Z-transform Chapter 15.1 INTRODUCTION Transform plays an important role in discrete analysis, Its role in discrete analysis, is the same as that of Laplace and Fourier transforms in continuous system, In linear sampled data systems, an input signal isin the form of discrete pulses of short duration (ime- intervals); z-transform helps us to do analysis of such systems easily. Communi- cation is one of the fields where development is based on discrete analysis, Difference equations are also based on discrete system and their solutions and analysis are done by z-transform, transform has many properties similar to those of Laplace transform, The main difference is that z-transform does not operate on functions of continuous arguments bbut on sequences of the discrete-integer valued arguments, ie. k=0, + 1, +2 For every operational rule of Laplace transforms, there is a corresponding operational rule of z-transforms and for every application of the Laplace transfrom, there is a corresponding application of z-transform. 15.2 SEQUENCE Sequence (/()) isan ordered list of eal or complex numbers. 15.2.1 Representation of a Sequence ‘All the members of a sequence can {40} = (10,5,2,-1,-3,-2,1,4) 3¢ listed as follows: ‘The symbol is used to denote the term in zero position, ie., k= 0. kis an index of positon ofa term inthe sequence {e(} = (10, 5, 2. ; -3,-2,1,4} ‘Two sequences (/(4)} and (g(b)} have the same terms but these sequences are not identically same as the zeroeth term of those sequences are different15.2 Bvginecering Mathematical IF the symbol 7 is nt given then, lef hand end term is considered as the tema corresponding o k= 0, eB, {FB} = (5, 3,-1, 0, 6, 8} In this sequence, the zeroet term is 5, the lft hand term. Another way to express a sequence i to define the general term of the sequence (f(b) 282 function of k eB, 15.2.2 Basic Operations in Sequences Let (/(8) and (g(8) be two sequences having same number of terms @ Addition: (0) + {2} = (10+ 208) (Gi) Scalar Multiplication: Let abe a scalar, then a((0)} = (af(®)) (ii) Linearity: 1a and & are scalars then a) + big) = (af) + bet) (iv) Convergence and Divergence: IF term of sequence {/(8)} tends to a finite value afk tends to infinity, then the sequence is called a convergent sequence. IE term of sequence {(4)} tends to infinity as # tends to infinity, then the sequence is called a divergent sequence. 