Tables of Common Transform Pairs

2012 by Marc Ph. Stoecklin — marc

a stoecklin.net — http://www.stoecklin.net/ — 2012-12-20 — version v1.5.3

Engineers and students in communications and mathematics are confronted with transformations such
as the z-Transform, the Fourier transform, or the Laplace transform. Often it is quite hard to quickly
find the appropriate transform in a book or the Internet, much less to have a comprehensive overview
of transformation pairs and corresponding properties.
In this document I compiled a handy collection of the most common transform pairs and properties
of the
. continuous-time frequency Fourier transform (2πf ),
. continuous-time pulsation Fourier transform (ω),
. z-Transform,
. discrete-time Fourier transform DTFT, and
. Laplace transform.
Please note that, before including a transformation pair in the table, I verified its correctness. Nev-
ertheless, it is still possible that you may find errors or typos. I am very grateful to everyone dropping
me a line and pointing out any concerns or typos.

Notation, Conventions, and Useful Formulas

Imaginary unit j 2 = −1
Complex conjugate z = a + jb ←→ z ∗ = a − jb

Real part <e {f (t)} = 1

2
[f (t) + f ∗ (t)]

Imaginary part 1
=m {f (t)} = 2j [f (t) − f ∗ (t)]
(
1, n = 0
Dirac delta/Unit impulse δ[n] =
0, n 6= 0
(
1, n ≥ 0
Heaviside step/Unit step u[n] =
0, n < 0
ejx −e−jx ejx +e−jx
Sine/Cosine sin (x) = 2j
cos (x) = 2

sin(x)
Sinc function sinc (x) ≡ x
(unnormalized)
(
T
1 if |t| 6
Rectangular function rect( Tt ) = 2
T
0 if |t| > 2

|t|
t
1

− |t| 6 T
= rect( Tt ) ∗ rect( Tt ) = 


Triangular function triang T
T 0 |t| > T
R +∞
Convolution continuous-time: (f ∗ g)(t) = −∞
f (τ ) g ∗ (t − τ )dτ
P∞
discrete-time: (u ∗ v)[n] = m=−∞ u[m] v ∗ [n − m]
R +∞ R +∞
Parseval theorem general statement: −∞
f (t)g ∗ (t)dt = −∞
F (f )G∗ (f )df
R +∞ R +∞
continuous-time: −∞
|f (t)|2 dt = −∞
|F (f )|2 df
P+∞ R +π
discrete-time: n=−∞ |x[n]|2 = 1
2π −π
|X(ejω )|2 dω

1−xn+1
P∞ Pn
Geometric series k=0 xk = 1
1−x k=0 xk = 1−x

xm −xn+1
Pn
in general: k=m xk = 1−x

1
Marc Ph. Stoecklin — TABLES OF TRANSFORM PAIRS — v1.5.3 2

Table of Continuous-time Frequency Fourier Transform Pairs

R +∞ F R +∞
f (t) = F −1 {F (f )} = −∞ f (t)ej2πf t df ⇐==⇒ F (f ) = F {f (t)} = −∞ f (t)e−j2πf t dt

F
transform f (t) ⇐==⇒ F (f )
F
time reversal f (−t) ⇐==⇒ F (−f ) frequency reversal
F
complex conjugation f ∗ (t) ⇐==⇒ F ∗ (−f ) reversed conjugation
F
reversed conjugation f ∗ (−t) ⇐==⇒ F ∗ (f ) complex conjugation
F
f (t) is purely real ⇐==⇒ F (f ) = F ∗ (−f ) even/symmetry
F
f (t) is purely imaginary ⇐==⇒ F (f ) = −F ∗ (−f ) odd/antisymmetry
F
even/symmetry f (t) = f ∗ (−t) ⇐==⇒ F (f ) is purely real
F
odd/antisymmetry f (t) = −f ∗ (−t) ⇐==⇒ F (f ) is purely imaginary
F
time shifting f (t − t0 ) ⇐==⇒ F (f )e−j2πf t0
F
f (t)ej2πf0 t ⇐==⇒ F (f −
 f0) frequency shifting
F
time scaling f (af ) ⇐==⇒ 1
|a|
F fa
 
