Appendix J

z-Transform Table

TO ACCOMPANY

AUTOMATIC CONTROL SYSTEMS

EIGHTH EDITION

BY

BENJAMIN C. KUO

FARID GOLNARAGHI

JOHN WILEY & SONS, INC.

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ISBN 0-471-13476-7

APPENDIX
J
z-Transform Table

Laplace Transform Time Function z-Transform

1 Unit impulse (t) 1
1 z
Unit step us(t)
s z1

dT 1t2  a d1t  nT 2
1 z
1  eTs n0 z1
1 Tz
1z  12 2
t
s2

1 t2 T 2z1z  12
s3 2 21z  12 3

tn 112 n 0 n
c d
1 z
lim
s n1
n! aS0 n! 0an z  eaT
1 z
et
sa z  eaT

1 TzeaT
tet
1s  a2 2 1z  eaT 2 2

a 11  eaT 2z
1  et
s1s  a2 1z  121z  eaT 2
v z sin vT
sin t
s2  v2 z2  2z cos vT  1

v zeaT sin vT
et sin t
1s  a2 2  v2 z  2zeaT cos vT  e2aT
2

s z1z  cos vT 2
cos t
s  v2
2
z  2z cos vT  1
2

sa z2  zeaT cos vT

et cos t
1s  a2 2  v2 z  2zeaT cos vT  e2aT
2

J-1