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 k 0
0(n-k)
2. – – 1 n=k z-k
0 n k
1 1
3. 1(t) 1(k)
s 1 z1
1 1
4. e-at e-akT
s a 1 e aT z 1

1
1 Tz
5. t kT 1 2
s2 1 z
2 T 2z 1
1 z 1

6. t2 (kT)2 1 3
s3 1 z
3 1 1 2
6 T z 1 4z z
7. t3 (kT)3 1 4
s4 1 z
a 1 e aT z 1
8. 1 – e-at 1 – e-akT
ss a 1 z 1 1 e aT z 1

b a e e aT
z bT 1

9. e-at – e-bt e-akT – e-bkT

s a s b 1 e aT z 1 1 e bT z 1

aT 1
1 Te z
10. 2 te-at kTe-akT 1 2
s a 1 e aT
z
aT 1
s 1 1 aT e z
11. 2 (1 – at)e-at (1 – akT)e-akT 1 2
s a 1 e aT
z
2 aT aT 1 1
2 T e 1 e z z
12. 3 t2e-at (kT)2e-akT 1 3
s a 1 e aT
z
aT aT aT 1 1
a 2
aT 1 e 1 e aTe z z
13. 2 at – 1 + e-at akT – 1 + e-akT 1 2
s s a 1 z 1 e aT
z 1

1
z sin T
14. sin t sin kT
s2 2
1 2 z 1 cos T z 2

1
s 1 z cos T
15. cos t cos kT
s2 2
1 2 z 1 cos T z 2

e aT z 1 sin T
16. 2 2 e-at sin t e-akT sin kT
s a 1 2e z 1 cos T e
aT 2 aT
z 2

s a 1 e z cos T aT 1
17. 2 2 e-at cos t e-akT cos kT
s a 1 2e aT
z 1 cos T e 2 aT z 2

1
18. – – ak
1 az 1
ak-1 z 1
19. – –
k = 1, 2, 3, … 1 az 1

1
z
20. – – kak-1 1 2
1 az
z 1 1 az 1

21. – – k2ak-1 1 3
1 az
1 1
z 1 4az a2z 2

22. – – k3ak-1 1 4
1 az
1 1
z 1 11az 11a 2 z 2
a3z 3

23. – – k4ak-1 1 5
1 az
1
24. – – ak cos k 1
1 az

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

k
{x(k)} X ( z) x (k ) z
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 ) zx( kT T )
7. x( t kT ) k
z X( z )
8. x( n k ) z X ( z ) z x( 0 ) z k 1 x( 1 )
k k
zx( k1 1 )
9. x( n k ) k
z 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 )
ak
13. e 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

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

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

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 ) X ( z )Y ( z )
k 0

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