Z-Transforms INTRODUCTION ‘The development of communication branch is based on discrete analysis. Z-transform plays the same role in discrete analysis as Laplace transform in continuous systems. As such, Z-transform has many properties similar to those of the Laplace transform (§ 21.2). The main difference is that the Z-transform operates not on functions of continuous arguments but on sequences of the discrete integer-valued arguments, i.e. n = 0, +1, +2, . The analogy of Laplace transform to Z-transform can be carried further. For every operational rule of iplace transforms, there is a corresponding operational rule of Z-transforms and for every application of the Laplace transform, there is a corresponding application of Z-transform. A discrete system is expressible as a difference equation (§ 30.2) and its solutions are found using Z-transforms. DEFINITION If the function u, is defined for discrete values (n = 0, 1, 2, ..) and u, = 0 for n <0, then its Z-transform is defined to be 2 (u,)= Ue) = > u,2" whenever the infinite series converges. uf) wo ‘The inverse Z-transform is written as Z>{U\2)) = u,, ‘Af we insert a particular complex number 2 into the power series (i), the resulting value of Z (1) will be a ‘complex number. Thus the Z-transform U(z) is a complex valued function of a complex variable z. [EEER Some STANDARD Z-TRANSFORMS The direct application of the definition gives the following results : @) Za") = 2 (2) 208) =—2 £ Zin?" p being a +0e integer. Proof. (1) By definition, Z (a") = x a"z"= 1+ (o/z) + (alz)* + (alz) +... a (Kottayam, 2005) (a/z) z-a (2) Zy= Yao az PnP nee? onli) cod Changing p top ~1, we get Z(n?-¥) = > n?-* 2°" ms Differentiating it w.r-t. 2, gaorne y PE ete” soli) Substituting (i) in (), we obtain Z (w") =~ 2 Ltz(n?) which is the desired recurrence formula, In particular, we have the following formulae : (3) Z@)= 25 (akinge = 1 in (1) wzm=— (Taking p= 1 in (2)] 7S @z0%)=-2*2 — wru, 2006) zn) 2 +8 +2 @-1" — @-1 (yt endt (Ant) = EA Ne +e’ +2 @-9 LINEARITY PROPERTY Ifa, b,c be any constants and tin, U,, W, be any discrete functions, then Z(au,, + bv, ~ cw,) = aZ(u,) + bZv,) — cZ(w,) Proof. By definition, Z (au, + bv, —cw,)= J) (aus, + bu, ~ ew,)2" Ey Ha yet 4b ye" mS a a = 0Z(u,) + b2 (0,) ~ eZ (w,). DAMPING RULE IfZ (u,) = U2), then Z(a-* u,) = Utaz) Proof. By definition, Z (a~* u,)= a” DY (zr Ula). (Madras, 2006) Po * Cor. Z (a"u,) = Ula) SOME STANDARD RESULTS The application of the damping rule leads to the following standard results : 2, (1) Zina") = —& (2) Zinta) = Ste (2-0 @-a)(8)Z (cos no) = — 22-008 0) _ (4) (sin no) = 2808 = 22 cos +1 ‘22 cos +1 (6) Za" cos nd) = = 2E= 228 6) Za" sin no) = FHI = 2az cos 0+ a’ 2? — 2az.cos 0+ a" Proofs. (1) We know that Z(n) = - Applying damping rule, we have (@-1F = = . (Madras, 2000 S) 2 Ga m 2 (2) We know that 2(n®) = j F - Applying damping rule, we have _ Zinta") = Ular'e) = (2 tate _ ale? +a), @z-1% — (z-a)" (3) and (4) We know that