Table of Laplace and Z-transforms

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

1.
Kronecker delta
0
(k)
1 k =0
0 k 0
1
2.

0
(n-k)
1 n =k
0 n k
z
-k
3.
s
1
1(t) 1(k)
1
1
1

z

4.
a s +
1
e
-at
e
-akT
1
1
1

z e
aT

5.
2
1
s
t kT
( )
2
1
1
1

z
Tz

6.
3
2
s
t
2
(kT)
2
( )
( )
3
1
1 1 2
1
1

+
z
z z T

7.
4
6
s
t
3
(kT)
3
( )
( )
4
1
2 1 1 3
1
4 1

+ +
z
z z z T

8.
( ) a s s
a
+
1 e
-at
1 e
-akT
( )
( )( )
1 1
1
1 1
1




z e z
z e
aT
aT

9.
( )( ) b s a s
a b
+ +


e
-at
e
-bt
e
-akT
e
-bkT
( )
( )( )
1 1
1
1 1




z e z e
z e e
bT aT
bT aT

10.
( )
2
1
a s +

te
-at
kTe
-akT
( )
2
1
1
1


z e
z Te
aT
aT

11.
( )
2
a s
s
+

(1 at)e
-at
(1 akT)e
-akT
( )
( )
2
1
1
1
1 1

+
z e
z e aT
aT
aT

12.
( )
3
2
a s +

t
2
e
-at
(kT)
2
e
-akT
( )
( )
3
1
1 1 2
1
1

+
z e
z z e e T
aT
aT aT

13.
( ) a s s
a
+
2
2

at 1 +e
-at
akT 1 +e
-akT
( ) ( ) [ ]
( ) ( )
1
2
1
1 1
1 1
1 1



+ +
z e z
z z aTe e e aT
aT
aT aT aT

14.
2 2

+ s

sin t sin kT
2 1
1
cos 2 1
sin

+ z T z
T z

15.
2 2
+ s
s

cos t cos kT
2 1
1
cos 2 1
cos 1

+

z T z
T z

16.
( )
2 2

+ + a s

e
-at
sin t e
-akT
sin kT
2 2 1
1
cos 2 1
sin


+ z e T z e
T z e
aT aT
aT

17.
( )
2 2
+ +
+
a s
a s

e
-at
cos t e
-akT
cos kT
2 2 1
1
cos 2 1
cos 1


+

z e T z e
T z e
aT aT
aT

18. a
k
1
1
1

az

19.
a
k
k =1, 2, 3,
1
1
1

az
z

20. ka
k-1
( )
2
1
1
1

az
z

21. k
2
a
k-1
( )
( )
3
1
1 1
1
1

+
az
az z

22. k
3
a
k-1
( )
( )
4
1
2 2 1 1
1
4 1

+ +
az
z a az z

23. k
4
a
k-1
( )
( )
5
1
3 3 2 2 1 1
1
11 11 1

+ + +
az
z a z a az z

24. a
k
cos k
1
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

Z{x(k)}

=

= =
0
) ( ) (
k
k
z k x z X

Important properties and theorems of the Z-transform

x(t) or x(k) Z{x(t)} or Z {x(k)}
1. ) (t ax ) (z aX
2. ) t ( bx ) t ( ax
2 1
+ ) ( ) (
2 1
z bX z aX +
3. ) T t ( x + or ) k ( x 1 + ) ( zx ) z ( zX 0
4. ) T t ( x 2 +
) T ( zx ) ( x z ) z ( X z 0
2 2

5. ) k ( x 2 +
) ( zx ) ( x z ) z ( X z 1 0
2 2

6. ) kT t ( x +
) T kT ( zx ) T ( x z ) ( x z ) z ( X z
k k k


K
1
0
7. ) kT t ( x
) z ( X z
k

8. ) k n ( x +
) k ( zx ) ( x z ) ( x z ) z ( X z
k k k
1 1 1 0
1


K
9. ) k n ( x
) z ( X z
k

10. ) t ( tx
) z ( X
dz
d
Tz

11. ) k ( kx
) z ( X
dz
d
z

12. ) t ( x e
at
) ze ( X
aT

13. ) k ( x e
ak
) ze ( X
a

14. ) k ( x a
k

a
z
X

15. ) k ( x ka
k

a
z
X
dz
d
z

16. ) ( x 0
) ( lim z X
z
if the limit exists
17. ) ( x ( ) [ ] ) ( 1 lim
1
1
z X z
z

if ( ) ) z ( X z
1
1

is analytic on and outside the unit circle
18. ) k ( x ) k ( x ) k ( x 1 =
( ) ) z ( X z
1
1


19. ) k ( x ) k ( x ) k ( x + = 1
( ) ) ( zx ) z ( X z 0 1
20.

=
n
k
) k ( x
0

) z ( X
z
1
1
1

21. ) a , t ( x
a

) a , z ( X
a

22. ) k ( x k
m

) z ( X
dz
d
z
m

23.

=

n
k
) kT nT ( y ) kT ( x
0

) z ( Y ) z ( X
24.

=0 k
) k ( x

) ( X 1