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9-1-1979
Recommended Citation
Wooten, Lewis, "Laplace transformation techniques in operational calculus" (1979). ETD Collection for AUC Robert W. Woodruff
Library. Paper 518.
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LAPLACE TRANSFORMATION TECHNIQUES IN
OPERATIONAL CALCULUS
A THESIS
BY
LEWIS WOOTEN
ATLANTA, GEORGIA
DECEMBER 1979
ABSTRACT
MATHEMATICS
of the Laplace transform, and applying this basic theory of ordinary dif
ferential equations with both constant and variable coefficients. The pro
cess for finding the solution to partial differential equations with x, and
equations and Volterra's integral equations with different kernels are also
discussed.
CONTENTS
INTRODUCTION iv-
CHAPTER PaSe
APPENDICES • 71
BIBLIOGRAPHY ' 77
ii
List of Tables
Table PaSe
Tables of Properties 71
iii
INTRODUCTION
cian of the 18th century. Very little is known of his early years for
from both his relatives and from those who had assisted him. Laplace was
amount of these is one, which was read in 1784, and reprinted in the third
gral.
tion through the. efforts of many men. Bormwich and Wagner (1916) were
among the first to justify Heaviside's work on the basic of contour inte
iv
basic of the infinite integral of the Laplace type. The methods of Carson
and Bromwich were linked together by Levy amd March as two phases of the
more general approach. Van der Pol, Doetsch, and others contributed to
following statement:
(l.l.l) converges for some value of s; otherwise it does not exist. The
sufficient conditions under which the Laplace transfaorm exist are that
terval 0< t<N, and the function must be of exponential order for t > N.
we shall denote the original function f(t) in lower-case letters and its
1
A function is called sectionally continuous or piecewise con
1 when t > k
is of exponential order.
0 < t < N and exponential order a for t > N, then its Laplace transform
0 < t< N, the first integral on the right exist. Also, the second in
«<t)| dt
. a
< / e~BtVlet dt = M
o T^T (1.1.6)
We will now consider some of the very powerful and useful general
stated, that all functions satisfy the conditions of Theorem 1.1 so that
divided by s, that is
Lk =¥ d.2.1)
Proof: To prove this, we have from the definition of the Laplace transform
If c and c. are only constants while f^(t) and f2(t) are func
tions with the Laplace transforms F^s) and F2(s) respectively, then
c2f2(t)]
2f2 f2(t)
(1.2.5)
proof follows directly from Theorem 2.2, and is easy enough, and will not
transformable
If L f(t) - F(s),
Integrating by parts we
to t
= f(t)e -st
f(t) dt
o
-I
lim f(t)e sL f(t)
(1.2.8)
sF(s) - f(0)
This theorem is very useful in solving differential equations
function is known.
be given here.
equations.
Proof: Since
L /flu) =/>°VSt fhin) du (1.2.11b)
J no J n J O
Now integrating by parts yields
Now at the upper limit the first term vanishes because of the exponential
function. At the lower limit the first terms vanishes because of the
definite integral. Hence only the second term is left, and it is the
If L f(t) = F(s)
,n (n)
L tnf(t) = (-l)n*-T(s) = (-l)nF (s) (1.2.12)
ds11
where n = 1, 2, 3
Proof: We have
- Jor -te"Stf(t) dt
-st
/:• i tf(t) dt
- L tf(t) (1.2.14)
Then
or by Leibnitz's rule,
that is
then (1.2.18) is true, i.e., the theorem holds for n = k +1. But by
f = f (x,t)
Proof: the proof of this theorem follows directly from the definition of
*x
The proof of Theorem 2.9 will not be given here, and we will list the
L g(t) = e-aSF(s)
Definition 3.1: Let the symbol l"1 F(s) denote a function whose Laplace
transform is F(s). Thus
then
F(s). The operator L"1 is a linear operator or that it has the linearity
property.
that is
and
continuous in every finite interval 0 <_ t<_ N and of exponential order for
t > N, then the inverse Laplace transform of F(s), that is L F(s) = f(t)
is unique.
resolving such functions into those listed in the tables. With the aid of
such procedures, we shall be able to make much use of the Laplace transfor
mation. In addition, there are explicit formulas for L F(s). The most
function F(s).
