Appendix A1.

2 Table of Laplace Transform

Table A1.2.1 Table of Laplace transforms

Laplace Transform Time Function

F(s) f(t)
1 Unit impulse function δ( t )
1
Unit-step function us(t) = 1
s
1 Unit ramp function, t
s2
n!
nth order ramp, tn (n = positive integer)
s n +1
1
Exponential decay, e − at
s+a
1
Exponential × t, te − at
(s + a ) 2
a
s(s + a ) Exponential rise, 1 − e − at
n!
t n e − at (n = positive integer)
(s + a ) n +1
1
(s + a )(s + b)
1
b−a
( )
e −at − e − bt ( a ≠ b )

s
(s + a )(s + b)
1
b−a
( be − bt − ae −at ) ( a ≠ b )

1
s(s + a )
1
a
(
1 − e − at )
1
s(s + a ) 2
1
(
1 − e −at − ae −at )
a2
1
s (s + a )
2
1
2
(
at − 1 + e −at )
a
1 1 ⎡ 1 ⎛ 2⎞ ⎤
2 ⎢
t − + ⎜ t + ⎟e −at ⎥
s (s + a ) 2
2
a ⎣ a ⎝ a⎠ ⎦
s
(1 − at )e − at
(s + a ) 2
ωn
sin ω n t
s + ω 2n
2

s
s + ω 2n
2
cos ω n t

Prepared by Hai Au (2006) 110

 ω 2n
1 − cos ω n t
s(s 2 + ω 2n )
ω 2n (s + a ) ω n a 2 + ω 2n sin (ω n t + θ)
s 2 + ω 2n where θ = tan −1 (ω n a )
ωn
sin (ω n t − θ)
1
ωn e − αt +
α + ωn
2 2
α + ω 2n
2
(s + α)(s 2 + ω 2n )
where θ = tan −1 (ω n / α )
ω 2n
s 2 + 2ζω n s + ω 2n
ωn
1− ζ 2
( )
e −ζωn t sin ω n 1 − ζ 2 t + θ ( ζ < 1 )

ω 2n 1−
ωn
1− ζ 2
(
e −ζωn t sin ω n 1 − ζ 2 t + θ )
s(s 2 + 2ζω n s + ω 2n )
where θ = cos −1 ζ ( ζ < 1 )

sω 2
n
− ω 2n
1− ζ 2
(
e −ζωn t sin ω n 1 − ζ 2 t − θ )
s + 2ζω n s + ω 2n
2

where θ = cos −1 ζ ( ζ < 1 )

ωn
α 2 − 2αζω n + ω 2n −ζωn t
1− ζ 2
e (
sin ω n 1 − ζ 2 t + θ )
ω (s + α)
2
n

s + 2ζω n s + ω 2n
2

ωn 1 − ζ 2
where θ = tan −1 ( ζ < 1)
α − ζω n

ω 2n (s + α) t−
2ζ
+
1
ω n ω 2n 1 − ζ 2
(
e −ζωn t sin ω n 1 − ζ 2 t + θ )
s 2 (s 2 + 2ζω n s + ω 2n )
where θ = cos −1 (2ζ − 1) ( ζ < 1 )

Prepared by Hai Au (2006) 111