Coordinate transformations make perfect invisibility cloaks with arbitrary shape

By investigating wave properties at cloak boundaries, invisibility cloaks with arbitrary shape constructed by general coordinate transformations are confirmed to be perfectly invisible to the external incident wave. The differences between line transformed cloaks and point transformed cloaks are discussed. The fields in the cloak medium are found analytically to be related to the fields in the original space via coordinate transformation functions. At the exterior boundary of the cloak, it is shown that no reflection is excited even though the permittivity and permeability do not always have a perfectly matched layer form, whereas at the inner boundary, no reflection is excited either, and in particular no field can penetrate into the cloaked region. However, for the inner boundary of any line transformed cloak, the permittivity and permeability in a specific tangential direction are always required to be infinitely large. Furthermore, the field discontinuity at the inner boundary always exists; the surface current is induced to make this discontinuity self-consistent. A point transformed cloak does not experience such problems. The tangential fields at the inner boundary are all zero, implying that no field discontinuity exists.