Odsek za automatoku, geomatiku i upravljanje sistemima

Tabica Laplasove transformacije, Z-transformacije i modifikovane

Z-transformacije

F (s) f (t) F (z) F (z, m)

e−kT s δ(t − kT ) z −k z m−1−k

1 δ(t) 1 0

1 z 1
s
1 z−1 z−1

1 Tz mT T
s2
t (z−1)2 z−1
+ (z−1)2

1 1 k (−1)k ∂ k z (−1)k ∂ k e−amT

t lim k( ) lim k ( z−e−aT )
sk+1 k! a→0 k! ∂a z−e k! ∂a
−aT
a→0

1 z e−amT
s+a e−at z−e−aT z−e−aT

ω0 z sin ω0 T z sin mω0 T +sin(1−m)ω0 T

s2 +ω02 sin ω0 t z 2 −2z cos ω0 T +1 z 2 −2z cos ω0 T +1

s z(z−cos ω0 T ) z cos mω0 T −cos(1−m)ω0 T

s2 +ω02 cos ω0 t z 2 −2z cos ω0 T +1 z 2 −2z cos ω0 T +1

ω0 ze−aT sin ω0 T [z sin ω0 mT +e−aT sin(1−m)ω0 T ] −amT

(s+a)2 +ω02 e−at sin ω0 t z 2 −2ze−aT cos ω0 T +e−2aT z 2 −2ze−aT cos ω0 T +e−2aT
e
s+a z 2 −ze−aT cos ω0 T [z cos ω0 mT −e−aT cos(1−m)ω0 T ] −amT
(s+a)2 +ω02 e−at cos ω0 t z 2 −2ze−aT cos ω0 T +e−2aT z 2 −2ze−aT cos ω0 T +e−2aT
e

f (k) F (z) f (k) F (z)

z
δ(k) 1 h(k)
z−1
z az
ak h(k) kak h(k)
z−a (z − a)2
z sin θ z(z−cos θ)
sin θk z 2 −2z cos θ+1 cos θk z 2 −2z cos θ+1