z-TRANSFORM

The following identities are used repeated to derive several

important results,
2 n
1 − z n +1
 zk =
k =0 1− z
, z 1

The ɀ-Transform 


k =0
zk =
1
1− z
, z 1

Ref. Ogata Chapter 2: The z-Transform

Using these identities, the z transform of the unit-step function is
z-Transform of Commonly Used Signals
X ( z ) = 1 + z −1 + z −2 + z −3 + ....
Unit-Step Function 1 z
= −1
=
1− z z −1
1 if t  0
x(t ) =  This signal is sampled at time T
0 if t  0 Note: It is also know that the geometry series for instance, 1 + r +
r2 + r3 + ….. , converges to 1/(1 - r), if | r | < 1. Thus, for multiples
Sequence of z-1, the series converges to 1/(1 – z-1) for |z| < 1.

1 if k  0 Unit-Ramp Function
x(k ) = 
0 if k  0 t 0  t
x(t ) =  This signal is sampled at time T
Apply equation (2-1) 0 t  0

  Fig.1 depicts sampled ramp signal

X ( z ) =  1(t ) = 1z − k =  z − k
k =0 k =0

z transforms are series in powers of z-1

Thus

X ( z) = 0 + z −1 + z −2 + z −3 + ....
Fig. 1: Sampled Unit-Ramp Function
Moses Kavi Page 40
Department of Electrical and Communications Engineering
Papua New Guinea University of technology
z-TRANSFORM

 
X ( z ) (1 − 2 z −1 + z −2 ) = Tz −1
X ( z ) = Z [t ] =  x ( kT )z − k = T  kz − k
X ( z ) (1 − z −1 ) = Tz −1
2
k =0 k =0

= T ( z −1 + 2 z −2 + 3z −3 + ....) Tz −1 Tz −1
X ( z) = =
z −1 (1 − z )−1 2 z 2 (1 − 2 z −1 + z −2 )
=T
(1 − z ) −1 2
X ( z) =
Tz
Tz z − 2 z −1 + 1
2

= Tz
( z − 1) X ( z) =
2

( z − 1)
2

Proof
Polynomial Function
 
X ( z ) = Z [t ] =  x ( kT )z − k = T  kz − k 1 z
k =0 k =0 x ( k ) = a k  X ( z ) = 1 + az −1 + a 2 z −2 + .. = −1
= z a
1 − az z−a
= Tz −1 + 2Tz −2 + 3Tz −3 + ....(1)
To express the z transform in closed-loop form multiply both sides of (1) by z-1
Exponential Function
X ( z) z −1 = Tz −2 + 2Tz −3 + 3Tz −4 + ....(2)
1 z
x ( k ) = e− akT  X ( z ) = 1 + e − aT z −1 + .. = − aT −1
= z  e − aT
Subtract (2) from (1) 1− e z z − e− aT

X ( z ) − X ( z ) z −1 = (1 − z −1 ) X ( z ) Sinusoidal Function

(1 − z ) X ( z ) = Tz
−1 −1
+ 2Tz −2 + 3Tz −3 + ....(3) e jkT − e− jkT z sin T
x ( k ) = sin kT =  X (z) = 2 z 1
2j z − 2 z cos T + 1
Multiply both sides of (3) by z -1

X ( z ) ( z −1 − z −2 ) = Tz −2 + Tz −3 + Tz −4 + ....(4)
Exercise 1 (see Example 2-1)

Obtain the z transform of the signal

Subtract (4) from (3)
x(t ) = cos t
X ( z ) (1 − z −1 − z −1 + z −2 ) = Tz −1
sampled at T seconds

Moses Kavi Page 41

Department of Electrical and Communications Engineering
Papua New Guinea University of technology
z-TRANSFORM
Exercise 2 (see Example 2-2) 
 1 x1 ( k ) +  2 x2 ( k )  =  1 x1 ( k ) +  2 x2 ( k ) z − k
k =0
A signal x(t) has a Laplace transform given as 

X (s) =
1 =  1 x1 ( k ) +  2 x2 ( k )  z − k
s ( s + 1) k =0
 
Find the z transform for the signal x(t) sampled at sampling period = 1  x1 ( k ) +  2  x2 ( k )
T seconds. k =0 k =0

= 1 X 1 ( z ) +  2 X 2 ( z )
Note: Three approaches to computing the z transform of signal if
Multiplication by ak. If X(z) is the z transform of x(k), then the z
the signal is represented by its Laplace transform X(s);
transform then,
1. Convert X(s) to x(t) then find the z transform of x(t)
2. Expand X(s) into partial fractions and use a z transform  
find the z transforms of the expanded terms.   a k x ( k )  =  a k x ( k ) z − k = x ( k ) ( a −1 z ) z − k
3. Other methods will be considered k =0 k =0

z
The z transform table is given in Table 2-1 (Ogata) = X ( a −1 z ) = X  
a
Important Properties and Theorems of the z Transform
Shifting Theorem. Also called the Translational Theorem
Important properties and theorems of the z transform facilitate the
analysis of discrete-time control systems. Understand the important properties and theorems of the z
transform.
Multiplication by a Constant. X(z) is the z transform of
signal x(t). Supposing x(t) is multiplied by a Do the Examples to understand the concepts!!
constant a such that the signal is ax(t), then X(z) is
formed by linear combination;

 
  ax(t ) =  ax ( KT ) z − k = a  x ( kT ) z − k = aX ( z )
k =0 k =0

Linearity. X 1 ( z ) =   x1 ( k )  , X 2 ( z ) =   x2 ( k )  : x1(k) and

x2(k) are z transformable. α1 and α2 are scalers then,

Moses Kavi Page 42

Department of Electrical and Communications Engineering
Papua New Guinea University of technology