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La transformada de Laplace
L{ f (t )} F ( s) f (t ) e st dt
Y ( s ) Ly (t ) e st y (t )dt
Pierre-Simon Laplace
(1749 - 1827)
s iw.
st
Notacin:
L f (t ) F (s),
L y (t ) Y ( s),
L x(t ) X ( s ), etc.
Unicidad de la TL
L{ f (t )} F ( s) f (t ) e st dt
| f (t ) | Me at , t [0, )
N (t )dt 0
b tq lim | f (t )e
t
bt
| 0
Entonces:
L{f(t)} = F(s) existe s > a.
5
L t F (s)
n
L 1 F ( s) 1e st dt
0
1 s 1t
e
s
1
s
e st
t e dt t
s
n st
nt n1
n n1 st
n
t e dt L t n1
0
s
s
n
L t n L t n 1
s
1
L t0
s
1
f (t ) 1 F ( s)
s
f (t ) t n F ( s)
e st
dt
s
n!
n
L t n 1
s
n!
s n1
8
1 s 1t
e
s 1
A s a t
e
( s a)
1
s 1
f (t ) e t F ( s)
L e t F ( s) e t e st dt e s 1t dt
1
s 1
A
, sa
sa
f (t ) Ae at F ( s)
A
, sa
sa
a
e st
cos(at )
s
s
a sen(at ) e
a2
a2
1 2 I 2 ;
s
s
st
f (t ) sen(at )
st
e
s
a cos(at )
0
a a
dt 2 2
s
s
st
e
dt
s
L eiat F ( s) eiate st dt e s ia t dt
sen(at )e st dt
1
e s ia t
s ia
a
s a2
2
F ( s)
10
a
s2 a2
1 s ia s ia
s ia s ia s 2 a 2
s
a
i 2
Lcos(at ) iLsen (at )
2
s a
s a2
2
12
0 if t c
u (t c)
1 if t c
cc
L u (t c) e u (t c)dt lim e
s t
lim
1
s
st h
c
lim
1
s
(e
s h
s c
f (t )
s t
1/
t
a a
dt
s c
)e
rea = 1
L f (t )
1 e as e ( a ) s
as 1 e
s
s
s
1 e s
se s
as
as
lim 0 L f (t ) e as lim 0
e
lim
0
s
s
s
13
Funciones peridicas
L (t a) e as
L (t ) 1
(t )
(t a)
14
F1 ( s ) e st f (t )dt
0
15
16
Demostracin
F ( s ) e st f (t )dt
T 2a
e st f (t )dt e st f (t )dt
0
F ( s)
e st f (t )dt e s ( T ) f ( T )d ,
T
st
f (t )dt e
sT
t T
2a
2a
2a
F1 ( s ) e st f (t )dt e st dt
f ( )d
F (s)
e st f (t )dt e sT F ( s )
1
F1 ( s )
1 e 2 as
1 as 2 as
e e
s
e as e 2 as
1
2 as
s (1 e ) s (1 e as )
0
17
18
19
20
at
sen t
1
1
s
1
s2
n!
sn 1
1
s a
cos t
e at sen t
e at cos t
t n e at
s2 2
s
s2 2
s a
sa
s a
2
n!
s a
n 1
21
22
23
24
F [ f (t )] F ( ) f ( )
f (t )e
it
dt
f (t )
f ( i )
f (t )e
i ( i ) t
dt
f (t )e e
t
i t
1
2
dt
1
2
f ( i )e
f ( i )e
i t
i ( i ) t
f (t )e t
e t
f (t )
2
La TF es un caso particular de la TL
d d ( i ) d
Llegamos a la integral compleja:
f (t )
f ( i )ei t d
1
2
f()e
i t
Im( )
25
f (t )
Im()
Re ()
-
1
2
f()e
i t
26
Im( )
L1{F ( s )} f (t )
todo perteneciente a la
regin en rojo.
1 i
F ( s)e st ds, t 0
2i
27
28
Im(s)
1 i
F ( s)e st ds, t 0
2i i
determina un contorno vertical
Re(s) en el plano complejo, tomado de
tal manera que todas las
singularidades de F(s) queden
a su izquierda.
