}.
1, 0 # t , 1 In Problems 19–36, use Theorem 4.1.1 to find +{ f (t)}.
1. f (t)  e 19. f (t)  2t 4 20. f (t)  t 5
1, t$1
21. f (t)  4t  10 22. f (t)  7t  3
4, 0 # t , 2 23. f (t)  t 2  6t  3 24. f (t)  4t 2  16t  9
2. f (t)  e 25. f (t)  (t  1) 3
26. f (t)  (2t  1)3
0, t$2
27. f (t)  1  e4t 28. f (t)  t 2  e9t  5
2t 2
29. f (t)  (1  e ) 30. f (t)  (e t  et )2
t, 0 # t , 1
3. f (t)  e 31. f (t)  4t 2  5 sin 3t 32. f (t)  cos 5t  sin 2t
1, t$1
33. f (t)  sinh kt 34. f (t)  cosh kt
35. f (t)  et sinh t 36. f (t)  et cosh t
2t  1, 0 # t , 1
4. f (t)  e
0, t$1 In Problems 37–40, find +{ f (t)} by first using an appropriate
trigonometric identity.
sin t, 0 # t , p 37. f (t)  sin 2t cos 2t 38. f (t)  cos2 t
5. f (t)  e
0, t$p 39. f (t)  sin (4t  5) 40. f (t)  10 cos (t  p/6)

sin t, 0 # t , p/2
6. f (t)  e
0, t $ p/2 Answers
f(t)
7. 8. f (t)
(2, 2) (2, 2) 2 s 1 1 1
1. e 2 3. 2 2 e s
1 1 s s s 2
s
1  e ps 1 s 1
t t 5. 7. e  2 e s
1 1 s2  1 s s
1 1 1 e7
FIGURE 4.1.6 Graph for FIGURE 4.1.7 Graph for 9. 2 2  2 e s 11.
s s s s21
Problem 7 Problem 8
1 1
13. 15.
9. f(t) 10. f (t) (s 2 4)2 2
s  2s  2
s2 2 1 48
1 c 17. 19.
(s 2  1)2 s5
t t 4 10 2 6 3
1 a b 21. 2 23.  22
s 2 s s 3
s s
FIGURE 4.1.8 Graph for FIGURE 4.1.9 Graph for 6 6 3 1 1 1
Problem 9 Problem 10 25.  3 2 27. 
s4 s s s s s24

1 2 1 8 15
11. f (t)  e t  7 12. f (t)  e2t  5 29.   31. 3 2 2
s s22 s24 s s 9
13. f (t)  te4t 14. f (t)  t 2 e2t
e kt 2 e kt
15. f (t)  et sin t 16. f (t)  et cos t 33. Use sinh k t  to show that
2
17. f (t)  t cos t 18. f (t)  t sin t
k
+{sinh k t}  2 .
s 2 k2
1 1 2
35. 2 37. 2
2(s 2 2) 2s s  16
4 cos 5  (sin 5)s !p
39. 43. 1>2
s  16
2
s

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4.2 The Inverse Transform and Transforms of Derivatives

4.2.1 Inverse Transforms

The Inverse Problem If F (s) represents the Laplace transform of a function f (t), that is,
+{ f (t)}  F (s), we then say f (t) is the inverse Laplace transform of F(s) and write f (t)  +1{F (s)}.
For example, from Examples 1, 2, and 3 in Section 4.1 we have, respectively,

1 1 1
1  + 1 e f , t  + 1 e f, and e3t  + 1 e f.
s s2 s3

Theorem 4.2.1 Some Inverse Transforms

1
(a) 1  + 1 e f
s
n! 1
(b) t n  + 1 e f , n  1, 2, 3, p (c) eat  + 1 e f
sn1 s2a
k s
(d) sin kt  + 1 e 2 f (e) cos kt  + 1 e 2 f
s  k2 s  k2
k s
(f ) sinh kt  + 1 e 2 f (g) cosh kt  + 1 e 2 f
s 2 k2 s 2 k2

EXAMPLE 1 Applying Theorem 4.2.1

1 1
Evaluate (a) + 1 e f (b) + 1 e f.
s5 s2  7

SOLUTION (a) To match the form given in part (b) of Theorem 4.2.1, we identify n  1  5
or n  4 and then multiply and divide by 4!:
1 1 1 4! 1 4
+ 1 e 5
f  + e 5f  t.
s 4! s 24

(b)
1 1 "7 1
+ 1 e f  + 1 e 2 f  sin "7t.
s2  7 "7 s  7 "7
+ 1 Is a Linear Transform The inverse Laplace transform is also a linear transform;
that is, for constants a and b,

ᏸ1{a F (s)  b G(s)}  a ᏸ1{F (s)}  b ᏸ1{G(s)}, (1)

EXAMPLE 2 Termwise Division and Linearity

2s  6
Evaluate + 1 e f.
s2  4
SOLUTION We first rewrite the given function of s as two expressions by means of termwise
division and then use (1):
termwise division linearity and fixing up constants
T T
2s  6 2s 6 s 6 2
+1 e f  +1 e 2  2 f  2 +1 e 2 f  +1 e 2 f (2)
s2  4 s 4 s 4 s 4 2 s 4

 2 cos 2t  3 sin 2t. d parts (e) and (d) of Theorem 4.2.1 with k  2

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Partial Fractions partial fractions is an important role in finding inverse Laplace transforms.

EXAMPLE 3 Partial Fractions and Linearity

s 2  6s  9
Evaluate +1 e f.
(s 2 1)(s 2 2)(s  4)
SOLUTION There exist unique constants A, B, and C such that

s 2  6s  9 A B C
  
(s 2 1)(s 2 2)(s  4) s21 s22 s4
A(s 2 2)(s  4)  B(s 2 1)(s  4)  C(s 2 1)(s 2 2)
 .
(s 2 1)(s 2 2)(s  4)
Since the denominators are identical, the numerators are identical:

s 2  6s  9  A(s 2 2)(s  4)  B(s 2 1)(s  4)  C(s 2 1)(s 2 2). (3)

If we set s  1, s  2, and s  4 in (3) we obtain, respectively

16  A(1)(5), 25  B(1)(6), 1  C(5)(6),

and so A   165 , B  256 , C  301 . Hence the partial fraction decomposition is

s 2  6s  9 16/5 25/6 1/30

   , (4)
(s 2 1)(s 2 2)(s  4) s21 s22 s4

s 2  6s  9 16 1 25 1 1 1 1 1
+1 e f   +1 e f  + e f  + e f
(s 2 1)(s 2 2)(s  4) 5 s21 6 s22 30 s4

16 t 25 2t 1 4t
 e  e  e . (5)
5 6 30

Transform of a Derivative
q q q
+{ f (t)}  #
0
estf (t) dt  estf (t) 2  s
0
# 0
estf (t) dt

 f (0)  s+{ f (t)}

(6)
or +{ f (t)}  sF (s)  f (0).
q q q
+{ f (t)}  #0
est st
f (t) dt  e f (t) 2  s
0
# 0
est f (t) dt

 f (0)  s+{ f (t)}

 s[sF(s)  f (0)]  f (0) d from (6)
or +{ f (t)}  s2F(s)  s f (0)  f (0). (7)

In like manner it can be shown that

+{ f (t)}  s3F(s)  s2 f (0)  s f (0)  f (0). (8)

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Theorem 4.2.2 Transform of a Derivative
If f, f , . . . , f (n1) are continuous on [0, q) and are of exponential order and if f (n)(t) is piecewise
continuous on [0, q), then

+{ f (n)(t)}  s nF(s)  s n1f (0)  s n2f (0)  p  f (n1)(0),

where F(s)  +{ f (t)}.

