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Sluzbeni Salabahter
Sluzbeni Salabahter
Z Z
x2 dx −x 1 −1 ³ x ´
= + tg x2 cos(x) dx = 2x cos(x) + (x2 − 2) sin(x)
(a2 + x2 )2 2(a2 + x2 ) 2a a
Z Z
dx
= sin(x) dx = − cos(x)
(a + x2 )3
2
³x´ Z
x 3x 3
= 2 2 2 2
+ 4 2 2
+ 5 tg−1 x sin(x) dx = sin(x) − x cos(x)
4a (a + x ) 8a (a + x ) 8a a
Z Z
x2 dx
= x2 sin(x) dx = 2x sin(x) + (2 − x2 ) cos(x)
(a + x2 )3
2
−x x 1 ³x´
= + 2 2 + 3 tg−1 Eksponencijalne funkcije
4(a2 2
+x ) 2 2
8a (a + x ) 8a a
Z Z
x4 dx 1 ax
= eax dx = e
(a2 + x2 )3 a
a2 x 5x 3 −1 ³ x ´ Z ³x
= − + tg 1 ´ ax
4(a2 + x2 )2 8(a2 + x2 ) 8a a xeax dx = − e
a a2
Z
dx x 5x Z ³ x2
= 2 2 + + 2x 2 ´ ax
2 2
(a + x ) 4 2
6a (a + x )3 24a (a2 + x2 )2
4 x2 eax dx = − + e
a a2 a3
5x 5 ³x´
Z ³ x3
+ + tg−1 3x2 6x 6´
16a6 (a2 + x2 ) 16a7 a x3 eax dx = − + 3 − 4 eax
a a 2 a a
Z
x2 dx −x x Z
= + + 1 ¡ ¢
2 2
(a + x ) 4 2 2
6(a + x ) 3 24a (a + x2 )2
2 2 sin(x)eax dx = a sin(x) − cos(x) eax
a2 +1
x 1 ³x´
Z
+ + tg−1 1 ¡ ¢
16a4 (a2 + x2 ) 16a5 a cos(x)eax dx = a cos(x) + sin(x) eax
a2 +1
Z
x4 dx a2 x 7x
= − +
(a2+x )2 4 2
6(a + x )2 3 24(a + x2 )2
2
Odredeni integrali
x 1 ³x´
+ 4 2 2
+ 3
tg−1 Z √
16a (a + x ) 16a a +∞
π b22
−a2 x2 +bx
e dx = e 4a , a>0
Z
dx 1 ³ ax√2 ´ −∞ a
−1
= √ tg +
a4 + x4 2a3 2 a2 − x2 Z √
+∞
π
³ x2 + ax√2 + a2 ´
2
x2 e−x dx =
1 0 4
+ √ ln √
4a3 2 x2 − ax 2 + a2 Z +∞
sin(x) π
Z
x2 dx 1 ³ ax√2 ´ dx =
= √ tg −1
− 0 x 2
a4 + x4 2a 2 a2 − x2 Z +∞
sin2 (x) π
1 ³ x2 + ax√2 + a2 ´ dx =
− √ ln √ 0 x2 2
4a 2 x2 − ax 2 + a2
2
Fourierova transformacija Integriranje
Fourierova transformacija funkcije x(t) je: Z
Z +∞ t
X(ω)
£ ¤
F x(t) = X(ω) = x(t)e−jωt dt x(τ ) dτ °−−• πX(0) δ (ω) +
−∞ −∞ jω
Z ω
Inverzna transformacija je:
Z +∞ x(t)
£ ¤ 1 πx(0) δ (t) − °−−• X(ξ) dξ
F −1 X(ω) = x(t) = X(ω)ejωt dω jt −∞
2π −∞
n n Z +∞
X X 1
x(t) = αi xi (t) °−−• αi Xi (ω) = X(ω) x∗1 (t)x2 (t) °−−• X1∗ (ξ)X2 (ω + ξ) dξ
2π −∞
i=1 i=1
Parsevalov teorem
Pomak u vremenu i frekvenciji
Z +∞ Z +∞
1
x(t − t0 ) °−−• X(ω)e −jωt0 x∗1 (t)x2 (t) dt = X1∗ (ω)X2 (ω) dω
−∞ 2π −∞