15.3 Z-TRANSFORM If (fh) is a sequence defined for k= 0, £1, 42,43, .. then SS f(H=" is called two-sided or bilateral =-ransorm of (/()} andi denoted by 2708) 0 F(2) oF F) where is «complex variable. If (/(8)} is a causal sequence, Le, if (/(8)} = 0 for k< 0, then ztransform is called one-sided of unilateral z-transform of (()} and is defined as 21700) =¥, F092" 15.8.1 Region of Convergence The series) #(k)z"* will be convergent only for certain values of z, The region in Which series is convergent is called region of convergence of transform.Wh Zeranstorm 153 ‘Example 1: Find z-transform of the following sequences: @ F@= peers y Gi) $08) = 1, 2,5,7,0, 1) Gi) £0) = (1,2, 5,7,0,1) (iv) f= at R20 6) =84,. <0 (wi) faa, R20 wk 102 242244527 472 ROC: Entire zeplane except Gai) AB = (1.2, $70.1) 24 2et 452472 40241 Zs} = ¥ fe" =F 2245+ 72" +027 +29 71 acereesetet ROC: Entire z plane except z= and 2=2 @) FB) =a k20 Zf@) =D MWz" = Yatet =1444 544 ROC: |2|> [al (Exterior ofthe circle [2| = |a))15.4 Bvginecering Mathematical o f®)=B <0 zu\= 3 set = Sate ROC: [2] < [5] (Interior of the circle [2 (vi) f@)=a', k>0 a, b>Oanda a and [2] <> za 2-6 ROC: a< |_| s0=" ROC: Entire z-plane (vii) Discrete unit step function uk)=1, k20 k<0 Z1f)=S fz* ROC: |z|>1Wh Zeranstorm 155 (x) =k 20 ZF} =D sz" = Yke* ROC. rea @) fas, k21 20) = DI@e* = =-ts{t- Hlcter et ROC: ea (x) f=, k20 ZO} = I$ pas * la ROC: |z|> 1 (xi) SO) =F HE O 27)- Ese = EH “ He --4 ROC: Entire z plane15.6 BE tgineering Mathematical Exercise 15.1 | Find z-transform of the following sequences: 1. f= {-6,-3, 0,2, 5} | ans: 3qzled as po 4-2-3)" [asics 301208] gyomsce ROC: Entire z plane except z= 0 [ans. 5, |:k2] and 2=0 z 2. f(b) = (10, 6, 3.0, ; = and = 3. f= (8, 6,3,-1, 0,2, 7) 7 +e [amiseSeS te Set] fy ow goo ire z plane except z= 0 ( e\ 4. fb) =2, #20 Ans[I-S] slzble"| | ROC: Entire z plane except the origin . [262] 10. film, 0sksn | Ans. 15.4.1 Linearity UZ(LH) =F (2), ROC: R, and Zf{W)} =F,(2), ROC: R, then Z af (R)+ bf, (8) = a2) + BF, (2) where a and bare any constants Proof: We know that Z4f00) f(b Zia (k)+ bh (K)} = Y tah (k) + bf (RZ Sport +E pe =ah +b) ROC: ROR,Wh Zeranstorm 157 15.4.2 Change of Scale ri ZN) = Fe), ROC: R, then ze so1~#(2) Proof: We know that Z7o}= YM" Zia‘ f= Ya’ f=" ROC: Jal 15.4.3 Time Reversal if ZW} = FG), ROC: R, then (1) ZUCHI=F |= Proof: We know that Zf@r= Y fz" [Putting = m] Roc: + R 15.4.4 Differentiation in z-domain (Multiplication by k) if Z2(f(W)} = FG), ROC: R, then d Zk f@)=-2 2 FW) Proof: We know that 2s) = fe ZAKS} S pwrcnees ROC:R15.8 Bvginecering Mathematical 15.4.5 Time Shifting a 2(4(8)} = Fl2), ROC: R, then Z{f(kkn} =2"*F (2) Proof: We know that Ziso= ¥ fee 2ifkemi= Do seeme* 2 some [Putting (tn) =m] =2""F(2) ROC: R excep! forthe possible addition or deletion ofthe origin or infinity 15.4.6 Initial Value Theorem it Z{f} = FO), k= 0, then £(0)= lim F(z) Proof: F@)=D se" = fz" + fz" + fQ)z7 +. = f+ 20, £0, Taking the limit 2 >, limF@)= £0) 15.4.7 Final Value Theorem 24/08} =F), then sim f(k) = lim(2- FU) Proof: 21100) = D/W=" = FO) a ZUfk+D} =D fe+)e = 3 seme" [Putting k-+1 = m] = 