AB2.9: Unit Step Function. Second Shifting Theorem.

Diracs
Delta Function

Unit step function

The unit step function or the Heaviside function is defined as

(
0 if t < a,
u(t a) =
1 if t > a,

f (t) = 5 sin t f (t)u(t 2) f (t 2)u(t 2)

k[u(t 1) 2u(t 4) + u(t 5)] 4 sin (0.5t)[u(t) u(t 2) + u(t 4) . . .].

THEOREM 5.3.1
Suppose that f (t) has the transform F (s). Then the shifted function
(
0 if t < a,
f(t) = f (t a)u(t a) =
f (t a) if t > a,

has the transform eas F (s):

L [f (t a)u(t a)] = eas F (s),

or
f (t a)u(t a) = L1 {eas F (s)}.

PROOF
From the definition of the Laplace transform
Z Z
eas F (s) = eas est f (t)dt = es(t+a) f (t)dt
0 0
Substituting t + a = t0 , we obtain
Z
0
eas F (s) = est f (t0 a)dt0 .
a

To proceed to the integration from 0 to , we write

Z
0
eas F (s) = est f (t0 a)u(t0 a)dt0 = L [f (t a)u(t a)].
0

For the unit step function, we obtain the Laplace transform from the chain of equalities
Z Z 
1
L [u(t a)] = est u(t a)dt = est dt = ets 
0 a s t=a

so that
1
L [u(t a)] = eas .
s

EXAMPLE 1 Application of THEOREM 1

Let
2
if 0 < t < ,
f (t) = 0 if < t < 2,

sin t if t > 2,
Find F (s).
Solution. Write f (t) in terms of the unit step function:


2u(t) if 0 < t < ,
f (t) = 2u(t) 2u(t ) = 0 if < t,

2u(t) 2u(t ) + u(t 2) sin t = f (t) for all t > 0.

Thus,
f (t) = 2u(t) 2u(t ) + u(t 2) sin t t > 0,

Note that the last term is u(t 2) sin (t 2) due to periodicity, so that
2 2 s 1
F (s) = e + 2 e2s
s s s +1
because the Laplace transform of f (t) = sin t is

L (f ) = .
s2 + 2
and
1
L (sin t) = .
s2 +1

EXAMPLE 2 Application of THEOREM 1. Inverse transform

Let
2 2 4 s
F (s) = 2
2 e2s e2s + 2 es .
s s s s +1
Find f (t).
Solution. Without the exponential function, the four terms of F (s) would have the form
2t, 2t, 4, and cos t because the Laplace transform of cos t is
s
L (f ) = 2 .
s + 2
and
s
L (cos t) =
.
+1 s2
By THEOREM 1, we can write f (t) in terms of the unit step function:
f (t) = 2t 2(t 2)u(t 2) 4u(t 2) + u(t ) cos (t ) =
2t 2tu(t 2) 4u(t 2) cos tu(t ).
Thus

2t if 0 < t < 2,
f (t) = 2t 2t = 0 if 2 < t < ,

2t 2t cos t = cos t if t > ,

Diracs delta function

Consider the function

(
1/k if a t a + k,
fk (t a) =
0 otherwise,

Its impulse Ik (the integral from a to a + k) is

Z Z a+k
1
Ik = fk (t a)dt = dt = 1
0 a k
Ee can write f (t) in terms of the unit step function:
1
fk (t a) = [u(t a) u(t (a + k))],
k
so that the Laplace transform
1 as 1 eks
L (fk (t a)) = [e e(a+k)s ] = eas .
ks ks
Now let us define
(t a) = lim fk (t a),
k0
which is called Diracs delta function . The Laplace transform of Diracs delta function is
defined as a limit:
1 eks
L {(t a)} = lim L (fk (t a)) = lim eas =
k0 k0 ks
1 (1 ks + O(ks)2 )
eas lim = eas lim [1 + O(ks)] = eas ,
k0 ks k0
so that
L {(t a)} = eas .
In particular,
L {(t)} = 1.

