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Unit - V
Unit - V
Unit - V
UNIT V
Z – TRANSFORMS AND
DIFFERENCE EQUATIONS
5.1. DEFINITIONS:
Z-transform of { f (n )} is defined as
∞
Z { f (n )} = ∑ f (n ) z −n , where z is an arbitrary complex variable.
n =0
VSCET
5.2 UNIT V
∞
Z ( f (t )) = ∑ f (nT ) z −n
n =0
5.2. NOTE:
(ii) (1 − x ) −1 = 1 + x + x 2 + x 3 + ⋯
(iii) (1 + x )−2 = 1 − 2x + 3x 2 − 4x 3 + ⋯
(iv) (1 − x )−2 = 1 + 2x + 3x 2 + 4x 3 + ⋯
x x2
(v) ex = 1 + + +⋯
1! 2!
−x x x2
(vi) e = 1− + −⋯
1! 2!
x2 x3 x4
(vii) log (1 + x ) = x − + − +⋯ if x <1
2 3 4
x2 x3 x 4
(viii) − log (1 − x ) = x + + + +⋯
2 3 4
2a r +1 − 1 r
(ix) 1 +a +a +⋯+a = .
a −1
5.3.1. PROPERTY:
z
Z (1) =
z −1
PROOF:
∞
Z { f (n )} = ∑ f (n ) z −n
n =0
∞
∴ Z (1) = ∑ (1) z −n
n =0
∞
1
= ∑ zn
n =0
1 1
= 1+ + +⋯
z z2
1 −1
= 1 −
1
z
,
z
≤1 (∵ )
(1 − x ) −1 = 1 + x + x 2 + x 3 + ⋯
z − 1 −1
= z >1
z
=
z
.
z −1
5.3.2. PROPERTY:
z
Z (a n ) = if z > a
z −a
PROOF:
∞
Z {f (n )} = ∑ f (n ) z −n
n =0
∞
Z (a n ) = ∑ a n z −n
n =0
∞ n
∑ z
a
=
n =0
a a 2
= 1 + + + ⋯
z z
a −1 a
= 1 − , if <1
z z
z − a −1
=
z
=
z
, if a < z .
z −a
VSCET
5.4 UNIT V
5.3.3. PROPERTY:
z
Z (n ) =
( z − 1)2
PROOF:
∞
Z { f (n )} = ∑ f (n ) z −n
n =0
∞
∴ Z (n ) = ∑ n z −n
n =0
1 2
= 0+ + +⋯
z z2
1 2 3
= 1 + + 2 + ⋯
z z z
1 1 2
2 + 3 + ⋯
1
= 1 +
z z z
1 1 −2
= 1 −
z z
1 z − 1 −2
=
z z
1 z 2
=
z z − 1
z
Z (n ) = .
( z − 1)2
5.3.4. PROPERTY:
Z = log
1 z
, if z > 1, n > 0
n z −1
PROOF:
∞
Z { f (n )} = ∑ f (n ) z −n
n =0
∞
Z = ∑
1 1 −n
∴ z
n n =1 n
∞
1
= ∑ nz n
n =1
1 1 1
= + 2 + 3 +⋯
z 2z 3z
1 1 2 1 1 3
= + + + ⋯
1
z 2 z 3z
x2 x3 x4
= − log 1 −
1
∵ − log (1 − x ) = x + + + +⋯
z 2 3 4
= − log
z −1
z
= log
z
z − 1
5.3.5. PROPERTY:
Z
1 z
= z log
n +1 z −1
PROOF:
∞
Z { f (n )} = ∑ f (n ) z −n
n =0
∞
Z
1 1
∴ ∑
= z −n
n + 1 n =0 n + 1
∞
1
= ∑ ( n + 1) z n
n =0
1 1
= 1+ + 2 +⋯
2z 3z
= z + 2 + 3 + ⋯
1 1 1
z 2z 3z
(× and ÷ by z )
1 1 1 2 1 1 3
= z + + + ⋯
z 2 z 3z
VSCET
5.6 UNIT V
1
= z − log 1 −
z
= −z log
z −1
z
= z log
z
.
z −1
5.3.6. PROPERTY:
Z
1 1 z ,
= log n >1
n −1 z z −1
PROOF:
∞
Z { f (n )} = ∑ f (n ) z −n
n =0
∞
Z
1 1
∴ =
n − 1
∑ n −1
z −n
n =2
∞
1
= ∑ ( n − 1) z n
n =2
1 1 1
= 2
+ 3 + 4 +⋯
z 2z 3z
1 1 1 1 2 1 1 3
= + + + ⋯
z z 2 z 3z
1 1
= − log 1 −
z z
1 z − 1
= − log
z z
1
log
z
=
z z −1
5.3.7. PROPERTY:
Z = e1\z
1
n!