2D fomz*- 70) 2FQ)~2f00) @Wh Zeranstorm 159 Subtracting Eq. (1) from Eq. (2), 2F(2)-f (0) F(2)= Zi f(k=D}-ZO} 2f00) = SAse+)— jz (2-DFe) ‘Taking limit as 2-91 line DFO = D+ D- 0} =Him[/O- 1O1+ FQ)-FO}+F)- (@) +--+) F0)] = fim[ f+) - fO)]= fim /G]- FO jim £0) = lime -)(F@) 15.4.8 Convolution Theorem Ie Z4f 00} = F\2), ROC: R, and Z{/{09)} = F{2), ROC: R,, then ZEB) = F,2)-F,2) where 4(0)* f= S fonse-m= F Kon 4ce- Proof: We know that ZB) = Skye SE sonse-n fe ZARA LUD = 3 Changing the order of summation, Z6A (KY £00) Putting k— n= m ZK )* LU ROC: ROR, Example 1: Find transform of the folowing functions @ fi) =30')-43,k20 Gi) FD 0" Gi) F) Gv) SW)=sinak, #20 1 FF et 315.10, Bvginecering Mathematica ©) flk)=cosak, 20 (wii) $()=coshak, k20 i) F(R) msinGk+2), k20 (te (42), x20. (2). az0 soynco( E40), k20 @®) th Solution: (FH) =32°)-4G), ke0 Z4s0}= Sf" = Y[s2)-40y]z7+ ROC: |>3 Gi) f= a . ta Sate sSatet =(az+a*s +a2" + five Se | ROC: ajz|e+ Gi) f@)=2" ks-l 1 =z k=O, ¥ 244,Wh Zeranstorm a5. 2{f0)= 3 fie = Brea S ters lod lac, lee, fel> 4 bee, eS ll> 5 ROC: £<|zke2 2 w) f(k)=sinak, k20 As} = Bsebye* = Sosinak- = isin Po2eeosat ROC: f|>1 0) f(k)=cosak, k2015.12, Bvginecering Mathematica 2(f@0}=S foe = Yeorak et _ 2] _22-2cosa 2| F -2eeosa v1 Zeeosa tT ROC: [z[>1 wi F@)=sinhak, £20 Z2{suo}= dso" Ysishak zo “2 2sinh a | sinh oe #=2zcosha +1} ~2zeosha +1 ROC: |z [> 6" or |z [>15.13 BZ ensorm (vit) f(k)=coshak, k20 AI} = ZS We" = Deoshak-= (etre) vets sak ot gers Sets | > aa 2(z-cosha) —2zcosha +1 ] F-2zeosha tl 2 ROC: |z[pe" or fz be" si) flk)=sin@k+2), 20 Z{sin(3k-+2)} = Z(sin3k cos2+ cos3ksin2} = 0082-2 {sin 3k} +sin2-Z{cos3k) ssin3_), 4 _s(e~cos3)_| 2 jesin2{ 2-208 east) —Becos sei) x(sinl+ zsin2) F = 2ze0s3 1 ROC: |2|>1 @ sb)=co{ Za), ko (ke) kx kn) [os{ Eva] -z{eotzcose-sin tt sine} ts)15.14, Bvginecering Mathematica —zeosF |eosa ~ 2s 8 222008 a( kn) ®) He = sin (*) ROC: |z|>1 ‘Example 2: Find z-transform of the following functions: i) 2eoshak, k>0 @ at sink, k20 (ii) kat, k20 (iy) #20 () eo sinark, R20 (WD a5 (k-m, 20. Solution: 0 Z(sinak =n F2eeosa +1 By change of scale property, Za sinaky azsina zy Ty = 2azcosa+a® (J) -2lZ Jeon ROC: eI> kl 2(z-cosh a) z—2zcosha+1 By change of scale property, @ Z {cosh ak) =Wh Zeranstorm 15.5, Z{2 cosh ak) = \2) ROC: |z[>2e" or |2[> 2e"* Gi) Za’ By differentiation in z-domain property, Zika’} = 2 SZ a)= 2 ROC: (iv) ‘By differentiation in z-domain property, ZAR) = ZR} = S203] (=? -2e2-D]_ 2+) C7 ev ROC:|2|>1 co) 2{sinak) = By change of seale property, art etzsin a etzsina © Ze sinack} 2e"z)eosa+] Devzeosare wi) By time shifting property, 2{5(k—m)) = 2" Z18®)} ROC: Entire plane except 2= 0Wl Zerenstorm 38.17 () Fi)=Zul}=—, [a> A) 20004 wo} -2eeree{ 2} 0] ( ZAK) £40} = R2)-F@) =| ROC: [2|>1 Exercise 15.2 1. Find z transform of the following functions: 12" 3z 1. jass 2 L (1-2z)(z-2) 5 2 sn 2t vi] [ oo bt 3. cos 2k 6 f 2(z~-cos2) 1 est : al 2 | Jat Fan 4. oan 2Z 2 © 5 9. 