Differentiation of transforms

For the Laplace transform

Z
F (s) = L (f ) = est f (t)dt
0

the derivative Z
0
F (s) = est [tf (t)]dt
0
so that
L [tf (t)] = F 0 (s)
if F (s) = L (f ), and
tf (t) = L1 [F 0 (s)]

EXAMPLE 1 Differentiation of transforms

Prove the formulas for the Laplace transforms
1 1
F (s) = f (t) = (sin t t cos t) (1)
(s2
+ 2 )2 2 3
s t
F (s) = f (t) = sin t (2)
(s + 2 )2
2 2
s2 1
F (s) = f (t) = (sin t + t cos t) (3)
(s2 + 2 )2 2
 Solution. We have
Z

L (sin t) = est sin tdt = ,
0 s2 + 2
s
L (cos t) = ,
s2 + 2
and from these formulas, we can derive
2s
L (t sin t) = .
(s2 + 2 )2
Dividing the latter equality by 2 we obtain the formula (2).
!
t s
L sin t = 2 .
(2 (s + 2 )2
PROBLEM 5.2.12a gives the Laplace transform
s2 2
L (t cos t) = .
(s2 + 2 )2
Thus !
t s2 2 1
L t cos t sin t = 2 2 2
2 =
( (s + ) s + 2
( )
s2 2 s2 + 2 2s2 2 2
=
(s2 + 2 )2 (s2 + 2 )2 (s2 + 2 )2 (s2 + 2 )2
which gives the required formulas (3) (plus sign, first expression) and (1) (minus sign, second
expression).

Integration of transforms

If f (t) satisfies the conditions of the existence of the Laplace transform and the limit of
f (t)/t, as t approaches 0 from the right, exists, then
( ) Z
f (t)
L = F (s0 )ds0
t s

and Z 
f (t)
= L1 0
F (s )ds 0
.
t s
In fact, Z Z Z 
0
F (s0 )ds0 = es t f (t)dt ds0 .
s s 0
Reversing the order of integration, we obtain
Z Z Z  Z Z 
0 0 s0 t 0 s0 t 0
F (s )ds = e f (t)ds dt = f (t) e ds dt =
s 0 s 0 s
Z ( )
st f (t) f (t)
e dt = L (s > k).
0 t t
 EXAMPLE 2 Integration of transforms
Find the inverse Laplace transform of
!
2
F (s) = ln 1 + 2 .
s

Solution. We have
!
0 d 2 1 2 2 2 2 s
F (s) = ln 1 + 2 = 2
(2) 3 = 2 2
= 2 2 .
ds s 1 + s2 s s(s + ) s s + 2

Using the Laplace transforms from the table, we have

 
1 0 1 2 s
f (t) = L [(F )] = L 2 2 = 2 2 cos t.
s s + 2
Next,
( !) (Z ! )
f (t) 2 2 s0
= L1 (F ) = L1 ln 1 + 2 = L1 2 ds0 ,
t s s s0 (s0 )2 + 2

so that ( !)
2 2
L1 ln 1 + 2 = (1 cos t).
s t
 PROBLEM 5.3.3
Find the Laplace transform of
f (t) = (t 1)u(t 1).
Solution. According to THEOREM 5.3.1 the shifted function
(
0 if t < 1,
f(t) = (t 1)u(t 1) =
(t 1) if t > 1,

has the transform es F (s), where F (s) is the transform of f (t) = t:

1
L [(t 1)u(t 1)] = es L (t) = es .
s2

PROBLEM 5.3.4
Find the Laplace transform of
f (t) = (t 1)2 u(t 1).
Solution. We have
2
F (s) = L [t2 ] = ,
s3
so that
1
L [(t 1)2 u(t 1)] = es L (t2 ) = 2es .
s3

PROBLEM 5.3.5
Find the Laplace transform of
f (t) = t2 u(t 1).
Solution. We have

f (t) = [(t 1) + 1]2 u(t 1) = (t 1)2 u(t 1) + 2(t 1)u(t 1) + u(t 1)

so that
2
1 s 1 s 1 s 2 + 2s + s
L (f ) = 2es + 2e + e = e .
s3 s2 s s3

PROBLEM 5.3.9
Find the Laplace transform of

f (t) = sin t (0 < t < /).

Solution. We have

f (t) = [u(t) u(t /)] sin t = u(t) sin t + u(t /) sin (t /).

