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The motivation of our research is to establish a Laplace-domain theory that provides principles and methodology to analyze and synthesize systems with nonlinear dynamics. A semigroup of composition operators defined for nonlinear autonomous dynamical systems--the Koopman semigroup and its associated Koopman generator--plays a central role in this study. We introduce the resolvent of the Koopman generator, which we call the Koopman resolvent, and provide its spectral characterization for three types of nonlinear dynamics: ergodic evolution on an attractor, convergence to a stable equilibrium point, and convergence to a (quasi-)stable limit cycle. This shows that the Koopman resolvent provides the Laplace-domain representation of such nonlinear autonomous dynamics. A computational aspect of the Laplace-domain representation is also discussed with emphasis on nonstationary Koopman modes. [ABSTRACT FROM AUTHOR]