Tabla de Transformadas de Laplace (1)

𝑓𝑓(𝑡𝑡) 𝐹𝐹 (𝑠𝑠)
1 Impulso unitario 𝛿𝛿 (𝑡𝑡) 1
1
2 Escalón unitario 1(𝑡𝑡 ) 𝑜𝑜 𝜇𝜇(𝑡𝑡)
𝑠𝑠
1
3 𝑡𝑡
𝑠𝑠 2
𝑡𝑡 𝑛𝑛−1 1
4 (𝑛𝑛 = 1, 2, 3, … )
(𝑛𝑛 − 1)! 𝑠𝑠 𝑛𝑛
𝑛𝑛!
5 𝑡𝑡 𝑛𝑛 (𝑛𝑛 = 1, 2, 3, … )
𝑛𝑛+1
𝑠𝑠
1
6 𝑒𝑒 −𝑎𝑎𝑡𝑡
𝑠𝑠 + 𝑎𝑎
1
7 𝑡𝑡𝑒𝑒 −𝑎𝑎𝑡𝑡
(𝑠𝑠 + 𝑎𝑎)2
1 1
8 𝑡𝑡 𝑛𝑛−1 𝑒𝑒 −𝑎𝑎𝑡𝑡 (𝑛𝑛 = 1, 2, 3, … )
(𝑛𝑛 − 1)! (𝑠𝑠 + 𝑎𝑎)𝑛𝑛
𝑛𝑛!
9 𝑡𝑡 𝑛𝑛 𝑒𝑒 −𝑎𝑎𝑡𝑡 (𝑛𝑛 = 1, 2, 3, … )
(𝑠𝑠 + 𝑎𝑎)𝑛𝑛+1
𝜔𝜔
10 sen 𝜔𝜔𝑡𝑡
𝑠𝑠 2 + 𝜔𝜔 2
𝑠𝑠
11 cos 𝜔𝜔𝑡𝑡
𝑠𝑠 2 + 𝜔𝜔 2
𝜔𝜔
12 senh 𝜔𝜔𝑡𝑡
𝑠𝑠 2 − 𝜔𝜔 2
𝑠𝑠
13 cosh 𝜔𝜔𝑡𝑡
𝑠𝑠 2 − 𝜔𝜔 2
1 1
14 (1 − 𝑒𝑒 −𝑎𝑎𝑡𝑡 )
𝑎𝑎 𝑠𝑠(𝑠𝑠 + 𝑎𝑎)
1 1
15 (𝑒𝑒 −𝑎𝑎𝑡𝑡 − 𝑒𝑒 −𝑏𝑏𝑡𝑡 )
𝑏𝑏 − 𝑎𝑎 (𝑠𝑠 + 𝑎𝑎)(𝑠𝑠 + 𝑏𝑏)
1 𝑠𝑠
16 (𝑏𝑏𝑏𝑏 −𝑏𝑏𝑡𝑡 − 𝑎𝑎𝑒𝑒 −𝑎𝑎𝑡𝑡 )
𝑏𝑏 − 𝑎𝑎 (𝑠𝑠 + 𝑎𝑎)(𝑠𝑠 + 𝑏𝑏)
1 1 1
17 �1 + (𝑏𝑏𝑏𝑏 −𝑎𝑎𝑡𝑡 − 𝑎𝑎𝑒𝑒 −𝑏𝑏𝑡𝑡 )�
𝑎𝑎𝑏𝑏 𝑎𝑎 − 𝑏𝑏 𝑠𝑠(𝑠𝑠 + 𝑎𝑎)(𝑠𝑠 + 𝑏𝑏)
Fuente: jkm
K. Ogata, Ingeniería de control moderna, 5a ed. Madrid: Pearson Educación, 2010.
 Tabla de Transformadas de Laplace (2)