32) +49" zsh recy , 2, | Ans: | l>2| 2ecosh= +1 U =2 FH | 3 5. cosh2k 10 oak 2(¢—cosh2) ‘Ans. azsinha FQazcoshata” Decosk T° | [21> lal" or [a}> Jah J AL, K(k =1)2* | Ans. @-32, Using convolution theorem, find z transform of f(k) * (8) for the following functions: 1. fiby=atudy: f= au 2 0-(2) ae > 4) am, [>a a @-ay J fa@=(5] 2. f(b) = Mlb f,(K) = hulk) 2 1 42° z ll> Ans,: 2 2 __ ga 12] [ epes-paeay’ | | Ans. . [Ameo e—3) 15.5 0 SE Z TRANSFORM If Z(1@)} = FC), then f(s called an inverse z transform of F(@) and symbolically vwritten as A= ZF) where 2 is called the inverse transform operator. Inverse = transform can be found by following method: (@ Long division Gi) Binomial Expansion (Gii) Partial fraction expansion 15.5.1 Long Division Case I: IC F(2) is given and ROC is |z| a, then a sequence in z is generated by dividing the numerator with denominator polynomial after rearranging the polynomial inthe descending powers of: Example 1: Find the inverse z transform of the following functions: ot ie @ |:1>a ©) I:l|a] 2e Fe =23 a's? =271a'}, k20 S(B)= 2a"), k>0 (b) ROC: |2|115.24, Bvginecering Mathematica 1 @ kEI<5 1 © F? © kel2 » © Bnew +13 (wit) (3-2) @ kl>3 @) |z|<2 © 23EB transform F(R) =-2! +34, 20 «a Fi)= ‘By partial fraction expansion, FG) z 4,8 eed Fe@=2 > ZF) = 22} (@) ROC: |z|>1 (b) ROC: |z|<4 1 ) ROC: $4 zfe1 © 4h 15.25 wo22 GF = A(z—2)' + B2-2\(2-3) + C23) a Patting z= 3 in Eq, (1), C24 Equating coefficient of ZE(2)} =97 iS waz" | ROC: [21> 3 F(k) =9(3')-8(2') —4k(2"), k20 Dek k20 w) 2 Az-De+2) By partial fraction expansion, FEA, BC A(z 1) (2 +2) + Be(2—1)(z +2) + Cole +2) + De(z 1° Q =0in Eq. (), at Putting z= 1 in Eq. (1),Wh Zeranstorm 1527 c 3 Putting 2 =-2 in Eq. (1), 5 “ie Equating coefficient of 2, A+B+D=0 D 3G-I Wed zige2er| ZHF@}15.28, Bvginecering Mathematica © GRE #4)’ F@)___z__ Zz (2+2\(2 +4) By partial fraction expansion, F)_ A, Be~C z gtd 244 2 Ale? +4) 4(Bz+ CW2+2) ~@ w) Fe) ki>2 Putting z = -2 in Eq. Patting z= 0 in Eq, (1), = 4442C fy =24-a(—-t © lega Equating coefficient of 0= A+B ZR = ROC: |z|>2 f= wi) FG)= Fe)Wh Zeranstorm 1529 =(e-a\(e—B) where a=. FQ) _ +4 2 (@-aye-B) By partial fraction expansion, Fe) 4, 8 3244 = A(z— f)+ B(z—a@) () Putting z = a in Eq, (1), ROC: [z|>1 flk)= Aa) +BiBy', 20 #2) el con int) ont ue a 4 8) Pe TR con BOE ig it “315.30, Bvginecering Mathematical (iy rey =22 HOES \2—2)+ Cx(z-2)+ De(e-3)) (0) ing. (1), 2(4)-10(2) + Equating coefficient of z' AsB+D=0 (@) ROC: |z|>3 By, 6 LH=-% tye2a dase tate Baayen ees a2! BP 5 og 13 =- S523 2 peo r+ 2)Wl Zerenstorm (b) ROC: |z|<2 fk | 8 k=0 = is Jae2s"? 