Solving Linear ODEs

d ny d n 2 1y
an  an1  p  a0 y  g(t),
dt n dt n 2 1
y(0)  y0, y (0)  y1, … , y(n1)(0)  yn1,
where the coefficients ai, i  0, 1, . . . , n and y0, y1, . . . , yn1 are constants.

d ny d n 2 1y
an + e n f  an1 + e f  p  a0 +{y}  +{g(t)}. (9)
dt dt n 2 1
From Theorem 4.2.2, (9) becomes

an[snY(s)  sn  1y(0)  p  y(n  1)(0)]  a1[sn Y(s)  y(0) ]  p  a0Y(s)  G(s), (10)

where +{y(t)}  Y(s) and +{g(t)}  G(s)

The Laplace transform of a linear differential equation with constant coefficients becomes
an algebraic equation in Y(s).

EXAMPLE 4 Solving a First–Order IVP

Use the Laplace transform to solve the initial-value problem
dy
 3y  13 sin 2t, y(0)  6.
dt

SOLUTION We first take the transform of each member of the differential equation:
dy
+ e f  3 +{y}  13 +{sin 2t}. (12)
dt

26 26
sY(s)  6  3Y(s)  2
or (s  3)Y(s)  6  2
.
s 4 s 4
Solving the last equation for Y(s), we get

6 26 6s 2  50
Y(s)    . (13)
s3 (s  3)(s 2  4) (s  3)(s 2  4)

6s 2  50 A Bs  C
  2 .
(s  3)(s 2  4) s3 s 4

6s 2  50 8 2s  6
Y(s)  2
  2 .
(s  3)(s  4) s3 s 4

1 s 2
y(t)  8 +1 e f 2 2 +1 e 2 f  3 +1 e 2 f.
s3 s 4 s 4

y(t)  8e3t 2 2 cos 2t  3 sin 2t.

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EXAMPLE 5 Solving a Second-Order IVP
Solve y  3y  2y  e4t, y(0)  1, y (0)  5.
SOLUTION

+ { y" } 2 3 + { y' }  2 +5 y 6  +5e 6

4t

1
s2Y(s)  sy(0)  y (0)  3[sY(s)  y(0)]  2Y(s) 
s4

1
(s2  3s  2)Y(s)  s  2 
s4
s2 1 s 2  6s  9
Y(s)    (14)
s 2 2 3s  2 (s 2 2 3s  2)(s  4) (s 2 1)(s 2 2)(s  4)

and so y(t)  +1 {Y(s)}. The details of the decomposition of Y(s) in (14) into partial fractions
have already been carried out in Example 3. In view of (4) and (5) the solution of the initial-
value problem is y(t)  165 e t  256 e 2t  301 e 4t.

4.2 Exercises Answers to selected odd-numbered problems begin on page ANS-9.

Inverse Transforms 4.2.2 Transforms of Derivatives

In Problems 1–30, find the given inverse transform. In Problems 33– 44, use the Laplace transform to solve the given
initial-value problem.
1 1
1. +1 e f 2. +1 e f dy
s3 s4 33.  y  1, y(0)  0
dt
1 48 2 1 2 dy
3. +1 e 2 5f 4. +1 e a 2 3b f
s 2
s s s 34. 2  y  0, y(0)  3
dt
(s  1)3 (s  2)2 35. y  6y  e4t , y(0)  2
5. +1 e f 6. +1 e f
s4 s3 36. y  y  2 cos 5t, y(0)  0
1 1 1 4 6 1 37. y  5y  4y  0, y(0)  1, y(0)  0
7. +1 e 2  f 8. +1 e  5 2 f
s2 s s22 s s s8 38. y  4y  6e3t  3et, y(0)  1, y(0)  1
1 1 39. y  y  "2 sin "2t, y(0)  10, y(0)  0
9. +1 e f 10. +1 e f
4s  1 5s 2 2 40. y  9y  et, y(0)  0, y(0)  0
5 10s 41. 2y  3y  3y  2y  et, y(0)  0, y(0)  0, y(0)  1
11. +1 e f 12. +1 e f
s 2  49 s 2  16 42. y  2y  y  2y  sin 3t, y(0)  0, y(0)  0, y(0)  1
4s 1 43. y (4) 2 y  0, y(0)  0, y9(0)  0, y0(0)  0, y-(0)  2
13. +1 e 2
f 14. +1 e 2
f
4s  1 4s  1 44. y (4)
2 9y  0, y(0)  1, y9(0)  0, y0(0)  3, y-(0)  0
2s 2 6 s1
15. +1 e 2
s 9
f 16. +1 e 2
s 2
f Answers
1. 1 2
2t 3. t  2t 4
1 1 1 s1
17. + e 2 f 18. + e 2 f 5. 1  3t  32 t 2  16 t 3 7. t  1  e2t
s  3s s 2 4s 5
9. 1
et/4 11. sin 7t
1 s 1 1 4 7
19. + e 2 f 20. + e 2 f t
s  2s 2 3 s  s 2 20 13. cos 15. 2 cos 3t  2 sin 3t
2
1 s 17. 1 1 3t
3  3e
19. 3 3t
4e  14 e
25. +1 e 3
f 26. +1 e f
s  5s (s  2)(s 2  4) 21. 0.3e  0.6e0.2t
0.1t
1 1 33. y  1  et
1 2s 2 4 1 25. 5  5 cos "5t
27. + e 2 f 28. +1 e 4 f
(s  s)(s 2  1) s 29 27. 4  3et  cos t  3 sin t 37. y  43 et  13 e4t
1 4t 19 6t
1 6s  3 35. y  
10 e 10 e
29. +1 e 2 2
f 30. +1 e 4 f 39. y  10 cos t  2 sin t  !2 sin !2t
(s  1)(s  4) s  5s 2  4
41. y   89 et/2  19 e2t  18
5 t
e  12 et

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4.3 Translation Theorems

Theorem 4.3.1 First Translation Theorem

If +{ f (t)}  F(s) and a is any real number, then
+{eat f (t)}  F(s  a).

