Local Diskfile:///C|/Documents%20and%20Settings/cc_lkumar/Desktop/18.03/Original_Files/lec21.txt18.03 Class 21, Mar 29Laplace Transform: basic properties; functions of a complex variable; poles diagrams; s-shift law. The Laplace transform connects two worlds: ------------------------------------------------------------------------| The "t-world" | | | | t is real and positive | | | | functions f(t) are signals and solutions, perhaps nasty | | (with discontinuities) or even generalized (with delta functions) | | (possibly complex valued) | | | | and ODEs relating them | | | | convolution | | | ------------------------------------------------------------------------| ^ | L | L^{-1} V | ------------------------------------------------------------------------| The "s-world" | | | | s is complex | | | | beautiful functions F(s) , often rational = poly/poly | | | | and algebraic equations relating them | | | | ordinary multiplication of functions | | | ------------------------------------------------------------------------The use in ODEs will be to apply L to an ODE, solve the resulting very simple algebraic equation in the s world, and then return to realityusing the "inverse Laplace transform" L^{-1}. The definition can be motivated but it is more efficient to simply give it and come to the motivation later. Here it is. F(s) = L(f(t);s) = integral_0^\infty e^{-st} f(t) dt (for s large). This is like a hologram, in that each value F(s) contains information about ALL values of f(t). Example: L(1;s) = integral_0^infty e^{-st} = lim_{T --> infty} e^{-st}/(-s) |^T_0 = (-1/s) (lim_{T --> infty} e^{-st} - 1). To compute this limit, write s = a + bi so e^{-sT} = e^{-aT} (cos(-bT) + i sin(-bT)) The second factor lies on the unit circle, so |e^{-sT}| = e^{-aT}. This goes to infinity with T if a < 0 and to zero if a > 0. When a = 0, this term is 1, but the other factor oscillates and the limit doesn't exist then either. Thus: L(1;s) = 1/s for Re(s) > 0 and the improper integral fails to converge for Re(s) not positive. This is typical behavior: the integral converges to the right of some vertical line in the complex plane C, and diverges to the left. So in the definition I really meant: "for Re(s) large." The expression obtained by means of the integration makes sense everywhere in C except for a few points - like s = 0 here, and this is how we define the Laplace transform for values of s with small real part. Let's understand the complex function 1/s. You can't graph it per se, because the input requires 2 dimensions and so does the output. So let'sgraph its absolute value |1/s| = 1/|s| instead. So lay the complex plane down horizontally. The graph is a surface lying over it. In this case it's a surface of revolution, with one branch of a hyperbola as contour. It sweeps up to infinity over the origin. It looks like a circus tent, suspended by a pole over the origin. The complex number 0 itself is known as a "pole" of the function 1/s. This computation can be exploited using general properties of the Laplace Transform. We'll develop quite a few of these rules, and in fact normally you will not be using the integral definition to compute Laplace transforms. Rule 1 (Linearity): af(t) + bg(t) ----> aF(s) + bG(s). This is clear, and has the usual benefits. Rule 2 (s-shift): e^{at}f(t) ----> F(s-a). Here's the calculation: e^{at}f(t) ----> integral_0^infinity e^{at} f(t) e^{-st} dt = integral_0^infinity f(t) e^{-(s-a)t} dt = F(s-a). Using f(t) = 1 and our calculation of L(1;s) we find e^{at} ----> 1/(s-a). (*) This function has a pole at s = a instead of s = 0. It's a general fact that the growth of f(t) as t ---> infinity can be read off from the position of the poles of F(s). If the right-most pole has real part a, then the growth is roughly like that of e^{at}. This calculation (*) is more powerful than you may imagine at first, since a may be complex. Using linearity and cos(omega t) = (e^{i omega t} + e^{-i omega t})/2 we find cos(omega t) ----> (1/(s - i omega) + 1/(s + i omega))/2This function has two poles, namely s = ib and s = -ib . It's a general fact that if f(t) is real then the poles of F(s) are either real or come in complex conjugate pairs. Cross multiplying, we can rewrite cos(omega t) ----> s/(s^2 + omega^2) Using sin(omega t) = (e^{i omega} - e^{-i omega})/(2i) we find sin(omega t) ----> b/(s^2 +
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