PROOF:
∞
Z { f (n )} = ∑ f (n ) z −n
n =0
∞
Z = ∑
1 1 −n
∴ z
n ! n =0 n !
∞
1 1
∴ = ∑
n ! zn
n =0
1 1 1 1 2
= 1+ + +⋯
1! z 2! z
x x2
∵ ex = 1 + + + ⋯
1! 2!
= e1\z
5.3.8. PROPERTY:
1 1\z
Z = ze − z
(n + 1) !
PROOF:
∞
Z { f (n )} = ∑ f (n ) z −n
n =0
1 ∞
1
∴ Z ∑
= z −n
( n + 1) ! n =0 ( n + 1 ) !
∞
1 1
= ∑
(n + 1) ! z n
n =0
1 1 1 1 1 2
= + + +⋯
1! 2! z 3 z
1 1 1 1 2 1 1 3
= z + + + ⋯
1! z 2! z 3z
x x2
(
= z e1\z − 1 ) ∵
ex = 1 + +
1! 2!
+ ⋯
VSCET
5.8 UNIT V
(
= ze1\z − z . )
5.3.9. PROPERTY:
az
Z (n a n ) =
( z − a )2
PROOF:
∞
Z {f (n )} = ∑ f (n ) z −n
n =0
∞
(
Z n an = ) n∑=0 n an z −n
∞ n
= ∑ n
a
n =0 z
a 2
= 0 + + 2 + ⋯
a
z z
a a + 3 a + ⋯
2
= 1 + 2
z z z
a a −2
= 1 −
z z
a z − a −2
=
z z
a z2
=
z ( z − a )2
az
=
( z − a )2
Z (af (n ) + bg(n )) = aZ ( f (n )) + bZ ( g (n ))
= a F (z ) + b G (z )
5.4. NOTE:
z
(i) Z (1) =
z −1
z
(ii) Z (a n ) = , if z > a
z −a
5.5. EXAMPLES:
5.5.1. EXAMPLE:
Find Z (k )
SOLUTION:
Z (k ) = k Z (1)
= k
z
z −1
5.5.2. EXAMPLE:
Find Z ( ( −1)n )
SOLUTION:
z
Since Z (a n ) =
z −a
z
∴ Z ((−1)n ) =
z − (−1)
z
=
z +1
5.5.3. EXAMPLE:
z
Prove that Z (e −an ) =
z − e −a
PROOF:
z
Since Z (a n ) =
z −a
VSCET
5.10 UNIT V
z
∴ Z ((e −a )n ) = .
z − e −a
5.5.4. EXAMPLE:
SOLUTION:
Let a = eiθ
∴ (
Z (a n ) = Z (e iθ )n )
z
=
z − eiθ
z
Z (cos nθ + i sin nθ ) =
z − ( cos θ + i sin θ )
z
=
( z − cos θ ) − i sin θ
z ( z − cos θ ) + i sin θ
=
( z − cos θ ) − i sin θ ( z − cos θ ) + i sin θ
z ( z − cos θ ) + iz sin θ
=
( z − cos θ )2 + sin2 θ
z ( z − cos θ ) + iz sin θ
=
z 2 + cos2 θ − 2z cos θ + sin2 θ
z ( z − cos θ ) + iz sin θ
=
z 2 − 2z cos θ + 1
z ( z − cos θ ) iz sin θ
Z (cos nθ ) + iZ (sin nθ ) = 2
+ 2
z − 2z cos θ + 1 z − 2z cos θ + 1
z ( z − cos θ )
Z (cos nθ ) =
z 2 − 2z cos θ + 1
z sin θ
Z (sin nθ ) = 2
z − 2z cos θ + 1
REMARK:
∞
We know that Z ( f (t )) = ∑ f (nT ) z −n
n =0
∞
∴ Z ( sin at ) = ∑ sin anT z −n
n =0
∞
= ∑ sin nθ . z −n , where θ = aT
n =0
= Z (sin nθ )
z sin θ
=
z 2 − 2z cos θ + 1
z sin aT
= 2
z − 2z cos aT + 1
z (z − cos aT )
lll ly Z (cos at ) = 2
.
