Tables PDF
Tables PDF
University of Surrey
2
TRIGONOMETRIC FUNCTIONS
(Real argument)
sin2 θ = 1 − cos2 θ = 1
2 (1 − cos 2θ)
cos2 θ = 1 − sin2 θ = 1 (1 + cos 2θ)
2
tan2 θ = 1 − cos 2θ = sec2 θ − 1
1 + cos 2θ
2 sin A + B cos A − B
sin A + sin B =
2 2
sin A − sin B = 2 sin A − B cos A + B
2 2
cos A + cos B = 2 cos A +2
B cos A − B
2
−2 sin A + B sin A − B
cos A − cos B = 2 2
3
HYPERBOLIC FUNCTIONS
(Real argument)
(eθ − e−θ ) 1
sinh θ = − sinh(−θ) = 2 = cosech θ
(eθ + e−θ ) 1
cosh θ = cosh(−θ) = 2 =
sech θ
tanh θ = − tanh(−θ) = sinh θ = 1 = eθ − e−θ
cosh θ coth θ eθ + e−θ
√
arcsinh x = ln(x + x2 + 1)
√
arccosh x = ln(x + x2 − 1)
arctanh x = 1 1+x
2 ln 1 − x
4
TRIGONOMETRIC AND HYPERBOLIC FUNCTIONS
(Complex argument)
BESSEL FUNCTIONS
Definition and series
1 π x2 x4 x6
Z
J0 (x) = cos(x cos θ) dθ = 1 − 2 + − + ...
π 0" 2 (2 · 4)2 (2 · 4 · 6)#2
xn x2 x4
Jn (x) = 1 − + − ...
2n n! 2(2n + 2) (2 · 4)(2n + 2)(2n + 4)
d d J1 (x)
J0 (x) = −J1 (x) J1 (x) = J0 (x) −
dx dx x
5
DERIVATIVES AND INTEGRALS
dy R
y(x) dx y dx
xn+1
xn nxn−1 n+1 where n 6= −1
1
x − x12 ln x
eax aeax eax
a
ax ax ln a ax a > 0, a 6= 1
ln a
ln x 1 x(ln x − 1) x>0
x
sin ax a cos ax − cosaax
cos ax −a sin ax sin ax
a
ln(cos ax) †
tan ax a sec2 ax − a
√
arcsin x
a
† p 1 x arcsin x
a + a2 − x 2
a2 − x2
√
arccos x
a
† p −1 x arccos x 2
a − a −x
2
a2 − x2
x2
arctan x
a
† a x arctan x a
a − 2 ln 1 + a2
a2 + x2
sinh ax a cosh ax cosh ax
a
cosh ax a sinh ax sinh ax
a
1
tanh ax a sech 2 ax a ln(cosh ax)
√
arcsinh x
a p 1 x arcsinh x 2
a − x +a
2
a2 + x2
√
arccosh x
a p 1 x arccosh x 2
a − x −a
2
x2 − a2
x2
arctanh x
a
a x arctanh x a
a + 2 ln 1 − a2
a2 − x2
x sin ax ax cos ax + sin ax − xa cos ax + a12 sin ax
x 1
x cos ax −ax sin ax + cos ax a sin ax + a2
cos ax
d dv du
dx (uv) = u dx + v dx
d ( u ) = 1 (v du − u dv )
dx v v 2 dx dx
R R
u dv = uv − v du
† Principal values.
6
SERIES
Taylor
h2 ′′ hr dr f
f (a + h) = f (a) + hf ′ (a) + f (a) + . . . + f (r) (a) + . . . where f (r) (a) =
2! r! dxr x=a
(h2 fxx + 2hkfxy + k2 fyy )
f (a + h, b + k) = f (a, b) + (hfx + kfy ) + + ...
2!
∂f ∂2f
where fx = ∂x x=a, y=b , fxy = ∂x∂y x=a, y=b , etc.
Fourier
For periodic f (t) with period T0 and with ω0 = 2π/T0 :
∞ ∞ ∞
a0 X
αn ejnω0 t
X X
f (t) = + an cos nω0 t + bn sin nω0 t =
2 n=1 n=1 n=−∞
2
Z T0 /2
where an = f (t) cos nω0 t dt
T0 −T0 /2
2
Z T0 /2
bn = f (t) sin nω0 t dt
T0 −T0 /2
Z T0 /2
1
αn = f (t)e−jnω0 t dt
T0 −T0 /2
Common expansions
n(n − 1) 2 n!
Binomial series: (1 + x)n = 1 + nx + x + ... + xr + . . .
2! r!(n − r)!