1 ³ ω ´ 1 −bt 1
sinc2 (at) °−−• tri e sin(at) °−−•
a 2πa a (s + b)2 + a2
ejω0 t °−−• 2π δ (ω − ω0 ) ¡ b ¢ s
e−bt cos(at) − sin(at) °−−•
a (s + b)2 + a2
δ(t − t0 ) °−−• e−jωt0
¡ ¢
sin(ω0 t) °−−• −jπ δ(ω − ω0 ) − δ(ω + ω0 )
Z -transformacija
¡ ¢
cos(ω0 t) °−−• π δ(ω − ω0 ) + δ(ω + ω0 ) £ ¤ X+∞
Z f [n] = f [n]z −n
2π X ³ ω i ´
+∞
X +∞ n=0
δ(t − iT0 ) °−−• δ −
T0 i=−∞ 2π T0
i=−∞ Svojstva Z transformacije
£ ¤ £ ¤
Neka je Z f [n] = F (z) i Z g[n] = G(z). Tada vrijedi:
jπ ¡ ¢ jω
sin(ω0 t) s(t) °−−• − δ(ω − ω0 ) − δ(ω + ω0 ) + 2
2 ω0 − ω 2
af [n] °−−• aF (z)
π¡ ¢ jω
cos(ω0 t) s(t) °−−• δ(ω − ω0 ) + δ(ω + ω0 ) + 2 z
2 ω0 − ω 2 an f [n] °−−• F ( )
a
1 dF (z)
e−at s(t) °−−• , a>0 nf [n] °−−• −z
a + jω dz
1 f [n + 1] °−−• zF (z) − zf [0]
te−at s(t) °−−• , a>0
(a + jω)2
m−1
X
2 f [n + m] °−−• z m F (z) − f [i]z m−i
t2 e−at s(t) °−−• , a>0
(a + jω)3 i=0
6 1
t3 e−at s(t) °−−• , a>0 f [n − 1] °−−• F (z) + f [−1]
(a + jω)4 z
m−1
X
2a f [n − m] °−−• z −m F (z) + f [i − m]z −i
−a|t|
e °−−• 2 i=0
a + ω2
+∞
X
− t2 √ 2 2 f [i]g[n − i] °−−• F (z)G(z)
e 2a2 °−−• a 2πe−a ω /2
i=0
4
Tablica Z transformacije Diskretne razdiobe
Bernoullijeva razdioba
δ[n] °−−• 1
Za 0 < p < 1:
δ[n − m] °−−• z −m
z f (x) = (1 − p) δ (x) + p δ (x − 1)
n °−−•
(z − 1)2
F (x) = (1 − p) s(x) + p s(x − 1)
1 z
1n °−−• = Φ(ω) = 1 − p + pejω
1 − z −1 z−1
1 z X=p
an °−−• =
1 − az −1 z−a σx2 = p(1 − p)
z2
(n + 1)an °−−•
(z − a)2 Binomna razdioba
(n + 1)(n + 2) n z 3 Za 0 < p < 1 i prirodni broj N :
a °−−•
2! (z − a)3
N ³
(n + 1)(n + 2) . . . (n + m − 1) n zm
X N´ i
a °−−• f (x) = p (1 − p)N −i δ (x − i)
(m − 1)! (z − a)m i=0
i
a N ³
an − δ[n] °−−•
z−a
X N´ i
F (x) = p (1 − p)N −i s(x − i)
i
z sin (a) i=0
sin [an] °−−• 2 ¡ ¢N
z − 2z cos (a) + 1 Φ(ω) = 1 − p + pejω
z 2 − z cos (a)
cos [an] °−−• X = Np
z2 − 2z cos (a) + 1
σx2 = N p(1 − p)
5
Kontinuirane razdiobe Elrangova raspodjela
Arcsin Za a > 0 i prirodni broj N :
Za a > 0:
aN xN −1 e−ax
f (x) = s(x)
rect(x/2a) (N − 1)!
f (x) = √
π a2 − x2
³ XN −1 (ax)i ´
0, −∞ < x < −a F (x) = 1 − e−ax s(x)
i=0 i!
