Formulary

Systeemanalyse [H00S4A]
Systems Theory [H04X3B]

J. Swevers

November 2016
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Laplace transform of common functions and properties

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z-transform of common functions and properties

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ZOH-equivalent
   
−1 −1 H(s)
H(z) = (1 − z )Z L × δT (t)
s
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Transformation methods
• Backward Euler approximation:
1 z−1
s⇒
T z
or
1
z⇒
1 − Ts
• Forward Euler approximation:
1
s⇒ (z − 1)
T
or
z ⇒ 1 + Ts

• Tustin approximation:
2 z−1
s⇒
T z+1
or
T
1+ 2s
z⇒ T
1− 2s
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Fourier series
The Fourier series representation of the periodic signal xp (t) equals:
∞
X
xp (t) = Ck ejω0 kt
k=−∞

with Z T Z
1 −jω0 kt 1
Ck = xp (t)e dt = xp (t)e−jω0 kt dt,
T 0 T T
and for k = 0, Z
1
C0 = xp (t)dt
T T
which is the average of the signal over one period.

Cosine Fourier series or the trigonometric Fourier series

∞
X
xp (t) = C0 + An cos(nω0 t + θn )
n=1

with An = 2|Cn | and θn = ∠Cn , n ≥ 1.

Another form of the trigonometric Fourier series:

∞
X ∞
X
xp (t) = C0 + an cos(nω0 t) + bn sin(nω0 t)
n=1 n=1

with an = An cos θn = 2<[Cn ] and bn = −An sin θn = −2=[Cn ], for n ≥ 1.

Z
2
an = xp (t) cos(nω0 T )dt
T T
Z
2
bn = xp (t) sin(nω0 T )dt
T T

and
an − jbn
Cn =
2

Fourier series of an ideal pulse train

∞ ∞
X 1 X jkω0 t
xp (t) = δT0 (t) = δ(t − mT0 ) = e
m=−∞
T0
k=−∞
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Fourier series of some common periodic signals

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Fourier transform
Z ∞
X(ω) = F[x(t)] = x(t)e−jωt dt
−∞
Z ∞
1
x(t) = F −1 [X(ω)] = X(ω)ejωt dω
2π −∞

Fourier transform of basic functions

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Properties of Fourier transform

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Discrete Fourier transform (DFT)

N −1
X 2π
X[k] = x[n]e−j N kn
n=0
N −1
1 X 2π
x[n] = X[k]ej N kn
N
k=0

Controllability and observability

Controllability matrix:
B AB A2 B . . . An−1 B
 
.
Observability matrix:  
C

 CA 


 CA2 .

 ... 
CAn−1