(Finite series if n is a positive integer or zero. If not, infinite series, convergent for |x| < 1.)
x2
ex = 1+x+ 2! + ... all x
x2 x3
ln(1 + x) = x− 2 + 3 − ... −1 < x ≤ 1
x3 x5
sin x = x− 3! + 5! − ... all x
x2 x4
cos x = 1− 2! + 4! − ... all x
x3 x5
arctan x = x− 3 + 5 − ... |x| ≤ 1
7
LAPLACE TRANSFORMS
Z∞
F (s) = f (t)e−st dt
0
f (t) F (s)
af1 (t) + bf2 (t) aF1 (s) + bF2 (s)
d
dt f (t) sF (s) − f (0)
d2 f (t) s2 F (s) − sf (0) − f ′ (0)
dt2
dn f (t) sn F (s) − sn−1 f (0) − sn−2 f ′ (0) − . . . − f n−1 (0)
dtn
Rt F (s)
0 f (u) du s
RtRu F (s)
f (v) dv du
0 0
s2
tf (t) − d F (s)
ds
n
tn f (t) n>0 (−1)n d n F (s)
ds
1 f (t) R∞
F (u) du
t 0
Rt
0 f (t − u)g(u) du = f (t) ∗ g(t) F (s) G(s)
eat f (t) F (s − a)
f (t − a) with f (t) = 0 for t < 0 e−as F (s) a>0
1 t
af(a) a>0 F (as)
Re f (t) Re F (s)
Im f (t) Im F (s)
Z a
f (t), where f (t + a) = f (t) 1 f (t)e−st dt
1 − e−as 0
Z a
f (t), where f (t + a) = −f (t) 1 f (t)e−st dt
1 + e−as 0
8
Laplace Transforms of Simple Functions
f (t) F (s)
H(t) (Heaviside function or unit step) 1
s
δ(t) (Dirac δ-function) 1
n−1
t 1 (n = 2, 3, 4 . . .)
(n − 1)! sn
e−at 1
(s + a)
te−at 1
(s + a)2
tn−1 e−at 1
(n − 1)! (s + a)n
e−at − e−bt 1
b−a (s + a)(s + b)
1 sin at 1
a s 2 + a2
cos at s
s 2 + a2
1 1
a sinh at s 2 − a2
cosh at s
s 2 − a2
(πt)−1/2 s−1/2
2( πt )1/2 s−3/2
1 (1 − cos at) 1
a2 s(s2 + a2 )
1 (at − sin at) 1
a3 s2 (s2 + a2 )
1 (sin at − at cos at) 1
2a3 (s2 + a2 )2
t s
2a sin at (s2 + a2 )2
1 s2
2a (sin at + at cos at) (s + a2 )2
2
t cos at s 2 − a2
(s2 + a2 )2
9
Laplace Transforms of Simple Functions (continued)
f (t) F (s)
√ s+a
e−at cos ωt where ω= b − a2
s2 + 2as + b
1 −at sin ωt √ 1
ωe where ω = b − a2
s2 + 2as + b
H(t − a) Heaviside function starting at t = a 1 e−as
s
H(t) − H(t − a) rectangular pulse, equal to 1 from 0 to a 1 (1 − e−as )
s
1 −at 1
a (1 − e ) s(s + a)
1 1 − b e−at + a e−bt 1
ab b−a b−a s(s + a)(s + b)
1 α − b(α − a) e−at + a(α − b) e−bt s+α
ab b−a b−a s(s + a)(s + b)
1 (ae−at − be−bt ) s
a−b (s + a)(s + b)
1 s+α
(α − a)e−at − (α − b)e−bt
b−a (s + a)(s + b)
e−at + e−bt + e−ct 1
(b − a)(c − a) (c − b)(a − b) (a − c)(b − c) (s + a)(s + b)(s + c)
α sin ωt
cos ωt + ω s+α
s2 + ω 2
s sin φ + ω cos φ
sin(ωt + φ)
p
s2 + ω 2
a − a2 + ω 2 cos(ωt + φ) s+a
ω2 ω2 s(s2 + ω 2 )
where φ = arctan ω a
e−at + p 1 sin(ωt − φ) 1
a2 + ω 2 ω a2 + ω 2 (s + a)(s2 + ω 2 )
where a > 0, φ = arctan ω a
e−at cos ωt s+a
(s + a)2 + ω 2
1 −at (ω cos ωt + (b − a) sin ωt) s+b
ωe (s + a)2 + ω 2
10
Laplace Transforms of Simple Functions (continued)
f (t) F (s)
1 − p 1 e−at sin(bt + φ) 1
a2 + b2 b a2 + b2
s (s + a)2 + b2
where a > 0, φ = arctan ab
1 − q1 e−ζωt sin(ωt 1 − ζ 2 + φ)
p 1
2
ω ω2 1 − ζ 2 s(s2 + 2ζωs + ω 2 )
where φ = arccos ζ
α e−at 2 2
s+α
2 2 + 2 2 (a − αa + b ) sin bt − αb cos bt
a +b b(a + b ) s (s + a)2 + b2
be−ct + [(c −
h a) sin bt − b icos bt] e
−at
1
b (c − a)2 + b2 (s + c) (s + a)2 + b2
−at
1 e−ct + p e sin(bt + φ) 1
2 2 −
q
c(a + b ) c (c − a)2 + b2 b a + b (c − a)2 + b2
2 2 s(s + c) (s + a)2 + b2
11
Z TRANSFORMS — functions of t
t 1 Tz
s2 (z − 1)2
2 T 2 z(z + 1)
t2
s3 (z − 1)3
n
tn n! lim (−1)n ∂ n z
sn+1 a→0 ∂a z − e−aT
e−at 1 z
s+a z − e−aT
te−at 1 T z e−aT
(s + a)2 (z − e−aT )2
sin ωt ω z sin ωT
s2 + ω 2 z 2 − 2z cos ωT + 1
s z(z − cos ωT )
cos ωt
s2 + ω 2 z 2 − 2z cos ωT + 1
e−at cos ωt
(s + a) z 2 − z e−aT cos ωT
(s + a)2 + ω 2 z − 2z e−aT cos ωT + e−2aT
2
a z(1 − e−aT )
1 − e−at
s(s + a) (z − 1)(z − e−aT )
12
Z TRANSFORMS — functions of n = 0, 1, 2, . . .