EXAMPLE 1 Using the First Translation Theorem

5t 3
Evaluate (a) +{e t } (b) +{e2t cos 4t}.
SOLUTION The results follow from Theorems 4.1.1 and 4.3.1.
3! 6
(a) +{e5tt 3}  +{t 3} sSs  5  4
2 
s sSs 2 5 (s 2 5)4
s s2
(b) +{e2t cos 4t}  +{cos 4t} sSs  ( 2)  2
2 
s  16 sSs  2 (s  2)2  16
Inverse Form of Theorem 4.3.1 To compute the inverse of F(s  a) we must recognize
F(s), find f (t) by taking the inverse Laplace transform of F(s), and then multiply f (t) by the expo-
nential function eat. This procedure can be summarized symbolically in the following manner:
+ 1{F(s  a)}  + 1{F (s)Z sSs  a}  eatf (t), (1)
where f (t)  + 1{F(s)}.

EXAMPLE 2 Partial Fractions and Completing the Square

2s  5 s/2  5/3
Evaluate (a) + 1 e f (b) + 1 e f.
(s 2 3)2 2
s  4s  6
SOLUTION (a)
2s  5 A B
  .
(s 2 3)2 s23 (s 2 3)2
The numerator obtained by putting the two terms on the right over a common denominator is
2s  5  A(s  3)  B, and this identity yields A  2 and B  11. Therefore,
2s  5 2 11
  (2)
(s 2 3)2 s23 (s 2 3)2

2s  5 1 1
and + 1 e f  2 + 1 e f  11 + 1 e f. (3)
(s 2 3)2 s23 (s 2 3)2

1 1
+ 1 e f  + 1 e 2 f e3t  e3tt.
(s 2 3)2 s
2s  5
+ 1 e f  2e3t  11e3tt. (4)
(s 2 3)2
(b) To start, observe that the quadratic polynomial s2  4s  6 does not have real zeros and
so has no real linear factors. In this situation we complete the square:
s/2  5/3 s/2  5/3
2
 . (5)
s  4s  6 (s  2)2  2

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s/2  5/3 (1/2) (s  2)  2/3 1 s2 2 1
2
 2
 2

(s  2)  2 (s  2)  2 2 (s  2)  2 3 (s  2)2  2
s/2  5/3 1 s2 2 1
+1 e 2
f  +1 e 2
f  +1 e f
s  4s  6 2 (s  2)  2 3 (s  2)2  2
1 1 s 2 !2
 + e 2 2 f  +1 e 2 2 f (6)
2 s  2 sSs  2 3"2 s  2 sSs  2
1 2t "2 2t
 e cos "2t  e sin "2t. (7)
2 3

EXAMPLE 3 Initial-Value Problem

Solve y  6y  9y  t 2 e3t, y(0)  2, y (0)  17.
SOLUTION
solve for Y(s)  +{ f (t)}:

+{y }  6+{y }  9+{y}  +{t 2 e3t}

2
s2Y(s)  sy(0)  y (0)  6[sY(s)  y(0)]  9Y(s) 
(s 2 3)3
2
(s2  6s  9)Y(s)  2s  5 
(s 2 3)3
2
(s  3)2Y(s)  2s  5 
(s 2 3)3
2s  5 2
Y(s)  2
 .
(s 2 3) (s 2 3)5

The first term on the right has already been decomposed into individual partial fractions in
(2) in part (a) of Example 2:

2 11 2
Y(s)   2
 .
s23 (s 2 3) (s 2 3)5

1 1 2 4!
Thus y(t)  2 +1 e f  11+1 e 2
f  +1 e f. (8)
s23 (s 2 3) 4! (s 2 3)5

From the inverse form (1) of Theorem 4.3.1, the last two terms are

1 4!
+1 e 2
2 f  te 3t and +1 e 5 2 f  t 4e 3t,
s sSs 2 3 s sSs 2 3

1 4 3t
and so (8) is y(t)  2e 3t  11te 3t  12 t e .

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 EXAMPLE 4 An Initial-Value Problem 11
Solve y  4y  6y  1  et, y(0)  0, y (0)  0.
SOLUTION +{y }  4+{y }  6+{y}  +{1}  +{et}
1 1
s2Y(s)  sy(0)  y (0)  4[sY(s)  y(0)]  6Y(s)  
s s1
2s  1
(s2  4s  6)Y(s) 
s(s  1)
2s  1
Y(s)  .
s(s  1)(s 2  4s  6)
Since the quadratic term in the denominator does not factor into real linear factors, the partial
fraction decomposition for Y(s) is found to be

1/6 1/3 s/2  5/3

Y(s)   2 2 .
s s1 s  4s  6

Moreover, in preparation for taking the inverse transform, we have already manipulated the
last term into the necessary form in part (b) of Example 2. So in view of the results in (6) and
(7) we have the solution

1 1 1 1 1 1 s2 2 !2
y(t)  + e f  +1 e f 2 +1 e f 2 +1 e f
6 s 3 s1 2 (s  2)2  2 3!2 (s  2)2  2

1 1 1 "2 2t
  e t 2 e 2t cos "2t 2 e sin "2t.
6 3 2 3

Definition 4.3.1 Unit Step Function

1
The unit step function 8(t  a) is defined to be
t
a
0, 0#t,a
8(t 2 a)  e
FIGURE 4.3.2 Graph of unit step function 1, t $ a.

g(t), 0#t,a
f (t)  e (9)
h(t), t$a

is the same as
t
f (t)  g(t)  g(t) 8(t  a)  h(t) 8(t  a). (10)

Similarly, a function of the type

FIGURE 4.3.3 Function can be written 0, 0#t,a

f (t )  (2t  3) 8 (t  1) f (t)  • g(t), a # t , b (11)
0, t$b
f(t)
2 can be written f (t)  g(t)[8(t  a)  8(t  b)]. (12)

t
–1

FIGURE 4.3.4 Function can be written

f (t )  2  3 8 (t  2)  8 (t  3)

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 12
EXAMPLE 5 A Piecewise-Defined Function
20t, 0#t,5
Express f (t)  e in terms of unit step functions. Graph.
f(t) 0, t$5
100
SOLUTION The graph of f is given in FIGURE 4.3.5. Now from (9) and (10) with a  5,
g(t)  20t, and h(t)  0, we get f (t)  20t 2 20t 8 (t 2 5).

Consider a general function y  f (t) defined for t  0. The piecewise-defined function

t
5
0, 0#t,a
f (t  a)8(t  a)  e (13)
FIGURE 4.3.5 Function in Example 5 f (t 2 a), t$a

Theorem 4.3.2 Second Translation Theorem

If F(s)  +{ f (t)} and a  0, then
+{ f (t  a)8(t  a)}  easF(s).

