APPENDIX

Table of Laplace and

z-Transforms
I
Continuous Laplace
No. Time Transform Discrete Time z-Transform

1 δ(t) 1 δ(k) 1

2 1(t) 1 1(k) z
s z21

3 t 1 kT zT
s2 ðz21Þ2

4 t2 2! (kT)2 zðz 1 1ÞT 2

s3 ðz21Þ3

5 t3 3! (kT)3 zðz2 1 4z 1 1ÞT 3

s4 ðz21Þ4

6 e2αt 1 ak z
s1α z2a

7 1 2 e2αt α 1 2 ak ð1 2 aÞz
sðs 1 αÞ ðz 2 1Þðz 2 aÞ

8 e2αt 2 e2βt β 2α ak 2 bk ða 2 bÞz

ðs 1 αÞðs 1 βÞ ðz 2 aÞðz 2 bÞ

9 te2αt 1 kTak az T
ðs1αÞ2 ðz2aÞ2

10 sin(ωnt) ωn sin(ωnkT) sinðωn TÞz

s2 1 ω2n z2 2 2cosðωn TÞz 1 1

11 cos(ωnt) s cos(ωnkT) z½z 2 cosðωn TÞ

s2 1 ω2n z2 2 2cosðωn TÞz 1 1

12 e2ζωn t sinðωd tÞ ωd e2ζωn kT sinðωd kTÞ e2ζωn T sinðωd TÞz

ðs1ζωn Þ2 1 ω 2d z2 2 2e2ζωn T cosðω d TÞz 1 e
22ζωn T


The discrete time functions are generally sampled forms of the continuous time functions.

Sampling t gives kT, whose transform is obtained by multiplying the transform of k by T.

The function e2αkT is obtained by setting a 5 e2αT.

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534 APPENDIX I Table of Laplace and z-Transforms

Continuous Laplace
No. Time Transform Discrete Time z-Transform
13 e2ζωn t
cosðωd tÞ s 1 ζωn 2ζωn kT
e cosðωd kTÞ z½z 2 e2ζωn T cosðωd TÞ
ðs1ζωn Þ2 1 ω2d z2 2 2e2ζωn T cosðω d TÞz 1 e
22ζωn T

14 sinh(βt) β sinh(βkT) sinhðβTÞz

s2 2 β 2 z2 2 2coshðβTÞz 1 1

15 cosh(βt) s cosh(βkT) z½z 2 coshðβTÞ

s2 2 β 2 z2 2 2coshðβTÞz 1 1
 APPENDIX

Properties of the
z-Transform
II
No. Name Formula

1 Linearity Zfαf1 ðkÞ 1 βf2 ðkÞg 5 αF1 ðzÞ 1 βF2 ðzÞ

2 Time Delay Zf f ðk 2 nÞg 5 z2n FðzÞ

3 Time Advance Zf f ðk 1 1Þg 5 zFðzÞ 2 zf ð0Þ

4 Discrete-Time
Convolution
Zf f ðk 1 nÞg 5 zn FðzÞ 2 zn f ð0Þ 2 zn21 f ð1Þ . . . 2 zf ðn 2 1Þ
( )
Xk
Zf f1 ðkÞ f2 ðkÞg 5 Z f1 ðiÞf2 ðk 2 iÞ 5 F1 ðzÞF2 ðzÞ
i50

2k
5 Multiplication by Zfa f ðkÞg 5 FðazÞ
Exponential
 m
6 Complex Zfkm f ðkÞg 5 2z dzd FðzÞ
Differentiation

7 Final Value Theorem f ðNÞ 5 L im f ðkÞ5 L imð12z21 ÞFðzÞ5 L imðz21ÞFðzÞ

k-N z-1 z-1

8 Initial Value Theorem f ð0Þ 5 L imf ðkÞ 5 L im FðzÞ

k-0 z-N

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