L (f ) = L (u(t) sin t) + L (u(t /) sin (t /)) = + es/ 2 .
s2 + 2 s + 2
 PROBLEM 5.4.14
Let the inverse transform be
e2s 2e5s
F (s) = 4 .
s
Find f (t).
Solution. Without the exponential function, the two terms of F (s) would have the originals
4u(t) because the Laplace transform of u(t) is
1
L (u) = .
s
By THEOREM 1, we can write f (t) in terms of the unit step function:

f (t) = 4u(t 2) 8u(t 5).

PROBLEM 5.4.15
Let the inverse transform be
e3s
F (s) = .
s3
Find f (t).
Solution. Without the exponential function, F (s) would have the originals 0.5t2 because
the Laplace transform of t2 is
2
L (t2 ) = 3 .
s
By THEOREM 1, we can again write f (t) in terms of the unit step function:

f (t) = 0.5u(t 3)(t 3)2 .

PROBLEM 5.3.21
Solve the initial value problem

y 00 + 6y 0 + 8y = e3t e5t , y(0) = 0, y 0 (0) = 0.

Solution. Apply Laplaces method for solving this nitial value problem.
First step. Write
1 1
Y = L(y), r(t) = e3t e5t , R = L (r) = L (e3t ) L (e5t ) = ,
s+3 s+5
and apply the Laplace transform to y 00 + 6y 0 + 8y = r(t) to obtain
1 1
L (y 00 ) + 6L (y 0 ) + 8L (y) = ,
s+3 s+5
and then the subsidiary equation
1 1
[s2 Y sy(0) y 0 (0)] + 6[sY y(0)] + 8Y =
s+3 s+5
or
1 1
(s2 + 6s + 8)Y = .
s+3 s+5
Second step. Solve the subsidiary equation using the transfer function
1
Q = Q(s) =
s2 + 6s + 8
to obtain    
1 1 1 1 1
Y (s) = Q(s) = 2
.
s+3 s+5 s + 3 s + 5 s + 6s + 8
We have
 
1 1 1 1
s2 + 6s + 8 = (s + 2)(s + 4), Q(s) = = ,
s2 + 6s + 8 2 s+2 s+4
so that   
1 1 1 1
2Y (s) = =
s+3 s+5 s+2 s+4
1 1 1 1
+ =
(s + 3)(s + 2) (s + 5)(s + 2) (s + 3)(s + 4) (s + 5)(s + 4)
2 1 2 2 2 1
+ .
3s+2 s+3 s+4 3s+5
Thus
1 1 1 1 1 1
Y (s) = + .
3s+2 s+3 s+4 3s+5
Third step. Determine the solution
1 1
y(t) = L1 (Y ) = e2t e3t + e4t e5t =
3 3
1 5t 3t 1
e (e 3e2t + 3et 1) = e5t (et 1)3 .
3 3

PROBLEM 5.3.23
Solve the initial value problem

y 00 + 9y = r(t), r(t) = 8 sin t, 0 < t < , 0, t > ; y(0) = 0, y 0 (0) = 4.

Solution. Apply Laplaces method for solving this nitial value problem.
First step. Write
Y = L(y),
r(t) = 8[u(t) u(t )] sin t = 8u(t) sin t 8u(t ) sin(t ).
8 8
R(s) = L (r) = 8L (u(t) sin t) 8L (u(t ) sin(t )) = es 2 .
s2 +1 s +1
and apply the Laplace transform to y 00 + 9y = r(t) to obtain

L (y 00 ) + 9L (y) = R(s),
and then the subsidiary equation

[s2 Y sy(0) y 0 (0)] + 9Y = R(s),

or
(s2 + 9)Y = 4 + R(s).
Second step. Solve the subsidiary equation using the transfer function
1
Q = Q(s) =
s2 +9
to obtain
4 1 1 1 1
Y (s) = +8 2 8es 2 =
+9s2 2
s +1s +9 s +1s +92
 
