Laplace Transforms

Gilles Cazelais
May 2006
Contents
1 Problems 1
1.1 Laplace Transforms . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Inverse Laplace Transforms . . . . . . . . . . . . . . . . . . . . . 2
1.3 Initial Value Problems . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 Step Functions and Impulses . . . . . . . . . . . . . . . . . . . . 4
1.5 Convolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Solutions 7
2.1 Laplace Transforms . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Inverse Laplace Transforms . . . . . . . . . . . . . . . . . . . . . 10
2.3 Initial Value Problems . . . . . . . . . . . . . . . . . . . . . . . . 17
2.4 Step Functions and Impulses . . . . . . . . . . . . . . . . . . . . 25
2.5 Convolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
A Formulas and Properties 41
A.1 Table of Laplace Transforms . . . . . . . . . . . . . . . . . . . . . 41
A.2 Properties of Laplace Transforms . . . . . . . . . . . . . . . . . . 42
A.3 Trigonometric Identities . . . . . . . . . . . . . . . . . . . . . . . 43
B Partial Fractions 45
B.1 Partial Fractions . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
B.2 Cover-up Method . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Bibliography 49
i
ii CONTENTS
Chapter 1
Problems
1.1 Laplace Transforms
1. Find the Laplace transform of the following functions.
(a) f(t) = 4t
2
2t + 3
(b) f(t) = 3 sin 5t 2 cos 3t
(c) f(t) = 3e
2t
+ 5e
3t
(d) f(t) = e
2t
(4 cos 5t + 3 sin 5t)
(e) f(t) = t
3
e
2t
+ 2te
t
(f ) f(t) = (1 +e
3t
)
2
2. Use an appropriate trigonometric identity to nd the following Laplace trans-
forms. See page 43 for a list of trigonometric identities.
(a) L
_
cos
2
t
_
(b) L{sin 2t cos 2t}
(c) L{sin 3t cos 4t}
(d) L{sin(t +)}
(e) L{cos(t +)}
(f ) L
_
e
2t
sin(3t +

6
)
_
3. The hyperbolic sine and hyperbolic cosine are dened by
sinh t =
e
t
e
t
2
and cosh t =
e
t
+e
t
2
.
Evaluate both L{sinh t} and L{cosh t}.
4. Find both L{cos t} and L{sin t} by starting from Eulers formula
e
j
= cos +j sin
and
L
_
e
at
_
=
1
s a
.
1
2 CHAPTER 1. PROBLEMS
5. Use the frequency dierentiation property (see page 42) to derive the follow-
ing formulas.
(a) L{t sin t} =
2s
(s
2
+
2
)
2
(b) L{t cos t} =
s
2

2
(s
2
+
2
)
2
6. Use the frequency shift property (see page 42) to nd the following.
(a) L
_
t e
2t
sin 3t
_
(b) L
_
t e
3t
cos 2t
_
1.2 Inverse Laplace Transforms
In problems 1 8, nd the inverse Laplace transforms of the given functions.
1. F(s) =
1
s
4
2. F(s) =
s + 5
s
2
+ 4
3. F(s) =
3s + 1
s
2
+ 5
4. F(s) =
1
(s 3)
5
5. F(s) =
s 2
s
2
+ 2s + 5
6. F(s) =
s + 5
(s
2
+ 9)
2
7. F(s) =
1
s
2
4s + 7
8. F(s) =
5s + 2
(s
2
+ 6s + 13)
2
In problems 9 16, use the method of partial fractions to nd the given inverse
Laplace transforms. See page 45 for a refresher on partial fractions.
9. L
1
_
s + 3
s
2
+ 4s 5
_
10. L
1
_
s + 1
(2s 1)(s + 2
_
11. L
1
_
s
2
+s + 5
s
4
s
2
_
12. L
1
_
1
(s + 1)(s
2
+ 4)
_
13. L
1
_
s
2
+ 3s + 4
(s 2)
3
_
14. L
1
_
s
2
+s + 4
s
3
+ 9s
_
15. L
1
_
3s + 2
s
3
(s
2
+ 1)
_
16. L
1
_
2s + 1
(s + 3)(s
2
+ 4s + 13)
_
1.3. INITIAL VALUE PROBLEMS 3
1.3 Initial Value Problems
Use Laplace transforms to solve the following initial-value problems.
1. y

+ 4y = e
t
, y(0) = 2
2. y

y = sin t, y(0) = 1
3. y

+ 3y

+ 2y = t + 1, y(0) = 1, y

(0) = 0
4. y

+ 4y

+ 13y = 0, y(0) = 1, y

(0) = 2
5. y

+ 4y = 4t + 8, y(0) = 4, y

(0) = 1
6. y

+y

2y = 5e
3t
, y(0) = 1, y

(0) = 4
7. y

+y

2y = e
t
, y(0) = 2, y

(0) = 3
8. y

2y

+y = e
t
, y(0) = 3, y

(0) = 4
9. y

+ 2y

+ 2y = cos 2t, y(0) = 0, y

(0) = 1
10. y

+ 4y = sin 3t, y(0) = 2, y

(0) = 1
11. y

+
2
y = cos t, y(0) = 0, y

(0) = 0
12. y

+ 2y

+ 5y = 3e
t
cos 2t, y(0) = 1, y

(0) = 2
13. The dierential equation for a mass-spring system is
mx

(t) +x

(t) +kx(t) = F
e
(t).
Consider a mass-spring system with a mass m = 1 kg that is attached to a
spring with constant k = 5 N/m. The medium oers a damping force six
times the instantaneous velocity, i.e., = 6 N s/m.
(a) Determine the position of the mass x(t) if it is released with initial
conditions: x(0) = 3 m, x

(0) = 1 m/s. There is no external force.

(b) Determine the position of the mass x(t) if it released with the initial
conditions: x(0) = 0, x

(0) = 0 and the system is driven by an external

force F
e
(t) = 30 sin 2t in newtons with time t measured in seconds.
14. The dierential equation for the current i(t) in an LR circuit is
L
di
dt
+Ri = V (t).
Find the current in an LR circuit if the initial current is i(0) = 0 A given that
L = 2 H, R = 4 , and V (t) = 5e
t
volts with time t measured in seconds..
15. The dierential equations for the charge q(t) in an LRC circuit is
Lq

(t) +Rq

(t) +
q(t)
C
= V (t).
Find the charge and current in an LRC circuit with L = 1 H, R = 2 ,
C = 0.25 F and V = 50 cos t volts if q(0) = 0 C and i(0) = 0 A.
4 CHAPTER 1. PROBLEMS
1.4 Step Functions and Impulses
1. Find the Laplace transforms of the following functions.
(a) f(t) =
_

_
1, 0 t < 1
3, 1 t < 2
2, t 2
(b) f(t) =
_
sin t, 0 t <
0, t
(c) f(t) =
_

_
t, 0 t < 1
1, 1 t < 2
0, t 2
(d) f(t) =
_
0, 0 t < 3
t
2
, t 3
2. Find the following inverse Laplace transforms.
(a) L
1
_
e
2s
s + 3
_
(b) L
1
_
e
2s
s
2
+ 4
_
(c) L
1
_
e
s
(s 1)(s + 2)
_
(d) L
1
_
e
s
s(s
2
+ 1)
_
In problems 3 9, use Laplace transforms to solve the initial-value problem.
3. y

+ 2y = f(t), y(0) = 3, where f(t) =

_
1, 0 t 1
0, t 1
4. y

+y = f(t), y(0) = 1, y

(0) = 0, where f(t) =

_
0, 0 t
sin t, t
5. y

+y

2y = f(t), y(0) = 0, y

(0) = 0, where f(t) =

_
1, 0 t 3
1, t 3
6. y

+ 4y = f(t), y(0) = 0, y

(0) = 2, where f(t) =

_

_
1, 0 t < ,
2, t < 2,
0, t 2
7. y

+ 3y = (t 1), y(0) = 2
8. y

+ 4y

+ 13y = (t ), y(0) = 2, y

(0) = 1
9. y

+y = (t

2
) + 2(t ), y(0) = 3, y

(0) = 1
10. Find the Laplace transform of the periodic function f(t) with period T = 2a
dened over one period by
f(t) =
_
1, 0 t < a
0, a t < 2a.
1.5. CONVOLUTION 5
11. The dierential equation for the current i(t) in an LR circuit is
L
di
dt
+Ri = V (t).
Consider an LR circuit with L = 1 H, R = 4 and a voltage source (in volts)
V (t) =
_
2, 0 t < 1
0, t 1.
(a) Find the current i(t) if i(0) = 0.
(b) Compute the current at t = 1.5 seconds, i.e., compute i(1.5).
(c) Evaluate lim
t
i(t).
(d) Sketch the graph of the current as a function of time.
12. Consider the following function with a > 0 and > 0.