EXAMPLE 6 Figure 4.3.4 Revisited

Find the Laplace transform of the function f whose graph is given in Figure 4.3.4.
SOLUTION We use f expressed in terms of the unit step function

f (t)  2 2 3 8(t 2 2)  8(t 2 3)

and the result given in (14):

+5 f(t)6  2 +516 2 3 +58(t 2 2)6  +58(t 2 3)6

2 3e 2s e 3s
 2  .
s s s

Inverse Form of Theorem 4.3.2 If f (t)  + 1{F(s)}, the inverse form of Theorem 4.3.2,
with a  0, is

+ 1{eas F(s)}  f (t  a)8(t  a). (15)

EXAMPLE 7 Using Formula (15)

1 s
Evaluate (a) + 1 e e 2s f (b) + 1 e e ps/2 f .
s24 s2  9
SOLUTION (a) With the identifications a  2, F(s)  1/(s  4), + 1{F(s)}  e4t, we have
from (15)
1
+1 e e 2s f  e 4(t2 2) 8(t 2 2).
s24
(b) With a  p/2, F(s)  s/(s2  9), + 1{F(s)}  cos 3t, (15) yields

s
+1 e e ps/2 f  cos 3(t 2 p/2) 8 (t 2 p/2).
s2  9
= -sin 3t 8 (t 2 p/2).

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 13

EXAMPLE
Evaluate +{t 2 8(t  2)}

+{t 2 8(t  2)}  +{(t  2)2 8(t  2)  4(t  2) 8(t  2)  48(t  2)},

2e 2s 4e 2s 4e 2s

  
s3 s2 s

Theorem Alternative Form of Theorem 4.3.2

+{g(t)8(t  a)}  eas+{g(t  a)}.

EXAMPLE 8 Second Translation Theorem—Alternative Form

Evaluate +{cos t 8(t  p)}.
SOLUTION +{cos t 8(t  p)}  eps+{ cos (t  p) }  eps+{-cos t}

s
+{cos t 8(t  p)}  eps +{cos t}   2
eps.
s 1

EXAMPLE 9 An Initial-Value Problem

0, 0#t,p
Solve y  y  f (t), y(0)  5, where f (t)  e
3 cos t, t $ p.
SOLUTION The function f can be written as f (t)  3 cos t 8(t  p) and so by linearity, the
results of Example 8, and the usual partial fractions, we have

+{y }  +{y}  3+{cos t 8(t  p)}

s
sY(s)  y(0)  Y(s)  3 eps
s2  1
3s
(s  1)Y(s)  5 2 2
e ps
s 1
5 3 1 1 s
Y(s)  2 c e ps  2 e ps  2 e ps d . (17)
s1 2 s1 s 1 s 1

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 14
1 1
+ 1 e e ps f  e(t  p) 8(t  p), + 1 e 2 e ps f  sin(t  p) 8(t  p),
s1 s 1
s
and + 1 e e ps f  cos(t  p) 8(t  p).
s2  1
Thus the inverse of (17) is
3 (t  p) 3 3
y(t)  5et  e 8(t  p)  sin(t  p) 8(t  p)  cos(t  p) 8(t  p)
2 2 2
3
 5et  Be (t 2 p)  sin t  cos tR 8(t  p) d trigonometric identities
2

5e t, 0 # t , p.
 e (18)
5e t  32 e (t 2 p)  32 sin t  32 cos t, t $ p.

4.3 Exercises Answers to selected odd-numbered

4.3.1 Translation on the s-axis 4.3.2 Translation on the t -axis

In Problems 1–20, find either F (s) or f (t), as indicated. In Problems 37–48, find either F(s) or f (t), as indicated.
10t
1. +{te } 2. +{te 6t
} 37. +{(t  1) 8(t  1)} 38. +{e2  t 8(t  2)}
3. +{t e 3 2t
} 4. +{t e 10 7t
} 39. +{t 8(t  2)} 40. +{(3t  1) 8(t  1)}
2t 2 41. +{cos 2t 8(t  p)} 42. + 5 sin t 8 (t 2 p/2)6
t
5. +{t(e  e ) } 6. +{e (t  1)2}
2t

7. +{et sin 3t} 8. +{e2t cos 4t} e 2s (1  e 2s)2

43. + 1 e f 44. + 1 e f
s3 s2
9. +{(1  et  3e4t ) cos 5t}
t e ps se ps/2
10. 3t
+ e e a9 2 4t  10 sin b f 45. + 1 e f 46. + 1 e f
2 s2  1 s2  4
1 1 e s e 2s
11. + 1 e 3
f 12. + 1 e f 47. + 1 e f 48. + 1 e f
(s  2) (s 2 1)4 s(s  1) s 2(s 2 1)
1 1 In Problems 49–54, match the given graph with one of the given
13. + 1 e 2 f 14. + 1 e 2 f
s 2 6s  10 s  2s  5 functions in (a)–(f ). The graph of f (t) is given in FIGURE 4.3.11.
s 2s  5 f (t)
15. + 1 e 2 f 16. + 1 e 2 f
s  4s  5 s  6s  34
s 5s
17. + 1 e f 18. + 1 e f
(s  1)2 (s 2 2)2 t
a b
2
2s 2 1 (s  1)
19. + 1 e f 20. + 1 e f FIGURE 4.3.11 Graph for Problems 49–54
s (s  1)3
2
(s  2)4
In Problems 21–30, use the Laplace transform to solve the given (a) f (t)  f (t) 8(t  a)
initial-value problem. (b) f (t  b) 8(t  b)
21. y  4y  e4t, y(0)  2 (c) f (t) 8(t  a)
(d) f (t)  f (t) 8(t  b)
22. y  y  1  tet, y(0)  0
(e) f (t) 8(t  a)  f (t) 8(t  b)
23. y  2y  y  0, y(0)  1, y(0)  1 (f ) f (t  a) 8(t  a)  f (t  a) 8(t  b)
3 2t
24. y  4y  4y  t e , y(0)  0, y(0)  0
25. y  6y  9y  t, y(0)  0, y(0)  1 49. f (t) 50.
f (t)
26. y  4y  4y  t 3, y(0)  1, y(0)  0
27. y  6y  13y  0, y(0)  0, y(0)  3
t t
28. 2y  20y  51y  0, y(0)  2, y(0)  0 a b a b
29. y  y  et cos t, y(0)  0, y(0)  0
FIGURE 4.3.12 Graph for FIGURE 4.3.13 Graph for
30. y  2y  5y  1  t, y(0)  0, y(0)  4 Problem 49 Problem 50