z − 2z cos aT + 1
5.5.5. EXAMPLE:
SOLUTION:
ANSWER:
z ( z − r cos θ )
Z (r n cos nθ ) =
z − 2zr cos θ + r 2
2
zr sin θ
Z (r n sin nθ ) = .
z − 2zr cos θ + r 2
2
VSCET
5.12 UNIT V
5.5.6. EXAMPLE:
Find Z (t )
SOLUTION:
∞
Z ( f (t )) = ∑ f (nT ) z −n
n =0
∞
∴ Z (t ) = ∑ nT z −n
n =0
∞
= T ∑ n z −n
n =0
= T Z (n )
z z
=T ∵ Z (n ) = 2
.
( z − 1)2 ( z − 1)
5.5.7. EXAMPLE:
Find Z (e −at )
SOLUTION:
∞
Z ( f (t )) = ∑ f (nT ) z −n
n =0
∞
∴ (
Z e −at =) ∑ e −anT z −n
n =0
∞ n
= ∑ (e −aT ) z −n
n =0
n
= Z e −aT( )
z ∵ Z (a n ) = z
=
z − e −aT z −a
5.5.8. EXAMPLE:
1
Find Z
n(n + 1)
SOLUTION:
1 A B
Now = +
n(n + 1) n n + 1
A(n + 1) + B(n )
=
n(n + 1)
⇒ A(n + 1) + B(n ) = 1
Put n = 0
A(1) + B(0) = 1 ⇒ A = 1
Put n = −1 :
A(0) + B(−1) = 1 ⇒ B = −1
1 1 1
∴ = −
n(n + 1) n n + 1
1 1 1
∴ Z =Z −
n(n + 1) n n + 1
= Z − Z
1 1
n n + 1
= log
z z
− z log
z −1 z −1
= (1 − z ) log
z
z −1
5.5.9. EXAMPLE:
(
Find Z cos2 t )
SOLUTION:
Z cos2 t = Z
1 + cos 2t
( ) 2
VSCET
5.14 UNIT V
1
= [Z (1) + Z (cos 2t )]
2
1 z z (z − cos 2T )
= + 2
2 z − 1 z − 2z cos2T + 1
5.5.10. EXAMPLES:
1. Find Z (sin2 t )
2. Z (cos 3 t )
3. Z (sin 3 t )
5.6. NOTE:
5.7.1. DEFINITION:
f (n ) = Z −1 ( F (z ))
5.7.2. REMARK:
Z −1
z z
(i) Z (a n ) = ⇒ =a
n
z −a z −a
z z
(ii) Z na n −1 =
( ) ⇒ Z −1 = na n −1
( z − a )2 2
(z − a )
Z −1
1 1
(iii) Z a n −1 =
( ) ⇒ =a
n −1
z −a z −a
5.8.1. EXAMPLE:
10z
Find Z −1
( z − 1)( z − 2 )
SOLUTION:
10z
Let F (z ) =
( z − 1) ( z − 2 )
F (z ) 10
∴ =
z ( z − 1) ( z − 2 )
F (z ) 10 A B
∴ = = +
z ( z − 1) ( z − 2 ) z − 1 z − 2
A(z − 2) + B(z − 1)
=
( z − 1)( z − 2 )
⇒ A(z − 2) + B(z − 1) = 10
put z = 1 :
A(−1) = 10 ⇒ A = −10
put z = 2 :
B(1) = 10 ⇒ B = 10
F (z ) −10 10
∴ = +
z z −1 z −2
−10z 10z
⇒ F (z ) = +
z −1 z −2
Z −1 ( F (z )) = −10Z −1
z −1 z
+ 10 Z
z −1 z − 2
−1 z n
= −10 (1n ) + 10 (2n ) ∴ Z =a
z − a
f (n ) = 10 (2n − 1) .