(t a) =
_

_
0, 0 t < a
1

, a t < a +
0, t a +
(a) Find L{

(t a)}.
(b) Show that: lim
0
L{

(t a)} = e
as
.
1.5 Convolution
1. Find the following Laplace transforms.
(a) L
_
1 t
4
_
(b) L
__
t
0
cos d
_
(c) L{e
t
sin t}
(d) L
__
t
0
cos sin(t ) d
_
2. Find the following inverse Laplace transforms by using convolution. Do not
use partial fractions.
(a) L
1
_
1
s(s 1)
_
(b) L
1
_
1
(s + 1)(s 3)
_
(c) L
1
_
1
s(s
2
+ 1))
_
(d) L
1
_
1
s
2
(s
2
+ 1)
_
6 CHAPTER 1. PROBLEMS
3. Use convolution to derive the following formula.
L
1
_
1
(s
2
+
2
)
2
_
=
sin t t cos t
2
3
4. Solve for f(t) in the following equation.
f(t) = t +e
2t
+
_
t
0
e

f(t ) d
5. Solve for f(t) in the following equation. Be sure to nd all solutions.
_
t
0
f()f(t ) d = t
3
6. Solve for y(t) in the following initial-value problem.
y

(t) +
_
t
0
e
2
y(t ) d = 1, y(0) = 0
Chapter 2
Solutions
2.1 Laplace Transforms
1. We use the table of Laplace transforms (see page 41) to answer this question.
(a) L{f(t)} = 4 L
_
t
2
_
2 L{t} + 3 L{1} =
8
s
3

2
s
2
+
3
s
(b) L{f(t)} = 3 L{sin 5t} 2 L{cos 3t} =
15
s
2
+ 25

2s
s
2
+ 9
(c) L{f(t)} = 3 L
_
e
2t
_
+ 5 L
_
e
3t
_
=
3
s 2
+
5
s + 3
(d) L{f(t)} = 4 L
_
e
2t
cos 5t
_
+3 L
_
e
2t
sin 5t
_
=
4(s + 2)
(s + 2)
2
+ 25
+
15
(s + 2)
2
+ 25
(e) L{f(t)} = L
_
t
3
e
2t
_
+ 2 L{te
t
} =
6
(s 2)
4
+
2
(s + 1)
2
(f ) Since f(t) = (1 +e
3t
)
2
= 1 + 2e
3t
+e
6t
, we have
L{f(t)} = L{1} + 2L
_
e
3t
_
+L
_
e
6t
_
=
1
s
+
2
s 3
+
1
s 6
.
2. (a) Since cos
2
t =
1 + cos 2t
2
, we have
L
_
cos
2
t
_
=
1
2
(L{1} +L{cos 2t})
=
1
2
_
1
s
+
s
s
2
+ 4
_
.
7
8 CHAPTER 2. SOLUTIONS
(b) Starting from the identity sin 2 = 2 sin cos , if we let = 2t we get
sin 4t = 2 sin 2t cos 2t = sin 2t cos 2t =
1
2
sin 4t
and
L{sin 2t cos 2t} =
1
2
L{sin 4t} =
1
2
_
4
s
2
+ 16
_
=
2
s
2
+ 16
.
(c) From the identity sin cos =
1
2
(sin( +) + sin( )), we deduce
sin 3t cos 4t =
1
2
(sin(3t + 4t) + sin(3t 4t))
=
1
2
(sin 7t + sin(t))
=
1
2
(sin 7t sin t)
and
L{sin 3t cos 4t} =
1
2
_
7
s
2
+ 49

1
s
2
+ 1
_
.
(d) From the identity sin( +) = sin cos + cos sin , we deduce
sin(t +) = sin t cos + cos t sin
and
L{sin(t +)} = cos L{sin t} + sin L{cos t}
= cos
_

s
2
+
2
_
+ sin
_
s
s
2
+
2
_
.
(e) From the identity cos( +) = cos cos sin sin , we deduce
cos(t +) = cos t cos sin t sin
and
L{cos(t +)} = cos L{cos t} sin L{sin t}
= cos
_
s
s
2
+
2
_
sin
_

s
2
+
2
_
.
(f ) Using the identity sin( +) = sin cos + cos sin , we deduce
e
2t
sin(3t +

6
) = e
2t
(sin 3t cos

6
+ cos 3t sin

6
)
= e
2t
(

3
2
sin 3t +
1
2
cos 3t)
=

3
2
e
2t
sin 3t +
1
2
e
2t
cos 3t
and
L
_
e
2t
sin(3t +

6
)
_
=

3
2
_
3
(s + 2)
2
+ 9
_
+
1
2
_
s + 2
(s + 2)
2
+ 9
_
.
2.1. LAPLACE TRANSFORMS 9
3. Using L{e
at
} =
1
s a
, we deduce
L{sinh t} =
1
2
_
L
_
e
t
_
L
_
e
t
__
=
1
2
_
1
s

1
s +
_
=
1
2
_
s + (s )
s
2

2
_
=

s
2

2
and
L{cosh t} =
1
2
_
L
_
e
t
_
+L
_
e
t
__
=
1
2
_
1
s
+
1
s +
_
=
1
2
_
s + +s
s
2

2
_
=
s
s
2

2
.
4. From Eulers formula, we get
L
_
e
jt
_
= L{cos t} +jL{sin t} . (2.1)
From L{e
at
} =
1
s a
, we deduce
L
_
e
jt
_
=
1
s j
=
1
s j
_
s +j
s +j
_
=
s +j
s
2
+
2
. (2.2)
Since the real and imaginary parts in equations (2.1) and (2.2) are equal, we
conclude that
L{cos t} =
s
s
2
+
2
and L{sin t} =

s
2
+
2
.
5. We will use the property L{tf(t)} = F

(s).
(a) If f(t) = sin t, we have F(s) =

s
2
+
2
. Therefore
L{t sin t} = F

(s) =
d
ds
_

s
2
+
2
_
=
2s
(s
2
+
2
)
2
.
10 CHAPTER 2. SOLUTIONS
(b) If f(t) = cos t, we have F(s) =
s
s
2
+
2
. Therefore
L{t cos t} = F

(s) =
d
ds
_
s
s
2
+
2
_
=
s
2

2
(s
2
+
2
)
2
.
6. We use the frequency shift property L{e
at
f(t)} = F(s a).
(a) Since L{t sin 3t} =
6s
(s
2
+ 9)
2
, we conclude that
L
_
te
2t
sin 3t
_
=
6(s 2)
((s 2)
2
+ 9)
2
=
6(s 2)
(s
2
4s + 13)
2
.
(b) Since L{t cos 2t} =
s
2
4
(s
2
+ 4)
2
, we conclude that
L
_
te
3t
cos 2t
_
=
(s + 3)
2
4
((s + 3)
2
+ 4)
2
=
s
2
+ 6s + 5
(s
2
+ 6s + 13)
2
.
2.2 Inverse Laplace Transforms
1. L
1
_
1
s
4
_
=
1
3!
L
1
_
3!
s
4
_
=
t
3
6
2. L
1
_
s + 5
s
2
+ 4
_
= L
1
_
s
s
2
+ 4
_
+
5
2
L
1
_
2
s
2
+ 4
_
= cos 2t +
5
2
sin 2t
3. L
1
_
3s + 1
s
2
+ 5
_
= 3L
1
_
s
s
2
+ 5
_
+
1

5
L
1
_

5
s
2
+ 5
_
L
1
_
3s + 1
s
2
+ 5
_
= 3 cos

5t +
1

5
sin

5t
4. L
1
_
1
(s 3)
5
_
=
1
4!
L
1
_
4!
(s 3)
5
_
=
t
4
e
3t
24
5. By completing the square, we get
s
2
+ 2s + 5 = (s + 1)
2
+ 4.
2.2. INVERSE LAPLACE TRANSFORMS 11
Observe that
s 2
s
2
+ 2s + 5
=
(s + 1) 3
(s + 1)
2
+ 4
.
Therefore,
L
1
_
s 2
s
2
+ 2s + 5
_
= L
1
_
s + 1
(s + 1)
2
+ 4
_

3
2
L
1
_
2
(s + 1)
2
+ 4
_
= e
t
cos 2t
3
2
e
t
sin 2t.
6. L
1
_
s + 5
(s
2
+ 9)
2
_
=
1
6
L
1
_
6s
(s
2
+ 9)
2
_
+ 5L
1
_
1
(s
2
+ 9)
2
_
L
1
_
s + 5
(s
2
+ 9)
2
_
=
1
6
t sin 3t + 5
_
sin 3t 3t cos 3t
2(3
3
)
_
=
1
6
t sin 3t +
5
54
sin 3t
5
18
t cos 3t.
7. By completing the square, we get
s
2
4s + 7 = (s 2)
2
+ 3.
Therefore,
L
1
_
1
s
2
4s + 7
_
=
1

