Z-Transform

These slides are prepared by modification, editing and expansion of various online
educational resources. They are designed and arranged to fit to EE curriculum at Bogazici
University.

Disclaimer:
The slides have not gone through a peer-review process, hence, if you have questions or see an error, contact the
course instructor.

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Z Transform – A Generalization Over FT

h[n]
𝑧! 𝐻 𝑧 𝑧!
H(z)

Complex exponentials are eigenfunctions/eigensignals of LTI systems.

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Z Transform – A Generalization Over FT

z-plane

𝑋 𝑧
𝑟𝑒 !"

Ω 1

𝑋 𝑗Ω
𝑗Ω

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Z Transform – A Generalization Over FT

z-plane

𝑋 𝑧
𝑟𝑒 !"

Ω 1

Recall that DTFT has a convergence issue.

If 𝑋 𝑗Ω converges, then 𝑋 𝑧 converges on r = 1 (unit circle)
If 𝑋 𝑗Ω does not converge, 𝑋 𝑧 may still converge on some 𝑟 ≠ 1
This means we now have tool (a parameter, 𝑟) to make the sum converge.

Region Of Convergence (ROC):

The range of 𝑟 for which the integral converges!
Z-Transform is not complete without specifying the ROC!

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Inverse Z Transform
𝑅𝑂𝐶: 𝑧 = 𝑟 ?

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ROC Insight

• ROC is about the convergence of the sum

• For the above example, ROC marks the region for which 𝑎# 𝑧 $# 𝑢[𝑛] is a decaying
exponential, hence the sum converges.

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ROC Insight

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ROC Insight

z-plane

ROC
1𝑒 !"

Ω 1
ROC

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ROC Insight
Consider a rational Z-Transform as
𝑁 𝑧
𝑋 𝑧 =
𝐷 𝑧
Roots of 𝑁 𝑧 are called zeros.
Roots of D 𝑧 are called poles. 𝑋 𝑧 → ∞ @ poles

deg 𝑁 𝑧 = deg 𝐷 𝑧 + 𝑘 ⟹ lim 𝑋 𝑧 = ∞ : k poles at infinity

%→'
−𝑢[𝑛]
𝑢[−𝑛 − 1]
deg 𝑁 𝑧 + 𝑘 = deg 𝐷 𝑧 ⟹ lim 𝑋 𝑧 = 0 : k zeros at infinity
%→'

Number of poles and zeros are always equal if we count

the ones at infinity

Consider
1 −1 1
𝑋 𝑧 = = + 1 2
1 − 𝑧 $( 1 − 2𝑧 $( 1 − 𝑧 $( 1 − 2𝑧 $(
ROC: r > 2

Then
2! 𝑢[𝑛] ROC
𝑥[𝑛] = 2# − 1 𝑢[𝑛]

−2! 𝑢[−𝑛 − 1]
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A closer look at “Number of poles and zeros are always equal
if we count the ones at infinity”
($)% !" % %$)
𝑋 𝑧 = ($% !" ($*% !"
= %$( %$*
: 2 zeros and 2 poles

( %#
𝑋 𝑧 = !" = : 2 zeros and 2 poles
($% ($*% !" %$( %$*

%$)
𝑋 𝑧 = : 2 poles, 2 zeros (one of which is at ∞ because lim 𝑋 𝑧 = 0)
%$( %$* %→'

%$( %$*
𝑋 $( 𝑧 = %$)
: 2 zeros, 2 poles (one of which is at ∞ because lim 𝑋 𝑧 = ∞)
%→'

• Poles and zeros switch for 𝐻 $% .

• Since all poles and zeros are inside unit circle,
it seems possible to have a stable and causal
inverse system.
• BUT, 3 finite poles and 2 finite zeros means
there is a 3rd zero at ∞
• This 3rd zero becomes a pole for 𝐻 $% , hence
𝐻 $% cannot have an outward ROC, hence
cannot be causal

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 ROC Properties
• A pole of a rational ZT is where the Z-Transform explodes (→ ∞). So ROC
cannot have a pole.

• ROC is in the form of a ring/±disk on z-plane as it is based on 𝑟 = 𝑧 only

• If 𝑥 𝑛 is of finite duration and absolute integrable, then ROC is the entire s-

plane except possibly at z = 0 and z = ∞
%, &!
• 𝑥 𝑛 ≠ 0 for 𝑁" < 𝑛 < 𝑁# with 𝑁" < 0 and 𝑁# > 0 ; 𝑋 𝑧 = ∑!$% +
𝑥 𝑛 𝑧
lim 𝑋 𝑧 = ∞ due to 𝑛 > 0 values 𝑧 = 0 and 𝑧 = ∞
' →)
lim 𝑋 𝑧 = ∞ due to 𝑛 < 0 values are not in ROC
' →*
• 𝑁" > 0 and 𝑁# > 0 ⟹ 𝑧 = 0 is not in ROC
• 𝑁" < 0 and 𝑁# < 0 ⟹ 𝑧 = ∞ is not in ROC

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 ROC Properties
• If 𝑥 𝑛 is right/left-sided then ROC is out/in-ward

• 𝑥 𝑛 ≠ 0 for 𝑛 > 𝑁
• 𝑁 > 0 : Causal , ROC outward including ∞
• 𝑁 < 0 : Not Causal , ROC outward excluding ∞ due to negative 𝑛’s

• 𝑥 𝑛 ≠ 0 for 𝑛 < 𝑁
• 𝑁 > 0 : Not anti-causal , ROC inward excluding 0 due to positive 𝑛’s
• 𝑁 < 0 : Anti-causal , ROC inward including 0

• If 𝑥 𝑛 is two-sided then ROC is a finite width ring

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Inverse Z-Transform by Direct Inspection

N point delay system:

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Inverse Z-Transform by Power Series

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