4 1 1 s 1 1
+ e =
s2 + 9 s2 + 1 s2 + 9 s2 + 1 s2 + 9
3 1 1 1
2
+ 2 es 2 + es 2 .
s +9 s +1 s +1 s +9
Third step. Determine the solution
1
y(t) = L1 (Y ) = sin 3t + sin t u(t ) sin t + u(t ) sin 3t.
3
so that
y(t) = sin 3t + sin t, 0 < t < ,
and
1 4
y(t) = sin 3t + sin t sin t + sin 3t = sin 3t, t > .
3 3

PROBLEM 5.4.1
Find the Laplace transform of
g(t) = tet .
Solution. By the formula for the Laplace transform of the derivative,

L [tf (t)] = F 0 (s)

if F (s) = L (f ), and
tf (t) = L1 [F 0 (s)]
Set
f (t) = et .
Then
1
L [f (t)] = F (s) =
s1
!
1 0 1 1
g(t) = tf (t) = L [F (s)] = L .
(s 1)2
 PROBLEM 5.4.2
Find the Laplace transform of
g(t) = 3t sinh 4t.
Solution. By the formula for the Laplace transform of the derivative,

L [tf (t)] = F 0 (s)

if F (s) = L (f ), and
tf (t) = L1 [F 0 (s)]
Set
f (t) = 3 sinh 4t.
Then
4
L [f (t)] = 3L (sinh 4t) = F (s) = 3 ,
s2 16
and !
1 0 1 s
g(t) = tf (t) = L [F (s)] = (24)L .
(s 16)2
2

PROBLEM 5.4.3
Find the Laplace transform of
g(t) = t2 cosh t.
Solution. Using the solution to PROBLEM 5.2.12e we obtain

s2 + 2
L (t cosh t) = F (s) =
(s2 2 )2
and then get the result
!
1 0 1 s3 + 3 2 s
g(t) = t(t cosh t) = L [F (s)] = 2L .
(s2 2 )3

PROBLEM 5.4.9
Find the inverse Laplace transform of
1
F (s) = .
(s 3)3
Solution. From the table of transforms, we have
d 1 1
F (s) = F (s), F (s) = .
ds 2 (s 3)2
On the other hand, for
1 11
f (t) = t : F (s) = L (f ) = .
2 2 s2
By the shifting THEOREM 5.1.2

L (eat f (t)) = F (s a),

eat f (t) = L1 (F (s a)),

so that   !
1 1 1
e t = L1 (F (s 3)) = L1
3t
.
2 2 (s 3)2
By the formula for the inverse Laplace transform of the derivative, we have
 
1
t[e t] = L1 [F 0 (s)] = L1 [F (s)]
3t
2
so that the inverse Laplace transform of
1
F (s) =
(s 3)3
is  
1 1
t[e3t t] = t2 e3t .
2 2

PROBLEM 5.4.10
Find the inverse Laplace transform of
s
F (s) = .
(s2 9)2

Solution. We will derive a formula similar to the transform of

t s
f (t) = sin t : F (s) = (4)
2 (s2 + 2 )2

borrowed from EXAMPLE 1. We have

L (sinh t) = ,
s2 2
s
L (cosh t) = ,
s2 2
and from these formulas, we can derive (see PROBLEM 5.2.12f) that

2s
L (t sinh t) = .
(s2 2 )2

Dividing the latter equality by 2 we obtain

!
t s
L sinh t = 2 .
2 (s 2 )2
For = 3, we arrive at the the formula (4)
 
s t
F (s) = 2 =L sinh 3t .
(s 9)2 6

PROBLEM 5.4.11
Find the inverse Laplace transform of

s2 2
F (s) = 2 .
(s + 2 )2

Solution. From EXAMPLE 1 we have the Laplace transforms

1 1
F1 (s) = f1 (t) = (sin t t cos t)
(s2 + 2 )2 2 3
s2 1
F2 (s) = f2 (t) = (sin t + t cos t)
(s2 + 2 )2 2

so that, by linearuty of the Laplace transform,

( )
1 2 1 s2 2
L [F2 (s) F1 (s)] = L =
(s2 + 2 )2
1 1 1
(sin t + t cos t) 2 3 (sin t t cos t) = (2t cos t) = t cos t,
2 2 2
which agrees with the Laplace transform

s2 2
L (t cos t) = 2 .
(s + 2 )2

provided by PROBLEM 5.2.12a (set = ).