1 f F
|a|
f a
⇐==⇒ F (af ) frequency scaling
F
linearity af (t) + bg(t) ⇐==⇒ aF (f ) + bG(t)
F
time multiplication f (t)g(t) ⇐==⇒ F (f ) ∗ G(f ) frequency convolution
F
frequency convolution f (t) ∗ g(t) ⇐==⇒ F (f )G(f ) frequency multiplication
F
delta function δ(t) ⇐==⇒ 1
F
shifted delta function δ(t − t0 ) ⇐==⇒ e−j2πf t0
F
1 ⇐==⇒ δ(f ) delta function
F
ej2πf0 t ⇐==⇒ δ(f − f0 ) shifted delta function
F 2a
two-sided exponential decay e−a|t| a>0 ⇐==⇒ a2 +4π 2 f 2
2 F 2
e−πt ⇐==⇒ e−πf
2 F 1 2
ejπt ⇐==⇒ ejπ( 4 −f )
F j
e−jφ δ (f + f0 ) − ejφ δ (f − f0 )
 
sine sin (2πf0 t + φ) ⇐==⇒ 2
F 1
e−jφ δ (f + f0 ) + ejφ δ (f − f0 )
 
cosine cos (2πf0 t + φ) ⇐==⇒ 2
F j
sine modulation f (t) sin (2πf0 t) ⇐==⇒ 2
[F (f + f0 ) − F (f − f0 )]
F 1
cosine modulation f (t) cos (2πf0 t) ⇐==⇒ 2
[F (f + f0 ) + F (f − f0 )]
F 1
sin2 (t) 2δ(f ) − δ f − π1 − δ f + 1



squared sine ⇐==⇒ 4 π
F 1
cos2 (t) 2δ(f ) + δ f − π1 + δ f + 1



squared cosine ⇐==⇒ 4 π

t

1 |t| 6 T F
rectangular rect T
= 0 |t| > T
2 ⇐==⇒ T sinc T f
2

1 − |t| |t| 6 T

t F
triangular triang T
= T ⇐==⇒ T sinc2 T f
0 |t| > T

1 t > 0 F 1
step u(t) = 1[0,+∞] (t) =  ⇐==⇒ j2πf
+ δ(f )
0 t<0

1 t>0 F 1
signum sgn (t) =  ⇐==⇒ jπf
−1 t<0
 
F 1 f 1
sinc sinc (Bt) ⇐==⇒ B
rect B
= 1
B [− B ,+ B ]
(f )
  2 2
F 1 f
squared sinc sinc2 (Bt) ⇐==⇒ B
triang B

dn F
n-th time derivative dtn
f (t) ⇐==⇒ (j2πf )n F (f )
F 1 dn
n-th frequency derivative tn f (t) ⇐==⇒ (−j2π)n df n
F (f )
1 F −2π|f |
1+t2
⇐==⇒ πe
Marc Ph. Stoecklin — TABLES OF TRANSFORM PAIRS — v1.5.3 3

Table of Continuous-time Pulsation Fourier Transform Pairs

R +∞ F R +∞
x(t) = Fω−1 {X(ω)} = −∞ x(t)ejωt dω ω
⇐==⇒ X(ω) = Fω {x(t)} = −∞ x(t)e−jωt dt

Fω
transform x(t) ⇐==⇒ X(ω)
Fω
time reversal x(−t) ⇐==⇒ X(−ω) frequency reversal
Fω
complex conjugation x∗ (t) ⇐==⇒ X ∗ (−ω) reversed conjugation
Fω
reversed conjugation x∗ (−t) ⇐==⇒ X ∗ (ω) complex conjugation
Fω
x(t) is purely real ⇐==⇒ X(f ) = X ∗ (−ω) even/symmetry
Fω
x(t) is purely imaginary ⇐==⇒ X(f ) = −X ∗ (−ω) odd/antisymmetry
Fω
even/symmetry x(t) = x∗ (−t) ⇐==⇒ X(ω) is purely real
Fω
odd/antisymmetry x(t) = −x∗ (−t) ⇐==⇒ X(ω) is purely imaginary
Fω
time shifting x(t − t0 ) ⇐==⇒ X(ω)e−jωt0
Fω
x(t)ejω0 t ⇐==⇒ X(ω − ω0 ) frequency shifting
F 1
ω
X ω