the complex plane where s = x + iy. The real number a is chosen so that
11
We shall later on, solve more difficult problems, especially those in par
which satisfied a single differential equation. When more than one time
function exists in a physical system and they satisfy more than one dif
12
13
SCHEME
Original!
space:! initial conditions
Inverse
Laplace transformation Laplace transformation
Image
Algebraic equation Solution
space:!
with given initial conditions directly, we make a detour across into the
iiaage space. We go from the original equation to the image equation (an
translate the solution back to the original space with the help of the in
Hence the image function Y(s) of the desired time function y(t)
from its definition as the limit of a sum but we consult a table of inte
in our case we consult the attached Tables of Transforms and see whether
system of linear equations with an unknown (for n >3 this is fairly tedious),
By contrast, the Laplace transform considers these initial values from the
this their influence is clear from the start. Therefore, the method is
particularly suitable for the initial valued problems. The frequent case
(sny(s) -
If we let
j, (s) = s 3n+a,sn-1+
+ a * * ' an (2-6)
'n 1
some manner the inverse transform of y(s), and we would then have the
sion g(s)/Ln(s) and f(s)/Ln(s) into partial fraction, examine the table of
y"(t) + k2y(t) = 0
If we let
then applying the Laplace transform to both members of Eq. (2.1.1), and
tion:
Y(s) = A |— 1 + I I
To verify our formal result given by Eq. (2.1.7), we need only find
y"(t) from that equation and substitute in Eq. (2.1.1) to see that the
(2.1.10)
(s + I)2 + 1
Y(s) = s + 2s + 3 (2.1.12)
(s2 + 2s + 2) (s + 2s + 5)
s2 + 2s + 3 = As + B = Cs + D (2.1.13)
(I2 + 2s + s)(s2 + 2s = 5) s2 + 2s + 2 s2 + 2s + 5
Solving for A, B. C and D from the partial fraction expansion (2.1.13),
we find that
Now we have
Y(s)
or
Hence
Therefore, we have
or
equation
•
•
0) = C1,
y(0) C^ and
and y(0)
y' (0) C2 (2.1.18).
If we let
where
F(s) = L f(t)
we have
Y(s) =
sCli_ +
C2Z +
F(s)
nSJ (2.1.21)
2,2 2^2 2, '2
s+a s+a s+a
or
where C^ = C2/a.
of a single differential equation with order greater than three are much
simpler by the Laplace transform method than by the classical method. How
ever, the method shows its full power in the solution of systems of several
tions than the classical method, which in reality is not practicable at all.
equations of the first order. In these, we write down all terms that theo
retically can appear, although usually a number of these terms are absent,
be considered is
20
a21
(sY1-y1(0))
"y3
(0))
(2.2.2)
331
-y
2<°>)
-y 3(0))
With the abbreviation
a s + b = o (s) (2.2.3)
aiks + Dik Pikk ;
We can write these equations in the form
the p (s) would be polynomials not of the first but of the second degree
and the value y'(0) ... would appear on the right-hand side in addition to
21
similar; they form a system of linear algebraic equations for the unknown
such a system.
On the right-hand, side of the equations there are the image func
tions F.(s) of the input function f.(t), and numerical constants which de
(2.2.5)
ailyl(0) + aily2(0) + ai3y3(0) = ri
Let D(s) be the determinant of the system which is built from the P-k(s)
rl P12 P13"1
2 + r2 P22 P23
'I"*
LF3 + r3 p32 p33j
P13"
^1 21 23 (2.2.6)
P12F1
P21 P22 F2
Y3i
'32 X3
22
and this is called the normal case. In this section we are making the
x = b)
> t - o <2-2-9>
y - 3J
Taking the Laplace transform, where
y*00 -st
e x(t) dt
o
. ■ , (2.2.10)
and
x " r° -st
Y(s) - L y(t) -
we have
(s-2)X(s) ♦ 3Y(s) - 8 (2
2X(s) + (s - l)lf(s) = 3
23
8 3
_■ 3 s - 1
8s- 17 8s - 17
f
- 2 3 -
s -3s -4 (s + l)(s - 4)
2 s - .1
5_ 3
s + 1 s - 4
s - 2 8
2 3 3s - 22
3s - 22
3Z- 3s - 4 (s
s - 2 3
2 s - 1
(2.2.15)
s '+ 1 s-4
than the original, the transformation may enable us to find the solution
obtained.
