z-transform derived from Laplace transform

Lecture 15

Consider a discrete-time signal x(t) below sampled every T sec.

x(t ) = x0 (t ) + x1 (t T ) + x2 (t 2T ) + x3 (t 3T ) + .....

Discrete-Time System Analysis

using z-Transform

(t)

The Laplace transform of x(t) is therefore (Time-shift prop. L6S13):

X ( s) = x0 + x1e sT + x2e s 2T + x3e s 3T + .....

(Lathi 5.1)

z = esT = e( + j )T = e T cos T + je T sin T

Now define

X [ z ] = x0 + x1 z 1 + x2 z 2 + x3 z 3 + .....

Peter Cheung
Department of Electrical & Electronic Engineering
Imperial College London
URL: www.ee.imperial.ac.uk/pcheung/teaching/ee2_signals
E-mail: p.cheung@imperial.ac.uk
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E2.5 Signals & Linear Systems

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Lecture 15 Slide 1

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z-1 the sample period delay operator

From Laplace time-shift property, we know that z = e sT is time advance

by T second (T is the sampling period).
1
sT
Therefore z = e
corresponds to UNIT SAMPLE PERIOD DELAY.
As a result, all sampled data (and discrete-time system) can be
expressed in terms of the variable z.
More formally, the unilateral z-transform of a causal sampled
sequence:
x[n] = x[0] + x[1] + x[2] + x[3] +
is given by:

X ( s) = x(t )e st dt

Fourier
transform

X ( ) = x(t )e jt dt

0 = 2 / T

n =

E2.5 Signals & Linear Systems

Continuous-time system
Converts integraldifferential equations to & signal analysis; stable
or unstable
algebraic equations

Laplace
transform

z
transform

The bilateral z-transform for a general sampled sequence is:

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Suitable for ..

Converts finite time

signal to frequency
domain

Continuous-time; stable
system, convergent
signals only; best for
steady-state

n =0

x[n]z

Purpose

N0 1

= x[n]z n

X [ z] =

Definition

Discrete X [n ] =
x[n]e jn0T Converts finite discrete- Discrete time, otherwise
0
time signal to discrete
Fourier
n =0
same as FT
transform N 0 samples,T = sample period frequency domain

Lecture 15 Slide 2

E2.5 Signals & Linear Systems

Laplace, Fourier and z-Tranforms

X [ z ] = x0 + x1 z 1 + x2 z 2 + x3 z 3 + .....

(L6S5)

(t T) e sT (L6S13)

X [ z] =

x[n]z

n =

Converts difference
equations into
algebraic equations

Discrete-time system &

signal analysis; stable
or unstable

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Lecture 15 Slide 3

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Lecture 15 Slide 4

Example of z-transform (1)

Example of z-transform (2)

Find the z-transform for the signal nu[n], where is a constant.

By definition

Since u[n] = 1 for all n 0 (step function),

Apply the geometric progression formula:

Therefore:

Observe that a simple equation in z-domain results in an infinite

sequence of samples.
Observe also that
exists only for
.
For
X[z] may go to infinity. We call the region of z-plane
where X[z] exists as Region-of-Convergence (ROC), and is shown below.
z-plane

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z-transforms of [n] and u[n]

Also, for

Therefore

Since

From slide 5, we know

Hence

Therefore

Since

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Lecture 15 Slide 6

z-transforms of cosn u[n]

Remember that by definition:

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Lecture 15 Slide 7

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z-transforms of 5 impulses

Find the z-tranform of:

By definition,

Now remember the equation for sum of a power series:

r
k =0

Let

z-transform Table (1)

r n+1 1
r 1

r = z and n = 4
z 5 1
X [ z ] = 1
z 1
z
=
(1 z 5 )
z 1
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z-transform Table (2)

E2.5 Signals & Linear Systems

Inverse z-transform

As with other transforms, inverse z-transform is used to derive x[n] from

X[z], and is formally defined as:

Here the symbol

indicates an integration in counterclockwise direction
around a closed path in the complex z-plane (known as contour integral).
Such contour integral is difficult to evaluate (but could be done using
Cauchys residue theorem), therefore we often use other techniques to
obtain the inverse z-tranform.
One such technique is to use the z-transform pair table shown in the last
two slides with partial fraction.

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Find inverse z-transform real unique poles

Find the inverse z-transform of:

Step 1: Divide both sides by z:

Step 2: Perform partial fraction:

Step 3: Multiply both sides by z:

Find inverse z-transform repeat real poles (1)

Find the inverse z-transform of:

Divide both sides by z and expand:

Use covering method to find k and a0:

We get:

To find a2, multiply both sides by z and let z:

Step 4: Obtain inverse z-transform of each term from table (#1 & #6):

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Find inverse z-transform repeat real poles (2)

E2.5 Signals & Linear Systems

Find inverse z-transform complex poles (1)

To find a1, let z = 0:

Therefore, we find:

Use pairs #6 & #10

Find inverse z-tranform of:

Whenever we encounter complex pole, we need to use a special partial

fraction method (called quadratic factors):

Now multiply both sides by z, and let z:

We get:

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Find inverse z-transform complex poles (2)

Find inverse z-transform long division

To find B, we let z=0:

Consider this example:

Now, we have X[z] in a convenient form:

Perform long division:

Use table pair #12c, we identify A = -2, B = 16,

Thus:

Therefore

and a = -3.

Therefore:
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