time scaling x (af ) ⇐==⇒ |a| a
F
 
1
|a|
x fa ω
⇐==⇒ X(aω) frequency scaling
Fω
linearity ax1 (t) + bx2 (t) ⇐==⇒ aX1 (ω) + bX2 (ω)
Fω 1
time multiplication x1 (t)x2 (t) ⇐==⇒ X (ω)
2π 1
∗ X2 (ω) frequency convolution
Fω
frequency convolution x1 (t) ∗ x2 (t) ⇐==⇒ X1 (ω)X2 (ω) frequency multiplication
Fω
delta function δ(t) ⇐==⇒ 1
Fω
shifted delta function δ(t − t0 ) ⇐==⇒ e−jωt0
Fω
1 ⇐==⇒ 2πδ(ω) delta function
Fω
ejω0 t ⇐==⇒ 2πδ(ω − ω0 ) shifted delta function
Fω 2a
two-sided exponential decay e−a|t| a>0 ⇐==⇒ a2 +ω 2
Fω 1
exponential decay e−at u(t) <{a} > 0 ⇐==⇒ a+jω
Fω 1
reversed exponential decay e−at u(−t) <{a} > 0 ⇐==⇒ a−jω
t2 F √ σ2 ω2
e 2σ2 ω
⇐==⇒ σ 2πe− 2
Fω
jπ e−jφ δ (ω + ω0 ) − ejφ δ (ω − ω0 )
 
sine sin (ω0 t + φ) ⇐==⇒
Fω
π e−jφ δ (ω + ω0 ) + ejφ δ (ω − ω0 )
 
cosine cos (ω0 t + φ) ⇐==⇒
Fω j
sine modulation x(t) sin (ω0 t) ⇐==⇒ 2
[X (ω + ω0 ) − X (ω − ω0 )]
Fω 1
cosine modulation x(t) cos (ω0 t) ⇐==⇒ 2
[X (ω + ω0 ) + X (ω − ω0 )]
Fω
squared sine sin2 (ω0 t) ⇐==⇒ π 2 [2δ(f ) − δ (ω − ω0 ) − δ (ω + ω0 )]
Fω
squared cosine cos2 (ω0 t) ⇐==⇒ π 2 [2δ(ω) + δ (ω − ω0 ) + δ (ω + ω0 )]

t

1 |t| 6 T Fω

ωT

rectangular rect T
= 0 |t| > T
2 ⇐==⇒ T sinc 2
2

1 − |t| |t| 6 T

F
 
t ω ωT
triangular triang T
= T ⇐==⇒ T sinc2 2
0 |t| > T

1 t > 0 Fω 1
step u(t) = 1[0,+∞] (t) =  ⇐==⇒ πδ(f ) + jω
0 t<0

1 t>0 Fω 2
signum sgn (t) =  ⇐==⇒ jω
−1 t<0
F 1 ω
ω
= T1


sinc sinc (T t) ⇐==⇒ T
rect 2πT
1[−πT,+πT ] (f )
Fω 1 ω
sinc2 (T t)


squared sinc ⇐==⇒ T
triang 2πT

dn Fω
n-th time derivative dtn
f (t) ⇐==⇒ (jω)n X(ω)
Fω dn
n-th frequency derivative tn f (t) ⇐==⇒ j n df n X(ω)
1 Fω
time inverse t
⇐==⇒ −jπsgn(ω)
Marc Ph. Stoecklin — TABLES OF TRANSFORM PAIRS — v1.5.3 4

Table of z-Transform Pairs

1 Z P+∞
x[n] = Z −1 {X(z)} = X(z)z n−1 dz x[n]z −n
H
2πj
⇐==⇒ X(z) = Z {x[n]} = n=−∞ ROC

Z
transform x[n] ⇐==⇒ X(z) Rx
Z
time reversal x[−n] ⇐==⇒ X( z1 ) 1
Rx
Z
complex conjugation x∗ [n] ⇐==⇒ X ∗ (z ∗ ) Rx
Z
reversed conjugation x∗ [−n] ⇐==⇒ X ∗ ( z1∗ ) 1
Rx