VSCET
5.16 UNIT V
5.8.2. EXAMPLE:
z3
Find Z −1 2 using partial fraction
( z − 1) ( z − 2 )
SOLUTION:
z3
Let F (z ) =
( z − 1)2 ( z − 2 )
F (z ) z2
∴ =
z ( z − 1)2 ( z − 2 )
F (z ) z2 A B C
∴ = 2
= + 2
+
z ( z − 1) ( z − 2 ) z − 1 ( z − 1) z − 2
A ( z − 1) (z − 2) + B(z − 2) + C ( z − 1)2
=
( z − 1)2 ( z − 2 )
⇒ A ( z − 1) (z − 2) + B(z − 2) + C ( z − 1)2 = z 2
Put z = 1 :
B (−1) = 1 ⇒ B = −1
Put z = 2 :
C (1) = 4 ⇒ C =4
A +C = 1
⇒ A = 1 − C = 1 − 4 = −3
F (z ) −3 −1 4
∴ = + 2
+
z z − 1 ( z − 1) z −2
−3z z 4z
⇒ F (z ) = − 2
+
z − 1 ( z − 1) z −2
−1
Z −1 ( F (z )) = −3Z −1
z
+ 4 Z −1
z z
−Z 2
z −1 ( z − 1) z −2
f (n) = −3 − n + 4 (2n ) .
5.8.3. EXAMPLE:
z −4
Find Z −1
( z + 2 )( z + 3 )
ANSWER:
z −4 −1 −6 7
Z −1 =Z + n −1
= −6(−2) + 7(−3)
n −1
( z + 2 ) ( z + 3 ) z + 2 z + 3
5.8.4. EXAMPLE:
z −4
Find Z −1 2
( z − 1) ( z − 2 )
ANSWER:
z −4 −1 −3 2 3
Z −1 2 = Z − 2 +
( z − 1)( z − 2 ) z − 1 (z − 2 ) z − 2
( ) (
= −3(1n −1) − (n − 1) 2n −1 + 3 2n −1 )
5.9.1. FORMULAE:
If Z (f (n )) = F (z ) then
f (n ) = Z −1 ( F (z ))
VSCET
5.18 UNIT V
1
2π i c∫
= z n −1F (z ) dz
Where c is the closed contour which encloses all the poles of the integrand.
5.9.2. NOTE:
lim ( z − a ) f (z )
z →a
1 d m −1
lim m −1 ( z − a )m f (z ) .
( m − 1) ! z →a dz
5.10. EXAMPLES:
5.10.1. EXAMPLE:
z
Find inverse Z-transform of using residue theorem.
( z − 1) ( z − 2 )
SOLUTION:
z
Z −1 = f (n)
( z − 1)( z − 2 )
Then
1
2π i c∫
f (n ) = z n −1F (z ) dz
1 z
= ∫
2π i c
z n −1
( z − 1) ( z − 2 )
dz
1 zn
2π i c∫ ( z − 1)( z − 2 )
= dz (1)
zn
To find ∫ (z − 1) (z − 2 ) dz :
c
zn
where φ (z ) = .
( z − 1)( z − 2 )
Res. at z = 1 :
Residue [φ ( z ) ]z =1
= lim ( z − 1) φ (z )
z →1
zn
= lim ( z − 1)
z →1 ( z − 1) ( z − 2 )
zn
= lim
z →1 ( z − 2 )
1n
=
−1
= −1 .
Res. at z = 2 :
Residue [φ ( z ) ]z =2
= lim ( z − 2 ) φ (z )
z →2
zn
= lim ( z − 2 )
z →2 ( z − 1)( z − 2 )
zn
= lim
z →2 ( z − 1)
2n
=
1
= 2n .
zn
∫ ( z − 1) (z − 2 ) dz = 2π i −1 + 2
n
∴ (2)
c
VSCET
5.20 UNIT V
1
f (n ) = 2π i −1 + 2n
2π i
f (n) = 2n − 1 .
5.10.2. EXAMPLE:
z ( z + 1)
Find Z −1 3
( z − 1)
SOLUTION:
z ( z + 1)
Let Z −1 3
= f (n )
( z − 1)
1
Then f (n ) = ∫
2π i c
z n −1F (z ) dz
1 z ( z + 1)
= ∫
2π i c
z n −1
( z − 1)3
dz
1 z n ( z + 1)
2π i c∫ ( z − 1)3
= dz (1)
z n ( z + 1)
To find ∫ (z − 1)3 dz :
c
z n ( z + 1)
where φ (z ) = .