3
L
1
_

3
(s 2)
2
+ 3
_
=
1

3
e
2t
sin

3t.
8. First we complete the square to get
s
2
+ 6s + 13 = (s + 3)
2
+ 4.
Observe that
5s + 2
(s
2
+ 6s + 13)
2
=
5(s + 3) 13
((s + 3)
2
+ 4)
2
.
We now use the frequency shift theorem L{e
at
f(t)} = F(s a) to conclude
that
L
1
_
5(s + 3) 13
((s + 3)
2
+ 4)
2
_
= e
3t
L
1
_
5s 13
(s
2
+ 4)
2
_
.
12 CHAPTER 2. SOLUTIONS
Now lets focus on L
1
_
5s 13
(s
2
+ 4)
2
_
.
L
1
_
5s 13
(s
2
+ 4)
2
_
=
5
4
L
1
_
4s
(s
2
+ 4)
2
_
13L
1
_
1
(s
2
+ 4)
2
_
=
5
4
t sin 2t 13
_
sin 2t 2t cos 2t
2(2)
3
_
=
5
4
t sin 2t
13
16
sin 2t +
13
8
t cos 2t
Therefore,
L
1
_
5s + 2
(s
2
+ 6s + 13)
2
_
= e
3t
_
5
4
t sin 2t
13
16
sin 2t +
13
8
t cos 2t
_
.
9. We can factor the denominator to obtain
s
2
+ 4s 5 = (s 1)(s + 5).
The partial fractions decomposition is of the form
s + 3
(s 1)(s + 5)
=
A
s 1
+
B
s + 5
.
Using the cover-up method we obtain A and B as follows.
A =
s + 3
$
$
$$
(s 1) (s + 5)

s=1
=
2
3
and B =
s + 3
(s 1)
$
$
$$
(s + 5)

s=5
=
1
3
Then,
L
1
_
s + 3
(s 1)(s + 5)
_
=
2
3
L
1
_
1
s 1
_
+
1
3
L
1
_
1
s + 5
_
=
2
3
e
t
+
1
3
e
5t
.
10. The partial fractions decomposition is of the form
s + 1
(2s 1)(s + 2)
=
A
2s 1
+
B
s + 2
.
Using the cover-up method we obtain A and B as follows.
A =
s + 1
$
$
$
$
(2s 1) (s + 2)

s=1/2
=
3
5
and B =
s + 1
(2s 1)
$
$
$$
(s + 2)

s=2
=
1
5
2.2. INVERSE LAPLACE TRANSFORMS 13
Then,
L
1
_
s + 1
(2s 1)(s + 2)
_
=
3
5
L
1
_
1
2s 1
_
+
1
5
L
1
_
1
s + 2
_
=
3
5 2
L
1
_
1
s 1/2
_
+
1
5
L
1
_
1
s + 2
_
=
3
10
e
t/2
+
1
5
e
2t
.
11. We start by factoring the denominator to get s
4
s
2
= s
2
(s 1)(s +1). The
partial fractions decomposition is of the form
s
2
+s + 5
s
2
(s 1)(s + 1)
=
A
s
+
B
s
2
+
C
s 1
+
D
s + 1
.
By multiplying both sides by s
2
(s 1)(s + 1) we get
s
2
+s + 5 = As(s 1)(s + 1) +B(s 1)(s + 1) +Cs
2
(s + 1) +Ds
2
(s 1).
To nd the constants, lets assign values to s as follows.
s = 0 = 5 = 0 B + 0 + 0 = B = 5
s = 1 = 7 = 0 + 0 + 2C + 0 = C = 7/2
s = 1 = 5 = 0 + 0 + 0 2D = D = 5/2
s = 2 = 11 = 6A+ 3B + 12C + 4D = A =
11 3B 12C 4D
6
= 1
Then,
L
1
_
s
2
+s + 5
s
4
s
2
_
= L
1
_
1
s
_
5L
1
_
1
s
2
_
+
7
2
L
1
_
1
s 1
_

5
2
L
1
_
1
s + 1
_
= 1 5t +
7
2
e
t

5
2
e
t
.
12. The partial fractions decomposition is of the form
1
(s + 1)(s
2
+ 4)
=
A
s + 1
+
Bs +c
s
2
+ 4
.
We can use the cover-up method to nd A, B, C as follows.
A =
1
$
$
$$
(s + 1) (s
2
+ 4)

s=1
=
1
5
14 CHAPTER 2. SOLUTIONS
(Bs +C)|
s=2j
=
1
(s + 1)
$
$
$
$
(s
2
+ 4)

s=2j
2Bj +C =
1
1 + 2j
=
1
1 + 2j
_
1 2j
1 2j
_
=
1 2j
5
.
Since the real and imaginary parts are equal on both sides, we get
B =
1
5
and C =
1
5
.
Then,
L
1
_
1
(s + 1)(s
2
+ 4)
_
=
1
5
L
1
_
1
s + 1
_

1
5
L
1
_
s
s
2
+ 4
_
+
1
5 2
L
1
_
2
s
2
+ 4
_
=
1
5
e
t

1
5
cos 2t +
1
10
sin 2t.
13. The partial fractions decomposition is of the form
s
2
+ 3s + 4
(s 2)
3
=
A
s 2
+
B
(s 2)
2
+
C
(s 2)
3
.
By multiplying both sides by (s 3)
3
and expanding, we get
s
2
+ 3s + 4 = A(s 2)
2
+B(s 2) +C
= A(s
2
4s + 4) +Bs 2B +C
= As
2
+ (B 4A)s + (C 2B + 4A).
We conclude that
A = 1, B 4A = 3 = B = 7, C 2B + 4A = 4 = C = 14.
Then,
L
1
_
s
2
+ 3s + 4
(s 2)
3
_
= L
1
_
1
s 2
_
+ 7L
1
_
1
(s 2)
2
_
+
14
2!
L
1
_
2!
(s 2)
3
_
= e
2t
+ 7te
2t
+ 7t
2
e
2t
.
14. We factor the denominator to get s
3
+ 9s = s(s
2
+ 9). The partial fractions
decomposition is of the form
s
2
+s + 4
s(s
2
+ 9)
=
A
s
+
Bs +C
s
2
+ 9
.
2.2. INVERSE LAPLACE TRANSFORMS 15
By multiplying both sides by s(s
2
+ 9) and expanding, we get
s
2
+s + 4 = A(s
2
+ 9) + (Bs +C)s
= As
2
+ 9A+Bs
2
+Cs
= (A+B)s
2
+Cs + 9A.
We conclude that
9A = 4 = A = 4/9, C = 1, A+B = 1 = B = 5/9.
Then,
L
1
_
s
2
+s + 4
s
3
+ 9s
_
=
4
9
L
1
_
1
s
_
+
5
9
L
1
_
s
s
2
+ 9
_
+
1
3
L
1
_
3
s
2
+ 9
_
=
4
9
+
5
9
cos 3t +
1
3
sin 3t.
15. The partial fractions decomposition is of the form
3s + 2
s
3
(s
2
+ 1)
=
A
s
+
B
s
2
+
C
s
3
+
Ds +E
s
2
+ 1
.
By multiplying both sides by s
3
(s
2
+ 1) and expanding, we get
3s + 2 = As
2
(s
2
+ 1) +Bs(s
2
+ 1) +C(s
2
+ 1) + (Ds +E)s
3
= As
4
+As
2
+Bs
3
+Bs +Cs
2
+C +Ds
4
+Es
3
0s
4
+ 0s
3
+ 0s
2
+ 3s + 2 = (A+D)s
4
+ (B +E)s
3
+ (A+C)s
2
+Bs +C.
We conclude that
C = 2
B = 3
A+C = 0 = A = 2
B +E = 0 = E = 3
A+D = 0 = D = 2.
Then,
L
1
_
3s + 2
s
3
(s
2
+ 1)
_
= 2 + 3t +t
2
+ 2 cos t 3 sin t.
16. First we complete the square to get s
2
+4s +13 = (s +2)
2
+9. We can look
for a partial fractions decomposition in the form
2s + 1
(s + 3)(s
2
+ 4s + 13)
=
A
s + 3
+
B(s + 2) +C
(s + 2)
2
+ 9
.
16 CHAPTER 2. SOLUTIONS
Method 1. Lets multiply both sides by (s + 3)((s + 2)
2
+ 9) to get
2s + 1 = A((s + 2)
2
+ 9) + (B(s + 2) +C)(s + 3).
To nd the constants A, B, and C, lets assign values to s as follows.
s = 3 = 5 = 10A+ 0 = A = 1/2
s = 2 = 3 = 9A+C = C = 3 9A = 3/2
s = 1 = 1 = 10A+ 2B + 2C = B = (3 10A2C)/2 = 1/2
Method 2. We can use the cover-up method to nd A, B, and C.
A =
2s + 1
$
$
$$
(s + 3) (s
2
+ 4s + 13)