L1{F ( s)} f (t )
1
2
( s 1)
2i i
2i C ( s 1) 2
R
C1
1 iR e st
1
e st
ds
=0
-1
2i C1 ( s 1) 2
Re(s) 2i iR ( s 1)
-R
(1) lim F ( s ) 0
s
(2) lim sF ( s )
29
m
sk
k 1
s sk
e st
1
2i
d st
Res
lim
e te t L1
2
2
s
1
s
1
2i
ds
( s 1)
( s 1)
30
1
2
( s 2)( s 1)
e st
( s 2)( s 1) 2
posee dos polos, uno simple y otro doble : s1 2 y s 2 1.
e st F ( s )
Entonces si t > 0:
0 por la desigualdad ML
cuando R con t0.
Ejemplo, determinar: f (t ) L1
Haciendo R y utilizando
teora de residuos:
e st
e st
f (t ) Res
Res
2
s 2 ( s 2)( s 1)
s 1 ( s 2)( s 1) 2
st
st
2t
t
t
e
d e
e 3te e
lim
lim
s 2 ( s 1) 2
s 1 ds s 2
9
32
Propiedades
Demostracin:
L c1 f1 (t ) c2 f 2 (t )
c f (t ) c
1 1
f (t )e st dt
2 2
c1 f1 (t )e st dt c2 f 2 (t )e st dt
c1 L f1 (t ) c2 L f 2 (t )
33
2. Desplazamiento temporal
F (s) e
st
f (t )dt
Ejemplo:
f (t t0 ), t t0
g (t ) f (t )u (t t0 )
, t t0
0
e 3 s
L1 3
s
X (s) e
st
e st f (t t0 )dt
l t t0
t0
L t 2
2
s3
L (t 3) 2 u (t 3) e 3s
2
s3
e 3s 1
L1 3 (t 3) 2 u (t 3)
s 2
f (t t0 )u (t t0 )dt
34
L{ f (t )} F ( s)
L{ f (t )u (t t0 )} e st0 F ( s)
e st0 e sl f (l )dl
0
st0
F (s)
35
t
36
3. Desplazamiento en frecuencias
L{ f (t )} F ( s)
F (s) e
st
F ( s ) e st f (t )dt
L{e at f (t )} F ( s a)
f (t )dt
X (s) e e
st at
f (t )dt e
( s a ) t
X ( s ) e st f (at )dt
f (t )dt
L t
L{ f (at )}
1
e ( s / a ) l f (l )dl
a0
1
s2
L teat
1 s
F
a a
F ( s a)
Ejemplo:
L{ f (t )} F ( s)
l at
(1 / a) F ( s / a)
1
( s a) 2
37
F ( s ) e st f (t )dt
0
d
d
F ( s ) e st f (t )dt
ds
ds
38
F ( s ) L{ f (t )}
F ( s) L tf (t )
L{ f ' (t )} sF ( s) f (0)
donde f(0) es el valor de f(t) en t = 0.
e st tf (t )dt
L tf (t )
40
10
En forma similar:
Supongamos que:
L{ f ( n 1) (t )} s n 1 F ( s ) s n 2 f (0) s n 3 f ' (0) f ( n 2 ) (0)
lim e st f (t ) 0
t
Demostracin:
L f ' (t ) e
st
f ' (t )dt e
st
f (0) s e
st
L f ( n ) (t ) e st f ( n ) (t )dt e st f ( n 1) (t ) se st f ( n 1) (t )dt
0
f (t ) se st f (t )dt
0
lim e st f ( n1) (t ) 0
Entonces:
f (t )dt sF ( s) f (0)
0
41
42
43
44
11
Ec. Diferencial
y " 3 y ' 4 y t u (t 1)
y (0) 1, y '(0) 2
Resolver para
y(t)
Transformada de
Laplace
Resolver para
Y(s)
( s 1) ( s 2 e s 1) e s
Y ( s)
s 2 ( s 2 3s 4)
y encontramos la transformada inversa de
Laplace de la solucin, Y(s), encontraremos
la solucin de la ec. diferencial.
Ec. Algebraica
Ec. Algebraica
Inversa de la
Transformada
de Laplace
Solucin de la
Ec. Diferencial
12
( s 1) ( s 2 e s 1) e s
Y ( s)
s 2 ( s 2 3s 4)
De modo que:
es
u (t )( 52 et 53 (et )4 )
es la solucin de la ec. diferencial:
y " 3 y ' 4 y t u (t 1)
u (t )( 52 et 53 (et )4 )
L cf (t ) g (t ) = c L f (t )+ L g (t ) ,
L1 cF ( s) G ( s) = c L1 F ( s)+ L-1 G ( s)
Y segundo, la TF de las derivadas de una
funcin son:
y (0) 1, y '(0) 2
etc...