v = C
t = 0 (3.2)
y'
24
25
and therefore we can write the transform of the product of t and any
An integrating factor is
or
integrating, we have
s s 2 IIs
then
But from Eq. (3.2) we have y'(0) = 1, so calculate C = 0, then the required
solution is
y(t) = t (3-15)
under the conditions that y(0) = 1 and y(t) and its derivatives have trans
forms .
such that one of the solution is a function that behaves like the natural
log of t near the singular point, and the Laplace transform of the deri
r
s + 1
27
In Y = -Jain (s + 1) + (3.20)
equation
CD n 2n
Jo(t) (-1)
(l)
(3.24)
(n!)'
n=o
•CHAPTER IV
tial equations could be solved easily by the use of the Laplace trans
that it is still easy to find the solution by the Laplace transform, but,
by it.
infinite interval.
28
29
which we have assumed from the first to vary be between 0 andao, because
this is the interval over which the Laplace transform extends, the vari
obtain a different transform which therefore depends not only (as previ
Theorem (1.2.7), and here the variable x is kept constant. Then we have,
for example,
condidered.
respect to one variable and then with respect to the remaining variable
lems can sometime also be solved by both Fourier and Laplace transforms.
following scheme:
SCHEME
inverse Laplace
Laplace transformation transformation
Laplace transform. If the present tables are not sufficient, then methods
u(x,0) =0
u(0,t) = t (4'8)
Let
in the form
dU=-sxdx •
U
32
Solving, we have
U - Ce~hs* (4.15)
To determine C, we consider the condition (4.12), and find that
I2 - C C4.16)
s
Now we have the solution of the image equation
If we let
a = k>* C4.18)
and
f(s) = 1/s2
The Eq. (4.17) can be written in the following form
u(x,t) = (t - a)H(t - a)
or
u(x,0) =0 (i
.33
ut(x,O) - 0 (4.25)
u(O,t) = 0 (4.26)
Let
(4.29
conditions
U(0,s) = 0 (4.32)
B = 0
therefore
sx
U(x,s) = Axe
F(s) AeE
-s (.35)
A F(s)e
34
U(x,s) = xF(s)es(x"1) «
If we let
a - (x - 1) (4.37)
Inverting, we find
or
where
xf(x + t - 1) t> X- 1
H(x + t - 1) - ' _
0 t<X-1
zero, the temperature function u(x,t) is the solution to the boundary value
problem.
where
U(x,s) = L u(x,t) = r°
r e-Stu(x,t) dt (4.45)
J
35
where
(4.49)
U(x,s) = C^t . ~2"
(4.50)
U(x,s) = C2e"X S
and from Eq. (4.47) we find c2 = F(s), so that
(4.51)
U(x,s) » F(s)e
-x/s/k exp
(4.52)
4kt
(5.54)
g(s) = arxVSTk
Now we have
t / 2 \
u(x.t) = x f f(t - f ) expf - x )dr (4.55)
"?W JQ r3/2
(4.56)
36
and we calculate
2
(4.57)
d - - x ,v (4.58)
and
, „
u(x,t) =
"o *■> _ ,_^^X (4.62)
Since
2 ■? _.2
erfc =
^ r P / X \ (4.64)
u(x,t) = f erfc(—=-)
° \2Vkt /
t
Ansin
Fig. 4-1
where
dt (4.69)
/
Y(x,s) = L y(x,t) =
Y"(x,s) - s2 (4.70)
. a
(4.72)
Y(x,s) is bounded
(4.74)
(4.75)
J2 2
Therefore,
(4.76)
Y(x,s)
e~sx/a
If we let
a = x/a (4.77)
(4.78)
and let f(s)
Since
1 t > a-
u(t) ='
0 t < d (4.82)
(A sin
si <u(t - «) t > a
y(x,t)
0
° t < a.
(4.83)
39
or
with that of the end x = 0 but lags behind it in time by the amount x/a.
rns) ds ■ /
The proof of this theorem may be done in the following manner:'
Therefore
•00 00
f f e"Stf(t) ds dt
J o J o
provided that it is permissible to reverse the order of integration.