24, ko (©) ROC:2<|z|<3 keo = fk +2937 a ko Exercises 15.3 1. Find the inverse z-transform of the following functions using long division method L z oy os (a) |2l>2 (a) [z|> 1 ©) beI<2 list Ans.:() @ 2", R21 )-2", eso Gi @, 20 @-Lk @lel>1 15.31 5(k)-2.382 =k 342 B5(-2.3* Kt 428 18 Ans, :(i) (a) -a ks 0 a, RET Chk +2 @ @-AME ico 2 de 2Vk~ Or 3. Find te inverse z-transform ofthe following functions using. partial fraction expansion method hE ) ese © Cae" (@-DE-3)15.92, Bvginecering Mathematica Ge) 1 Ans.:()) 22434, k20 G-E- Gi k2!, R20 (@) [e1<2 Gi) 2°43" k20 ® bl>3 Gey) -342", ko (© 2<11<3 O32", ke 2 0 | ko ) 2, |253 © wee! o- 252 Lo las wi) 25246.) 9 hae (= 35-3) = Sky + vE=3"" wi) 2) kel +78, <0 15.6 APPLICATION OF Z TRANSFORM. TO DIFFERENCE EQUATIONS ‘The z-transform is useful in solving difference equations with given initial conditions by using algebraic method. Initial conditions are included from the very beginning of the solution, Linear z near Algebraic “isiton | Transform "| eatation Selutionof | tyverse [Solution of Gifterence fe vem | “Aicthmie quation | 2Teansform| | Saton Example 1: Solve y(k-+2)~ Sp(k+ 1) + 69(8) =36,9(0) = (1) =0 (k+2)—Sy(k+ 1) + 6y(h) = 36 ‘Taking z transform of both the sides. Solutio: 2°Y(2)-2*y(0) ()] = STz¥ (2) - 2(0)]+ 6Y (2) = 36 (2-524 6)¥(2)=36—f (0) = yA) = 0) Ye) _ 6 2 (@=De=2-3)Wh Zeranstorm 15.38 By partial fraction expansion, Ye) _ 4 23-3 36= Ate ~2)(2—3) + Ble -IMz-3)+ Clee -2) wo Putting 2= 1 in Eq. (), 36=24 A=18 Putting 2=2 in Eq. (), B=-36 Putting z= 3 in Ea. (), 36=2C c=18 18 2-3 3618 p23 ‘Taking inverse z-transform of both the sides, 3{k) = 18-362) 186%), 20 Example 2: Solve y(k-+3)—3y(k + 1) ~ 290K) =0, 90) = 4, 9) =0, 92) =8 Solution: Taking z-transform of both the sides, [2 ¥(2)- 2" (0)- 2 y()—2y2)]-HeV (2) 2y(0)]+ 2¥ (2) = 0 [2 ¥(2)-42? ~82]-3[z¥(2)- 421+ 242) = 0 be 0) = 4, »)=0,92)=8] (2) -3242)/(2)=42'— 42 Ye) 42-4 2 past? GI E+D By partial faction expansion, me ¢ 2 ey 72 42-4 = Azz +2) + B(z+2)4+ (2-1 a Putting z= 1 in Eq. (), B Putting 2=~2 in Eg. (1), 12=9¢15.34, Bvginecering Mathematical Equating coeflicients of 2, 4=4+C Taking inverse z-transform of both the sides, 8 ko Example 3: Solve (+2) + 4y(k +1) + 4y(8) = Solution: Taking 2-transform of both the sides, [2¥(2)- 20) 200) + 42¥@)-a(O)]+ 442) Gy F0=0, =n) 1 =WEs2y G43F a= Iz+2)? + B(=+ 2) + C(z+ EW? + DI inEq.