Z(1) = [1° Applying damping rule, we have i= , =e") Ze) = Zeon y= 20" zene) ze*-1 2-e" (-e™)(2-€%) = Az—cos8)~izsin® _ xz - cos@)—iz sind Fa xeP+e™)+1 2? Pecos +1 ‘Equating real and imaginary parts, we get (3) and (4). (V.T.U,, 2010 S; Anna, 2009) (6) We know that Z (cos n@) = —22— 8) _ 22008041 - By damping rule, we have F- oe Za" cos nd) = 2 #(@_e—cos0) ___ lz—aens 6) (V.T.U,, 2006) (az) — 2a lz) cos8+1 2 - 2az cos d+a' Similarly using (4) above, we get (6). Solution. () Z(8n - 4 sin & + 8a) = 82(n)—42(sin at) +60 Z(1) [By Linearty property! [Using formulae for Z(1), Z(n), Z(sin n8)) _ @-5alz + 5az* 222 OO GaP Berd Wy Bn + WP = Lin? + 2n + 1) = Zin?) + 22n) + 2) 2 Zt ‘ 2 (22+) aa GaP 2-17 GaP (iii) Zisin (Bn + 5)] = Zisin Bn cos 5 + cos 3n sin 5) = cos 5.Z (sin 3n) + sin 5.2 (cos 3n) (using formulae for Z (sin n8), Z (cos n®) xe-cos3) | (esin5~sin 2) =2zc0s3+1 2-22 cos +1 soos. 2803 __ sing. 2 = 22008341ca i Na RE Solution. (i) Let u, = 1, e = (e*)" = k* where k =e. By damping rule Z(k™* u,) = U(kz), =Zk".1)= = He y =. =f. Been) = 20". 1) = Uke) = GE [> Uer=2mr=545] (ii) Let u,, =n, e™ = (e-4)-" = ko" where k = e-* By damping rule, Z (e% .n) = Z(k-*. n) = U(k2) where Ute) = Zin) = > he = (e-0" Ke-1P (ii) Let u, = n?, €" = (e4y" = kt where k = e* ‘By damping rule, 2 Ze" . n®) = Z(le* 2) = Ulkz) where Uta) = Zint) = = (he the Heth) _2%(ere*) (2-1-1 eee) ( Solution. (i) Z (cosh ni) = 2 = B[zfetrs a} + zc al] Apply damping rule to both terms, taking u, = 1. Zz = sae, cosh n6) if [: a=sy si =m seme 2| 22 —xeP +e) 41) 2? 22 coshO+1 Gi) Za" cosh n@) = Z{(a-y* . cosh n8] [Apply damping rule using (i)] = (az)? ~(a™ 2) cosh @ 2z-acosh®) tA) [Apply damping rule, using (A)) = 2st ___aesin (ez) ~2€* z)cos2+1 z*~Qez cos 2+e (iWe know that (cos ka) = #Z— 8.0) _ AB) 2 -22cosa+1 2c cos ka) = Z (cy . cos ka} [Apply damping rule, using (B)) _ _(e* 2)[e'z-cos a] Az -¢ cosa) © (12 -2e7 Neosat 2 -zcsare%.2(sin 2) [Using formulae for Z (sin na) and Z (cos na) | ale - cos W/2) zsin n/2 }. 22) Qe cos n/2+1 2% —e cos n/2+1 a4 a Va +) 1260 4 glenn ww ee] = Uo? zie) 4 0°* 210™)] Since, Z(a") ss Ze) = Ler = — 2, emt) = — Thue tg) afr ate in} _ Fash o~ zeash 5-0) Solution. (i) zec)= & (ope?) -19reetereg ten +g" = (Leet az [He + e810 + 02-9} 2 2a ae 48) 41 wi) 20+C,) = s Ga? 4 PEO OE EOE we elena ners Gt2He) rts Brest) ya, altars cry +. (-n-)(-n-2)(-n-3) 3! n-DEn-2) ar GzP +..00 =Q-2y1, Solution. (i) Z18()] = y Bn)z "= 140404 Ea} (iZtul) = J une" = 14a teeter te.za i AES) FEERA (1) SHIFTING U, TO THE RIGHT If Zu,) = UG), then Z(u,_,) = 2* Ue) (> 0) Proof. By definition, 264 = hyve" = ugh say AY 4 art Dae =z) a ao (2) Shifting u,, to the left. IfZ (u,) = U(2), then Zu, 4) = U2) — tg — eo ge? — ay gO Proof. Zit, .4)= z tye Hence Z(u, ,,)= 2*1Ul2)— uy of eee (NTU, 2002) In particular, we have the following standard results () Zu, , ) = LU) — ug) ; eee uy u,zt) (8) tu, , 9) =2UU@) ~ uy uz? ~ 1 ‘Solution. We have 2(3)- yal? Shifting (1/n!) one