( z − 1)3
1 d2 z n ( z + 1)
Residue [φ ( z ) ]z =1
= lim 2 (z − 1)3
2! z →1 dz ( z − 1)3
1 d2
= lim 2 ( z n ( z + 1) )
2 z →1 dz
1 d2
= lim 2 z n +1 + z n
2 z →1 dz
( )
1 d
= lim
2 z →1 dz
(
(n + 1)z n + nz n −1 )
1
= (
lim (n + 1) n z n −1 + n (n − 1) z n −2
2 z →1
)
1
=
2
(
(n + 1) n + n (n − 1) )
1
=
2
(
(n 2 + n + n 2 − n )
1
=
2
2n 2( )
= n2
z n ( z + 1)
∫ (z − 1)3 dz = 2π i n ( )
2
∴ (2)
c
1
∴ (1) ⇒ f (n) = 2π i (n 2 ) = n 2 .
2π i
5.10.3. EXAMPLE:
−1 z2
Find Z 2 .
z + 9
VSCET
5.22 UNIT V
(i) Z ( f (n ) * g(n )) = F (z ). G (z )
PROOF:
∞
(i) F (z ) = Z ( f (n )) = ∑ f (n ) z −n
n =0
∞
G (z ) = Z ( g (n )) = ∑ g(n ) z −n
n =0
∞ ∞
∴ F (z ). G (z ) = ∑ f (n ) z −n ∑ g(n ) z −n
n =0 n =0
(
= f (0) + f (1) z −1 + f (2) z −2 + ⋯ f (n ) z −n + ⋯ )
(g(0) + g(1) z −1 + g(2) z −2 + ⋯ g(n ) z − n
+⋯ )
n −n
= f (0) g(0) + f (0) g(1) + f (1)g(0) z −1 + ⋯ + ∑ f (r )g(n − r ) z + ⋯
r = 0
∞ n −n
= ∑ ∑ f (r )g(n − r ) z
n = 0 r = 0
∞
= ∑ [ f (n ) * g(n)] z −n
n =0
= Z ( f (n ) * g(n ))
(i.e.) Z ( f (n ) * g (n )) = F (z ) G (z ) .
∞
(ii) F (z ) = Z ( f (t )) = ∑ f (nT ) z −n
n =0
∞
G (z ) = Z ( g (t )) = ∑ g(nT ) z −n
n =0
∞ ∞
∴ F (z ). G (z ) = ∑ f (nT ) z −n ∑ g(nT ) z −n
n =0 n =0
(
= f (0T ) + f (1T ) z −1 + f (2T ) z −2 + ⋯ f (nT ) z −n + ⋯ )
(g(0T ) + g(1T ) z −1 + g(2T ) z −2 + ⋯g(nT ) z −n
+⋯ )
(
= f (0T ) g (0T ) + f (0T ) g (1T ) + f (1T )g (0T ) z −1 +
n
⋯ + ∑ f (rT )g(n − r )T z −n + ⋯ )
r = 0
∞ n −n
= ∑ ∑ f (rT )g(n − r )T z
n = 0 r = 0
∞
= ∑ [ f (t ) * g(t )] z −n
n =0
= Z ( f (t ) * g (t ))
5.13. NOTE:
⇒ ( )
Z −1 F (z ) G (z ) = f (n) * g(n )
(ii) Z ( f (t ) * g (t )) = F (z ) G (z )
⇒ ( )
Z −1 F (z ) G (z ) = f (t ) * g(t ) .
VSCET
5.24 UNIT V
5.14.1. EXAMPLE:
z2
Using convolution theorem evaluate Z −1 .
( z − 1) ( z − 3 )
SOLUTION:
z2 −1 z z
Z −1 =Z .
( z − 1) ( z − 3 ) z − 1 z − 3
= Z −1
z
* Z −1
z
z − 1 z − 3
= 1n * 3n
n
= ∑ 1r 3n −r
r =0
= 3n + 3n −1 + 3n −2 + ⋯ + 31 + 1
= 1 + 3 + 32 + ⋯ + 3n
3n +1 − 1 2 n a n +1 − 1
= ∵ = 1 + a + a + ⋯ + a = , a < 1
3 −1 a −1
3n +1 − 1
= .
2
5.14.2. EXAMPLE:
z2
Find Z −1
2
(z − a )
SOLUTION:
z2 −1 z z
Z −1 =Z .
( z − a )2
z − a z − a
= Z −1
z
* Z −1
z
z − a z − a
= an * an
n
= ∑ a r a n −r
r =0
= a n + a a n −1 + a 2 a n −2 + ⋯
= ( n + 1) a n .