40
41
But we have
00 -st
e ds = I (5.4)
ds =rii£l dt (5.5)
/ o o
examples.
Since
a
L sin at =
s
2 +• a-2 (5.7
/°° sin at dt
sin_at_dt r*0
.f*" „ a_
* ^ ds
~ ~J '. s2 + a
CD
Tan"1 s = E (5.8)
2
o
(5.9)
Jo t
Since
(5.10)
I e"at = 1/(b + a)
and
L e "bt b) (5.11)
then
00
ln(s + a) - ln(s + b)
GD
s + a (5.12)
s + b
Example 3; Evaluate
Q0 (5.13)
x sin xt dx
a + x
, -CD
Since
—St
e sin xt dt dx
J a + x ■
o (a + x ) (s + x )
^r 2 2
2 1
i r f * * dx (5.16)
27 2 2 2^2
s -a^o [s +X a+x J
i / -l -l Mi
~2 ^; I sTan x - aTan x )
s - a * J
(
Its _ E!L
2 2
Since
x sln xt dx = if x sin xt dx
/
- cd
a2+x2 JO a
~
2^
+ x
"
Then
OD
-1 n = rte~at (-5.19)
L TTT
Therefore
f f(t) dt
o
,0D t
converges, then the integral/" e" f(t) converges uniformly with respect
That is
cd op
We will not give a proof of the theorem; but the theorem can be
I = F J (t) dt (5.21)
r sin xt dx (5.24)
J o . /——
45
We know that
2,4
*_ + X_
3! 5!
where
2
=
2
r,
4.
However
sin
X
X
■( 1 -
3!
(5.26)
* <5-27>
therefore
converges:
OD QD
rvTJ
Now Eq. (5.30) can be written as
L (s2 + t^ J
(5.32)
4b
od I 2 2 k
I = r ;in xt dx =
sin Jrjj- llm (s + t K - s.
(5.33)
terval 0 < x < cd , that is, for all values of s therein). It must not
/cos t dt
o
diverges.
functions with a constant amplitude as t-»od. The function does not tend
to a limit as t-*<D , so
r cos t dt
EQUATIONS
which are applicable to all cases and no solutions exist in closed form; in
way with the nonlinear terms of the original equation to produce first-
order corrections terms. These corrections terms are then combined with
47
48
correction terms depend upon the particular details of the method being
employed.
of this sort is the error in the solution which they yield. It is not
traditional methods.
here D = d/dt. The term X(D) is the linear part of the differential
although the problem can be anlayzed in cases where the initial conditions
are non-zero.
With this notation and initial conditions (6.1.2), Eq. (6.1.1) can be
written as
or
H(s) = 1/Z(s)
With this notation Eq. (6.1.6) may be written in the following form:
If we let
Thus
It v/e make use of the convolution theorem and apply if. to both members of
t t
x(t)= limxn(t)
finding the inverse Laplace transform of Eq. (6.1.10) rather than Eq.
Xo(t)
L"1 [Lf
xn+l(t) + Xo(t) "L" JLf [xn(O]l
[Xn(t)jl (6.1.17)
\ X(s) )
Formally, of course, the sequence *n(t) obtained from Eq. (6.1.17) is
the same as that obtain from Eq. (6.1.14). Practically the sequence is
more easily computed form (6.1.17) because the table of Laplace trans
ples:
(a + 3cx2) dt + bx = e (6.1.18)
dt
As aresult
hence
where k = b/a.