𝑓𝑓(𝑡𝑡) 𝐹𝐹 (𝑠𝑠)
1 1
18 (1 − 𝑒𝑒 −𝑎𝑎𝑡𝑡 − 𝑎𝑎𝑡𝑡𝑒𝑒 −𝑎𝑎𝑡𝑡 )
𝑎𝑎2 𝑠𝑠(𝑠𝑠 + 𝑎𝑎)2
1 1
19 (𝑎𝑎𝑡𝑡 − 1 + 𝑒𝑒 −𝑎𝑎𝑡𝑡 )
𝑎𝑎2 𝑠𝑠 2 (𝑠𝑠 + 𝑎𝑎)
𝜔𝜔
20 𝑒𝑒 −𝑎𝑎𝑡𝑡 sen 𝜔𝜔𝑡𝑡
(𝑠𝑠 + 𝑎𝑎)2 + 𝜔𝜔 2
𝑠𝑠 + 𝑎𝑎
21 𝑒𝑒 −𝑎𝑎𝑡𝑡 cos 𝜔𝜔𝑡𝑡
(𝑠𝑠 + 𝑎𝑎)2 + 𝜔𝜔 2
𝜔𝜔𝑛𝑛 𝜔𝜔𝑛𝑛2
22 𝑒𝑒 −𝜀𝜀𝜔𝜔𝑛𝑛 𝑡𝑡 sen 𝜔𝜔𝑛𝑛 �1 − 𝜀𝜀 2 ∙ 𝑡𝑡
√1 − 𝜀𝜀 2 𝑠𝑠 2 + 2𝜀𝜀𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2
1
− 𝑒𝑒 −𝜀𝜀𝜔𝜔𝑛𝑛 𝑡𝑡 sen �𝜔𝜔𝑛𝑛 �1 − 𝜀𝜀 2 ∙ 𝑡𝑡 − 𝜙𝜙� 𝑠𝑠
23 √1 − 𝜀𝜀 2
√1 − 𝜀𝜀 2 𝑠𝑠 2 + 2𝜀𝜀𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2
𝜙𝜙 = tan−1
𝜀𝜀
1
1− 𝑒𝑒 −𝜀𝜀𝜔𝜔𝑛𝑛 𝑡𝑡 sen �𝜔𝜔𝑛𝑛 �1 − 𝜀𝜀 2 ∙ 𝑡𝑡 + 𝜙𝜙�
√1 − 𝜀𝜀 2 𝜔𝜔𝑛𝑛2
24
√1 − 𝜀𝜀 2 𝑠𝑠(𝑠𝑠 2 + 2𝜀𝜀𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2 )
𝜙𝜙 = tan−1
𝜀𝜀
𝜔𝜔2
25 1 − cos 𝜔𝜔𝑡𝑡
𝑠𝑠 (𝑠𝑠 2 + 𝜔𝜔 2 )
𝜔𝜔3
26 𝜔𝜔𝑡𝑡 − sen 𝜔𝜔𝑡𝑡
𝑠𝑠 2 (𝑠𝑠 2 + 𝜔𝜔 2 )
2𝜔𝜔3
27 sen 𝜔𝜔𝑡𝑡 − 𝜔𝜔𝑡𝑡 cos 𝜔𝜔𝑡𝑡
(𝑠𝑠 2 + 𝜔𝜔 2 )2
1 𝑠𝑠
28 𝑡𝑡 sen 𝜔𝜔𝑡𝑡
2𝜔𝜔 (𝑠𝑠 2 + 𝜔𝜔 2 )2
𝑠𝑠 2 − 𝜔𝜔2
29 𝑡𝑡 cos 𝜔𝜔𝑡𝑡
(𝑠𝑠 2 + 𝜔𝜔 2 )2
1 𝑠𝑠
30 (cos 𝜔𝜔1 𝑡𝑡 − cos 𝜔𝜔2 𝑡𝑡) (𝜔𝜔12 ≠ 𝜔𝜔22 )
𝜔𝜔22 − 𝜔𝜔12 (𝑠𝑠 2 + 𝜔𝜔12 )(𝑠𝑠 2 + 𝜔𝜔22 )
1 𝑠𝑠 2
31 (sen 𝜔𝜔𝑡𝑡 + 𝜔𝜔𝑡𝑡 cos 𝜔𝜔𝑡𝑡 )
2𝜔𝜔 (𝑠𝑠 2 + 𝜔𝜔 2 )2

Fuente: jkm
K. Ogata, Ingeniería de control moderna, 5a ed. Madrid: Pearson Educación, 2010.
 Propiedades de la Transformada de Laplace

1 ℒ [𝐴𝐴𝑓𝑓(𝑡𝑡)] = 𝐴𝐴𝐹𝐹 (𝑠𝑠)

