TABLA DE TRANSFORMADAS z

X(s)

x(t)

x(kT) x(k)

X(z)
1

1
s
1
s+a
1
s2

1(t)

Delta Kronecker
1, k = 0
0 (k ) =
0,k 0
1, n = k
0(n-k)=
0,n k
1(k)

e-at

e-akT

kT

2
s3

t2

(kT)2

6
s4

t3

(kT)3

a
s( s + a)

1 - e-at

1-e-akT

2
3
4
5

e-at - e-bt
ba
( s + a)( s + b)

e-akT - e-bkT

1
( s + a) 2

te-at

s
( s + a) 2

(1-at)e-at

2
( s + a) 3

t2e-at

13

a2
s2 ( s + a )

at-1+e-at

akT - 1 + e-akT

14

w
2
s + w2

sin wt

sin wkT

10

11

12

kTe-akT

z-k

1
1 z 1
1
1 e aT z 1
Tz 1

(1 z1 ) 2
T2 z 1(1 + z 1 )
(1 z 1 ) 3
T3z 1(1 + 4z 1 + z 2 )
(1 z1 ) 4
(1 e aT ) z 1
(1 z 1 )(1 e aT z 1 )
( e aT e bT ) z 1
(1 eaT z 1 )(1 e bT z 1 )
Te aTz1

(1 eaTz1)2

(1-akT)e-akT

1 (1 + aT) eaT z1

(1 eaTz1) 2

Control Digital - JAM 1998

(kT)2e-akT

1 (1 + aT) e aT z 1

(1 eaTz1) 2
[( aT1+e aT ) + (1e aT aTe aT ) z 1] z 1
(1 z 1 ) 2 (1 e aT z 1 )
z 1sinwT
1 2 z 1 cos wT + z 2

TABLA DE TRANSFORMADAS z
x(t)

x(kT) x(k)

15

X(s)
s
s2 + w 2

cos wt

cos wkT

16

e-at sin wt

e-akT sin wkT

)2

(s + a + w
17

s+ a

X(z)
1 z 1 cos wT
1 2 z 1 cos wT + z 2
e aT z 1sinwT

1 2e aT z 1 cos wT + e 2aT z 2
e-at cos wt

1 e aT z 1 cos wT

e-akT cos wkT

( s + a) 2 + w 2

1 2e aT z 1 cos wT + e 2aT z 2

18

ak

19

k-1

1
1 az 1
z 1

a
k=1,2,3...

1 az 1
z1

k-1

20

ka

(1 az1 ) 2

z 1 1 + az 1

2 k-1

21

ka

z 1 1 + 4az1 + a 2 z 2

k3ak-1

22

k4ak-1

23

ak cos k

24

(1 az1) 3

(1 az1)4
(1 az1)5
1

25

k (k 1)
2!

26

k (k 1)...(k m + 2)
(m 1)!

z m +1
(1 z 1 ) m

k (k 1) k-2
a
2!

28

k (k 1)...(k m + 2) k-m+1
a
(m 1)!

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

z 1 1 + 11az1 + 11a 2 z 2 + a 3z 3

1 + az 1
z 2
(1 z 1 ) 3

27

z 2
(1 az 1 ) 3
z m +1
(1 az 1 ) m

TEOREMAS Y PROPIEDADES TRANSFORMADA z

1
2
3
4
5
6
7
8
9
10

x(t) x(k)
a x(t)
a x1(t) + b x2(t)
x(t+T) x(k+1)
x(t+2T)
x(k+2)
x(t+kT)
x(t-kT)
x(n+k)
x(n-k)
tx(t)

11

kx(k)

12
13
14

e-atx(t)
e-akx(k)
akx(k)

15

kakx(k)

16
17

x(0)
x()

18
19
20

x(k) = x(k)-x(k-1)
x(k) = x(k+1)-x(k)
n

x( k )

k =0

X(z)
a X(z)
a X1(z) + b X2(z)
zX(z) - zx(0)
2
z X(z) - z2x(0) - zx(T)
z2X(z) - z2x(0) - zx(1)
zkX(z) - zkx(0) - zk-1x(T) - ... - zx(kT-T)
z-kX(z)
zkX(z) - zkx(0) - zk-1x(1) - ... - zx(k-1)
z-kX(z)
-Tz

d
X(z)
dz

d
X(z)
dz
X(zeaT)
X(zea)

-z

z
a
d z
-z X
dz a

lim(z) X(z) si el lmite existe

lim(z1) [(1-z-1)X(z)] si (1-z-1)X(z) es analtica
dentro y fuera del crculo unidad
(1-z-1)X(z)
(z-1)X(z) - zx(0)
1
1 z 1

X(z)

x(t,a)
a

22

kmx(k)

X(z,a)
a

d m
z X(z)
dz

23

x( kT) y(nT-kT)

X(z) Y(z)

21

k =0

24

x( k )

k =0

Control Digital - JAM 1998

X(1)