Z-TRANSFORMS:
5.15.1. FORMULA:
Z (y(k )) = F (z )
5.16. EXAMPLES:
5.16.1. EXAMPLE:
SOLUTION:
VSCET
5.26 UNIT V
F (z ) z 2 − 4z + 4 = z 2 − 4z
z 2 − 4z
F (z ) =
z 2 − 4z + 4
z 2 − 4z
Z (y(k )) =
z 2 − 4z + 4
z 2 − 4z
⇒ y(k ) = Z −1 2
z − 4z + 4
z (z − 4)
= Z −1
(z − 2)2
z (z − 4)
To find Z −1
(z − 2)2
z (z − 4)
Let F (z ) =
(z − 2)2
F (z ) z −4 A B
∴ = 2
= +
z (z − 2) z − 2 ( z − 2 )2
A (z − 2 ) + B
=
( z − 2 )2
⇒ A (z − 2) + B = z − 4
put z = 2 :
A(0) + B = 2 − 4
B = −2
Equating the constant term:
−2A + B = −4
−2A = −4 − B
−2A = −4 + 2
A=1
F (z ) 1 2
∴ = −
z z − 2 ( z − 2 )2
z 2z
⇒ F (z ) = −
z − 2 ( z − 2 )2
2z
Z −1 ( F (z )) = Z −1
z
− Z −1 2
z − 2 (z − 2 )
−1 az k
= 2k − k 2k ∵ Z ( z − a )2 = k a
y(k ) = 2k (1 − k ) .
5.16.2. EXAMPLE:
SOLUTION:
VSCET
5.28 UNIT V
z
F (z ) z 2 − 3z + 2 =
z −2
z
F (z ) =
( z − 2 ) ( z − 3z + 2 )
2
z
Z (y(n )) =
( z − 2 ) ( z − 2 ) ( z − 1)
z
Z (y(n )) =
( z − 2 )2 ( z − 1)
z
⇒ y(n ) = Z −1 2
( z − 2 ) ( z − 1)
z
To find Z −1 2
( z − 2 ) ( z − 1)
z
Let F (z ) =
( z − 2 )2 ( z − 1)
F (z ) 1 A B C
∴ = 2 = + +
z ( z − 1) ( z − 2 ) z − 1 z − 2 ( z − 2 )2
A ( z − 2 )2 + B ( z − 1) ( z − 2 ) + C ( z − 1)
=
( z − 1) ( z − 2 )2
⇒ A ( z − 2 )2 + B ( z − 1) ( z − 2 ) + C ( z − 1) = 1
put z = 2 :
C =1
put z = 1 :
A=1
A+B = 0
B = −1
F (z ) 1 −1 1
∴ = + +
z z − 1 z − 2 ( z − 2 )2
z z z
⇒ F (z ) = − +
z − 1 z − 2 ( z − 2 )2
z
Z −1 ( F (z )) = Z −1
z
− Z −1
z
+ Z −1
z − 1 z − 2 2
(z − 2 )
y(n ) = 1n − 2n + n 2n −1
−1 z n −1 z n −1
∵ Z z − a = a , Z ( z − a )2 = n a
5.16.3. EXAMPLE:
y(0) = 3, y(1) = −2 .
SOLUTION:
F (z ) z 2 + 3z − 4 = 3z 2 − 2z + 9z
3z 2 + 7z
F (z ) =
z 2 + 3z − 4
z ( 3z + 7 )
F (z ) =
( z + 4 ) ( z − 1)
VSCET
5.30 UNIT V
z ( 3z + 7 )
Z (y(n )) =
( z + 4 ) ( z − 1)
z ( 3z + 7 )
⇒ y(n ) = Z −1
( z + 4 ) ( z − 1)
z ( 3z + 7 )
To find Z −1
( z + 4 ) ( z − 1)
z ( 3z + 7 )
Let F (z ) =
( z + 4 ) ( z − 1)
F (z ) ( 3z + 7 ) A B
∴ = = +
z ( z + 4 ) ( z − 1) z + 4 z − 1
A ( z − 1) + B ( z + 4 )
=
( z + 4 )( z − 1)
⇒ A ( z − 1) + B ( z + 4 ) = 3z + 7
put z = −4 :
−5A = −5
A=1
put z = 1 :
5B = 10
B =2
F (z ) ( 3z + 7 ) 1 2
∴ = = +
z ( z + 4 )( z − 1) z + 4 z −1
z z
⇒ F (z ) = +2
z+4 z −1
Z −1 ( F (z )) = Z −1
z
+ 2Z −1
z
⇒
z + 4 z − 1
−1 z
y(n ) = ( −4 )n + 2 ( −1)n ∵ Z = an .