s=3
=
1
2
.
Since s
2
+ 4s + 13 = (s + 2)
2
+ 9 = 0 if s = 2 + 3j, then
(B(s + 2) +C)|
s=2+3j
=
2s + 1
(s + 3)
@
@
@
@
@
@@
(s
2
+ 4s + 13)

s=2+3j
3Bj +C =
2(2 + 3j) + 1
(2 + 3j) + 3
=
3 + 6j
1 + 3j
=
_
3 + 6j
1 + 3j
__
1 3j
1 3j
_
3Bj +C =
15j + 15
10
.
Since the real and imaginary parts are equal on both sides, we get
3B =
15
10
= B =
1
2
and C =
15
10
=
3
2
.
Then,
2s + 1
(s + 3)(s
2
+ 4s + 13)
=
1
2
_
1
s + 3
_
+
1
2
_
s + 2
(s + 2)
2
+ 9
_
+
1
2
_
3
(s + 2)
2
+ 9
_
and
L
1
_
2s + 1
(s + 3)(s
2
+ 4s + 13)
_
=
1
2
e
3t
+
1
2
e
2t
(cos 3t + sin 3t) .
2.3. INITIAL VALUE PROBLEMS 17
2.3 Initial Value Problems
1. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} + 4L{y(t)} = L
_
e
t
_
Since y(0) = 2, we get
(sY (s) 2) + 4Y (s) =
1
s 1
.
Solving for Y (s) gives
Y (s) =
2
s + 4
+
1
(s + 4)(s 1)
=
2s 1
(s + 4)(s 1)
.
Using partial fractions, we obtain
Y (s) =
9
5
_
1
s + 4
_
+
1
5
_
1
s 1
_
.
Taking the inverse Laplace transform gives the answer.
y(t) =
9
5
e
4t
+
1
5
e
t
2. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} L{y(t)} = L{sin t}

Since y(0) = 1, we get
(sY (s) 1) Y (s) =
1
s
2
+ 1
.
Solving for Y (s) gives
Y (s) =
1
s 1
+
1
(s 1)(s
2
+ 1)
=
s
2
+ 2
(s 1)(s
2
+ 1)
.
Using partial fractions, we obtain
Y (s) =
3
2
_
1
s 1
_

1
2
_
s
s
2
+ 1
_

1
2
_
1
s
2
+ 1
_
.
Taking the inverse Laplace transform gives the answer.
y(t) =
3
2
e
t

1
2
cos t
1
2
sin t
18 CHAPTER 2. SOLUTIONS
3. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} + 3L{y

(t)} + 2L{y(t)} = L{t} +L{1}

Since y(0) = 1 and y

(0) = 0, we get
(s
2
Y (s) s 0) + 3(sY (s) 1) + 2Y (s) =
1
s
2
+
1
s
.
Solving for Y (s) and simplifying gives
Y (s) =
s + 3
s
2
+ 3s + 2
+
1
s
2
(s
2
+ 3s + 2)
+
1
s(s
2
+ 3s + 2)
=
s
3
+ 3s
2
+s + 1
s
2
(s + 1)(s + 2)
.
Using partial fractions, we obtain
Y (s) =
1
2
_
1
s
2
_

1
4
_
1
s
_
+ 2
_
1
s + 1
_

3
4
_
1
s + 2
_
.
Taking the inverse Laplace transform gives the answer.
y(t) =
1
2
t
1
4
+ 2e
t

3
4
e
2t
4. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} + 4L{y

(t)} + 13L{y(t)} = 0
Since y(0) = 1 and y

(0) = 2, we get
(s
2
Y (s) s 2) + 4(sY (s) 1) + 13Y (s) = 0.
Solving for Y (s) gives
Y (s) =
s + 6
s
2
+ 4s + 13
.
By completing the square of the denominator, we get
s
2
+ 4s + 13 = (s + 2)
2
+ 9.
Therefore,
Y (s) =
(s + 2) + 4
(s + 2)
2
+ 9
=
s + 2
(s + 2)
2
+ 9
+
4
3
_
3
(s + 2)
2
+ 9
_
.
Taking the inverse Laplace transform gives the answer.
y(t) = e
2t
cos 3t +
4
3
e
2t
sin 3t
2.3. INITIAL VALUE PROBLEMS 19
5. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} + 4L{y(t)} = 4L{t} +L{8}

Since y(0) = 4 and y

(0) = 1, we get
(s
2
Y (s) 4s + 1) + 4Y (s) =
4
s
2
+
8
s
.
Solving for Y (s) gives
Y (s) =
4s 1
s
2
+ 4
+
4
s
2
(s
2
+ 4)
+
8
s(s
2
+ 4)
=
4s
3
s
2
+ 8s + 4
s
2
(s
2
+ 4)
.
Using partial fractions, we obtain
Y (s) =
1
s
2
+ 2
_
1
s
_
+ 2
_
s
s
2
+ 4
_

2
s
2
+ 4
.
Taking the inverse Laplace transform gives the answer.
y(t) = t + 2 + cos 2t sin 2t
6. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} +L{y

(t)} 2L{y(t)} = 5L
_
e
3t
_
Since y(0) = 1 and y

(0) = 4, we get
(s
2
Y (s) s + 4) + (sY (s) 1) 2Y (s) =
5
s 3
.
Solving for Y (s) and simplifying gives
Y (s) =
s 3
s
2
+s 2
+
5
(s
2
+s 2)(s 3)
=
(s 3)
2
+ 5
(s
2
+s 2)(s 3)
=
s
2
6s + 14
(s + 2)(s 1)(s 3)
.
Using partial fractions, we obtain
Y (s) = 2
_
1
s + 2
_

3
2
_
1
s 1
_
+
1
2
_
1
s 3
_
.
Taking the inverse Laplace transform gives the answer.
y(t) = 2e
2t

3
2
e
t
+
1
2
e
3t
20 CHAPTER 2. SOLUTIONS
7. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} +L{y

(t)} 2L{y(t)} = L
_
e
t
_
Since y(0) = 2 and y

(0) = 3, we get
(s
2
Y (s) 2s 3) + (sY (s) 2) 2Y (s) =
1
s 1
.
Solving for Y (s) and simplifying gives
Y (s) =
2s + 5
s
2
+s 2
+
1
(s
2
+s 2)(s 1)
=
(2s + 5)(s 1) + 1
(s
2
+s 2)(s 1)
=
2s
2
+ 3s 4
(s + 2)(s 1)
2
.
Using partial fractions, we obtain
Y (s) =
2
9
_
1
s + 2
_
+
20
9
_
1
s 1
_
+
1
3
_
1
(s 1)
2
_
.
Taking the inverse Laplace transform gives the answer.
y(t) =
2
9
e
2t
+
20
9
e
t
+
1
3
te
t
8. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} 2L{y

(t)} +L{y(t)} = L
_
e
t
_
Since y(0) = 3 and y

(0) = 4, we get
(s
2
Y (s) 3s 4) 2(sY (s) 3) +Y (s) =
1
s 1
.
Solving for Y (s) and simplifying gives
Y (s) =
3s 2
s
2
2s + 1
+
1
(s
2
2s + 1)(s 1)
=
3(s 1) + 1
(s 1)
2
+
1
(s 1)
3
= 3
_
1
s 1
_
+
1
(s 1)
2
+
1
2!
_
2!
(s 1)
3
_
.
Taking the inverse Laplace transform gives the answer.
y(t) = 3e
t
+te
t
+
1
2
t
2
e
t
2.3. INITIAL VALUE PROBLEMS 21
9. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} + 2L{y

(t)} + 2L{y(t)} = L{cos 2t}

Since y(0) = 0 and y

(0) = 1, we get
(s
2
Y (s) 1) + 2sY (s) + 2Y (s) =
s
s
2
+ 4
.
Solving for Y (s) and simplifying gives
Y (s) =
1
s
2
+ 2s + 2
+
s
(s
2
+ 2s + 2)(s
2
+ 4)
=
s
2
+s + 4
(s
2
+ 2s + 2)(s
2
+ 4)
Using partial fractions, we obtain
Y (s) =
1
10
_
s + 8
s
2
+ 2s + 2
_

1
10
_
s 4
s
2
+ 4
_
By completing the square, we get
s
2
+ 2s + 2 = (s + 1)
2
+ 1.
Therefore,
Y (s) =
1
10
_
(s + 1) + 7
(s + 1)
2
+ 1
_

1
10
_
s 4
s
2
+ 4
_
=
1
10
_
s + 1
(s + 1)
2
+ 1
_
+
7
10
_
1
(s + 1)
2
+ 1
_

1
10
_
s
s
2
+ 4
_
+
4
10 2
_
2
s
2
+ 4
_
Taking the inverse Laplace transform gives the answer.
y(t) =
1
10
e
t
cos t +
7
10
e
t
sin t
1
10
cos 2t +
1
5
sin 2t
10. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} + 4L{y(t)} = L{sin 3t}