k t
(6.1.24)
where
r 3
x.(t) = £(1 - e"kt) + cL"1 L DX ovw| (6.1.26)
1 b I as + b
Now with
3 3
Dx (t) = e (ke- - ke + ke )
o —r
53
Carrying out the indicated operations with the aid of the tables
terms are small, the sequence converges rapidly and the second or third
Z(D) = D2 + 2D + 1 (6.1.32)
f(x) = ay'y2 + by3 , (6.1.33)
and D - d/dt
As a result
-t
yQ(t) - h(t) = cte (6.1.38)
cet"t - L"
(ay'oy3o + by3)" (6.1.39)
(s + I)2
Now with
-t
y«(t) t)e (6.1.41)
we can calculate
3N -3t
ay •y2 + by3 = c3(at2 + (b - a)t3)e (6.1.42
' o' o o
ay 'y2 + by (6.1.43)
o o
(s + 3) (s + b) J
Hence we obtain the second approximation of the image function
2ac 60? - a)
(6.1.44)
where
L"1 te
-t
(s + 1)'
-3t
,-1 1
(s + 3)1
l/6tV3t
(s
(s + l)2(s + 3)3
C , 3 4. -2u - t
c3(b -a) / Cu t - u )e
Ja
du
(6.1.49)
56
(6.1.50)
(6.1.52)
then applying the Laplace transform to find each term. This operational
method, based on the Laplace transform, for solving certain problems has
effect of the point action of two simple harmonic forces will be con
sidered by letting
where a, a , a , o>» (O-,, &>2» and are constants subjected to the initial
conditions
x = a\
I t = 0 (6.2.3)
x1 = 0)
If we let
n=o
x xn \2 = x2 + 2x x. X + x2 \ + 2(x + x )x X2 + ..•
nJ o ol . o ± £■
b /
(6.2.6)
o 2 2
*■
s y(s)
r_\
- sx(0)
/ n\
- —
x'(0)
l/r>\
+
J.
y(s) -L.
+ TL v
.. / r,\
x =
~2 2 2 . .2
s +tt>i s +6J2
58
/ •» as . ais a2s L x2
o 9 2 22 22
s + oj (s + <j )(s + 6>i) (s + cu )(s
n _JL_+ ,
-a2+ft|2 (S2 + cu2)(s2+coj) (S2 + .o>2)(s2+ c2
n=o
2 2 "- (6'2'9)
s + o>~
raised to the ze.ro, first, second, and the third powers we have
3.1 S
v
(6.2.12)
2 s2+o>2
With the y 's thus identified that the system has the solution
x = N X_A. - L / 'A
Z- n ^- n
n=o n=o
Now we shall use the notation
X(a) - s> -
s2+a2 (6.2.15)
Inverting we have
x (t) = acos cjt + a (cos^t = cos coit) a2(cos ut - cos cc2t) (6.2.17)
o _1 +
2 2 2 _ 2
o>i ~ to o)_ ~ w
If we let
u ~ u>i id ~ U2
A - (a + Ax + A2)
x2 = A2cos2 cot + 2AA cos cotcos u^t + 2AA cos a)tcos a>2t +
o x
Now upon substituting Eq. (6.2.21) into Eq. (6.2.19) and computing the
we find that _
o 2 9 I A A, + A9 A.
A + Al12
+ V + C°S Ut. 1I 3to2
-2 + — 2oj2V- + (2o,29 _ ^2)
9
A2 Ml Ml M2
2 2 2
) ) (w,
( + Tum^)
T) (wi
(
A2
"r
2 2
Al cos ^l* + A2 cos 2oi2t +
the forts
b
#x)y(x) « P(x) -A / K(x,t)y(t) dt (7.1)
'*' a
where <f>, F, and K are given function and A, a, and b are constant s is
The given function K(x,t), which depends upon the current variable as well
identified instead with the current variable, the equation takes the form
-x
(7.2)
<£(x)y(x) = F(x) + A r K(x,t)y(t) dt
a
61
62
y(t), both inside and outside the integral. In the special case when
<p = 0, the unknown function appears only under the integral sign, and the
in the case when <p = 1 the equation is said to be of the second kind.