Z Transform
f (n) F (z)
n z
(z − 1)2
z(z + 1)
n2
(z − 1)3
k
lima→0 (−1)k ∂ k z
nk
∂a z − ea
bn z
z−b
nbn zb
(z − b)2
sin an z sin a
z 2 − 2z cos a + 1
z(z − cos a)
cos an
z 2 − 2z cos a + 1
bn sin an zb sin a
z 2 − 2zb cos a + b2
bn cos an z 2 − zb cos a
z − 2zb cos a + b2
2
z(1 − b)
1 − bn
(z − 1)(z − b)
13
TWO-PORT EQUATIONS
v1 = z11 i1 + z12 i2
Impedance (Z) parameters
v2 = z21 i1 + z22 i2
i1 = y11 v1 + y12 v2
Admittance (Y ) parameters
i2 = y21 v1 + y22 v2
v1 = a11 v2 − a12 i2
Transmission (A) parameters
i1 = a21 v2 − a22 i2
v2 = b11 v1 − b12 i1
Inverse Transmission (B) parameters
i2 = b21 v1 − b22 i1
v1 = h11 i1 + h12 v2
Hybrid (H) parameters
i2 = h21 i1 + h22 v2
i1 = g11 v1 + g12 i2
Inverse Hybrid (G) parameters
v2 = g21 v1 + g22 i2
14
FOURIER SERIES
1 X 4 X 2 nπ −jnπ/2 jnω0 t
sin nω0 t sin e e
πn πn 2
0 T n = 1, 3, 5, . . . n = ±1, ±3, ±5, . . .
-1
1 X 8
cos nω0 t
π 2 n2
0 T n = 1, 3, 5, . . .
-1
1 ∞
2
(−1)n+1 sin nω0 t
X
T
n=1
πn
0
-1
d
∞ ∞
1 d + X 2 sin nω0 d cos nω t d + X 1 sin nω0 d ejnω0 t
T 0 T
n=1
nπ 2 n=−∞
nπ 2
n6=0
0 T
0 T
0 T
15
FOURIER TRANSFORMS
Z∞
F (ω) = f (t)e−jωt dt
−∞
Z∞
f (t) = 1 F (ω)ejωt dω
2π
−∞
Notation
‘f (t) ⇀
↽ F (ω)’ means ‘F (ω) is the Fourier transform of f (t) and f (t) is the inverse
Fourier transform of F (ω).’
16
FOURIER TRANSFORMS OF FUNCTIONS
f (t) F (ω)
Dirac delta function δ(t) 1
Unit 1 1
Step H(t) jω + πδ(ω)
Constant c 2πcδ(ω)
ejω0 t 2πδ(ω − ω0 )
sin ω0 t −jπ (δ(ω − ω0 ) − δ(ω + ω0 ))
cos ω0 t π (δ(ω − ω0 ) + δ(ω + ω0 ))
Rectangular 1
pulse 2 ωd
ω sin 2
-d/2 0 d/2
Triangular 1
pulse 8 sin2 ωd
ω2d 4
-d/2 0 d/2
Gaussian 1
pulse 2
q
π e−ω2 /4k
e−kt
k
17
AREA UNDER THE GAUSSIAN ERROR CURVE
|x−x̄|
The table below gives the area under the Gaussian error curve between 0 and z, where z = σ .
Example: Area between z = 0 and z = 1.72 is 0.4573.