Z 1
real part <e{x[n]} ⇐==⇒ 2
[X(z) + X ∗ (z ∗ )] Rx
Z 1
imaginary part =m{x[n]} ⇐==⇒ 2j
[X(z) − X ∗ (z ∗ )] Rx
Z
time shifting x[n − n0 ] ⇐==⇒ z −n0 X(z) Rx
Z z
an x[n]


scaling in Z ⇐==⇒ X a
|a|Rx
Z
 1
 j2ω
N −1
1
X WNk z N WN = e−
P
downsampling by N x[N n], N ∈ N0 ⇐==⇒ N k=0
N Rx
Z
linearity ax1 [n] + bx2 [n] ⇐==⇒ aX1 (z) + bX2 (z) Rx ∩ Ry
Z 1
H z

−1
time multiplication x1 [n]x2 [n] ⇐==⇒ 2πj
X1 (u)X2 u u du Rx ∩ Ry
Z
frequency convolution x1 [n] ∗ x2 [n] ⇐==⇒ X1 (z)X2 (t) Rx ∩ Ry
Z
delta function δ[n] ⇐==⇒ 1 ∀z
Z
shifted delta function δ[n − n0 ] ⇐==⇒ z −n0 ∀z
Z z
step u[n] ⇐==⇒ z−1
|z| > 1
Z z
−u[−n − 1] ⇐==⇒ z−1
|z| < 1
Z z
ramp nu[n] ⇐==⇒ (z−1)2
|z| > 1
Z z(z+1)
n2 u[n] ⇐==⇒ (z−1)3
|z| > 1
Z z(z+1)
−n2 u[−n − 1] ⇐==⇒ (z−1)3
|z| < 1
Z z(z 2 +4z+1)
n3 u[n] ⇐==⇒ (z−1)4
|z| > 1
Z z(z 2 +4z+1)
−n3 u[−n − 1] ⇐==⇒ (z−1)4
|z| < 1
Z z
(−1)n ⇐==⇒ z+1
|z| < 1
Z z
exponential an u[n] ⇐==⇒ z−a
|z| > |a|
Z z
−an u[−n − 1] ⇐==⇒ z−a
|z| < |a|
Z 1
an−1 u[n − 1] ⇐==⇒ z−a
|z| > |a|
Z az
nan u[n] ⇐==⇒ (z−a)2
|z| > |a|
Z az(z+a
n2 an u[n] ⇐==⇒ (z−a)3
|z| > |a|
Z z
e−an u[n] ⇐==⇒ z−e−a
|z| > |e−a |
(
an n = 0, . . . , N − 1 Z 1−aN z −N
exp. interval ⇐==⇒ 1−az −1
|z| > 0
0 otherwise
Z z sin(ω0 )
sine sin (ω0 n) u[n] ⇐==⇒ z 2 −2 cos(ω0 )z+1
|z| > 1
Z z(z−cos(ω0 ))
cosine cos (ω0 n) u[n] ⇐==⇒ z 2 −2 cos(ω0 )z+1
|z| > 1
Z za sin(ω0 )
an sin (ω0 n) u[n] ⇐==⇒ z 2 −2a cos(ω0 )z+a2
|z| > a
Z z(z−a cos(ω0 ))
an cos (ω0 n) u[n] ⇐==⇒ z 2 −2a cos(ω0 )z+a2
|z| > a
Z dX(z)
differentiation in Z nx[n] ⇐==⇒ −z dz Rx
x[n] Z R X(z)
integration in Z Qm n
⇐==⇒ − 0z z dz Rx
i=1 (n−i+1) Z z
am m!
am u[n] ⇐==⇒ (z−a)m+1

Note:
z 1
=
z−1 1 − z −1
Marc Ph. Stoecklin — TABLES OF TRANSFORM PAIRS — v1.5.3 5

