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4. z-transforms
Further reading: Modeling, Analysis, and Control of Dynamic Systems, pages 617-621


Defining the z-transform:


{()} is a series of () , namely e(0), e(T), e(2T), e(3T)



T = the sampling period (in s).

Note that e(0), e(T), e(2T) etc. are not impulses, but have finite values on times t = 0, T, 2T etc. with
zero value in between.

() [{()}] () ()

()

The convention is to write the z-transform in the corresponding capital letter where the time
function was written in the small letter, in other words () () .

The z-transform of a transfer function can be defined as follows.


()

()

()


So the transfer function as a function of z, is the ratio of the output (function of z) divided by the
input (function of z).
Therefore the output can be written as the input x the transfer function.



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Useful derivations and examples:

Let

, ||

( )

, ||


(

)(

( )

, ||


(

)(

)(

[ ] [ ]

[ ]

[ ( )]

( )

, ||


The formula ( )

( ) , is coming from:



( ) ( ) ( )
( )

( )

In this case there is no restriction on r , but this is a limited row (the last element is r), not an infinite
one.

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Discrete unitary step {()} :



() [{()}]

, if |

|
[Why this condition of |

| is met, is difficult to see (actually I find it impossible to see), but

you can accept it for the purpose of this course. Using these transforms the way we do in this
course does work.]

Discrete decay {()} {

} :


() [{

}]

, if |

| [The same remark of above is valid here.]

[{

}]

) (

[ (

) (

( )

Own work:

Determine [{

}]










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Answer:
()
()

Consider a function {([ ])} that is delayed by with respect to {()} .
[ e([k-n]T) = e(0) only at k = n ]


[{([ ])}] () ([ ])

([ ])

()

()
()
()
()

()

()
()
()
()

[because e(kT) = 0 for k < 0 therefore e([k-n]T) = 0 for k < n]

[() ()

()

()

The Steady state gain of a z-transfer:

The Steady state gain of a transfer function G(z) of a network is found by substituting z=1 .
This follows from the relationship

that will be derived in the next chapter.

When s = 0, corresponding to the 0 frequency case, z
-1
= 1 => z = 1.

Therefore:

()

Own work:

What is the Steady state gain of the transfer function ()

?






Own work:

The z-transform of an integrator is approximately

(you will soon be able to derive this).

T in this transfer function is the sampling period.

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What is the steady state gain of this transfer?

Why is this infinite steady state gain correct?







The frequency response of a z-transfer:

We are not going to use this in the course but I give it for completeness sake.

The inverse of the Bilinear transform (see the next chapter) is

.
Substituting s = i in this yields:

(from this follows that || ,

)
Replacing the z z-transfer with this will provide the means to calculate the frequency response.

The inverse of the z-transform according to the Left hand rule (see the next chapter) is .
Substituting s = i in this yields:
(from this follows that ||
)

The inverse of the z-transform according to the Right hand rule (see the next chapter) is

.
Substituting s = i in this yields:

(from this follows that ||

)