13
Ejemplo
sin t 0 t
, y(0) y(0) 0
Resolver y y
t
0
f ' (t ) 2 f (t ) e 3t
(t 0 y f (0) 4)
s 2Y ( s ) Y ( s ) L sin t u (t ) sin t
L sin t u (t ) sin( t )
f ' (t ) 2 f (t ) e 3t 0 ; L{ f ' (t ) 2 f (t ) e 3t } 0
L{ f ' (t )} 2 L{ f (t )} L{e 3t } 0
( sF ( s ) f (0)) 2 F ( s )
sF ( s ) 4 2 F ( s )
F ( s)
1
e s
s2 1 s2 1
1
e s
Y (s) 2
( s 1) 2 ( s 2 1) 2
1
0
s3
1
0
s3
y (t )
5
1
f (t ) 5e 2t e 3t
s2 s3
1
2 cos t
54
Ejemplo:
entonces:
F (s) e
s 2Y ( s ) 3sY ( s ) 2Y ( s ) e s
y (t ) u (t 1) e
f (t ) dt
1
1
1
Y ( s) e 2
es
s 3s 2
s 1 s 2
2 ( t 1)
0
t
X ( s ) e st f ( )d dt
0
( t 1)
st
t
1
1
f ( )d e st e st f (t )dt
0
s
0 s 0
55
1
F (s)
s
56
14
9. TF de f(t)cos(at) y f(t)sen(at)
F (s)
f (u )du
s
con F (s) L f (t )
Ejemplo:
G ( s)
Si g (t ) f (t ) cos(at )
f (t )
L
F (u )du
t s
G( s)
Si g (t ) f (t )sen(at )
Ejemplo:
1
g (t ) sen(at )
t
sen t st
1
sen t
L
e dt; L{sen t} 2
s 1
t 0 t
F ( s ia ) F ( s ia )
2
con a
iF ( s ia ) F ( s ia )
2
con a
a
a
i
( s ia ) 2 a 2 ( s ia ) 2 a 2
sen(at ) st
G ( s)
e dt
t
2
0
sen t
L
du arctg (u ) s arctg ( s)
2
2
t s u 1
57
a
a
i 2
2
2a 2
s
i
2
a
s
i 2a
4
2
s 4a 2
58
Recordemos que
la operacin
limt f (t ) lims0 sF ( s)
f1 ( ) f 2 (t )d se conoce
como la convolucin de f1 (t ) y
denota como f1 (t ) * f 2 (t ).
f 2 (t ),
y se
L{ f1 (t ) * f 2 (t )} F1 ( s) F2 ( s)
L{ f1 (t ) * f 2 (t )} L{ f1 (t )} L{ f 2 (t )}
60
15
L{ f1 (t ) * f 2 (t )} L{ f1 (t )} L{ f 2 (t )}
f ( ) g (t )d , t 0
f (t ) * g (t ) 0
t 0
0,
f (t ) * g (t ) f ( ) g (t )d ,
0
t 1 e 2t
e 2t e 2 d
0
2 4
4
t
f (t ) * g (t ) f ( ) g (t )d e 2(t ) d
1
1
; L{e 2t }
s2
( s 2)
1 1
1
2
2
s ( s 2) s ( s 2)
L{t}
(t 0)
61
t 1 e 2t
L
4
2 4
1
1
1
L{t} L{1} L{e 2t }
2
4
4
1 1 11 1 1
2 s 2 4 s 4 ( s 2)
1
s 2 ( s 2)62
Resolver la ec.integro-diferencial:
t
d
x(t ) 4 (t s) x( s)ds et ; x(0) 1
0
dt
1
1
1 1
t
L1 2
L 2
t e
s s 1
s ( s 1)
d
d t
d
dt
dt
et d et t 1
t*x (t ) h (t )
1
s 1
1
sX ( s ) 1 4s L{t * x(t )} 0
;
s
1
L{t }L{ x ( t )} 1 X ( s )
s2
63
sX ( s ) 1
4
1
X (s)
s
s 1
64
16
4
1
X (s)
s
s 1
2
s
X ( s)
( s 1)( s 2)( s 3)
1 1
1
1 1
X ( s)
3 s 1 s 2 3 s 2
sX ( s ) 1
F ( s)
N ( s) an s n an1s n1 a0
m
D( s )
s bm1s m1 b0
Antitransformando:
1
1
x(t ) e t e 2t e 2t
3
3
( s a)
( s a) 2
65
( s a)
F ( s)
A
sa
2
66
s 1
A
B
C
s( s 2)( s 3) s s 2 s 3
N ( s)
A ( s a )
D( s) s a
Ejemplo
F ( s)
A
s 1
s
( s 2)( s 3) s 0
s 1
B
s2
s ( s 3) s 2
s 1
C
s3
s ( s 2) s 3
N ( s)
s 1
s 1
3 2
D( s) s s 6s s( s 2)( s 3)
A
B
C
s s2 s3
67
1
6
3
10
2
15
68
17
s 1
s s 2 6s
A
B
C
s s2 s3
1 1 3 1 2 1
6 s 10 s 2 15 s 3
s 1
A
B
C
s 3 s 2 6s s s 2 s 3
A( s 2)( s 3) Bs ( s 3) Cs( s 2)
s( s 2)( s 3)
F (s)
s 1
A
(
s
2
)(
s
3
)
s 0
mtodo
alternativo
s 1 A( s 2 s 6) B( s 2 3s ) C ( s 2 2s )
s 2 ( A B C ) s ( A 3B 2C ) (6 A)
A B C 0; A 3B 2C 1; 6 A 1
1 3
2
f (t ) e 2t e 3t
6 10
15
y resolver...
69
70
Otro ejemplo
2s 2 7 s 3
2s 2 7 s 3
2
( s 1)( s 2) ( s 1)( s 1)( s 2)
A
B
C
1
2
1
s 1 s 1 s 2 s 1 s 1 s 2
F ( s)
( s a) 2
A
B
2
( s a) ( s a)
Ejemplo
2s 2 7 s 3
273
A
(
s
1
)(
s
2
)
s 1 (2)(1)
2s 7 s 3
273
B
(
s
1
)(
s
2
)
(2)(3)
s 1
2
2s 2 7 s 3
8 14 3
C
(
s
1
)(
s
1
)
s 2 (3)( 1)
F ( s)
Transformada inversa de Laplace:
N (s)
s 3 4s 2 4
A B
C
D
2
2
D ( s ) s ( s 2)( s 1) s
s s 2 s 1
f (t ) e t 2e t e 2t
Polos reales
mltiples
71
Polos reales
simples
72
18
F (s)
s 3 4s 2 4
s ( s 2)( s 1)
A B
C
D
2
s
s s 2 s 1
1
1 1 1
2 2 3
s s s 2 s 1
F ( s)
d
N ( s)
B ( s a) 2
D( s) s a
ds
N ( s)
A ( s a ) 2
D( s ) s a
s 3 4s 2 4
s 2 ( s 2)( s 1)
s 3 4s 2 4
( s 2)( s 1) s 0
d s 3 4 s 2 4
ds ( s 2)( s 1) s 0
A
s2
B
s
2
Transformada inversa de Laplace:
f (t ) 2t 3 e 2t e t
73
Ds
N s
br
Ds s p1 s p2 s pn
br 1
s p1 r s p1 r 1
ejemplo
a
an
b1
a2
3
s p1 s p2 s p3
s pn
br j
br 1 [ F ( s )( s p1 ) r ]
ds
s p1
1dj
r
j F s s p1
j! ds
s p1
ai F s s pi s pi
1dj
[ F ( s )( s p1 ) r ]
j! ds j
s p
b1
( s a )( s a * )
br [ F ( s )( s p1 ) r ]s p1
br j
74
1 d r 1
[ F ( s )( s p1 ) r ]
(r 1)! ds r 1
s p
75
conjugados complejos
4
A
B
B*
,
s ( s 2 4) s s a s a *
4
A 2
1
s 4 s 0
4
1
B
2
s ( s 2i ) s 2i
4
1
B*
2
s ( s 2i ) s 2i
a 2i
1 1 1
1
s 2 s a s a*
Transformada inversa de Laplace:
x(t ) 1 cos(2t )
76
19
ejemplo
s4
B
B
,
s 6s 25 s a s a*
*
(s a)( s a )
a 3 4i
1
s4
B
(4 i )
4
i
8
s 3 4i
1
s4
B*
(4 i )
s 3 4i s 34i 8
f (t )
f (t ) 2 B e t cos(t )
donde
1
17
B (4 i), B
,
8
8
3, 4, 0.245
17 3t
e cos(4t 0.245)
4
77
78
20