Table of Common Discrete Time Fourier Transform (DTFT) Pairs

1
R +π DT F T P+∞
x[n] = 2π −π X(ejω )ejωn dω ⇐==⇒ X(ejω ) = n=−∞ x[n]e−jωn

DT F T
transform x[n] ⇐==⇒ X(ejω )
DT F T
time reversal x[−n] ⇐==⇒ X(e−jω )
DT F T
complex conjugation x∗ [n] ⇐==⇒ X ∗ (e−jω )
∗ DT F T
reversed conjugation x [−n] ⇐==⇒ X ∗ (ejω )
DT F T
x[n] is purely real ⇐==⇒ X(ejω ) = X ∗ (e−jω ) even/symmetry
DT F T
x[n] is purely imaginary ⇐==⇒ X(ejω ) = −X ∗ (e−jω ) odd/antisymmetry
DT F T
even/symmetry x[n] = x∗ [−n] ⇐==⇒ X(ejω ) is purely real
DT F T
odd/antisymmetry x[n] = −x∗ [−n] ⇐==⇒ X(ejω ) is purely imaginary
DT F T
time shifting x[n − n0 ] ⇐==⇒ X(ejω )e−jωn0
DT F T
x[n]ejω0 n ⇐==⇒ X(ej(ω−ω0 ) ) frequency shifting
DT F T PN −1 ω−2πk
downsampling by N  
x[N n] N ∈ N0 ⇐==⇒ 1
N k=0 X(ej N )
x n

n = kN DT F T
upsampling by N 0
N ⇐==⇒ X(ejN ω )
otherwise
DT F T
linearity ax1 [n] + bx2 [n] ⇐==⇒ aX1 (ejω ) + bX2 (ejω )
DT F T
time multiplication x1 [n]x2 [n] ⇐==⇒ X1 (ejω ) ∗ X2 (ejω ) = frequency convolution
1
R +π j(ω−σ) )X (ejσ )dσ
2π −π
X 1 (e 2
DT F T
frequency convolution x1 [n] ∗ x2 [n] ⇐==⇒ X1 (ejω )X2 (ejω ) frequency multiplication
DT F T
delta function δ[n] ⇐==⇒ 1
DT F T
shifted delta function δ[n − n0 ] ⇐==⇒ e−jωn0
DT F T
1 ⇐==⇒ δ̃(ω) delta function
DT F T
ejω0 n ⇐==⇒ δ̃(ω − ω0 ) shifted delta function
DT F T j −jφ
sine sin (ω0 n + φ) ⇐==⇒ 2
[e δ̃ (ω + ω0 + 2πk) − e+jφ δ̃ (ω − ω0 + 2πk)]
DT F T 1 −jφ
cosine cos (ω0 n + φ) ⇐==⇒ 2
[e δ̃ (ω + ω0 + 2πk) + e+jφ δ̃ (ω − ω0 + 2πk)]

n

1 |n| 6 M DT F T sin[ω (M + 1
2 )]
rectangular rect M
= ⇐==⇒ sin(ω/2)
0 otherwise
DT F T 1
step u[n] ⇐==⇒ 1−e−jω
+ 12 δ̃(ω)
DT F T 1
decaying step an u[n] (|a| < 1) ⇐==⇒ 1−ae−jω
DT F T 1
special decaying step (n + 1)an u[n] (|a| < 1) ⇐==⇒
(1−ae−jω )2 
sin(ωc n) ωc DT F T
˜
  1
ω |ω| < ωc
sinc πn
= π
sinc (ωc n) ⇐==⇒ rect ωc
=
0 ωc < |ω| < π

1 0 6 n 6 M DT F T sin[ω(M +1)/2] −jωM/2
n 1


MA rect M
− =2
⇐==⇒ sin(ω/2)
e
0 otherwise
  1 0 6 n 6 M − 1
n DT F T sin[ωM/2] −jω(M −1)/2
MA rect M −1
− 12 =  ⇐==⇒ sin(ω/2)
e
0 otherwise
DT F T d
derivation nx[n] ⇐==⇒ j dω X(ejω )
DT F T
difference x[n] − x[n − 1] ⇐==⇒ (1 − e−jω )X(ejω )
an sin[ω0 (n+1)] DT F T 1
u[n] |a| < 1 ⇐==⇒
sin ω0 1−2a cos(ω0 e−jω )+a2 e−j2ω

