Table of Laplace and Z-transforms

X(s) x(t) x(kT) or x(k) X(z)

Kronecker delta 0(k)
1. – – 1 k=0 1
0 k 0
0(n-k)
2. – – 1 n=k z-k
0 n k
1 1
3. 1(t) 1(k)
s 1 z1
1 1
4. e-at e-akT 1
s a 1 e aT z
1
1 Tz
5. t kT 1 2
s2 1 z
1
2 T 2z 1 1 z
6. t2 (kT)2 1 3
s3 1 z
1 2
6 T 3 z 1 1 4z z
7. t3 (kT)3 1 4
s4 1 z
a 1 e aT z 1
8. 1 – e-at 1 – e-akT 1
ss a 1 z 1 1 e aT z
aT bT 1
b a e e z
9. e-at – e-bt e-akT – e-bkT 1
s a s b 1 e aT z 1 1 e bT z
aT 1
1 Te z
10. 2 te-at kTe-akT aT 1 2
s a 1 e z
aT 1
s 1 1 aT e z
11. 2 (1 – at)e-at (1 – akT)e-akT aT 1 2
s a 1 e z
aT aT 1 1
2 2 -at 2 -akT
T 2e 1 e z z
12. 3 te (kT) e aT 1 3
s a 1 e z
aT aT aT 1 1
a2 aT 1 e 1 e aTe z z
13. at – 1 + e-at akT – 1 + e-akT 1 2 aT 1
s2 s a 1 z 1 e z
z 1 sin T
14. 2 sin t sin kT 2
s2 1 2 z 1 cos T z
s 1 z 1 cos T
15. 2 cos t cos kT 2
s2 1 2 z 1 cos T z
e aT z 1 sin T
16. 2 2 e-at sin t e-akT sin kT aT 2 aT 2
s a 1 2e z 1 cos T e z
s a -at -akT 1 e aT z 1 cos T
17. 2 2 e cos t e cos kT 2
s a 1 2e aT z 1 cos T e 2 aT z
k 1
18. – – a
1 az 1
ak-1 z 1
19. – – 1
k = 1, 2, 3, … 1 az
1
z
20. – – kak-1 1 2
1 az
1 1
z 1 az
21. – – k2ak-1 1 3
1 az
1 1 2
z 1 4az a2z
22. – – k3ak-1 1 4
1 az
1 1 2 3
z 1 11az 11a 2 z a3z
23. – – k4ak-1 1 5
1 az
1
24. – – ak cos k 1
1 az

x(t) = 0 for t < 0

x(kT) = x(k) = 0 for k < 0
Unless otherwise noted, k = 0, 1, 2, 3, …
Definition of the Z-transform

k
{x(k)} X ( z) x (k ) z
k 0

Important properties and theorems of the Z-transform

x(t) or x(k) {x(t)} or {x(k)}

1. ax(t ) aX (z )

2. ax1( t ) bx2( t ) aX 1 ( z ) bX 2 ( z )

3. x( t T ) or x( k 1 ) zX ( z ) zx( 0 )
2
4. x( t 2T ) z X ( z ) z 2 x( 0 ) zx( T )
5. x( k 2 ) z 2 X ( z ) z 2 x( 0 ) zx( 1 )
k
6. x( t kT ) z X ( z ) z k x( 0 ) z k 1 x( T ) zx( kT T )
7. x( t kT ) z k X( z )
8. x( n k ) z k X ( z ) z k x( 0 ) z k 1 x( 1 ) zx( k1 1 )
9. x( n k ) z k X( z )
d
10. tx( t ) Tz X( z )
dz
d
11. kx( k ) z X( z )
dz
12. e at x( t ) X ( zeaT )
ak
13. e x( k ) X ( ze a )
z
14. a k x( k ) X
a
d z
15. ka k x( k ) z X
dz a

16. x( 0 ) lim X ( z ) if the limit exists

z

1 1
17. x( ) lim 1 z X ( z ) if 1 z X ( z ) is analytic on and outside the unit circle
z 1

1
18. x( k ) x( k ) x( k 1 ) 1 z X( z )
19. x( k ) x( k 1 ) x( k ) z 1 X ( z ) zx( 0 )
n
1
20. x( k ) 1
X( z )
k 0 1 z

21. x( t , a ) X ( z,a )
a a
m
d
22. k m x( k ) z X( z )
dz
n
23. x( kT ) y( nT kT ) X ( z )Y ( z )
k 0

24. x( k ) X (1)
k 0
 Advanced Digital Signal Processing z-Transform 2

Table 2: z-transform properties

property function f(t) sequence fk z-function F(z)

linearity a1 · f1(t) + a2 · f2(t) a1 · f1k + a2 · f2k a1 · F1(z) + a2 · F2(z) ai = const.

t
a
damping T e-ak · fk F(ea z)
e f (t)

time-delay f(t-m T) fk-m z-m · F(z) m

k k
z
f (t i T) fi F(z) f(t) = 0 for t < 0
i 0 i 0 z 1
summing
k 1 k 1
1
f (t i T) fi F(z) f(t) = 0 for t < 0
i 0 i 0 z 1

z 1
f(t) - f(t-T) fk - fk-1 F(z) f ( T)
z
differencing
f(t+T) - f(t) fk+1 - fk (z 1) F(z) z f (0)

differencing in t dF(z)
f (t) k fk z
z-domain T dz

convolution f1(t) f2(t) f1k f2k F1(z) · F2(z)

f(0) f0 lim F(z )

initial-value z
theorem1 f(t ) f lim (z 1) F(z)
z 1

T: sample time
a: real or complex

1
Existence of limits assumpted.

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 Advanced Digital Signal Processing z-Transform 1

