Signals and Systems I (2016506)

Faculty of Engineering
Department of Electrical and Electronics Engineering

Common Pairs of Laplace Transform

Z ∞
X (s) = L { x (t)} = x (t) e−st dt
−∞
Z c+ j∞
1
x (t) = L−1 { X (s)} = X (s) est ds
2πj c− j∞

Signal x (t) Laplace Transform X (s) ROC

δ (t) 1 ∀s

1
u (t)
s Re {s} > 0

1
−u (−t) s Re {s} < 0

1
e−at u (t) Re {s} > − a
s+ a

1
−e−at (−t) s+ a Re {s} < − a

1
e jω0 t u (t) s− jω0 Re {s} > 0

s
cos (ω0 t) u (t) Re {s} > 0
s2 +ω02

ω0
sin (ω0 t) u (t) Re {s} > 0
s2 +ω02

s+ a
e−at cos (ω0 t) u (t) Re {s} > − a
(s+ a)2 +ω02

ω0
e−at sin (ω0 t) u (t) Re {s} > − a
(s+ a)2 +ω02
 Signal x (t) Laplace Transform X (s) ROC

−2a
e− a|t| − a < Re {s} < a
s2 − a2

tn−1 − at 1
e u (t) Re {s} > − a
( n −1) ! (s+ a)n

n −1 1
− (nt −1)! e−at u (−t) Re {s} < − a
(s+ a)n

t n −1 1
u t
( n −1) ! ( ) sn Re {s} > 0

1−e−sτ
u (t) − u (t − τ )
s Re {s} > −∞
 Properties of Laplace Transform
Signal Laplace Transform ROC
x (t) X (s) = L { x (t)} ROC { X (s)} = R X (s)
Property x1 ( t ) X1 (s) = L { x1 (t)} ROC { X1 (s)} = R X1 (s)
x2 ( t ) X2 (s) = L { x2 (t)} ROC { X2 (s)} = R X2 (s)

At least R X1 ∩ R X2
Linearity
α1 x1 ( t ) + α2 x2 ( t ) α 1 X1 ( s ) + α 2 X2 ( s ) or equivalently
R ⊇ R X1 ∩ R X2

Time
x ( t − t0 ) X (s) e−st0 RX
shifting

Time x ( at) 1 s

RX
scaling a ∈ R, a 6= 0 | a| X a a

Time
x (−t) X (−s) RX
reversal
Complex
frequency x ( t ) e ± s0 t X ( s ∓ s0 ) R X ± Re {s0 }
shifting

Conjugation x ∗ (t) X ∗ (s∗ ) RX

Time At least R X1 ∩ R X2
convolution x1 ( t ) ∗ x2 ( t ) X1 ( s ) X2 ( s ) or equivalently
R ⊇ R X1 ∩ R X2

d
dt [ x (t)] sX (s)
Time
derivative RX
dn
[ x (t)] sn X (s)
dtn

d
−tx (t) ds [ X (s)]
Frequency
RX
derivative n
(−t) x (t) dn
dsn [ X (s)]

At least R X ∩ {Re {s} > 0}

Running Rt 1
integral −∞ x ( τ ) dτ s X (s) or equivalently
R ⊇ R X ∩ {Re {s} > 0}

• Initial Value Theorem: for any Laplace Transform pair

x 0+ = lim sX (s)


s→∞

• Final Value Theorem: if all poles of sX (s) lie on the left half-plane, then

xss = lim x (t) = lim sX (s)

t→∞ s →0
 Properties of one-sided Laplace Transform
Z ∞
X (s) = L− { x (t)} = x (t) e−st dt
0−
Z c+ j∞
1
x (t) = L− 1
− { X ( s )} = X (s) est ds c ∈ R X (s)
2πj c− j∞

ROC is always a right half-plane since L− can handle only positive-time signals
Linearity, time shifting, time scaling, complex frequency shifting, conjugation, time convolution and frequency
differentiation properties are the same as those of two-sided Laplace Transform

Signal Laplace Transform

x (t) X (s) = L { x (t)}
Property x1 ( t ) X1 (s) = L { x1 (t)}
x2 ( t ) X2 (s) = L { x2 (t)}

Frequency 1
convolution
x1 ( t ) x2 ( t ) 2πj X1 ( s ) ∗ X2 ( s )

1
x (t) cos (ω0 t) 2 [ X (s + jω0 ) + X (s − jω0 )]
Modulation
j
x (t) sin (ω0 t) 2 [ X (s + jω0 ) − X (s − jω0 )]

Time d sX (s) − x (0− )

dt [ x (t)]
differentiation

d2 s2 X (s) − sx (0− ) − ẋ (0− )

dt2
[ x (t)]

d3 s3 X (s) − s2 x (0− ) − s ẋ (0− ) − ẍ (0− )

dt3
[ x (t)]

dn
dtn [ x (t)] sn X (s) − sn−1 x (0− ) − sn−2 ẋ (0− ) − · · · − x (n−1) (0− )

Rt 1
s X (s)
Time x (τ ) dτ
0
integration

x (t) R∞
Frequency
t s X (λ) dλ
integration
 Common Pairs of Z-Transform
∞
X (z) = Z { x [n]} = ∑ x [ n ] z−n
n=−∞
1 z
x [n] = Z −1 { X (z)} = X (z) zn−1 dz closed contour ∈ R X (z)
2πj

