Table of Laplace Transforms Table Notes

f ( t ) = L -1 {F ( s )} F ( s ) = L { f ( t )} f ( t ) = L -1 {F ( s )} F ( s ) = L { f ( t )} 1. This list is not a complete listing of Laplace transforms and only contains some of
1 1 the more commonly used Laplace transforms and formulas.
1. 1 2. e at
s s-a
2. Recall the definition of hyperbolic functions.
n! G ( p + 1)
3. t n , n = 1, 2,3,K 4. t p , p > -1 et + e - t et - e - t
s n +1 s p +1 cosh ( t ) = sinh ( t ) =
2 2
p n - 12 1× 3 × 5L ( 2n - 1) p
5. t 3 6. t , n = 1, 2, 3,K n+ 1
2
2s 2n s 2 3. Be careful when using “normal” trig function vs. hyperbolic functions. The only
a s difference in the formulas is the “+ a2” for the “normal” trig functions becomes a
7. sin ( at ) 8. cos ( at ) “- a2” for the hyperbolic functions!
s2 + a2 s2 + a2
2as s2 - a2
9. t sin ( at ) 2 10. t cos ( at ) 2
4. Formula #4 uses the Gamma function which is defined as
2 2
(s + a2 ) (s + a2 ) ¥

0
G ( t ) = ò e - x x t -1 dx
3 2
2a 2as
11. sin ( at ) - at cos ( at ) 2 12. sin ( at ) + at cos ( at ) 2
If n is a positive integer then,
( s2 + a2 ) ( s2 + a2 ) G ( n + 1) = n !
s ( s2 - a2 ) s ( s 2 + 3a 2 )
13. cos ( at ) - at sin ( at ) 2 2 14. cos ( at ) + at sin ( at ) 2 2 The Gamma function is an extension of the normal factorial function. Here are a
(s + a2 ) (s + a2 ) couple of quick facts for the Gamma function
s sin ( b ) + a cos ( b ) s cos ( b ) - a sin ( b )
15. sin ( at + b ) 16. cos ( at + b ) G ( p + 1) = pG ( p )
s2 + a2 s2 + a2
a s G ( p + n)
17. sinh ( at ) 18. cosh ( at ) p ( p + 1)( p + 2 )L ( p + n - 1) =
s2 - a2 s2 - a2 G ( p)
at
b at
s-a
19. e sin ( bt ) 2 20. e cos ( bt ) 2 æ1ö
(s - a) + b2 (s - a) + b2 Gç ÷ = p
è2ø
b s-a
21. e at sinh ( bt ) 2 2 22. e at cosh ( bt ) 2
(s - a) -b (s - a) - b2
n! 1 æsö
23. t ne at , n = 1, 2,3,K n +1 24. f ( ct ) Fç ÷
(s - a) c ècø
uc ( t ) = u ( t - c ) e - cs d (t - c )
25. 26. e - cs
Heaviside Function s Dirac Delta Function
27. uc ( t ) f ( t - c ) e - cs F ( s ) 28. uc ( t ) g ( t ) e - cs L { g ( t + c )}
ct n n
29. e f (t ) F ( s - c) 30. t f ( t ) , n = 1, 2,3,K ( -1) F ( n) ( s )
1 ¥ t F (s)
31. f (t ) ò s
F ( u ) du 32. 0
ò f ( v ) dv
t s
T
t e - st f ( t ) dt
33. f ( t - t ) g (t ) dt F (s)G (s) 34. f (t + T ) = f (t ) ò 0
ò 0
1 - e - sT
2
35. f ¢ (t ) sF ( s ) - f ( 0 ) 36. f ¢¢ ( t ) s F ( s ) - sf ( 0 ) - f ¢ ( 0 )
n)
37. f( (t ) s n F ( s ) - s n -1 f ( 0 ) - s n - 2 f ¢ ( 0 )L - sf ( n- 2) ( 0 ) - f ( n -1) ( 0 )
Table of Laplace and Z-transforms Definition of the Z-transform