FARHAN ANTARI
 15

51. f (t) 52. f (t) 1, 0 # t , 1


64. y  y  f (t), y(0)  0, where f (t)  e
1, t$1

t
t, 0 # t , 1
t 65. y  2y  f (t), y(0)  0, where f (t)  e
a b
a b 0, t$1
66. y  4y  f (t), y(0)  0, y (0)  1, where
FIGURE 4.3.14 Graph for FIGURE 4.3.15 Graph for
Problem 51 Problem 52
1, 0#t,1
f (t)  e
0, t$1
53. f (t) 54. f (t) 67. y  4y  sin t 8(t  2p), y(0)  1, y (0)  0
68. y  5y  6y  8(t  1), y(0)  0, y (0)  1
69. y  y  f (t), y(0)  0, y (0)  1, where
t t
a b a b
0, 0 # t , p3
FIGURE 4.3.16 Graph for FIGURE 4.3.17 Graph for f (t)  • 1, p # t , 2p
Problem 53 Problem 54 0, t $ 2p
In Problems 55–62, write each function in terms of unit step 70. y  4y  3y  1  8(t  2)  8(t  4)  8(t  6),
functions. Find the Laplace transform of the given function. y(0)  0, y (0)  0
2, 0#t,3
55. f (t)  e
2, t$3 Answers
1, 0 # t , 4 1 6
1. 2
3.
56. f (t)  • 0, 4 # t , 5 (s 2 10) (s  2)4
1, t$5 1 2 1
5. 2
 2

(s 2 2) (s 2 3) (s 2 4)2
0, 0#t,1 3
57. f (t)  e
t 2, t$1 7.
(s 2 1)2  9
0, 0 # t , 3p/2 s s21 s4
58. f (t)  e 9. 2 3
sin t, t $ 3p/2 s 2  25 (s 2 1)2  25 (s  4)2  25
1 2 2t
11. 2t e 13. e3t sin t
t, 0#t,2 2t 2t
59. f (t)  e 15. e cos t  2e sin t 17. et  tet
0, t$2
19. 5  t  5et  4tet  32 t 2 et
21. y  te4t  2 e4t 23. y  et  2tet
sin t, 0 # t , 2p
60. f (t)  e 25. y  19 t  272  272 e3t  109 te3t
0, 0 # t $ 2p
27. y   32 e3t sin 2t
61. 62. f (t) e s
29. y  12  12 et cos t  12 et sin t 37.
3 s2
e 2s
e 2s s
2 39. 2 41. 2 e ps
f(t) s2 s s 4
1 1 1
2 2)2 8(t 2 2) 45. sin t ᐁ(t  p)
43. 2 (t
t t 47. ᐁ(t  1)  e(t1) ᐁ(t  1)
a b 1 2 3 4

rectangular pulse staircase function

49. (c) 51. (f )
53. (a)
FIGURE 4.3.18 Graph for FIGURE 4.3.19 Graph for 2 4
Problem 61 Problem 62 55. f (t)  2  4 ᐁ(t  3); +{ f (t)}  2 e3s
s s
s
In Problems 63–70, use the Laplace transform to solve the given e e s e s
57. f (t)  t 2 ᐁ(t  1); +{ f (t)}  2 3  2 2 
initial-value problem. s s s
1 e 2s e 2s
0, 0#t,1 59. f (t)  t  t ᐁ(t  2); +{ f (t)}  2 2 2 2 2
63. y  y  f (t), y(0)  0, where f (t)  e s s s
5, t$1 e as
e bs
61. f (t)  ᐁ(t  a)  ᐁ(t  b); +{ f (t)}  2
s s
63. y  [5  5e(t1)] ᐁ(t  1)
FARHAN ANTARI
 16

4.4 Additional Operational Properties

4.4.1 Derivatives of Transforms

Theorem 4.4.1 Derivatives of Transforms

If F (s)  +{ f (t)} and n  1, 2, 3, … , then

dn
+5t nf (t)6  (1)n F(s).
ds n

EXAMPLE 1 Using Theorem 4.4.1

Evaluate a. +{t sin 3t}. b. +{t 2 sin 3t}
SOLUTION With f (t)  sin 3t, F(s)  3/(s2  3 2), and n  1, Theorem 4.4.1 gives

d d 3 6s
+5t sin 3t6   + 5 sin 3t6   a 2 b  2 .
ds ds s  9 (s  9)2

EXAMPLE 2 An Initial-Value Problem

Solve x  16x  cos 4t, x(0)  0, x (0)  1.
SOLUTION

Transforming the differential equation gives

s 1 s
(s 2  16)X(s)  1  or X(s)  2  2 .
s 2  16 s  16 (s  16)2

Note that

2ks
+ 1 e f  t sin kt, (1)
(s 2  k 2)2

and we obtain

1 1 4 1 8s
x(t)  + e 2 f  +1 e 2 f
4 s  16 8 (s  16)2

1 1
 sin 4t  t sin 4t.
4 8

FARHAN ANTARI
 17

4.4.2 Transforms of Integrals

Convolution If functions f and g are piecewise continuous on the interval f0, q), then
the convolution of f and g, denoted by the symbol f * g, is a function defined by the integral
t
f *g  # f (t)g(t 2 t) dt.
0
(2)

Because we are integrating in (2) with respect to the variable t ,the convolution f * g is a function of t.

EXAMPLE 3 Convolution of Two Functions

t
Evaluate (a) e * sin t (b) +{et * sin t}.

SOLUTION (a) With the identifications

f (t)  e t, g(t)  sin t and f (t)  e t, g(t 2 t)  sin(t 2 t)
it follows from (2) and integration by parts that
t
e t * sin t  #e
0
t
sin(t 2 t) dt

1 t
 fe sin(t 2 t)  e t cos(t 2 t)g t0
2
1
 (sin t 2 cos t  e t). (3)
2
(b)
1 1 1
+5e t * sin t6   +5sin t6 2 +5cos t6  +5e t6
2 2 2
1 1 1 s 1 1
 2 2 
2s 1 2 s2  1 2s21
1
 .
(s 2 1)(s 2  1)

Note that is, f * g  g * f. In other words, the convolution of two functions is commutative.

Theorem 4.4.2 Convolution Theorem

If f (t) and g(t) are piecewise continuous on [0, q) and of exponential order, then

+{ f * g}  +{ f (t)}+{g(t)}  F(s) G(s).