Signal x [n] Z-Transform X (z) ROC

δ [n] 1 ∀z

1 z
u [n]
1− z −1
= z −1 |z| > 1

1 z
−u [−n]
1− z −1
= z −1 |z| < 1

1 z
an u [n]
1− az−1
= z− a |z| > | a|

1 z
− an u [−n − 1]
1− az−1
= z− a |z| < | a|

az−1 az
nan u [n] 2 = |z| > | a|
( 1− az−1 ) ( z − a )2

az−1 az
−nan u [−n − 1] 2 = |z| < | a|
( 1− az−1 ) ( z − a )2
az−1 (1+ az−1 ) az(z+ a)
n2 a n u [ n ] 3 = |z| > | a|
( 1− az−1 ) ( z − a )3
az−1 (1+ az−1 ) az(z+ a)
−n2 an u [−n − 1] 3 = |z| < | a|
( 1− az−1 ) ( z − a )3

z−1 sin(Ω0 ) z sin(Ω0 )

sin [Ω0 n] u [n]
1−2 cos(Ω0 )z−1 +z−2
= z −2 cos(Ω0 )z+1
2 |z| > 1

1−z−1 cos(Ω0 ) z(z−cos(Ω0 ))

cos [Ω0 n] u [n]
1−2 cos(Ω0 )z−1 +z−2
= z2 −2 cos(Ω
|z| > 1
0 ) z +1

a z−1 sin(Ω0 ) a z sin(Ω0 )

an sin [Ω 0 n] u [n]
1−2a cos(Ω0 )z−1 + a2 z−2
= z2 −2a cos(Ω 2 |z| > a
0 )z+ a

1−z−1 a cos(Ω0 ) z(z− a cos(Ω0 ))

an cos [Ω 0 n] u [n]
1−2a cos(Ω0 )z−1 + a2 z−2
= z2 −2a cos(Ω0 )z+ a2
|z| > a
 Properties of two-sided Z-Transform

Signal Z-Transform ROC

x [n] X (z) = Z { x [n]} ROC { X (z)} = R X (z)
Property x1 [ n ] X1 (z) = Z { x1 [n]} ROC { X1 (z)} = R X1 (z)
x2 [ n ] X2 (z) = Z { x2 [n]} ROC { X2 (z)} = R X2 (z)

At least R X1 ∩ R X2
Linearity
α1 x1 [ n ] + α2 x2 [ n ] α 1 X1 ( z ) + α 2 X2 ( z ) or equivalently
R ⊇ R X1 ∩ R X2
R X except
Time for the possible
x [ n − n0 ] z − n0 X ( z )
shifting addition or deletion
of the origin

Scaling
X e− jΩ0 z


in the
e jΩ0 n x [n − n0 ] RX
z-domain
 
z
z0n x [n] X z0 z0 R X

an x [n] X a −1 z


| a| R X

R− 1
 −1
X = z : z ∈ RX
Time Inverted R X
X z −1


x [−n]
reversal The set of points z−1
such that z ∈ R X

x(m) [ n ] =
Time 1
X (zm )
(  
n
x m n is multiple of m R Xm
scaling
0 Otherwise

Conjugation x ∗ [n] X ∗ (z∗ ) RX

At least R X1 ∩ R X2
Convolution x1 [ n ] ∗ x2 [ n ] X1 ( z ) X2 ( z ) or equivalently
R ⊇ R X1 ∩ R X2

Differentiation
d
in nx [n] −z dz [ X (z)] RX
z − domain

R⊇
 
z −1
1 − z −1


First x [ n ] − x [ n − 1] X (z) = X (z)
difference
z R X1 ∩ {|z| > 0}

R⊇
Accumulation ∑nk=−∞ x [k ] 1
1 − z −1
X (z) = z
z −1 X ( z ) R X1 ∩ {|z| > 1}

• Initial Value Theorem: for any Z-Transform pair, we have

x [0] = lim X (z)
z→∞
 • Final Value Theorem: if all the poles of (z − 1) X (z) are inside the unit circle of the z-plane, then

z−1
   
− 1
xss := lim x [n] = lim 1 − z X (z) = lim X (z)
n→∞ z →1 z →1 z

Properties of one-sided Z-Transform

∞
X (z) = Z { x [n]} = ∑ x [ n ] z−n
n =0
−1 1 z
x [n] = Z { X (z)} = X (z) zn−1 dz closed contour ∈ R X (z)
2πj

ROC is always the exterior of a circle that includes z → ∞ since Z can handle only positive-time signals
Linearity, time shifting, time scaling, complex frequency shifting, conjugation, time convolution and frequency
differentiation properties are the same as those of two-sided Z-Transform

Signal One-sided Z-Transform

x [n] X (z) = Z { x [n]}
Property x1 [ n ] X1 (z) = Z { x1 [n]}
x2 [ n ] X2 (z) = Z { x2 [n]}

Time advance x [n + k]
zk X (k) − ∑kn− 1
=0 x [ n ] z
k−n
(kth advance) k>0

Second
x [ n + 2] z2 X (z) − z2 x [0] − zx [1]
advance

First
x [ n + 1] zX (z) − zx [0]
advance

x [n − k]
Time delay z−k X (k ) − ∑− 1
n=−k x [ n ] z
−n−k
k>0

First x [ n − 1] z−1 X (z) − x [−1]

delay*

Second x [ n − 2] z−2 X (z) − z−1 x [−1] − x [−2]

delay*

*Initial conditions are only relevant in the context of difference equations