Equations (7.1) and (7.2) have one thing in common; they are both
linear integral equations. That is, the function y enters the equation
b
= ci/K(x,t)y1(t) dt + c2 TK(x,t)y2(t) dt (7.3)
* a a
rbK(x,t,y)(t) dt <7-4>
TK(x,t)y2(t) dt <7'5)
a
t
Y(t) = F(t) + T K(t - u)Y(u) du (7.1.1)
o
where K(t - u) and F(t) are known functions and the function Y(t) is to
Y(t), and hence the solution of (7.1.1) may be readily found by the use
following transforms:
L Y(t) = y(s)
L K(t) - k(s)
Now upon taking the Laplace transformation of Eq. (7.1.1), assuming that
In the form (7.1.6) y(s) cannot be immediately transformed back into the
1 - k(s)
to the function
1 - k(s)
has the same form as the original integral equation except, that the
roles of Y(t) and F(t) are now interchanged and in place of the kernel
find that
y(s)=a[_ + \ (7.1.15)
V 2 4 /
\s s /
65
(7.1.12),
Then taking the Laplace transform, using the convolution theorem we find
that
y(s) - _1 . 2 (7.1.19)
82 + 4 +(y(s))2
Solving, we obtain
Y(s)
4 \H (7.1.21)
"92 ~ 2
2 Ix ^/^ + 4
-1 + 1
Thus
1 ( s2 + 4 - s \ (7.1.22)
2 V WT7
66
and
y(a) - 2 1 (7.1.25)
's2 + 4
(7.1.26)
^ Vs+ 4 /
Hence a second solution is
where 5 (t) is the Dirac Delta function which vanishes when t * 0, but
Y« - Y« - Y - 0 C7-1'28)
subject to the initial conditions
or
y(s) 1 (7#1
s2 - s - 1
We can write Eq. (7.1.38) as
( ) 1 ^7*]
' 2 5
(s - h)2 - I
68
Hence
a = -v/5/2 and b =
yOO-77 r s _] (7.i.ii)
1 (s - br + aZZ J
Then consulting the tables of transforms, we obtain the following solution
Y(t) = -ebtsin at
a
therefore
| |-t (7.1.42)
the first kind with a different kernel which is a special case of Eq.
,t
Where the kernel K(t - u) is known and F(t) is a known function, and it is
69
Its solution is
have
-n
Since
n-1 (7.2.8)
n
n-l*F(t) (7.2.9)
Y(t)
sin nft
(7.2.10)
n
V(n)
(7.2.11)
sin nn d I F(u) du
it dt J (t - u)
n-1
70
t V 2 (7.2.12)
Y(u)(t - u) 2du = 1 + t + t
i 2
(7.2.13)
Y(t)*tT* - 1 + t + t
Than taking the Laplace transform, we find
Sovoing we have
4- * 4- * -i-
(7.2.15)
y(a) -
3/2
2t (7.2.16)
Simplifying
(7.2.17)
Y(t) = 8t
APPENDIX A
F(s). f(t)
+ ioo
J_ f F(s)eSt ds
F(s) = f f(t)e"St dt f(t)
2ni J
-iCD
o
= Real
k k
s
kF(s) kf(t)
sF(s) - f(0)
dt
s2F(s) - sf(O)
A'
or
F1(s)F2(s)
f2(^)f1(t -v(dv
o ,
r
lira F(s) f(t)dt
s
dnF(s)
tnf(t) n = integer
df(xtt)
riE(x.s)
dx
72
OD CD
F(s) ds f(t) dt
t
APPENDIX B
TABLES OF TRANSFORMS
Table 2 Table of Transforms
i Ota .
" u(t) = h t - a u(t) = Heaviside step function
1 t a
00 5(t)dt = 1
- oo
(0 t < a
1 -as ' u(t - a) = <h t = a a = Real
s (1 t > a
n n = 1, 2, 3, ..
i. = t_
n+1 ni
s n*
n n = all values except
negative integers
-at
- a©
s + a
1 1/-. - e -at\)
—(1
s( a)
1
at
2 2 a
s
+ a
s cos at
2 2
s a
1
h at
2 2
a
s - a
s cosh at
2 2
s - a
-at
te
(s + a)'
-bt .
, , , .2 2 e sin at
(s + b) + a
s f b -bt
— e cos at
2 2
(s + b) + *
~-l
is
- s2T(2(u) sin2 oj
sT(a») cos bit
1 2 2
— 1 + s I(2dj) cos cut
2s
3
3sT(a>) t- sT(3<u) cos
J5 (A + B)T(A + B)
+(A - B)T(A - B) sin Atcos Bt
a e
-a 2/4t
-a vs
2 v/rrt
75
-at
e
~\7«ft"
J (at)
o
s
2 j.
+ a
2
- s)
2^2
I x
s + a
Ta 1 - ert
2 s/t
BIBLIOGRAPHY
Hoscstadt, Harry. Integral Equations. New York: John Wiley and Sons,
1973.
Sebley, Samuel. Standard Math Tables. Ohio: The Chemical Rubber Company,
1965.
77