Digital Signal Processing

Lecture 7
Z Transform

Dr. Tahir Zaidi

z-Transform

Background-Definition

j
- Fourier transform X (e ) =  x[ n
n = −
]e − j n
extracts the essence of x[n]

but is limited in the sense that it can handle stable systems only.
X (e j ) converges if  | x[n] | 
i.e., stable system → Fourier Transform converges

- So, we want to extend it such that it can be used as a tool to

analyze digital systems in general.
 
j
Let X r (e ) =  ( x[n]r
n = −
−n
)e − jn

then it converges if  | x[ n ]r −n
| 
The condition for convergence is relaxed!

(e.g.) x[n] = 2 n u[n]

| X (e j ) |=|  2 n e − jn |→ 
1
| X r (e ) |=|  2 r e
j n − n − jn
|  2 r
n −n
=
2
1−
|r|

→ converges if | r | 2
- This implies that X r (e j ) can handle some systems that
X (e j ) cannot due to divergence.
- Therefore we define z-transform to be

j
X ( z ) = X r (e ) |re jw = z =  x[
n = −
n ] z −n

Representing the condition for convergence of X r (e j )

in terms of region of convergence RoC.

(e.g.) in case x[n] = 2nu[n]

X r ( e j ) exists for |r|>2.
So, RoC is |z| = |rej|>2.
In general, if x[n] = a nu[n]
RoC is za

- In terms of X (z ) ,
2
X (e jw ) is a special case
Where z = 1 , or r = 1
causal
(e.g.) x[n] = − a nu[− n − 1]
 −1
X ( z ) = −  a nu[− n − 1]z − n = −  a n z − n
n = − n = −
 
= − a z = 1 −  (a −1 z ) n
−n n

n =1 n =0

1 − a −1 z
= 1− =
−1
1 − a z 1 − a −1 z
1
=
1 − az −1 2=|a|

RoC : a z  1 , or z  a
−1
(e.g.) Two - sided sequence
1 n 1 n
x[n] = (− ) u[n] − ( ) u[− n − 1]
3 2

1 n − n −1 1 n − n
X ( z ) =  (− ) z −  ( ) z
n =0 3 n = − 2

1 1
= −
1 1
1 + z −1 1 − z −1
3 2
1 1
z , z 1/3 1/2
3 2
Some Common z-Transforms
(1)  [ n]  1 [all z ]
1
(2) u[ n]  [ z  1]
1 − z −1
(3) − u [ − n − 1]
1
 [ z  1]
1 − z −1
(4)  [n − m]  z −m [all z except 0, if m  0,
all z except , if m  0]
1
(5) n
a u [ n]  [z  a]
1 − az −1
1
(6) − a n u [− n − 1]  [z  a]
1 − az −1
az −1
(7) na n u[ n]  [z  a]
(1 − az −1 ) 2
 Properties of RoC

(1) in general 0  rR  RoC  rL  

(2) X (e jw ) absolutely converges  UC  RoC
(3) RoC cannot contain a pole
(4) FIR sequence → entire z plane, may be except for 0 or 
(5) Right-sided sequence → outward of the outermost pole
(6) Left-sided sequence → inward from the innermost pole
(7) Two-sided sequence →a ring in between two adjacent rings
(8) RoC is a connected region
(e.g.) If x[n] is a sum of 3 sequences whose poles
are a, b, c respectively,
There exist A possible RoCs as shown below

a b c

All right-sided All left-sided

a b c

two left-sided two right-sided

 z-Transform Properties
(1) Linearity
ax1[n] + bx2 [n]  aX 1 ( z ) + bX 2 ( z )