Since y(0) = 2 and y

(0) = 1, we get
(s
2
Y (s) 2s 1) + 4Y (s) =
3
s
2
+ 9
.
Solving for Y (s) gives
Y (s) =
2s + 1
s
2
+ 4
+
3
(s
2
+ 4)(s
2
+ 9)
.
22 CHAPTER 2. SOLUTIONS
Using partial fractions, we obtain
3
(s
2
+ 4)(s
2
+ 9)
=
3
5(s
2
+ 4)

3
5(s
2
+ 9)
.
Therefore,
Y (s) =
2s + 1
s
2
+ 4
+
3
5(s
2
+ 4)

3
5(s
2
+ 9)
= 2
_
s
s
2
+ 4
_
+
4
5
_
2
(s
2
+ 4)
_

1
5
_
3
s
2
+ 9
_
.
Taking the inverse Laplace transform gives the answer.
y(t) = 2 cos 2t +
4
5
sin 2t
1
5
sin 3t
11. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} +
2
L{y(t)} = L{cos t}
Since y(0) = 0 and y

(0) = 0, we get
s
2
Y (s) +
2
Y (s) =
s
s
2
+
2
.
Solving for Y (s) gives
Y (s) =
s
(s
2
+
2
)
2
=
1
2
_
2s
(s
2
+
2
)
2
_
.
Taking the inverse Laplace transform gives the answer.
y(t) =
1
2
t sin t
12. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} + 2L{y

(t)} + 5L{y(t)} = 3L
_
e
t
cos 2t
_
Since y(0) = 1 and y

(0) = 2, we get
(s
2
Y (s) s 2) + 2(sY (s) 1) + 5Y (s) =
3(s + 1)
(s + 1)
2
+ 4
.
Solving for Y (s) gives
Y (s) =
s + 4
s
2
+ 2s + 5
+
3(s + 1)
(s
2
+ 2s + 5)((s + 1)
2
+ 4)
.
2.3. INITIAL VALUE PROBLEMS 23
Since s
2
+ 2s + 5 = (s + 1)
2
+ 4, we obtain
Y (s) =
(s + 1) + 3
(s + 1)
2
+ 4
+
3(s + 1)
((s + 1)
2
+ 4)
2
=
s + 1
(s + 1)
2
+ 4
+
3
2
_
2
(s + 1)
2
+ 4
_
+
3(s + 1)
((s + 1)
2
+ 4)
2
.
Taking the inverse Laplace transform and using frequency shift property
L
1
{F(s a)} = e
at
L
1
{F(s)}
we get
y(t) = e
t
cos(2t) +
3
2
e
t
sin(2t) +L
1
_
3(s + 1)
((s + 1)
2
+ 4)
2
_
= e
t
cos(2t) +
3
2
e
t
sin(2t) +e
t
L
1
_
3s
(s
2
+ 4)
2
_
= e
t
cos(2t) +
3
2
e
t
sin(2t) +
3
4
e
t
L
1
_
4s
(s
2
+ 4)
2
_
.
Taking the inverse Laplace transform gives the answer.
y(t) = e
t
cos(2t) +
3
2
e
t
sin(2t) +
3
4
te
t
sin(2t)
13. The dierential equation of the mass-spring system is
x

(t) + 6x

(t) + 5x(t) = F
e
(t).
(a) We have F
e
(t) = 0 and the initial conditions are
x(0) = 3 and x

(0) = 1.
Take the Laplace transform on both sides of the DE to get
(s
2
X(s) 3s 1) + 6(sX(s) 3) + 5X(s) = 0.
Solving for X(s) gives
X(s) =
3s + 19
s
2
+ 6s + 5
=
3s + 19
(s + 1)(s + 5)
.
Using partial fractions, we obtain
X(s) =
4
s + 1

1
s + 5
.
Taking the inverse Laplace transform gives the answer.
x(t) = 4e
t
e
5t
24 CHAPTER 2. SOLUTIONS
(b) We have F
e
(t) = 30 sin 2t and the initial conditions are
x(0) = 0 and x

(0) = 0.
Take the Laplace transform on both sides of the DE to get
s
2
X(s) + 6sX(s) + 5X(s) = 30
_
2
s
2
+ 4
_
.
Solving for X(s) gives
X(s) =
60
(s
2
+ 6s + 5)(s
2
+ 4)
=
60
(s + 1)(s + 5)(s
2
+ 4)
.
Using partial fractions, we obtain
X(s) = 3
_
1
s + 1
_

15
29
_
1
s + 5
_

72
29
_
s
s
2
+ 4
_
+
12
29 2
_
2
s
2
+ 4
_
.
Taking the inverse Laplace transform gives the answer.
x(t) = 3e
t

15
29
e
5t

72
29
cos 2t +
6
29
sin 2t
14. The dierential equation of the LR circuit is
2i

(t) + 4i(t) = 5e
t
with initial condition i(0) = 0. Take the Laplace transform on both sides of
the DE to get
2sI(s) + 4I(s) =
5
s + 1
.
Solving for I(s) gives
I(s) =
5
(2s + 4)(s + 1)
.
Using partial fractions, we obtain
I(s) =
5
2(s + 1)

5
2(s + 2)
.
Taking the inverse Laplace transform gives the answer.
i(t) =
5
2
e
t

5
2
e
2t
2.4. STEP FUNCTIONS AND IMPULSES 25
15. The dierential equation of the LRC circuit is
q

(t) + 2q

(t) + 4q(t) = 50 cos t

with initial condition q

(0) = 0 and q(0) = 0. Take the Laplace transform

on both sides of the DE to get
s
2
Q(s) + 2sQ(s) + 4Q(s) =
50s
s
2
+ 1
.
Solving for Q(s) gives
Q(s) =
50s
(s
2
+ 1)(s
2
+ 2s + 4)
.
Using partial fractions, we obtain
Q(s) =
50
13
_
3s + 2
s
2
+ 1
_

50
13
_
3s + 8
s
2
+ 2s + 4
_
.
By completing the square, we get
s
2
+ 2s + 4 = (s + 1)
2
+ 3.
Therefore
Q(s) =
50
13
_
3s + 2
s
2
+ 1
_

50
13
_
3(s + 1) + 5
(s + 1)
2
+ 3
_
=
150
13
_
s
s
2
+ 1
_
+
100
13
_
1
s
2
+ 1
_

150
13
_
s + 1
(s + 1)
2
+ 3
_

250
13

3
_

3
(s + 1)
2
+ 3
_
.
Taking the inverse Laplace transform gives the answer.
q(t) =
150
13
cos t +
100
13
sin t
150
13
e
t
cos

3t
250
13

3
e
t
sin

3t
2.4 Step Functions and Impulses
1. We will use the following time shift property.
L{f(t) U(t a)} = e
as
L{f(t +a)}
(a) We have f(t) = 1 + 2 U(t 1) 5 U(t 2). Then,
L{f(t)} =
1
s
+
2e
s
s

5e
2s
s
.
26 CHAPTER 2. SOLUTIONS
(b) We have f(t) = sin t sin t U(t ). Then,
L{f(t)} = L{sin t} L{sin t U(t )}
=
1
s
2
+ 1
e
s
L{sin(t +)}
=
1
s
2
+ 1
e
s
L{sin t}
=
1
s
2
+ 1
+
e
s
s
2
+ 1
.
(c) We have f(t) = t t U(t 1) + U(t 1) U(t 2). Then,
L{f(t)} = L{t} L{t U(t 1)} +L{ U(t 1)} L{ U(t 2)}
=
1
s
2
e
s
L{t + 1} +
e
s
s

e
2s
s
=
1
s
2
e
s
_
1
s
2
+
1
s
_
+
e
s
s

e
2s
s
=
1
s
2

e
s
s
2

e
2s
s
.
(d) We have f(t) = t
2
U(t 3). Then,
L{f(t)} = L
_
t
2
U(t 3)
_
= e
3s
L
_
(t + 3)
2
_
= e
3s
L
_
t
2
+ 6t + 9
_
= e
s
_
2
s
3
+
6
s
2
+
9
s
_
.
2. We will use the following time shift property.
L
1
_
e
as
F(s)
_
= f(t a) U(t a)
(a) If F(s) =
1
s + 3
, then f(t) = e
3t
. Therefore,
L
1
_
e
2s
s + 3
_
= e
3(t2)
U(t 2).
(b) If F(s) =
1
s
2
+ 4
=
1
2
_
2
s
2
+ 4
_
, then f(t) =
1
2
sin 2t. Therefore,
L
1
_
e
2s
s
2
+ 4
_
=
1
2
sin 2(t 2) U(t 2)
=
1
2
sin 2t U(t 2).
2.4. STEP FUNCTIONS AND IMPULSES 27
(c) Let F(s) =
1
(s 1)(s + 2)
. Using partial fractions, we get
F(s) =
1
3
_
1
s 1

1
s + 2
_
.
Since f(t) = L
1
{F(s)} =
1
3
(e
t
e
2t
), then
L
1
_
e
s
(s 1)(s + 2)
_
=
1
3
_
e
(t1)
e
2(t1)
_
U(t 1).
(d) Let F(s) =
1
s(s
2
+ 1)
. Using partial fractions, we get
F(s) =
1
s

s
s
2
+ 1
.
Since f(t) = L
1
{F(s)} = 1 cos t, then
L
1
_
e
s
s(s
2
+ 1)
_
= (1 cos(t )) U(t )
= (1 + cos t) U(t ).
3. The IVP is
y

(t) + 2y(t) = 1 U(t 1), y(0) = 3.