2 ℒ [𝑓𝑓1 (𝑡𝑡) ± 𝑓𝑓2 (𝑡𝑡)] = 𝐹𝐹1 (𝑠𝑠) ± 𝐹𝐹2 (𝑠𝑠)
𝑑𝑑
3 ℒ± � 𝑓𝑓(𝑡𝑡)� = 𝑠𝑠𝐹𝐹 (𝑠𝑠) − 𝑓𝑓(0 ±)
𝑑𝑑𝑡𝑡
𝑑𝑑 2
4 ℒ± � 2 𝑓𝑓(𝑡𝑡)� = 𝑠𝑠 2 𝐹𝐹 (𝑠𝑠) − 𝑠𝑠𝑓𝑓(0 ±) − 𝑓𝑓̇(0 ±)
𝑑𝑑𝑡𝑡
𝑑𝑑 𝑛𝑛 n ( k −1 )
ℒ± � 𝑛𝑛 𝑓𝑓(𝑡𝑡)� = 𝑠𝑠 𝑛𝑛 𝐹𝐹 (𝑠𝑠) −
𝑑𝑑𝑡𝑡 ∑ s n − k
( )
f 0±
5 k =1
( k −1 )
𝑑𝑑 𝑘𝑘−1
en donde f ( t ) = 𝑘𝑘−1 𝑓𝑓 (𝑡𝑡)
𝑑𝑑𝑡𝑡
𝐹𝐹 (𝑠𝑠) 1
6 ℒ± �� 𝑓𝑓(𝑡𝑡 ) 𝑑𝑑𝑡𝑡� = + �� 𝑓𝑓 (𝑡𝑡) 𝑑𝑑𝑡𝑡�
𝑠𝑠 𝑠𝑠 𝑡𝑡=0±
𝑛𝑛
𝐹𝐹 (𝑠𝑠) 1
7 ℒ± ��. . . � 𝑓𝑓(𝑡𝑡 ) (𝑑𝑑𝑡𝑡 )𝑛𝑛 � = 𝑛𝑛 + � 𝑛𝑛−𝑘𝑘+1 ��. . . � 𝑓𝑓 (𝑡𝑡) (𝑑𝑑𝑡𝑡 )𝑘𝑘 �
𝑠𝑠 𝑠𝑠 𝑡𝑡=0±
𝑘𝑘=1
𝑡𝑡
𝐹𝐹 (𝑠𝑠)
8 ℒ �� 𝑓𝑓 (𝑡𝑡) 𝑑𝑑𝑡𝑡� =
0 𝑠𝑠
∞ ∞
9 � 𝑓𝑓 (𝑡𝑡) 𝑑𝑑𝑡𝑡 = lim 𝐹𝐹 (𝑠𝑠) si � 𝑓𝑓(𝑡𝑡) 𝑑𝑑𝑡𝑡 existe
0 𝑠𝑠→0 0
−𝑎𝑎𝑡𝑡
10 ℒ [𝑒𝑒 𝑓𝑓(𝑡𝑡 )] = 𝐹𝐹 (𝑠𝑠 + 𝑎𝑎)
11 ℒ [𝑓𝑓(𝑡𝑡 − 𝛼𝛼)1(𝑡𝑡 − 𝛼𝛼)] = 𝑒𝑒 −𝛼𝛼𝑠𝑠 𝐹𝐹 (𝑠𝑠) 𝛼𝛼 ≥ 0
𝑑𝑑𝑑𝑑 (𝑠𝑠)
12 ℒ [𝑡𝑡𝑓𝑓 (𝑡𝑡)] = −
𝑑𝑑𝑠𝑠
2
𝑑𝑑
13 ℒ [𝑡𝑡 2 𝑓𝑓 (𝑡𝑡)] = 2 𝐹𝐹 (𝑠𝑠)
𝑑𝑑𝑠𝑠
𝑛𝑛
𝑑𝑑
14 ℒ [𝑡𝑡 𝑛𝑛 𝑓𝑓(𝑡𝑡)] = (−1)𝑛𝑛 𝑛𝑛 𝐹𝐹 (𝑠𝑠) 𝑛𝑛 = 1, 2, 3, …
𝑑𝑑𝑠𝑠
∞
1 1
15 ℒ � 𝑓𝑓(𝑡𝑡 )� = � 𝐹𝐹 (𝑠𝑠) 𝑑𝑑𝑠𝑠 si lim 𝑓𝑓(𝑡𝑡) existe
𝑡𝑡 0 𝑠𝑠→0 𝑡𝑡
𝑡𝑡
16 ℒ �𝑓𝑓 � �� = 𝑎𝑎𝐹𝐹 (𝑎𝑎𝑠𝑠)
𝑎𝑎
∞
17 ℒ �� 𝑓𝑓1 (𝑡𝑡 − 𝜏𝜏)𝑓𝑓2 (𝜏𝜏)𝑑𝑑𝜏𝜏 � = 𝐹𝐹1 (𝑠𝑠)𝐹𝐹2 (𝑠𝑠)
0
1 𝑐𝑐+𝑗𝑗∞
18 ℒ [𝑓𝑓(𝑡𝑡 )𝑔𝑔(𝑡𝑡)] = � 𝐹𝐹 (𝑝𝑝)𝐺𝐺 (𝑠𝑠 − 𝑝𝑝) 𝑑𝑑𝑝𝑝
2𝜋𝜋𝜋𝜋 𝑐𝑐−𝑗𝑗∞

Fuente: jkm
K. Ogata, Ingeniería de control moderna, 5a ed. Madrid: Pearson Educación, 2010.