X(s) x(t) x(kT) or x(k) X(z) f
Kronecker delta G0(k) Z{x(k)} X ( z) ¦ x(k ) z  k
1. – – 1 k=0 1 k 0
0 kz0
G0(n-k) Important properties and theorems of the Z-transform
2. – – 1 n=k z-k
0 nzk
1 1 x(t) or x(k) Z{x(t)} or Z {x(k)}
3. 1(t) 1(k)
s 1  z 1 1. ax(t ) aX (z )
1 1
4. e-at e-akT 2. ax1( t )  bx2 ( t ) aX 1 ( z )  bX 2 ( z )
sa 1  e  aT z 1
1 Tz 1 3. x( t  T ) or x( k  1 ) zX ( z )  zx( 0 )
5. t kT 1 2
s2 2
1  z  4. x( t  2T ) z X ( z )  z 2 x( 0 )  zx( T )
2 1 1
2 2 2
T z 1  z 
6. t (kT) 1 3
5. x( k  2 ) z 2 X ( z )  z 2 x( 0 )  zx( 1 )
s3 1  z 
3 1 1 2 6. x( t  kT ) z k X ( z )  z k x( 0 )  z k 1 x( T )    zx( kT  T )
6 T z 1  4 z  z 
7. t3 (kT)3 1 4
s4 1  z  7. x( t  kT ) z k X ( z )
 aT 1 k k
a 1  e z 8. x( n  k ) z X ( z )  z x( 0 )  z k 1 x( 1 )    zx( k1  1 )
8. 1 – e-at 1 – e-akT 1  aT 1
s s  a  1  z 1  e z 
 aT  bT 1
9. x( n  k ) z k X ( z )
ba e  e z
9. e-at – e-bt e-akT – e-bkT  aT 1 bT 1 d
s  a s  b  1  e z 1  e z  10. tx( t )  Tz X( z )
1 Te  aT z 1
dz
10. te-at kTe-akT  aT 2 d
s  a 2 1  e z 1  11. kx( k ) z X( z )
s 1  1  aT e  aT
z 1 dz
11. (1 – at)e-at (1 – akT)e-akT  aT 1 2
s  a 2 1  e z  12. e  at x( t ) X ( zeaT )
2  aT  aT 1 1  ak
2 T e 1  e z z 13. e x( k ) X ( ze a )
12. 3 t2e-at (kT)2e-akT  aT 1 3
s  a  1  e z  §z·
 aT  aT  aT 1 1 14. a k x( k ) X¨
a2 -at -akT
>aT  1  e  1  e  aTe z @z © a ¹̧
13. at – 1 + e akT – 1 + e 1 2  aT 1
s 2 s  a  1  z  1  e z  d §z·
15. ka k x( k ) z X¨
Z z 1 sin ZT dz © a ¹̧
14. sin Zt sin ZkT
s2 Z 2 1  2 z 1 cos ZT  z  2
16. x( 0 ) lim X ( z ) if the limit exists
s 1  z 1 cos ZT z of
15. cos Zt cos ZkT
s2 Z 2 1  2 z 1 cos ZT  z  2
17. x( f ) lim 1  z 1 X ( z ) if 1  z 1 X ( z ) is analytic on and outside the unit circle
>  @  
Z e  aT z 1 sin ZT z o1
16. 2 e-at sin Zt e-akT sin ZkT
s  a  Z 2 1  2e  aT z 1 cos ZT  e  2 aT z  2 1
18. ’x( k ) x( k )  x( k  1 ) 1  z X ( z )
sa 1  e  aT z 1 cos ZT
17. 2 e-at cos Zt e-akT cos ZkT  aT 1
s  a  Z 2 1  2e z cos ZT  e  2 aT z  2 19. 'x( k ) x( k  1 )  x( k ) z  1X ( z )  zx( 0 )
k 1 n
18. – – a 1
1  az 1 20. ¦ x( k ) X( z )
k k 0 1  z 1
a z 1
19. – –
k = 1, 2, 3, … 1  az 1 w w
21. x( t , a ) X ( z,a )
z 1 wa wa
k-1
20. – – ka 1 2 m
1  az  22.
§ d ·
1 1
k m x( k ) ¨ z X( z )
z 1  az  © dz ¹̧
21. – – k2ak-1 1 3
1  az  n
1 1 2 23. X ( z )Y ( z )
3 k-1
z 1  4az  a z 2  ¦ x( kT ) y( nT  kT )
k 0
22. – – ka 1 4
1  az  f

z 1 1  11az 1  11a 2 z 2  a 3 z 3 24. ¦ x( k ) X (1)

4 k-1 k 0
23. – – ka
 
1 5
1  az 
k 1
24. – – a cos kS
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, …