Table of Laplace and Z-transforms

X(s) x(t) x(kT) or x(k) X(z)

Kronecker delta 0(k)
1. 1 k=0 1
0 k0
0(n-k)
2. 1 n=k z-k
0 nk
1 1
3. 1(t) 1(k)
s 1 z 1
1 1
4. e-at e-akT
s+a 1 e aT z 1
1 Tz 1
5.
s2
t kT
(1 z ) 1 2

2 T z (1 + z )
2 1 1

t2 (kT)2
(1 z )
6. 1 3
s3
6 T z (1 + 4 z + z )
3 1 1 2

t3 (kT)3
(1 z )
7. 1 4
s4
a
1 e-at 1 e-akT
(1 e )z aT 1

8.
s (s + a ) (1 z )(1 e z )
1 aT 1

ba (e e )z aT bT 1

9.
(s + a )(s + b ) e-at e-bt e-akT e-bkT
(1 e z )(1 e z )
aT 1 bT 1

1 Te aT z 1
te-at kTe-akT
(1 e )
10.
(s + a ) 2 aT
z 1
2

s 1 (1 + aT )e aT z 1
(1 at)e-at (1 akT)e-akT
(1 e z )
11.
(s + a )2 aT 1 2

2 T e (1 + e z )z
2 aT aT 1 1

t2e-at (kT)2e-akT
(1 e z )
12.
(s + a ) 3 aT 1 3

a2
at 1 + e-at akT 1 + e-akT
[(aT 1 + e )+ (1 e aTe )z ]z
aT aT aT 1 1

s (s + a ) (1 z ) (1 e z )
13. 2 1 2 aT 1

z 1 sin T
14. sin t sin kT
s + 2
2
1 2 z 1 cos T + z 2
s 1 z 1 cos T
15. cos t cos kT
s + 2
2
1 2 z 1 cos T + z 2
e aT z 1 sin T
16. e-at sin t e-akT sin kT
(s + a ) 2
+ 2
1 2e aT z 1 cos T + e 2 aT z 2
s+a 1 e aT z 1 cos T
17. e-at cos t e-akT cos kT
(s + a ) 2
+ 2
1 2e z 1 cos T + e 2 aT z 2
aT

1
18. ak
1 az 1
ak z 1
19.
k = 1, 2, 3, 1 az 1
z 1
kak-1
(1 az )
20. 1 2

z (1 + az )
1 1

k2ak-1
(1 az )
21. 1 3

(
z 1 1 + 4az 1 + a 2 z 2 )
k3ak-1
(1 az )
22. 1 4

k4ak-1
(
z 1 1 + 11az 1 + 11a 2 z 2 + a 3 z 3 )
(1 az )
23. 1 5

1
24. ak cos k
1 + az 1

x(t) = 0 for t < 0

x(kT) = x(k) = 0 for k < 0
Unless otherwise noted, k = 0, 1, 2, 3,
Definition of the Z-transform

Z{x(k)} = X ( z ) = x(k ) z k
k =0

Important properties and theorems of the Z-transform

x(t) or x(k) Z{x(t)} or Z {x(k)}

1. ax(t ) aX (z )

2. ax1( t ) + bx2 ( t ) aX 1 ( z ) + bX 2 ( z )

3. x( t + T ) or x( k + 1 ) zX ( z ) zx( 0 )
4. x( t + 2T ) z X ( z ) z 2 x( 0 ) zx( T )
2

5. x( k + 2 ) z 2 X ( z ) z 2 x( 0 ) zx( 1 )
6. x( t + kT ) z k X ( z ) z k x( 0 ) z k 1 x( T ) K zx( kT T )
7. x( t kT ) z k X ( z )
8. x( n + k ) z k X ( z ) z k x( 0 ) z k 1 x( 1 ) K zx( k1 1 )
9. x( n k ) z k X ( z )
d
10. tx( t ) Tz X( z )
dz
d
11. kx( k ) z X( z )
dz
12. e at x( t ) X ( zeaT )
13. e ak x( k ) X ( ze a )
z
14. a k x( k ) X
a
d z
15. ka k x( k ) z X
dz a

16. x( 0 ) lim X ( z ) if the limit exists

z

17. x( ) [( ) ] ( )
lim 1 z 1 X ( z ) if 1 z 1 X ( z ) is analytic on and outside the unit circle
z 1

18. x( k ) = x( k ) x( k 1 ) (1 z )X ( z )
1

19. x( k ) = x( k + 1 ) x( k ) (z 1)X ( z ) zx( 0 )

n

x( k )
1
20. X( z )
k =0 1 z 1

21. x( t , a ) X ( z,a )
a a
m
d
22. k m x( k ) z X( z )
dz
n
23. x( kT ) y( nT kT )
k =0
X ( z )Y ( z )

24. x( k )
k =0
X (1)