Table 1: z-transform F(z) f(t)

F(z) fk fk = 0 for k < 0 f(t) f(t) = 0 for t < 0

1 1 k (t)
z
2 k (t)
z 1
z t
3 k
( z 1) 2 T

z (z 1) t2
4 k2
(z 1)3 T2
z t
ak a
5 a e T
z e e

z t
ak t a
6 ke e T
(z e a ) 2 T
a t
z (z e a ) e ak t2 a
7 k 2e e T
(z e a )3 T2

z (1 e a ) t
ak a
8 1 e T
(z 1) (z e a ) 1 e

z sin T
9 sin Tk sin t
z2 z 2 cos T 1
z (z cos T )
10 cos Tk cos t
z2 z 2 cos T 1

z e a sin T t
ak a
11 2a
e sin Tk T
z2 z 2e a cos T e e sin t

a t
z (z e cos T) ak a
12 2a
e cos Tk T
z2 z 2e a cos T e e cos t

z (z sin e a sin( T )) t
ak a
13 2a
e sin( Tk ) e T sin( t )
z 2 z 2e a cos T e

T: sample time
a: real or complex

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 Advanced Digital Signal Processing Laplace-Transform 4 Advanced Digital Signal Processing Laplace-Transform 1

Table 2: Laplace-transform properties Table 1a: Laplace-Transformation F(s) f(t)

property time domain f(t) frequency domain F(s) F(s) f(t) f(t) = 0 for t < 01
1 1 (t)
linearity a1 · f1(t) + a2 · f2(t) a1 · F1(s) + a2 · F2(s) ai = const.
1
2 (t)
damping eat · f(t) F(s-a) a bel. komplex s
1
0 3 t
-sT st s2
time-delay f(t-T) e · (F(s) + f ( t )e dt ) T>0
T
1 tn 1
4 n = 1, 2, ...
1 s sn ( n 1)!
compression f(a t) F( ) a = const.
a a
1 1 1 sp t
t 5 tn e n = 1, 2, ...
1 (s s p ) n ( n 1)!
f ( )d F(s)
0
s
t
integration 1 1
6 e T
t 0 Ts 1
1 1 1 T
f ( )d F(s) f ( )d F(s) f ( 0)
s s s t
s 1 1 T
7 (t ) e
Ts 1 T T
f (t) sF(s) f ( 0)
1 t
generalized f (t) s 2 F(s) sf ( 0) f ( 0) 8 T
s(Ts 1) 1 e
differencing2
n t t
(n ) k d k 1f 1
s n F(s) sn ( 0) T1 T2
f (t ) k 1 e e T1 T2
k 1 dt T1 T2
1
9
differencing in (n ) (T1s 1)(T2s 1)
(-t)n · f(t) F (s) t
frequency domain t T
2
e T1 = T2 = T
T
convolution f1(t) f2(t) F1(s) F2(s)
t t
1 1 T1 1 T2
lim f ( t ) lim s F(s ) e e T1 T2
initial-value t s 0 s T1 T2 T1 T2
3
theorem lim f ( t ) lim s F(s) 10
t 0 s
(T1s 1)(T2s 1)
t
T t T
3
e T1 = T2 = T
T
t t
1 T1 T2
1 T1 e T2 e T1 T2
1 T1 T2
11
s(T1s 1)(T2s 1)
t
t T
1 (1 ) e T1 = T2 = T
T

2
f(-0) is the limit of f(t), if t approaches 0 from negative values.
d
dt
f( 0) is the limit oft the common diffential.
3 1
Existence of limits assumpted. only for transformation back to time domain

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 Advanced Digital Signal Processing Laplace-Transform 2 Advanced Digital Signal Processing Laplace-Transform 3

F(s) f(t) f(t) = 0 for t < 01 Table 1b: Laplace-Transformation F(s) f(t)

0 0t 2
e sin( 1 0 t) | |<1
2
1 F(s) f(t) f(t) = 0 für t < 0
1
1 2 2 0t
12 s2 s 1 0 t e | |=1 15 sin t
2 2
0 0 s2
0 0t 2
e sinh( 1 0 t) | |>1 s
2 cos t
1 16 2
s2
s s sin cos
2 0t 2 2 sin( t )
13 1 2 2 0 e cos( 1 0 t) sin( 1 0 t)
| |<1 17 2
s s 1 2 s2
2 1
0 0
s cos sin
18 2
cos( t )
1 s2
0t 2 2
14 1 2 1 e cos( 1 0 t) sin( 1 0 t)
| |<1
s s2 s 1 2
2 1 at
0 0 19 2 e sin t
(s a ) 2

s a at
20 2 e cos t
(s a )2
2
2
21 2 2 sin 2 t
s(s 4 )
2
s2 2
22 2 cos2 t
s(s2 4 )

2 s
23 2 2 t sin t
(s 2 )
2
s2
24 2 2
t cos t
(s 2 )

s2 1
25 2 2
(sin t t cos t )
(s 2 ) 2

1 1 at a
26 2 2
e sin t cos t
(s 2 )(s a ) a2

s b 2
b a at 1 b2 a b
27 2 2
e 2
sin t arctan arctan
(s 2 )(s a ) a2 a2

1 1 1 at a
28 2 2 2
e sin t cos t
s(s2 )(s a ) a ( a2 ) a

1 at bt sin t arctan arctan

29 2
1 e e a b
(s 2 )(s a )(s b ) 2 2 2 2 2 2 2
b a a b ( a b )2 ( ab )

a b
1 at bt cos t arctan arctan
30 2 2
1 1 e e
s(s )(s a )(s b ) 2 2 2 2 2 2 2
ab a b a( a2 ) b( b2 ) ( a b )2 ( ab )

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