EXAMPLE 4 Using Theorem 4.4.2

t

#
Evaluate + e e tsin(t 2 t) dt f .
0

SOLUTION
t

#
+ e e tsin(t 2 t) dt f  +5e t * sin t6
0
 +5e t6 +5sin t6
1 1

s 2 1 s2  1
1
 .
(s 2 1)(s 2  1)

FARHAN ANTARI
 18
Inverse Form of Theorem 4.4.2 The convolution theorem is sometimes useful in
finding the inverse Laplace transforms of the product of two Laplace transforms. From
Theorem 4.4.2 we have

+1 5F (s) G(s)6  f * g. (4)

EXAMPLE 5 Inverse Transform as a Convolution

1
Evaluate +1 e f.
(s 2  k 2 )2

1
SOLUTION Let F(s)  G(s) 
s2  k2

1 1 k 1
so that f (t)  g(t)  + e 2 2
f  sin kt.
k s k k

In this case (4) gives

t
1 1
+1 e 2 2 2
(s  k )
f  2
k # sin kt sin k(t  t) dt.
0
(6)

Now recall from trigonometry that

1
sin A sin B  [cos (A  B)  cos (A  B)].
2

If we set A  kt and B  k(t  t), we can carry out the integration in (6):

t
1 1
+1 e
(s 2  k 2)2 2k 0 #
f  2 fcos k(2t 2 t) 2 cos ktg dt

t
1 1
 2
c sin k(2t 2 t) 2 t cos ktd
2k 2k 0

sin kt 2 kt cos kt
 3
.
2k

Transform of an Integral When g(t)  1 and +{g(t)}  G(s)  1/s, the convolution
theorem implies that the Laplace transform of the integral of f is
t
F(s)
+b # f (t) dtr 
0 s
. (7)

The inverse form of (7),

t
F(s)
# f (t) dt  +
0
1
e
s
f, (8)

FARHAN ANTARI
 can be used in lieu of partial fractions when s n is a factor of the denominator and f (t)  + 1{F(s)} 19
is easy to integrate. For example, we know for f (t)  sin t that F(s)  1/(s2  1), and so by (8)
t
1 1/(s 2  1)
+1 e
s(s 2  1)
f  + 1
e
s
f  # sin t dt  1 2 cos t
0

t
1 1/s (s 2  1)
+1 e
s 2(s 2  1)
f  + 1
e
s
f  # (1 2 cos t) dt  t 2 sin t
0

t
1 1/s 2(s 2  1) 1
+1 e
s 3(s 2  1)
f  + 1
e
s
f  # (t 2 sin t) dt  2 t
0
2
2 1  cos t

Volterra Integral Equation The convolution theorem and the result in (7) are
useful in solving other types of equations in which an unknown function appears under an
integral sign. In the next example, we solve a Volterra integral equation for f (t),
t
f (t)  g(t)  # f (t) h(t  t) dt.
0
(9)

EXAMPLE 6 An Integral Equation

t
Solve f (t)  3t 2  et  # f (t) e
0
tt
dt for f (t).

SOLUTION In the integral we identify h(t  t)  et  t so that h(t)  et. We take the Laplace
transform of each term; in particular, by Theorem 4.4.2 the transform of the integral is the
product of +{ f (t)}  F(s) and +{et}  1/(s  1):
2 1 1
F(s)  3 3
2 2 F(s) .
s s1 s21
After solving the last equation for F(s) and carrying out the partial fraction decomposition,
we find
6 6 1 2
F(s)  2 4 2 .
s 3
s s s  1
The inverse transform then gives

2! 3! 1 1
f (t)  3 +1 e f 2 +1 e 4 f  +1 e f 2 2 +1 e f
s 3
s s s  1

 3t 2  t 3  1  2et.

Series Circuits (RLC Circuits)

where i(t) is the current and L, R, and C are constants. It follows that the current in an LRC-series
circuit, such as that shown in FIGURE 4.4.2, is governed by the integrodifferential equation

di 1 t

E
L
R
L
dt
 R i(t) 
C # i(t) dt  E(t).
0
(10)

FIGURE 4.4.2 LRC-series circuit

FARHAN ANTARI
 20
EXAMPLE 7 An Integrodifferential Equation
Determine the current i(t) in a single-loop LRC-circuit when L  0.1 h, R  2 , C  0.1 f,
i(0)  0, and the impressed voltage is

E(t)  120t  120t 8(t  1).

SOLUTION Using the given data, equation (10) becomes

di t
0.1
dt
 2i  10 # i(t) dt  120t  120t 8(t  1).
0

Now by (7), +{et0 i(t) dt}  I(s)/s, where I(s)  +{i(t)}. Thus the Laplace transform of the
integrodifferential equation is

I(s) 1 1 1
0.1sI(s)  2I(s)  10  120 c 2 2 2 e s 2 e s d . d by (16) of Section 4.3
s s s s

Multiplying this equation by 10s, using s2  20s  100  (s  10)2, and then solving for I(s)
gives

1 1 1
I(s)  1200 c 2 e s 2 e s d .
s (s  10)2 s (s  10)2 (s  10)2
By partial fractions,

1/100 1/100 1/10 1/100 s

I(s)  1200 c 2 2 2 e
s s  10 (s  10) 2 s

1/100 s 1/10 1
 e  2
e s 2 e s R .
s  10 (s  10) (s  10)2

i(t)  12 [1  8(t  1)] 12 [e10t  e10(t  1) 8(t  1)]

 120te10t  1080(t  1)e10(t  1) 8(t  1).

Written as a piecewise-defined function, the current is

12 2 12e 10t 2 120te 10t, 0#t,1

i(t)  e (11)
12e 10t  12e 10(t2 1) 2 120te 10t 2 1080(t 2 1)e 10(t 2 1), t $ 1.

4.4 Exercises Answers to selected odd-numbered problems

4.4.1 Derivatives of Transforms 9. y  y  t sin t,y(0)  0

In Problems 1–8, use Theorem 4.4.1 to evaluate the given 10. y  y  tet sin t,y(0)  0
Laplace transform. 11. y  9y  cos 3t, y(0)  2, y(0)  5
1. +{te10t} 2. +{t 3 et} 12. y  y  sin t, y(0)  1, y(0)  1
3. +{t cos 2t} 4. +{t sinh 3t}
5. +{t sinh t} 6. +{t 2 cos t} 13. y  16y  f (t), y(0)  0, y (0)  1, where
7. +{te2t sin 6t} 8. +{te3t cos 3t}
cos 4t, 0 # t , p
f ( t)  e
0, t$p
In Problems 9–14, use the Laplace transform to solve the given
initial-value problem. Use the table of Laplace transforms in 14. y  y  f (t), y(0)  1, y (0)  0, where
Appendix III as needed.
1, 0 # t , p/2
f ( t)  e
sin t, t $ p/2

