ph_dorf_app 4/24/01 4:54 AM Page 3

Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.
ISBN: 0132270285. 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.

APPENDIX

Laplace Transform Pairs

Table D.1
F(s)

f(t), t  0

1. 1
2. 1/s
n!
3. n+1
s
1
4.
1s + a2
1
5.
1s + a2 n
a
6.
s1s + a2
1
7.
1s + a2 1s + b2
s+a
8.
1s + a2 1s + b2
ab
9.
s1s + a21s + b2

d(t0), unit impulse at t  t0

1, unit step

10.
11.
12.

1
1s + a2 1s + b21s + c2
s+a
1s + a2 1s + b21s + c2
ab1s + a2

s1s + a21s + b2
v
13. 2
s + v2
s
14. 2
s + v2

tn
eat
1
tn  1eat
1n - 12!
1  eat
1
(eat  ebt)
1b - a2
1
[(a  a)eat  (a  b)ebt]
1b - a2
a
b
1
eat 
ebt
1b - a2
1b - a2

e-at
e-bt
e-ct


1b - a21c - a2
1c - a21a - b2
1a - c21b - c2
1a - a2e-at

1a - b2e-bt

1a - c2e-ct

1b - a21c - a2
1c - b21a - b2
1a - c21b - c2
b1a - a2 at a1a - b2 bt
a
e 
e
1b - a2
1b - a2
sin vt
cos vt0

Table D.1 continued

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in a
3
retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.
For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.

ph_dorf_app 4/24/01 4:54 AM Page 4

Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.
ISBN: 0132270285. 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.

Appendix D

Table D.1

Laplace Transform Pairs

Continued

F(s)

f(t), t  0

s+a
s2 + v2
v
16.
1s + a2 2 + v2

2a2 + v2
sin (vt  f), f  tan1 v/a
v

15.

17.
18.

19.
20.

21.

22.

23.

1s + a2

1s + a2 2 + v2

s+a
1s + a2 2 + v2
v2n
2

s + 2Zvns + v2n
1
s1s + a2 2 + v2

v2n

s1s + 2Zvns + v2n 2

2

1s + a2

s1s + a2 2 + v2

1s + c21s + a2 2 + v2

eat sin vt
eat cos vt
1
[(a  a)2  v2]1/2 eat sin (vt  f),
v
v
f  tan1
a-a
vn
n
ezv t sin vn 21 - z2 t, z  1
21 - z2
1
1

eat sin (vt  f),
a2 + v2 v2a2 + v2
v
f  tan1
-a
1
n
1
ezv t sin 1vn 21 - z2 t + f2 ,
21 - z2
f  cos1 z, z  1
2
2
a
1 1a - a2 + v 1/2 at
c
d e sin (vt  f),

a2 + v2 v
a2 + v2
v
v
f  tan1
 tan1
a-a
-a
e-at sin 1vt + f2
e-ct
v

, f  tan1
2
2
2
2 1>2
c
a
1c - a2 + v
v1c - a2 + v 

This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a
retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.
For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.