Take the Laplace transform on both sides of the DE to get
(sY (s) 3) + 2Y (s) =
1
s

e
s
s
.
Solving for Y (s) gives
Y (s) =
3
s + 2
+
1
s(s + 2)
_
1 e
s
_
.
Let G(s) =
1
s(s + 2)
. Using partial fractions we obtain
G(s) =
1
2
_
1
s

1
s + 2
_
= g(t) =
1
2
_
1 e
2t
_
.
Since
Y (s) =
3
s + 2
+G(s) e
s
G(s),
28 CHAPTER 2. SOLUTIONS
we conclude that
y(t) = 3e
2t
+g(t) g(t 1) U(t 1)
= 3e
2t
+
1
2
_
1 e
2t
_

1
2
_
1 e
2(t1)
_
U(t 1)
=
1
2
+
5
2
e
2t

1
2
_
1 e
2(t1)
_
U(t 1).
We can also express y(t) as a piecewise dened function as follows.
y(t) =
_
1
2
+
5
2
e
2t
, 0 t < 1
5
2
e
2t
+
1
2
e
2(t1)
, t 1
4. The IVP is
y

(t) +y(t) = sin t U(t ), y(0) = 1, y

(0) = 0.
Take the Laplace transform on both sides of the DE to get
(s
2
Y (s) s) +Y (s) = L{sin t U(t )}
= e
s
L{sin(t +)}
= e
s
L{sin t}
=
e
s
s
2
+ 1
.
Solving for Y (s) gives
Y (s) =
s
s
2
+ 1

e
s
(s
2
+ 1)
2
.
Since
L
1
_
1
(s
2
+ 1)
2
_
=
sin t t cos t
2
,
we get
y(t) = cos t
_
sin(t ) (t ) cos(t )
2
_
U(t )
= cos t +
_
sin t (t ) cos t
2
_
U(t ).
We can also express y(t) as a piecewise dened function as follows.
y(t) =
_
cos t, 0 t <
(1
1
2
(t )) cos t +
1
2
sin t, t
2.4. STEP FUNCTIONS AND IMPULSES 29
5. The IVP is
y

(t) +y

(t) 2y(t) = 1 2 U(t 3), y(0) = 0, y

(0) = 0.
Take the Laplace transform on both sides of the DE to get
s
2
Y (s) +sY (s) 2Y (s) =
1
s

2e
3s
s
.
Solving for Y (s) gives
Y (s) =
1 2e
3s
s(s
2
+s 2)
=
1 2e
3s
s(s 1)(s + 2)
.
Let G(s) =
1
s(s 1)(s + 2)
. Using partial fractions we obtain
G(s) =
1
3(s 1)
+
1
6(s + 2)

1
2s
= g(t) =
1
3
e
t
+
1
6
e
2t

1
2
.
Since
Y (s) = G(s) 2e
3s
G(s),
we conclude that
y(t) =
1
3
e
t
+
1
6
e
2t

1
2

_
2
3
e
(t3)
+
1
3
e
2(t3)
1
_
U(t 3).
We can also express y(t) as a piecewise dened function as follows.
y(t) =
_
1
3
e
t
+
1
6
e
2t

1
2
, 0 t < 3
1
3
_
e
t
2e
(t3)
_
+
1
6
_
e
2t
2e
2(t3)
_
+
1
2
, t 3
6. The IVP is
y

(t) + 4y(t) = 1 + U(t ) 2 U(t 2), y(0) = 0, y

(0) = 2.
Take the Laplace transform on both sides of the DE to get
(s
2
Y (s) 2) + 4Y (s) =
1
s
+
e
s
s

2e
2s
s
.
Solving for Y (s) gives
Y (s) =
2
s
2
+ 4
+
1 +e
s
2e
2s
s(s
2
+ 4)
.
Let G(s) =
1
s(s
2
+ 4)
. Using partial fractions we obtain
G(s) =
1
4
_
1
s

s
s
2
+ 4
_
= g(t) =
1
4
(1 cos 2t) .
30 CHAPTER 2. SOLUTIONS
Since
Y (s) =
2
s
2
+ 4
+G(s) +e
s
G(s) 2e
2s
G(s)
we conclude that
y(t) = sin 2t +
1
4
(1 cos 2t) +
1
4
(1 cos 2(t )) U(t )

1
2
(1 cos 2(t 2)) U(t 2).
Simplifying gives the answer.
y(t) = sin 2t +
1
4
(1 cos 2t) +
1
4
(1 cos 2t) U(t )
1
2
(1 cos 2t) U(t 2)
We can also express y(t) as a piecewise dened function as follows.
y(t) =
_

_
sin 2t +
1
4
(1 cos 2t) , 0 t <
sin 2t +
1
2
(1 cos 2t) , t < 2
sin 2t, t 2
7. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} + 3L{y(t)} = L{(t 1)}

Since y(0) = 2, we get
(sY (s) 2) + 3Y (s) = e
s
.
Solving for Y (s) gives
Y (s) =
2
s + 3
+
e
s
s + 3
.
Taking the inverse Laplace transform gives the answer.
y(t) = 2e
3t
+e
3(t1)
U(t 1)
8. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} + 4L{y

(t)} + 13L{y(t)} = L{(t )}

Since y(0) = 2 and y

(0) = 1, we get
(s
2
Y (s) 2s 1) + 4(sY (s) 2) + 13Y (s) = e
s
.
Solving for Y (s) gives
Y (s) =
2s + 9
s
2
+ 4s + 13
+
e
s
s
2
+ 4s + 13
.
2.4. STEP FUNCTIONS AND IMPULSES 31
By completing the square, we get
s
2
+ 4s + 13 = (s + 2)
2
+ 9.
Therefore,
Y (s) =
2s + 9
(s + 2)
2
+ 9
+
e
s
(s + 2)
2
+ 9
=
2(s + 2) + 5
(s + 2)
2
+ 9
+
e
s
(s + 2)
2
+ 9
= 2
_
s + 2
(s + 2)
2
+ 9
_
+
5
3
_
3
(s + 2)
2
+ 9
_
+
e
s
3
_
3
(s + 2)
2
+ 9
_
.
Taking the inverse Laplace transform gives
y(t) = 2e
2t
cos 3t +
5
3
e
2t
sin 3t +
1
3
e
2(t)
sin 3(t ) U(t ).
Since sin 3(t ) = sin 3t, we obtain the answer
y(t) = 2e
2t
cos 3t +
5
3
e
2t
sin 3t
1
3
e
2(t)
sin 3t U(t ).
9. Take the Laplace transform on both sides of the dierential equation.
L{y

(t)} +L{y(t)} = L
_
(t

2
)
_
+ 2 L{(t )}
Since y(0) = 3 and y

(0) = 1, we get
(s
2
Y (s) 3s + 1) +Y (s) = e

2
s
+ 2e
s
.
Solving for Y (s) gives
Y (s) =
3s 1
s
2
+ 1
+
e

2
s
+ 2e
s
s
2
+ 1
= 3
_
s
s
2
+ 1
_

1
s
2
+ 1
+e

2
s
_
1
s
2
+ 1
_
+ 2e
s
_
1
s
2
+ 1
_
.
Taking the inverse Laplace transform gives
y(t) = 3 cos t sin t + sin(t

2
) U(t

2
) + 2 sin(t ) U(t ).
Since
sin(t

2
) = cos t and sin(t ) = sin t,
we obtain the answer
y(t) = 3 cos t sin t cos t U(t