1 1 ¡ ¢
F (x) = + arcsin x/a , −a≤x<a ³
a ´N
2 π
Φ(ω) =
1, a ≤ x < +∞ a − jω
X=0 N
X=
σx2 2
= a /2 a
N
Beta razdioba σx2 =
a2
Za a < 0 i b > 0:
6
Gaussova (normalna) raspodjela Rayleighova razdioba
Za −∞ < a < +∞ i b > 0: Za −∞ < a < +∞ i b > 0:
1 2 2 2
f (x) = √ e−(x−a) /b f (x) = (x − a)e−(x−a) /b s(x − a)
πb b
Z 2
x
1 2 F (x) = (1 − e(x−a) /b ) s(x − a)
F (x) = √ e−(x−a) /b dx p
−∞ πb
X = a + πb/4
2
Φ(ω) = ejωa−ω b/4
σx2 = b(4 − π)/4
X=a
Riceova razdioba
σx2 = b/2
Za a > 0 i b > 0:
Obično se umjesto parametara a i b koriste očekivanje µ
x − (a2 +x 2) ³ ax ´
i devijacija σ: f (x) = e 2b2 I s(x)
0
b2 b2
1 (x−µ)2
µ ³ a x ´¶
f (x) = √ e− 2σ 2
2πσ 2 F (x) = 1 − Q , s(x)
b b
Z x ³x − µ´ r µ³ ¶
1 (x−µ)2 1 π a4 ´ ³ a4 ´ a4 ³ a4 ´
F (x) = √ e− 2σ 2 dx = erf √ X = be − a4
4
1 + 4 I0 + 4 I1
−∞ 2πσ 2 2 2σ 4b
2 2b 4b4 2b 4b4
Vrijednosti gustoće i distribucije su obično tablirane za ³ a4 ´ 2
normaliziranu razdiobu N (0, 1) za koju je očekivanje σx2 = b2 2 + 4 − X
b
µ = 0 i devijacija σ = 1.
Jednolika razdioba
Laplaceova razdioba
Za −∞ < a < b < +∞:
Za −∞ < a < +∞ i b > 0:
s(x − a) − s(x − b)
b −b|x−a| f (x) =
f (x) = e b−a
2
1 x − a s(x − a), −∞<x<b
eb(x−a) , −∞<x<a b−a
2 F (x) =
F (x) =
1, b ≤ x < +∞
1 − 1 e−b(x−a) ,
a ≤ x < +∞
2 ejωb − ejωa
jωa Φ(ω) =
e jω(b − a)
Φ(ω) = b2
b2 + ω2 a+b
X=
X=a 2
σx2 = 2/b2 (a − b)2
σx2 =
12
Logaritamska normalna razdioba
Weibullova razdioba
Za −∞ < a < +∞, −∞ < b < +∞ i c > 0:
Za a > 0 i b > 0:
1 (ln(x−b)−a)2
f (x) = √ e− 2c2 s(x − b) f (x) = abxb−1 e−ax s(x)
b
2π(x − b)c
b
1 ³ ln(x − b) − a ´ F (x) = (1 − e−ax ) s(x)
F (x) = erf √ s(x − b)
2 2c Γ(1 + b−1 )
X=
X = b + ea+c /2
2
a1/b
¡ ¢2
2 2 Γ(1 + 2b−1 ) − Γ(1 + 2b−1 )
σx2 = (ec − 1)e2a+c σx2 =
a2/b