(), D zd G+) o Putting z= 0 in Eq, (1), 1=-44+4B+2C+D @ Equating coefficients of 2, A+C=0 8) Solving Eqs. (2) and (3), 7Wh Zeranstorm 1535, 2 d@- 27242 2110 1 1 sere 2 @e2y 22-1 2 Be 2 a ‘Taking inverse 2 transform of both the sides, 2 oy Spent wik)= k= 2 2 -3ec-2)', 20 ans:tary-2 (4) +3, bo FORMULAE i transform (4) Differentiation in = domain 4 ZAbf b) - 2 (5) Time shifting 2th 4 n)) = °F) Initial value theorem Fa= % soe Properties of the z-transform © (1) Linearity Z (afk) + bf} = aF (2) + BF (2) (0) = lim Fie) (2) Change of sale (0) Fina vloe theorem z@-#(2) lim f= time-DFE) (2) (3) ‘Time reversal (8) Convolution theorem (1) ZL AK) * £00} = F\@)-F@) zipeo)-#(3) (8) * £009) = F(e)-Ff2) MULTIPLE CHOICE QUESTIONS i Choose the correct altemative in each ofthe following: 1. The ROC of the stransform of the is oY @ dlel} F(R) =| k20 1 (©) zlsy (d) 2<|z|/<3Wh Zeranstorm 15.39 2. The s-ransform of the function is 7, Match list I with lis IT and select the tiven by answer using the codes given below. re-——__04 Lint Lint Ge 077362 0.156) wea) Its final valu is Mk ME @ 04 (b) 0 tyso 0 @1 @e (A) kat k20 Q) 3. The z-transform of function is z ® ek20 8) F@= 02 Ifthe ROC is [s|< 0.2, then the func» (S) KE-), k204) tion fis . @) (02), k20 Codes ®) (0.2), k<0 poe oR Ss © +02), £0 ® 2443 @) 02), 20 4 1 23 4, The z transform of (=n) is ® 1 3 4 2 @l &) = @ 3 2 1 4 OF @o 8. A finite length sequence has 5. The tansform Fe) ofasequencea "aay $s 022" e092! HOS. _f(8)is given by F(z) = 25. this The ROC of the z-transform is tat te ROC of Ry intdes Habeas ‘unit cirele. The value of x(0) is o faze aime ee Cana Oo ws a ©) (d) Entire z-plane except 2 6. The transform of f,(&) * £(f), when ® ” ” 4b) = au(h) and f.(R) = Buh) is 9. The region of convergence of exterior : of unit circle is represented by oS @ let) bat @=2G-) (© [zl<1 @ Noneof these zZ 10. The z transform of function w(k) with © Fae Gae-h @) —~__ ° (z-ayz-b) Answers L@ 20 30 40 5@ 60 72@ 5) 9%) 10.)Differential Formulae Appendix 4 (cosectx) = 16. 4 (eoseey = ) 74 wv 17, Lom =n 4 (a) = a'log 4 (u) — “ae Lee aoga 1s, 4 (4) a cos pony (cos x) =-sinx woos) 4 : 4 (tan x) = sect an? (ec x) = seox tan eee) 4 (coseex) =—cosee x cotx qe wosees) r (sins) wen) d Lortsy= 4 tan! 4 any an ae d 1 A Gor's) =- . (sec-tx) = poet) xP =1 u deIntegral Formulae I Appendix 2. I 1 frar= ey 16, [aeear= roa 2 J4ax=toeis| log (x + Via) = coatr+() 3. fedrne v7, Jae . Vera / 4. Jordr= log(rt Vi +a) =sintr() 5. Jeinnde=—coux 6 foossede «sine 1. ands = 1g cos 8. footx dx = og sins ws 9, fseerdx ~log(seex +tanx) 10, feosee dx ~ log eosees~eotx) U1, focetxar=tanx 12, feosee'xdx ——cot 13, fovextanzde = sex 14, eosecscotsdr = -cotecx » Xia +f topes Ve ae 3 > lout )© gle Pe) inbae (asin by - boos bx) (acos by + sin bx) 6. fuvdr = uf vax | ($e fvas) ax 27. freon sear Yor wnat nel 2 LO) ay = oy (x) 28, [FEF ar =o fe) 29. fel f(a)dx = eM 30. feL/+ sar = ef) 31 32, 33, 34, 35, 36, Bevgincering Mathematica Joint /01/"@dr =-c0s f09) Joos f(a] f(a dx = sins) Jrovar-fra-nar free froars | pea-nae J rear =2f foods, itfta)is even 0, if f(x) is odd frovax 2f sods ity) =f2a-9 -0, iff) -fea-»)