(2) Time shifting

x[n − no ]  z − no X ( z )
z −1 1 1
 z −1  → ( ) n u[n] and delay -1
1 −1 1 −1 4
(e.g.) 1 − z 1 − z
4 4 1
z
1 n −1 4
→ ( ) u[n − 1],
4
 z-Transform Properties..(cont.)
(3) Multiplication by an Exponential Sequence
z
z x[n]  X ( )
n
o
zo
z = e jw
(e.g.) (e jw ) n x[n]  X (e − jw  z )
o o
→ X (e j ( w − w ) )
o

n
r
(e.g.) r n cos wo n  u[n] = [(e jwo ) n + (e − jwo ) n ]u[n]
2
1
= [(re jwo ) n + (re − jwo ) n ]u[n]
2
1 1 1
 [ −1
+ − jwo −1
]
2 1 − re  z
jw
1 − re z
1 − r cos wo z −1
= −1 2 −2 z r
1 − 2r cos wo z + r z
z-Transform Properties..(cont.)
(4) Differentiation of X(z)
d
nx[n]  − z x[ z ] RoC = Rx
dz
−1
(e.g.) X ( z ) = log(1 + az ) za
dX ( z ) − az − 2
=
dz 1 + az −1
d az −1 −1 1
− z X ( z) = −1
= az 
dz 1 + az 1 + az −1
nx[n] = a (− a ) n −1 u[n − 1]
n −1 an
x[n] = (−1) u[n − 1]
n
z-Transform Properties..(cont.)
(5) Conjugation of Complex Sequence
x * [ n]  X * ( z * ) RoC = RX

(6) Time-Reversal
1 1
x [ − n]  X ( * )
* *
RoC =
z RX
1
x[− n]  X ( )
z

(7) Convolution-Integration
x1[n] * x2 [n]  X 1 ( z ) X 2 ( z )
 Inverse z-Transform
4-Ways:
 Inversion by Contour Integration
• Cauchy integral definition of the inverse z-Transform

• Example: Inverse DTFT

• Implies.. Contour C is chosen as unit circle
 Inversion Method -1
Concept of Partial Fraction Expansion-
 Inversion Method
Concept of Partial Fraction Expansion Inversion-
1. Find partial fraction expansion method in third
equivalent form

2. Invert by expansion
Doing the Partial Fraction Expansion
Doing the Partial Fraction Expansion-2
Writing Down x[n]
X[n] depend on knowing the ROC
 Example- ROC
If x[n] is a sum of 3 sequences whose poles
are a, b, c respectively,
There exist A possible RoCs as shown below

a b c

All right-sided

a b c

two left-sided
Example- Partial Fraction
Long Division
Finding the coefficients of Poles
Writing Down x[n]
Partial Fraction Expansion in MATLAB
Selected z-Transform Theorems
An IIR System
IIR Frequency Response
System Function Of a Difference Equation
H[z] and h[n]
Frequency Response of a DE
LTI System Characterization
 Stability, Causality- illustration
1 n
(1) x[ n] = ( ) u[ n]
2

① Causal
②
. Stable

1 n −n = 1
X ( z) =  ( ) z 1 −1
n =0 2 1 − z
2
1
RoC : z 
2 1
1 1
2 1

① Outward
2

② UC RoC
 Stability, Causality- illustration..(cont)
1 n
(2) x[ n] = −( ) u[ − n − 1] ① Anti Causal
2
② Unstable

−1
1 n −n 1
X ( z) =  − (
2
) z =
1
n = −
1 − z −1
2
1
ROC : z  1
2 2
1

① Inward 2

② UC  RoC
 Stability, Causality- illustration..(cont)
(3) x[ n] = ( 2) u[ n]
n

① Causal
② Unstable


1
X ( z) =  2 zn −n
=
n =0 1 − 2 z −1
• RoC : z  2

① Outward
② UC RoC
1 2
1 2
 Stability, Causality- illustration..(cont)
(4) x[ n] = −2 n u[ − n − 1]
① Anti Causal
② Stable

−1
1
X ( z) =  z =
− 2 n −n

n = − 1 − 2 z −1

RoC : z  2
1 2

① Inward
② UC RoC
What do you find?