z − a
5.16.4. EXAMPLE:
SOLUTION:
z
Z (un )) =
( z + 1) ( z − 3 ) ( z − 2 )
z
⇒ un = Z −1
( z + 1) ( z − 3 ) ( z − 2 )
z
To find Z −1
( z + 1) ( z − 3 ) ( z − 2 )
z
Let F (z ) =
( z + 1) ( z − 3 ) ( z − 2 )
F (z ) z A B C
∴ = = + +
z ( z + 1) ( z − 3 ) ( z − 2 ) z + 1 z − 3 z − 2
A ( z − 3 ) ( z − 2 ) + B ( z + 1) ( z − 2 ) + C ( z + 1) ( z − 3 )
=
( z + 1) ( z − 3 ) ( z − 2 )
⇒ A ( z − 3 ) ( z − 2 ) + B ( z + 1) ( z − 2 ) + C ( z + 1) ( z − 3 ) = 1
VSCET
5.32 UNIT V
put z = −1 :
1
A ( −4 ) ( −3 ) = 1 ⇒ A=
12
put z = 3 :
1
B ( 4 ) (1) = 1 ⇒ B=
4
put z = 2 :
1
C ( 3 )( −1) = 1 ⇒ C =−
3
F (z ) 1 1
+ +
1 1 −1 1
∴ =
z 12 z + 1 4 z − 3 3 z − 2
F (z ) = + −
1 z 1 z 1 z
⇒
12 z + 1
4 z − 3 −2
3 z
Z −1 ( F (z )) = Z −1
1 z 1 −1 z 1 −1 z
⇒ + Z − Z
12
z + 1 4 z − 3 3 z − 2
1 1 1 −1 z
un = ( −1)n + 3n − 2n ∵ Z = an .
12 4 3 z − a
If Z ( f (t )) = F (z ) then
(i) ( )
Z e −at f (t ) = F (z eaT )
(ii) ( )
Z eat f (t ) = F (z e −aT )
Z a n f (t ) = F
z
(iii) ( ) a
Z a n f (n ) = F
z
(iv) ( )a
PROOF:
∞
(
Z e −at f (t ) = ) ∑ e −anT f (nT ) z −n
n =0
∞ −n
= ∑ f (nT ) zeaT( )
n =0
= Z ( f (t ))z → z eaT
= [F (z )]z → z aT
( )
Z e −at f (t ) = F zeaT . ( )
∞
(
Z a n f (t ) = ) ∑ an f (nT ) z −n
n =0
∞ −n
f (nT )
z
= ∑ a
n =0
= Z ( f (t ))z →
z
a
= [F (z )]z →
z
a
Z a n f (t ) = F .
z
( a
)
d
(
Z n f (n ) = −z ) dz
( F (z )) , where F (z ) = Z ( f (n)) .
VSCET
5.34 UNIT V
PROOF:
F (z ) = Z ( f (n ))
∞
F (z ) = ∑ f (n) z −n
n =0
∞
d
(F (z )) = ∑ f (n ) (−n ) z −n −1
dz n =0
1 ∞
=− ∑
z n =0
f (n ) n z −n
∞
d
−z (F (z )) = ∑ n f (n ) z −n
dz n =0
(
= Z n f (n ) )
d
∴ (
Z n f (n ) = −z) dz
(F (z ))
PROOF:
∞
Z ( f (n + 1)) = ∑ f (n + 1) z −n
n =0
∞
= ∑ f (n + 1) z −n z z −1
n =0
∞
Z ( f (n + 1)) = z ∑ f (n + 1) z −(n +1)
n =0
put n + 1 = m
∞
=z ∑ f (m ) z −m
m =1
∞
= z ∑ f (m ) z −m − f (0)
m = 0
= z ( F (z ) − f (0))
Z ( f (n + 1)) = z F (z ) − zf (0) .
(ii) Z ( f (t + T )) = z F (z ) − zf (0)
PROOF:
∞
Z ( f (t + T )) = ∑ f (nT + T ) z −n
n =0
∞
= ∑ f (nT + T ) z −n z z −1
n =0
∞
=z ∑ f ((n + 1)T ) z −(n +1)
n =0
put n + 1 = m
∞
=z ∑ f (mT ) z −m
m =1
∞
= z ∑ f (mT ) z −m − f (0)
m = 0
= z ( F (z ) − f (0))
Z ( f (t + T )) = z F (z ) − zf (0) .
