TABLA DE TRANSFORMADAS z

X(s) x(t) x(kT) ó x(k) X(z)

1 Delta Kronecker 1
1, k = 0
δ 0 (k ) = 
î 0,k ≠ 0
2 1, n = k z-k
δ0(n-k)= 
î 0,n ≠ k
3 1 1(t) 1(k) 1
s 1 − z −1
4 1 e-at e-akT 1
s+a 1 − e − aT z −1
5 1 t kT Tz −1
s2 (1 − z−1 ) 2
6 2 t2 (kT)2 T2 z −1(1 + z −1 )
s3
(1 − z −1 ) 3
7 6 t3 (kT)3 T3z −1(1 + 4z −1 + z −2 )
s4
(1 − z−1 ) 4
8 a 1 - e-at 1-e-akT (1 − e −aT ) z −1
s( s + a)
(1 − z −1 )(1 − e −aT z −1 )
9 b−a e-at - e-bt e-akT - e-bkT ( e −aT − e− bT ) z −1
( s + a)( s + b)
(1 − e−aT z −1 )(1 − e − bT z −1 )
10 1 te-at kTe-akT Te − aTz−1
( s + a) 2 (1 − e−aTz−1)2
11 s (1-at)e-at (1-akT)e-akT 1 − (1 + aT) e−aT z−1
( s + a) 2 (1 − e−aTz−1) 2
12 2 t2e-at (kT)2e-akT 1 − (1 + aT) e −aT z −1
( s + a) 3
(1 − e−aTz−1) 2
13 a2 at-1+e-at akT - 1 + e-akT
[( aT−1+e −aT ) + (1−e −aT −aTe −aT ) z −1] z −1
s2 ( s + a )
(1 − z −1 ) 2 (1 − e −aT z −1 )
14 w sin wt sin wkT z −1sinwT
s + w2
2
1 − 2 z −1 cos wT + z −2

Control Digital - © JAM 1998

 TABLA DE TRANSFORMADAS z
X(s) x(t) x(kT) ó x(k) X(z)
15 s cos wt cos wkT 1 − z −1 cos wT
s2 + w 2 1 − 2 z −1 cos wT + z −2
16 w e-at sin wt e-akT sin wkT e − aT z −1sinwT
(s + a + w
)2 2
1 − 2e− aT z −1 cos wT + e −2aT z −2
17 s+ a e-at cos wt e-akT cos wkT 1 − e − aT z −1 cos wT
( s + a) 2 + w 2 1 − 2e− aT z −1 cos wT + e −2aT z −2
18 ak 1
1 − az −1
z −1
k-1
19 a
k=1,2,3...
1 − az −1
z−1
k-1
20 ka
(1 − az−1 ) 2
(
z −1 1 + az −1 )
2 k-1
21 ka

(1 − az−1) 3
22 k3ak-1 (
z −1 1 + 4az−1 + a 2 z −2 )
(1 − az−1)4
23 k4ak-1 (
z −1 1 + 11az−1 + 11a 2 z −2 + a 3z −3 )
(1 − az−1)5
24 ak cos kπ 1
1 + az −1
25 k (k − 1) z −2
2! (1 − z −1 ) 3
26 k (k − 1)...(k − m + 2) z − m +1
(m − 1)! (1 − z −1 ) m
27 k (k − 1) k-2 z −2
a
2! (1 − az −1 ) 3
28 k (k − 1)...(k − m + 2) k-m+1 z − m +1
a
(m − 1)! (1 − az −1 ) m

x(t) = 0, para t < 0

x(kT) = x(k) = 0, para k < 0
A menos que se indique otra cosa, k = 0, 1, 2, 3, ...

Control Digital - © JAM 1998

 TEOREMAS Y PROPIEDADES TRANSFORMADA z
x(t) ó x(k) X(z)
1 a x(t) a X(z)
2 a x1(t) + b x2(t) a X1(z) + b X2(z)
3 x(t+T) ó x(k+1) zX(z) - zx(0)
4 x(t+2T) z X(z) - z2x(0) - zx(T)
2

5 x(k+2) z2X(z) - z2x(0) - zx(1)

6 x(t+kT) zkX(z) - zkx(0) - zk-1x(T) - ... - zx(kT-T)
7 x(t-kT) z-kX(z)
8 x(n+k) zkX(z) - zkx(0) - zk-1x(1) - ... - zx(k-1)
9 x(n-k) z-kX(z)
10 tx(t) d
-Tz X(z)
dz
11 kx(k) d
-z X(z)
dz
12 e-atx(t) X(zeaT)
13 e-akx(k) X(zea)
14 akx(k) z
X 
a
15 kakx(k) d z
-z X 
dz  a 
16 x(0) lim(z→∞) X(z) si el límite existe
17 x(∞) lim(z→1) [(1-z-1)X(z)] si (1-z-1)X(z) es analítica
dentro y fuera del círculo unidad
18 ∇x(k) = x(k)-x(k-1) (1-z-1)X(z)
19 ∆x(k) = x(k+1)-x(k) (z-1)X(z) - zx(0)
20 n 1
∑ x( k ) 1 − z −1
X(z)
k =0
21 ∂ ∂
x(t,a) X(z,a)
∂a ∂a
22 kmx(k)  d m
 − z  X(z)
 dz 
23 n X(z) Y(z)
∑ x( kT) y(nT-kT)
k =0
24 ∞ X(1)
∑ x( k )
k =0

Control Digital - © JAM 1998