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 cosðωd TÞz 1 e22ζωn 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.

533
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 e2ζωn kT cosðωd kTÞ z½z 2 e2ζωn T cosðωd TÞ
ðs1ζωn Þ2 1 ω2d z2 2 2e2ζωn T cosðωd TÞz 1 e22ζωn 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