FARHAN ANTARI
 21
4.4.2 Transforms of Integrals
t
In Problems 19–22, proceed as in Example 3 and find the dy
convolution f * g of the given functions. After integrating find
50.
dt 0
#
 6y(t)  9 y(t) dt  1, y(0)  0
the Laplace transform of f * g.
19. f (t)  4t, g(t)  3t 2 20. f (t)  t, g(t)  e t In Problems 51 and 52, solve equation (10) subject to i(0)  0
21. f (t)  e , g(t)  e
t t
22. f (t)  cos 2t, g(t)  e t with L, R, C, and E(t) as given. Use a graphing utility to graph
the solution for 0  t  3.
In Problems 23–34, proceed as in Example 4 and find the Laplace
transform of f * g using Theorem 4.4.2. Do not evaluate the 51. L  0.1 h, R  3 , C  0.05 f,
convolution integral before transforming. E(t)  100 [8(t  1)  8(t  2)]
23. +{1 * t 3} 24. +{t 2 * tet} 52. L  0.005 h, R  1 , C  0.02 f,
E(t)  100 [t  (t  1) 8(t  1)]
25. +{et * et cos t} 26. +{e2t * sin t} 2
t t 53. The Laplace transform +5e t 6 exists, but without finding it
27. + e # 0
e tdt f 28. + e # cos t dt f
0
solve the initial-value problem
t t 2
y0  9y  3e t , y(0)  0, y9(0)  0.
29. + e # e cos t dt f
t
30. + e # t sin t dt f
0
t
0
t
54. Solve the integral equation
+ e # te dt f + e # sin t cos(t 2 t) dt f
t2 t t

#e
31. 32. t t
0 0 f(t)  e  e f (t) dt.
t
t t 0
33. + e t # sin t dt f 34. + e t # te dt f t
s23
0 0 67. Evaluate +1 e ln f.
s1
In Problems 35–38, use (8) to evaluate the given inverse transform.

35. + 1 e
1
f 36. + 1 e
1
2
f Answers
s (s 2 1) s (s 2 1)
1 s2 2 4
1 1 1 1 1. 3.
37. + e 3 f 38. + e f (s  10)2 (s 2  4)2
s (s 2 1) s (s 2 a)2 2
6s  2 12s 2 24
5. 2 3
7.
In Problems 41–50, use the Laplace transform to solve the given (s 2 1) [(s 2 2)2  36] 2
1 t
integral equation or integrodifferential equation. 9. y   2 e  2 cos t  2 t cos t  12 t sin t
1 1

t 11. y  2 cos 3t  53 sin 3t  16 t sin 3t

41. f (t)  # (t 2 t) f (t) dt  t
0
13. y  14 sin 4t  18 t sin 4t
 18 (t  p) sin 4(t  p) ᐁ(t  p)
t
42. f (t)  2t 2 4 # sin t f (t 2 t) dt
0
19. 24 21.
1
23.
6
s5 s2 2 1 s5
t
43. f (t)  te t  # tf (t 2 t) dt
0
25.
s21
(s  1)[(s 2 1)  1] 2
27.
1
s(s 2 1)
t s1 1
#
44. f (t)  2 f (t) cos(t 2 t) dt  4e t  sin t
0
29. 2
s[(s  1)  1]
31. 2
s (s 2 1)
3s 2  1
t 33. 35. et  1
45. f (t)  #0
f (t) dt  1
37.
s 2(s 2  1)2
et  12 t 2  t  1 41. f (t)  sin t
t 1 t 3 t
f (t)   8 e  8 e  4 te  14 t 2 et
1 t

#e
43.
46. f (t)  cos t  t
f (t 2 t) dt 45. f (t)  et
0
t 47. f (t)  38 e2t  18 e2t  12 cos 2t  14 sin 2t
8
47. f (t)  1  t 2
3 0
(t 2 t)3f (t) dt # 49.
51.
y(t)  sin t  12 t sin t
i(t)  100[e10(t1)  e20(t1)] ᐁ(t  1)
t
 100[e10(t2)  e20(t2)] ᐁ(t  2)
48. t 2 2f (t)  # (e t
2 e t) f (t 2 t) dt t
0
t
53. y(t)  #e t2
sin 3(t 2 t) dt

# y(t) dt,
0
49. y9(t)  1 2 sin t 2 y(0)  0
0

FARHAN ANTARI
 22
4.6 Systems of Linear Differential Equations

EXAMPLE 1
Use the Laplace transform to solve
x1  10x1  4x2  0
(2)

4x1  x2  4x2  0

subject to x1(0)  0, x1(0)  1, x2(0)  0, x2(0)  1.

SOLUTION The transform of each equation is

s2X1(s)  sx1(0)  x1(0)  10X1(s)  4X2(s)  0

4X1(s)  s2X2(s)  sx2(0)  x2(0)  4X2(s)  0,

where X1(s)  +{x1(t)} and X2(s)  +{x2(t)}. The preceding system is the same as

(s2  10)X1(s)  4X2(s)  1

(3)
2
4X1(s)  (s  4)X2(s)  1.

Solving (3) for X1(s) and using partial fractions on the result yields

s2 1/5 6/5
X 1(s)   2  2 ,
(s  2)(s 2  12)
2
s 2 s  12

and therefore

1 "2 6 !12
x1(t)   +1 e 2 f  +1 e 2 f
5!2 s 2 5!12 s  12
"2 !3
 sin !2t  sin 2!3t.
10 5

Substituting the expression for X1(s) into the first equation of (3) gives us

s2  6 2/5 3/5
X 2(s)   2 2
 2 2 2
(s  2)(s  12) s 2 s  12

2 !2 3 !12
and x2(t)   +1 e 2 f 2 +1 e 2 f
5!2 s 2 5!12 s  12
!2 !3
 sin !2t 2 sin 2!3t.
5 10

Finally, the solution to the given system (2) is

!2 !3
x1(t)   sin !2t  sin 2!3t
10 5
(4)
!2 !3
x2(t)   sin !2t 2 sin 2!3t.
5 10

FARHAN ANTARI
 EXAMPLE 2 An Electrical Network 23

Use the Laplace transform to solve

x'  50y  60

0.005y'  y - x  0

subjected to x(0)=0 , y(0)=0 .

SOLUTION Applying the Laplace transform to each equation of the system and simplifying gives
60
sX(s)  50Y(s) 
s
200X(s)  (s  200)Y(s)  0,

where X(s)  +{x(t)} and Y(s)  +{y(t)}. Solving the system for X and Y and decomposing
the results into partial fractions gives

60s  12,000 6/5 6/5 60

X(s)   2 2
s (s  100)2 s s  100 (s  100)2
12,000 6/5 6/5 120
Y(s)   2 2 .
s (s  100) 2 s s  100 (s  100)2