2
) 2 sin t U(t ).
32 CHAPTER 2. SOLUTIONS
10. We will use the formula
L{f(t)} =
1
1 e
sT
_
T
0
e
st
f(t) dt.
Since
f(t) =
_
1, 0 t < a
0, a t < 2a
and T = 2a, we have
L{f(t)} =
1
1 e
2as
_
2a
0
e
st
f(t) dt
=
1
1 e
2as
__
a
0
e
st
f(t) dt +
_
2a
a
e
st
f(t) dt
_
=
1
1 e
2as
__
a
0
e
st
(1) dt +
_
2a
a
e
st
(0) dt
_
=
1
1 e
2as
_
a
0
e
st
dt
=
_
1
1 e
2as
__
1 e
as
s
_
=
_
1
(1 +e
as
)
$
$
$
$
$
(1 e
as
)
__
$
$
$
$
1 e
as
s
_
=
1
s(1 +e
as
)
.
11. Since V (t) = 2 2 U(t 1), the dierential equation of the LR circuit is
i

(t) + 4i(t) = 2 2 U(t 1)

with initial conditions i(0) = 0. Take the Laplace transform on both sides
of the DE to get
sI(s) + 4I(s) =
2
s

2e
s
s
.
Solving for I(s) gives
I(s) =
2
s(s + 4)

2e
s
s(s + 4)
.
Let G(s) =
2
s(s + 4)
. Using partial fractions, we obtain
G(s) =
1
2
_
1
s

1
s + 4
_
= g(t) =
1
2
_
1 e
4t
_
.
Since
I(s) = G(s) e
s
G(s),
we can take the inverse Laplace transform to get the current.
2.4. STEP FUNCTIONS AND IMPULSES 33
(a)
i(t) =
1
2
_
1 e
4t
_

1
2
_
1 e
4(t1)
_
U(t 1)
(b) We can express i(t) as follows.
i(t) =
_
1
2
_
1 e
4t
_
, 0 t < 1
1
2
_
e
4(t1)
e
4t
_
, t 1
For t = 1.5, we get
i(1.5) =
1
2
_
e
4(1.51)
e
4(1.5)
_
0.0664.
At t = 1.5 seconds, the current is about 0.0664 A.
(c) For t 1, we have
i(t) =
1
2
_
e
4(t1)
e
4t
_
.
Therefore,
lim
t
i(t) = 0.
(d) The graph of i(t) is the following.
0.6
0.2
0.0
t
2.0 1.8 1.6 1.4 1.2 1.0
0.5
0.8
0.4
0.3
0.1
0.4 0.2 0.0
Observe that the current i(t) is continuous even though the voltage is
discontinuous at t = 1.
12. We have

(t a) =
1

U(t a)
1

U(t (a +)).
34 CHAPTER 2. SOLUTIONS
(a) Taking Laplace transform, we get
L{

(t a)} =
1

_
e
as
s
_

_
e
(a+)s
s
_
=
e
as
s
_
1 e
s

_
.
(b) We will use lHopitals rule to compute the limit.
lim
0
L{

(t a)} = lim
0
e
as
s
_
1 e
s

_
=
e
as
s
_
lim
0
1 e
s

_
=
e
as
s
_
lim
0
se
s
1
_
=
e
as

s
(

s)
= e
as
2.5 Convolution
1. We will use the convolution theorem.
L{f(t) g(t)} = F(s)G(s)
(a) L
_
1 t
4
_
= L{1} L
_
t
4
_
=
1
s
_
4!
s
5
_
=
24
s
6
(b) Observe that
_
t
0
cos d = 1 cos t.
L
__
t
0
cos d
_
= L{1 cos t}
= L{1} L{cos t}
=
1

s
_

s
s
2
+ 1
_
=
1
s
2
+ 1
(c) L{e
t
sin t} = L{e
t
} L{sin t} =
_
1
s 1
__
1
s
2
+ 1
_
=
1
(s 1)(s
2
+ 1)
2.5. CONVOLUTION 35
(d) Observe that
_
t
0
cos sin(t ) d = cos t sin t.
L
__
t
0
cos sin(t ) d
_
= L{cos t sin t}
=
_
s
s
2
+ 1
__
1
s
2
+ 1
_
=
s
(s
2
+ 1)
2
2. We will use the convolution theorem.
L
1
{F(s)G(s)} = f(t) g(t) =
_
t
0
f()g(t ) d
(a) Let F(s) =
1
s
and G(s) =
1
s 1
, then
f(t) = L
1
{F(s)} = 1 and g(t) = L
1
{G(s)} = e
t
.
Therefore,
L
1
_
1
s(s 1)
_
= L
1
{F(s)G(s)}
= f(t) g(t)
= 1 e
t
=
_
t
0
e

d
= e

t
0
= e
t
1.
(b) Let F(s) =
1
s + 1
and G(s) =
1
s 3
, then
f(t) = L
1
{F(s)} = e
t
and g(t) = L
1
{G(s)} = e
3t
.
36 CHAPTER 2. SOLUTIONS
Therefore,
L
1
_
1
(s + 1)(s 3)
_
= L
1
{F(s)G(s)}
= f(t) g(t)
= e
t
e
3t
=
_
t
0
e
(t)
e
3
d
= e
t
_
t
0
e
4
d
= e
t
_
e
4
4
_

t
0
= e
t
_
e
4t
1
4
_
=
e
3t
e
t
4
.
(c) Let F(s) =
1
s
and G(s) =
1
s
2
+ 1
, then
f(t) = L
1
{F(s)} = 1 and g(t) = L
1
{G(s)} = sin t.
Therefore,
L
1
_
1
s(s
2
+ 1)
_
= L
1
{F(s)G(s)}
= f(t) g(t)
= 1 sin t
=
_
t
0
sin d
= cos

t
0
= 1 cos t.
(d) Let F(s) =
1
s
and G(s) =
1
s(s
2
+ 1)
, then
f(t) = L
1
{F(s)} = 1 and g(t) = L
1
{G(s)} = 1 cos t.
2.5. CONVOLUTION 37
Therefore,
L
1
_
1
s
2
(s
2
+ 1)
_
= L
1
{F(s)G(s)}
= f(t) g(t)
= 1 (1 cos t
=
_
t
0
1 cos d
= ( sin )

t
0
= t sin t.
3. Since L{sin t} =
1
s
2
+ 1
, then
L
1
_
1
(s
2
+ 1)
2
_
= sin t sin t =
_
t
0
sin sin(t ) d
By using the identity
sin sin =
1
2
_
cos( ) cos( +)
_
with = and = t , we get
sin sin(t ) =
1
2
_
cos( (t )) cos( + (t ))
_
=
1
2
_
cos(2 t) cos t
_
.
Therefore,
L
1
_
1
(s
2
+ 1)
2
_
=
1
2
_
t
0
(cos(2 t) cos t) d
=
1
2
_
sin(2 t)
2
cos t
_

t
0
=
1
2
_
sin t
2
t cos t
_

1
2
_
sin(t)
2
0
_
=
1
2
(sin t t cos t)
We can now apply the scaling property
L{f(t)} =
1

F
_
s

_
38 CHAPTER 2. SOLUTIONS
to the function f(t) =
1
2
(sin t t cos t) to get
L
_
1
2
(sin t t cos t)
_
=
1

_
_
_
1
_
_
s

_
2
+ 1
_
2
_
_
_
=

3
(s
2
+
2
)
2
.
We can conclude that
L
1
_
1
(s
2
+
2
)
2
_
=
sin t t cos t
2
3
.
4. First observe that
_
t
0
e

f(t ) d = e
t
f(t).
The equation is then equivalent to
f(t) = t +e
2t
+e
t
f(t).
Take Laplace transform on both sides to get
F(s) =
1
s
2
+
1
s 2
+
F(s)
s + 1
.
Solve for F(s) to get
F(s) =
1
s
2
+
1
s
3
+
s + 1
s(s 2)
Using partial fractions, we obtain
s + 1
s(s 2)
=
1/2
s
+
3/2
s 2
.
Therefore,
F(s) =
1
s
2
+
1
s
3

1
2
_
1
s
_
+
3
2
_
1
s 2
_
Taking the inverse Laplace transform gives the answer.
f(t) = t +
t
2
2

1
2
+
3
2
e
2t
2.5. CONVOLUTION 39
5. The equation is of the form
f(t) f(t) = t
3
.
Take Laplace transform to get
F(s) F(s) = F(s)
2
=
6
s
4
= F(s) =

6
s
2
.
By taking the inverse Laplace transform we obtain the two answers
f(t) =

6t.
6. First observe that
_
t
0
e
2
y(t ) d = e
2t
y(t).
The equation is then equivalent to
y

(t) +e
2t
y(t) = 1.
Since y(0) = 0, we can take Laplace transform on both sides to get
sY (s) +
Y (s)
s + 2
=
1
s
.
Solve for Y (s) to get
Y (s) =
s + 2
s(s + 1)
2
.
Using partial fractions, we deduce
Y (s) =
2
s