Note:
+∞
X +∞
δ̃(ω) = δ(ω + 2πk)
X
˜
rect(ω) = rect(ω + 2πk)
k=−∞
k=−∞
Parseval:
+∞ Z +π
X 1
|x[n]|2 = |X(ejω )|2 dω
n=−∞
2π −π
Marc Ph. Stoecklin — TABLES OF TRANSFORM PAIRS — v1.5.3 6

Table of Laplace Transform Pairs

1
R c+jT L R +∞
f (t) = L−1 {F (s)} = 2πj
limT →∞ c−jT F (s)est ds ⇐==⇒ F (s) = L {f (t)} = −∞ f (t)e−st dt

L
transform f (t) ⇐==⇒ F (s)
L
complex conjugation f ∗ (t) ⇐==⇒ F ∗ (s∗ )
L
time shifting f (t − a) t>a>0 ⇐==⇒ a−as F (s)
L
e−at f (t) ⇐==⇒ F (s + a) frequency shifting
L 1
time scaling f (at) ⇐==⇒ |a|
F ( as )
L
linearity af1 (t) + bf2 (t) ⇐==⇒ aF1 (s) + bF2 (s)
L
time multiplication f1 (t)f2 (t) ⇐==⇒ F1 (s) ∗ F2 (s) frequency convolution
L
time convolution f1 (t) ∗ f2 (t) ⇐==⇒ F1 (s)F2 (s) frequency product
L
delta function δ(t) ⇐==⇒ 1
L
shifted delta function δ(t − a) ⇐==⇒ e−as exponential decay
L 1
unit step u(t) ⇐==⇒ s
L 1
ramp tu(t) ⇐==⇒ s2
L 2
parabola t2 u(t) ⇐==⇒ s3
L n!
n-th power tn ⇐==⇒ sn+1

L 1
exponential decay e−at ⇐==⇒ s+a
L 2a
two-sided exponential decay e−a|t| ⇐==⇒ a2 −s2
L 1
te−at ⇐==⇒ (s+a)2
L s
(1 − at)e−at ⇐==⇒ (s+a)2
L a
exponential approach 1 − e−at ⇐==⇒ s(s+a)

L ω
sine sin (ωt) ⇐==⇒ s2 +ω 2
L s
cosine cos (ωt) ⇐==⇒ s2 +ω 2
L ω
hyperbolic sine sinh (ωt) ⇐==⇒ s2 −ω 2
L s
hyperbolic cosine cosh (ωt) ⇐==⇒ s2 −ω 2
L ω
exponentially decaying sine e−at sin (ωt) ⇐==⇒ (s+a)2 +ω 2
L s+a
exponentially decaying cosine e−at cos (ωt) ⇐==⇒ (s+a)2 +ω 2

L
frequency differentiation tf (t) ⇐==⇒ −F 0 (s)
L
frequency n-th differentiation tn f (t) ⇐==⇒ (−1)n F (n) (s)

d L
time differentiation f 0 (t) = dt
f (t) ⇐==⇒ sF (s) − f (0)
d2 L
time 2nd differentiation f 00 (t) = dt 2 f (t) ⇐==⇒ s2 F (s) − sf (0) − f 0 (0)
dn L
time n-th differentiation f (n) (t) = dt n f (t) ⇐==⇒ sn F (s) − sn−1 f (0) − . . . − f (n−1) (0)
Rt L 1
time integration 0 f (τ )dτ = (u ∗ f )(t) ⇐==⇒ F (s)
1 L Rs ∞
frequency integration t
f (t) ⇐==⇒ s F (u)du

L F (s)−f −1
time inverse f −1 (t) ⇐==⇒ s
L F (s) f −1 (0) f −2 (0) f −n (0)
time differentiation f −n (t) ⇐==⇒ s n + sn + sn−1
+ ... + s