PROOF:
F (z ) = Z ( f (t ))
VSCET
5.36 UNIT V
∞
= ∑ f (nT ) z −n
n =0
f (1. T ) f (2. T )
= f (0. T ) + + +⋯
z z2
f (T ) f (2T )
= f (0) + + +⋯
z z2
f (T ) f (2T )
lim F (z ) = lim f (0) + + 2 + ⋯
z →∞ z →∞ z z
= f (0)
5.21. NOTE:
PROOF:
∞
Z [ f (t + T ) − f (t )] = ∑ [ f (nT + T ) − f (nT )] z −n
n =0
∞
Z ( f (t + T )) − Z ( f (t )) = ∑ [ f (nT + T ) − f (nT )] z −n
n =0
∞
zF (z ) − zf (0) − F (z ) = ∑ [ f (nT + T ) − f (nT )] z −n
n =0
∞
( z − 1) F (z ) − z f (0) = ∑ [ f (nT + T ) − f (nT )] z −n
n =0
∞
lim ( z − 1) F (z ) − z f (0) = lim ∑ [ f (nT + T ) − f (nT )] z −n
z →1 z →1
n =0
∞
lim ( z − 1) F (z ) − f (0) =
z →1
∑ [ f (nT + T ) − f (nT )]
n =0
5.23. NOTE:
5.24. EXAMPLES:
5.24.1. EXAMPLE:
(
Find Z e −at t . )
SOLUTION:
We know that
( )
Z e −at f (t ) = Z [ f (t )]z → z eaT
= F (z )
z → z eaT
∞
Since Z ( f (t )) = ∑ f (nT ) z −n
n =0
VSCET
5.38 UNIT V
∞
Z (t ) = ∑ nT z −n
n =0
∞
= T ∑ n z −n
n =0
= T 0 + + 2 + ⋯
1 2
z z
1 1 2
= T + 2 + ⋯
z z
1 1 2
= T 1 + 2 + 3 + ⋯
1
z z z
T 1 −2
= 1 −
z z
−2
T z − 1
=
z z
T z 2
=
z z −1
T z
= .
(z − 1)2
T z
∴ (
Z e −at t = ) 2
( z − 1) z → z eaT
T z eaT
∴ Z e ( −at
t = ) 2
.
( z eaT − 1 )
5.24.2. EXAMPLE:
(
Find Z a n n . )
SOLUTION:
We know that
Z a n f (n ) = F
z
( )
a
∞
Now, Z { f (n )} = ∑ f (n ) z −n
n =0
∞
∴ Z (n ) = ∑ n z −n
n =0
1 2
= 0+ + +⋯
z z2
1 2 3
= 1 + + 2 + ⋯
z z z
1 1 1
2
= 1 + 2 + 3 + ⋯
z z z
1 1 −2
= 1 −
z z
1 z − 1 −2
=
z z
1 z 2
=
z z − 1
z
Z (n ) = .
( z − 1)2
z
∴ (
Z an n = ) 2
( z − 1) z z
→
a
z
= a 2
z −1
a( )
z
= a 2
z −a
a( )
z a2
=
a ( z − a )2
VSCET
5.40 UNIT V
az
(
Z an n = ) (z − a )2
.
5.24.3. EXAMPLE:
( )
Find Z n 2 .
SOLUTION:
We know that
d
(
Z n f (n ) = −z ) dz
( F (z ))
d
Z n 2 = Z n .n = −z
( ) ( ) dz
(Z (n ))
Now,
∞
Z (n ) = ∑ n z −n
n =0
1 2
= 0+ + +⋯
z z2
1 2 3
= 1 + + 2 + ⋯
z z z
1 1 2
2 + 3 + ⋯
1
= 1 +
z z z
1 1 −2
= 1 −
z z
1 z − 1 −2
=
z z
1 z 2
=
z z − 1
z
Z (n ) = .
( z − 1)2
d z
∴ ( )
Z n 2 = −z 2
dz ( z − 1)
( z − 1) (z − 1 − 2z )
= −z
( z − 1)4
( z + 1)
=z 3
( z − 1)
z2 + z
= .
( z − 1)3
VSCET