2
s + 1

1
(s + 1)
2
.
Taking the inverse Laplace transform gives the answer.
y(t) = 2 2e
t
te
t
40 CHAPTER 2. SOLUTIONS
Appendix A
Formulas and Properties
A.1 Table of Laplace Transforms
f(t) L{f(t)} = F(s) f(t) L{f(t)} = F(s)
1
1
s
e
at
1
s a
t
n
n!
s
n+1
e
at
t
n
n!
(s a)
n+1
sin t

s
2
+
2
cos t
s
s
2
+
2
e
at
sin t

(s a)
2
+
2
e
at
cos t
s a
(s a)
2
+
2
t sin t
2s
(s
2
+
2
)
2
t cos t
s
2

2
(s
2
+
2
)
2
sin t t cos t
2
3
1
(s
2
+
2
)
2
U(t a)
e
as
s
(t) 1 (t a) e
as
41
42 APPENDIX A. FORMULAS AND PROPERTIES
A.2 Properties of Laplace Transforms
1. Denition
F(s) = L{f(t)} =
_

0
e
st
f(t) dt
2. Linearity
L{f(t) +g(t)} = L{f(t)} +L{g(t)}
3. Time dierentiation
L{f

(t)} = sF(s) f(0) L{f

(t)} = s
2
F(s) sf(0) f

(0)
L
_
f
(n)
(t)
_
= s
n
F(s) s
n1
f(0) f
(n1)
(0)
4. Frequency dierentiation
L{t
n
f(t)} = (1)
n
F
(n)
(s)
5. Time shift
L{f(t) U(t a)} = e
as
L{f(t +a)}
L
1
_
e
as
F(s)
_
= f(t a) U(t a)
6. Frequency shift
L
_
e
at
f(t)
_
= F(s a)
7. Convolution
f(t) g(t) =
_
t
0
f()g(t ) d = L{f(t) g(t)} = F(s)G(s)
8. Integration
L
__
t
0
f() d
_
=
F(s)
s
9. Periodic function
f(t) has period T = L{f(t)} =
1
1 e
sT
_
T
0
e
st
f(t) dt
10. Scaling
L{f(t)} =
1

F
_
s

_
A.3. TRIGONOMETRIC IDENTITIES 43
A.3 Trigonometric Identities
1. Pythagorean Identities
sin
2
+ cos
2
= 1 1 + tan
2
= sec
2
1 + cot
2
= csc
2

2. Symmetry Identities
sin() = sin cos() = cos tan() = tan
3. Sum and Dierence Identities
sin( +) = sin cos + cos sin sin( ) = sin cos cos sin
cos( +) = cos cos sin sin cos( ) = cos cos + sin sin
tan( +) =
tan + tan
1 tan tan
tan( ) =
tan tan
1 + tan tan
4. Double-Angle Identities
cos 2 = cos
2
sin
2
sin 2 = 2 sin cos
= 1 2 sin
2
tan 2 =
2 tan
1 tan
2

= 2 cos
2
1
5. Power-Reducing Identities
cos
2
=
1 + cos 2
2
sin
2
=
1 cos 2
2
6. Product-To-Sum Identities
sin cos =
1
2
_
sin( ) + sin( +)
_
sin sin =
1
2
_
cos( ) cos( +)
_
cos cos =
1
2
_
cos( ) + cos( +)
_
44 APPENDIX A. FORMULAS AND PROPERTIES
Appendix B
Partial Fractions
B.1 Partial Fractions
Consider a function F(s) expressed as a quotient of two polynomials
F(s) =
P(s)
Q(s)
where Q(s) has a degree smaller than the degree of P(s). The method of partial
fractions can be summarized as follows.
1. Completely factor Q(s) into factors of the form
(ps +q)
m
and (as
2
+bs +c)
n
where as
2
+bs +c is an irreducible quadratic.
2. For each factor of the form (ps +q)
m
, the partial fractions decomposition
must include the following m terms.
A
1
ps +q
+
A
2
(ps +q)
2
+ +
A
m
(ps +q)
m
.
3. For each factor of the form (as
2
+ bs + c)
n
, the partial fractions decom-
position must include the following n terms.
B
1
s +C
1
as
2
+bs +c
+
B
2
s +C
2
(as
2
+bs +c)
2
+ +
B
n
s +C
n
(as
2
+bs +c)
n
.
4. Find the values of all the constants.
45
46 APPENDIX B. PARTIAL FRACTIONS
B.2 Cover-up Method
There are several dierent ways to determine the constants in a partial frac-
tions decomposition. When the denominator has distinct roots, we can use the
cover-up method. Lets illustrate it with some examples.
Example 1. Consider
s
2
+ 5s + 4
(s 1)(s 3)(s + 2)
=
A
s 1
+
B
s 3
+
C
s + 2
(B.1)
To nd A, we could use the following two steps.
1. Multiply both sides of equation (B.1) by (s 1)(s 3)(s + 1) to obtain
s
2
+ 5s + 4 = A(s 3)(s + 2) +B(s 1)(s + 1) +C(s 1)(s 3).
2. Set s = 1 and solve for A.
1 + 5 + 4 = A(2)(3) + 0 + 0 = A =
5
3
The cover-up method combines these two steps in a single one as follows. To
nd A, we cover up (s 1) and set s = 1 in the left-hand side of (B.1).
A =
s
2
+ 5s + 4
$
$
$$
(s 1) (s 3)(s + 2)

s=1
=
5
3
We can nd constants B and C in the same way. To nd B, we cover up (s 3)
and set s = 3.
B =
s
2
+ 5s + 4
(s 1)
$
$
$$
(s 3) (s + 2)

s=3
=
14
5
To nd C, we cover up (s + 2) and set s = 2.
C =
s
2
+ 5s + 4
(s 1)(s 3)
$
$
$$
(s + 2)

s=2
=
2
15
B.2. COVER-UP METHOD 47
If the denominator includes irreducible quadratics terms, the cover-up method
works if we use complex numbers as in the following examples.
Example 2. Consider
s
(s + 1)(s
2
+ 4)
=
A
s + 1
+
Bs +C
s
2
+ 4
.
Since s + 1 = 0 if s = 1, then
A =
s
$
$
$$
(s + 1) (s
2
+ 4)

s=1
=
1
5
Since s
2
+ 4 = 0 if s = 2j, then
(Bs +C)|
s=2j
=
s
(s + 1)
$
$
$
$
(s
2
+ 4)

s=2j
2Bj +C =
2j
1 + 2j
=
2j
(1 + 2j)
_
1 2j
1 2j
_
=
2j + 4
5
.
The real and imaginary parts of the complex numbers on both sides are equal.
We conclude that
2B =
2
5
= B =
1
5
and
C =
4
5
.
48 APPENDIX B. PARTIAL FRACTIONS
Example 3. Consider
F(s) =
s
2
(s + 2)(s
2
+ 6s + 13)
.
By completing the square, we get
s
2
+ 6s + 13 = (s + 3)
2
+ 4.
We can look for a partial fractions decomposition of F(s) in the form
s
2
(s + 2)(s
2
+ 6s + 13)
=
A
s + 2
+
B(s + 3) +C
(s + 3)
2
+ 4
.
Observe that by using B(s+3) +C instead Bs+C, we make it a little bit easier
since we do not have to solve a linear system to nd B and C.
Since s + 2 = 0 if s = 2, then
A =
s
2
$
$
$$
(s + 2) (s
2
+ 6s + 13)

s=2
=
4
5
Since s
2
+ 6s + 13 = (s + 3)
2
+ 4 = 0 if s = 3 + 2j, then
(B(s + 3) +C)|
s=3+2j
=
s
2
(s + 2)
@
@
@
@
@
@@
(s
2
+ 6s + 13)

s=3+2j
2Bj +C =
(3 + 2j)
2
(3 + 2j) + 2
=
5 12j
1 + 2j
=
5 12j
1 + 2j
_
1 2j
1 2j
_
2Bj +C =
2j 29
5
.
The real and imaginary parts of the complex numbers on both sides are equal.
We conclude that
2B =
2
5
= B =
1
5
and
C =
29
5
.
Bibliography
[1] Johnson W.E., Kohler L., Elementary Dierential Equations with Bound-
ary Value Problems, Second Edition, Addison Wesley, (2006).
[2] Simmons George F., Dierential Equations with Applications and Historical
Notes, Second Edition, McGraw Hill, (1991).
[3] Wikipedia contributors, Laplace transform, Wikipedia, The Free En-
cyclopedia, http://en.wikipedia.org/wiki/Laplace transform, (May
2006).
[4] Washington Allyn J., Basic Technical Mathematics with Calculus, Eight
Edition, Addison Wesley, (2005).
[5] Weisstein Eric W., Laplace Transform, From MathWorld A Wolfram
Web Resource, http://mathworld.wolfram.com/LaplaceTransform.
html, (May 2006).
[6] Zill Dennis G., A First Course in Dierential Equations, Eight Edition,
Brooks/Cole, (2005).
49