unit to the left gives alatml-=|2(8)-1] xe" ‘Similarly shifting (1/n!) two units to the left gives 1) oye _z Apa Xe 1-2), [EES Wuirpucarion By n IfZ(u,) = w(z), then Z (nu,) = Proof. Znu,)= J n.uyz" 23 u,(-n)z 5 Lue =-2atte) 22 e) Zn sin n@) =— 24 zin no) «2-4 — és da| 7-22 eos 0+1) 8 8 2(z*-1)sine 2zcos@+1) (z* ~2z cos 0 +1)" (ii) We know that _Z(e" auto = (28) cem- (-0f)[-+$(—25]| 7 *) a) - 201)| _ eer Jo In applications, we often need the values of u,, for n = 0 or as n —> =» without requiring complete knowledge of, We can find this as the behaviour of u, for small values of n is related to the behaviour of U(z) as z >.» and vice-versa. The precise relationship is given by the following initial and final value theorems : (A)Initial value theorem. If Z(u,) = Utz), then uo = Lt U(2) TWO BASIC THEOREMS Proof. We know that U(2) = Z(u,) = uy + uy21 + uz? +. ‘Taking limits as z ©, we get Lt (U(z)}= Uo» a8 required. Similarly additional initial values can be found successively, giving : uy= Le {eI (e)-upl} st2= Lt {2* U(e)—us ~ mye} and 0 on. (2)Final value theorem. If Z(u,,) = U(z), then Lt (u,)= Lt (@- DUC) Proof. By definition, Z (up ,)~4,)= ney ~ Hy 2™ a or Zu, )— Zl) = D> (gg — Uy ms or 24UG@)— ug) -U@)= D> (yy - 42 ord or UG) @-1)-ug= Yo Oy. a2 a ‘Taking limits of both sides as z —> 1, we get Lt, (ie -1) U@)}~ p= DY Gey ered = Et lay ug) + (ug — uy) + + Cu, gdHianes Enoneenina ManseMans = Et [uy ylup= ~My Hence w= Lt [@-Ue). (Anna, 2005 8) Saat 2d) +524 14 Example 23,10. /f UG raaatee evaluate u, and u;- U@g)= 1 2+52% +142" 2 a-ztf By initial value theorem, u,= Lt U(z)=0 Solution, Writing Similarly, uy= Lt te Ue)—wll=0 Now ug= Lt 2? [U(2)— uy —uyz I) = 2-0-0=2 and ug= Lt 2(U(2)—ug—uyzt- uz = Lt 2*[Ut2)-0-0- 224] 2 2. Gea! = ue of [2 452414 2] yy a[ tet s2et +8-2) yg me’ | @-pt 2] re Ze = "1. Find the Z-transforms of the following sequences : P a Oe ee ~~ F ne0) SvTe, 2009 in id (eos 6 +4 sin 8) 2 Using the linearity property, find the Z- transforms ofthe following functions : (n+ Bin nnld = Sat @ Lean +2) (SV.T.U,, 2007) Gi) 1) 0042) Anna, 2008) Gv) (2n — 1% WW.2U,, 2011 8) % Show that ( Z(sinh ne) 2 28h@_ rw, 2011) (i) 2la" sink nb) = —,— asin o_ F Brees 0+ > daxcosh 6+ 24° (ze ~ 008 8) 4 e ze sin 4, Show that (1) Z(e~** cos n6) = = 5 it) Ze sin n8) = Fe 000) Ro ne coset eee Fe Bae" cos OF ‘Also evaluate Zie™ sin 2n). SV.TU, 2007) Pre +2” 5. Using Zin?) == +2, show that Zin + 1) = 4 iP ey 6 Find the Z-transforms of /) sin (n + 156,i)con (ME + g) (Marathwada, 2008) 1. Find the Z-transform of cos n@ and hence find 2 (n éos n6): Anna, 2009) 8. Find the Z-transform of cos (nr/2) and a” cos (nr). Anno, 2008 8) 9 Find the Z-transforms of the following oom Wem WLU, 20108) iter nt. 10. Show thet @) 216m + D1= We Gi) (V2 uln) = 572. 11, Show that 2(++°C,) =(1 —1/2)~"* 9) Using the damping rule, deduce that Ze *C,a*)=(L+ aly, 3 a, 1) 525+ GF find the Ztransorm of, (SV.7.U, 2008) z a 48. WU) = SETAE nd the value oft, andy