Taking the inverse Laplace transform, we find the currents to be

6 6
x(t)  2 e 100t 2 60te 100t
5 5
6 6
y(t)  2 e 100t 2 120te 100t.
5 5

4.6 Exercises Answers to selected odd-numbered problems.

In Problems 1–12, use the Laplace transform to solve the given
system of differential equations.
dx dx Answers
1.  x  y 2.  2y  et
dt dt
dy dy
 2x  8x  t 1. x   13 e2t  13 et 3. x  cos 3t  53 sin 3t
dt dt
1 2t
x(0)  0, y(0)  1 x(0)  1, y(0)  1 y 3e  2 t
3e y  2 cos 3t  73 sin 3t
dx dx dy
3.  x 2 2y 4.  3x  1 5. x  2e3t  52 e2t  1
2
dt dt dt 8 3t 5 2t 1
y 3e  2e  6
dy dx dy
 5x  y 2x 2 y  et
dt dt dt
x(0)  1, y(0)  2 x(0)  0, y(0)  0 7. x   t  !2 sin !2t
dx dy dx dy y   t  !2 sin !2t
5. 2   2x  1 6. x2 y0
dt dt dt dt
dx dy dx dy
  3x  3y  2   2y  0
dt dt dt dt
x(0)  0, y(0)  0 x(0)  0, y(0)  1
d 2x
7. xy0 8. dx
dt 2  4x  2y  2 8(t  1)
2
dt
d x
yx0 dy
dt 2  3x  y  8(t  1)
dt
x(0)  0, x(0)  2,
x(0)  0, y(0)  12
y(0)  0, y(0)  1

FARHAN ANTARI
 24
4 Chapter in Review Answers to selected odd-numbered problems

In Problems 1 and 2, use the definition of the Laplace transform 25. y

to find +{ f (t)}.
0, 0 # t , 2
t, 0#t,1
1. f (t)  e 2 . f (t)  • 1, 2 # t , 4
2 2 t, t$1
0, t$4
In Problems 3–24, fill in the blanks or answer true/false. t
t0
3. If f is not piecewise continuous on [0, q), then +{ f (t)} will
not exist. _____ FIGURE 4.R.2 Graph for Problem 25
4. The function f (t)  (et )10 is not of exponential order. _____
5. F (s)  s2 /(s2  4) is not the Laplace transform of a function
that is piecewise continuous and of exponential order. _____ 26. y
6. If +{ f (t)}  F(s) and +{g(t)}  G(s), then + 1{F(s)G(s)} 
f (t)g(t). _____
7. +{e7t}  _____ 8. +{te7t}  _____
9. +{sin 2t}  _____ 10. +{e3t sin 2t}  _____
11. +{t sin 2t}  _____ 12. +{sin 2t 8(t  p)}  _____
t
20 1 t0
13. + 1 e 6 f  _____ 14. + 1 e f  _____
s 3s 21
FIGURE 4.R.3 Graph for Problem 26
1
15. + 1 e f  _____
(s 2 5)3
1 27. y
16. + 1 e 2 f  _____
s 25
s
17. + 1 e 2 f  _____
s 2 10s  29
e 5s
18. + 1 e 2 f  _____ t
s t0
s  p s
19. + 1 e 2 e f  _____ FIGURE 4.R.4 Graph for Problem 27
s  p2
1
20. + 1 e 2 2 f  _____
L s  n2p2 28. y
21. +{e5t} exists for s  _____.
22. If +{ f (t)}  F(s), then +{te8t f (t)}  _____.
23. If +{ f (t)}  F(s) and k  0, then +{eat f (t  k) 8(t  k)} 
_____.
t t
24. + e #
0
e atf (t) dt f  #
whereas + e e at f (t) dt f 
0
t0 t1
t

_____. FIGURE 4.R.5 Graph for Problem 28

In Problems 25–28, use the unit step function to write down an

equation for each graph in terms of the function y  f (t) whose
In Problems 29–32, express f in terms of unit step functions.
graph is given in FIGURE 4.R.1.
Find +{ f (t)} and +{et f (t)}.
y

y = f (t)
29. f (t)
1

t t
t0 1 2 3 4

FIGURE 4.R.1 Graph for Problems 25–28 FIGURE 4.R.6 Graph for Problem 29

FARHAN ANTARI
 25

30. f (t) In Problems 41 and 42, use the Laplace transform to solve each
y = sin t, π ≤ t ≤ 3π system.
1 41. x  y  t 42. x  y  e2t
t
4x  y  0 2x  y  e2t
–1 π 2π 3π
x(0)  1, y(0)  2 x(0)  0, y(0)  0
x (0)  0, y (0)  0
FIGURE 4.R.7 Graph for Problem 30
43. The current i(t) in an RC-series circuit can be determined from
the integral equation
t
1
31. f (t)
3 (3, 3)
Ri 
C 0 #
i(t) dt  E(t),
2
where E(t) is the impressed voltage. Determine i(t) when
1
R  10 , C  0.5 f, and E(t)  2(t 2  t).
t
44. A series circuit contains an inductor, a resistor, and a capaci-
1 2 3
tor for which L  12 h, R  10 , and C  0.01 f, respectively.
FIGURE 4.R.8 Graph for Problem 31 The voltage
10, 10 # t , 5
E(t)  e
0, t$5
32. f (t)
is applied to the circuit. Determine the instantaneous charge
1 q(t) on the capacitor for t  0 if q(0)  0 and q (0)  0.

1 2
t Answers
FIGURE 4.R.9 Graph for Problem 32 1 2
1. 2 2 e s 3. false
s2 s
In Problems 35–40, use the Laplace transform to solve the given 1
5. true 7.
equation. s7
2 4s
35. y  2y  y  et, y(0)  0, y (0)  5 9. 11.
t
s2  4 (s 2  4)2
36. y  8y  20y  te , y(0)  0, y (0)  0
13. 16 t 5 15. 12 t 2 e5t
37. y  6y  5y  t  t 8(t  2), y(0)  1, y (0)  0
17. e5t cos 2t  52 e5t sin 2t
t 2, 0#t,1 19. cos p(t  1) ᐁ(t  1)  sin p(t  1) ᐁ(t  1)
38. y  5y  f (t), where f (t)  e , y(0)  1
0, t$1 21. 5 23. ek(sa) F(s  a)
t 25. f (t) ᐁ(t  t0) 27. f (t  t0) ᐁ(t  t0)
39. y (t)  cos t  # y(t) cos(t  t) dt,
0
y(0)  1 29. f (t)  t  (t  1)ᐁ(t  1)  ᐁ(t  4);
1 1 1
t
+{ f (t)}  2 2 es  e4s;
s2 s s
40. # f (t) f (t  t) dt  6t
0
3

+{etf (t)} 
1
2
1
e(s1)
2
(s 2 1) (s 2 1)2
1
 e4(s1)
s21
31. f (t)  2  (t  2)ᐁ(t  2);
2 1
+{ f (t)}   2 e2s;
s s
2 1
t
+{e f (t)}   e2(s1)
s21 (s 2 1)2
Answers 35. y  5te t  1 2 t
2 t e

6
37. y   25  1
5t  32 et  13
50 e
5t
 254 ᐁ(t  2)
39. y  1  t  12 t 2  15 (t  2) ᐁ(t  2)  14 e(t2) ᐁ(t  2)
9
41. x   14  98 e2t  1 2t
8 e  100 e5(t2) ᐁ(t  2)
y  t  94 e2t  14 e 2t

43. i(t)  9  2t  9et/5

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