ABSTRACT
This chapter begins with a review of the Laplace transformation and its use in finding the free and forced response of continuous-time LTI system models. The counterpart of the Laplace transform for discrete-time systems is the z-transform, and it is covered in the later sections along with examples of how it facilitates the process of finding the response of discrete-time LTI systems. Time and frequency domain characteristics of continuous- and discrete-time LTI system models are discussed. Mappings from the s-plane to the z-plane corresponding to specific numerical integrators are introduced as a quick way of obtaining discrete-time model approximations of continuous-time systems.
