N M K 2 0 5 0 3 - S I G N A LS A N D S Y S T E MS

Chapter 4
Z-Transform and Applications
Dr. Ismahayati Adam
Content
❖ Introduction
❖ Definition of 𝑍-Transforms
❖ Region of Convergence (ROC)
❖ 𝑧-Transforms Tables
❖ 𝑧-Transforms Properties
❖ LTI System Applications
❖ Transfer Function

❖ Inverse 𝑧-Transforms

❖ Complex Poles

❖ Causality

❖ Stability
 Evaluate the Z-transform:
- Convergence and properties
- Evaluation of Z-transform of simple functions and sequences
- Inverse Z-transform using power series and partial fractions
- Transfer functions of causal discrete time systems

Z-Transform- Analyze poles and zeroes

Expected - Stability in the Z-domain
- Relation between Z-transform and Laplace transform
Outcome

Laboratory:
Lab 5: Z-Transform and Applications
Why Z-transform needed
• The 𝑧-Transform (ZT) is a general transform used for discrete-
time signals.
• The 𝑧-Transform is an important signal-processing tool for
analyzing the interaction between signals and systems.
• The discrete-time Fourier Transform (DTFT) has limitations –
valid for signal with finite energy & periodic
• By ZT we can analyze wider range of systems comparing to
Fourier Transform (periodic, increasing, decreasing etc)

What is the limitations of DTFT ?

 Generalize Continuous time
Laplace signal for un-integrable
signal

Integrable continuous time

signal
Finite and Periodic discrete time Fourier
signal

Z
Discrete time signal for a wider range
(infinite or un-periodic)
𝒛-Transform Definition
The Bilateral (two-sided) z-transform of a discrete-time function
f[n] is :

𝑋 𝑧 = ⋯ + 𝑥[−2]𝑧 2 + 𝑥[−1]𝑧 + 𝑥[0] + 𝑥[1]𝑧 −1 + 𝑥[2]𝑧 −2 + …

The Unilateral (single-sided) 𝑧-transform of a discrete-time function

In general, 𝑧 is complex, with 𝑧 = 𝑟𝑒 𝑗ω and 𝑥 𝑛 ⟷ 𝑋(𝑧)

Region of Convergence (ROC)
Note that:𝑋(𝑧) exists only for a specific region of 𝑧 which is called Region of
Convergence (ROC)
ROC : is the 𝑧 = 𝑟𝑒 𝑗𝜔 by which 𝑥[𝑛]𝑟 −𝑛 converges :𝑧
∞
= 𝑟𝑒 𝑗𝜔
𝑠. 𝑡. ∑ |𝑥[𝑛](𝑟𝑒 𝑗𝜔 )−𝑛 | < ∞ , note|𝑒 𝑗𝜔 | = 1
𝑛=−∞
∞
𝑗𝜔 −𝑛 ROC does NOT depend on ω
𝑧 = 𝑟𝑒 𝑠. 𝑡. ∑ |𝑥[𝑛]𝑟 |<∞ ROC is absolute summability
𝑛=−∞
condition of 𝑥[𝑛]𝑟 −𝑛

= 1, 𝑧 = 𝑒 𝑗𝑤 then X(𝑧) = 𝑋(𝜔) : ZT=DTFT

If 𝑟
ROC is shown in 𝑧 − 𝑝𝑙𝑎𝑛𝑒
𝑧-Transform Expression
Express Z-transform in closed form (not as a series) because of the
resulting simplifications in manipulating these transforms.
Recall : convergence power series and unit step function
The convergence power series:
∞ 1
∑ 𝑎𝑛 = 𝑎0 + 𝑎1 + 𝑎2 +. . . = , |𝑎| < 1
𝑛=𝑜 1−𝑎

The Discrete-time unit step function,

1,𝑛≥𝑛0
𝑢[𝑛 − 𝑛0 ] = {0,𝑛<𝑛0
𝑧-Transform Examples
Consider Right-handed 𝑧-Transform.
Let 𝑥[𝑛] be causal signal given by:
𝑥[𝑛] = 𝑎𝑛 𝑢[𝑛]
∞ ∞ ∞
𝑋(𝑧) = ∑ 𝑎𝑛 𝑢[𝑛]𝑧 −𝑛 = ∑ 𝑎𝑛 𝑧 −𝑛 = ∑ (𝑎𝑧 −1 )𝑛 𝑋(𝑧)
𝑛=−∞ 𝑛=0 𝑛=0
∞
−1 𝑛
1 𝑧
= ∑ (𝑎𝑧 ) = −1
= , |𝑧| > |𝑎|.
𝑛=0 1 − 𝑎𝑧 𝑧−𝑎

The transform pair:

ROC is defined by |𝑎𝑧 −1 | < 1 or|𝑧| > |𝑎| :
𝑧-Transform Examples
Consider Left-handed 𝑧-Transform. 𝑢[−𝑛 − 1] 1

Let 𝑦[𝑛] be anti-causal signal given by:

…
𝑦[𝑛] = −𝑎𝑛 𝑢[−𝑛 − 1] -3 -2 -1
∞ −1
𝑌(𝑧) = ∑ − 𝑎𝑛 𝑢[−𝑛 − 1]𝑧 −𝑛 = ∑ − 𝑎𝑛 𝑧 −𝑛 𝑌(𝑧) = −(𝑎−1 𝑧1 + 𝑎−2 𝑧 2 + 𝑎−3 𝑧 3 +. . . )
𝑛=−∞ 𝑛=−∞
∞ ∞ 𝑧 𝑧
= ∑ − (𝑎 −1𝑧)𝑛 = ∑ − ( )𝑛 , 𝑤ℎ𝑒𝑟𝑒| | < 1, |𝑧| < 1
𝑛=1 𝑛=1 𝑎 𝑎
∞
𝑛
1 𝑎 𝑎−𝑧−𝑎 −𝑧 𝑧
= ∑ 1 − (𝑧/𝑎) = 1 − ( )=1−( )=( )= =
𝑛=0 1 − 𝑧/𝑎 𝑎−𝑧 𝑎−𝑧 𝑎−𝑧 𝑧−𝑎

𝑧
Therefore 𝑌(𝑧) = , |𝑧| < |𝑎|
𝑧−𝑎
 𝑧
𝑌(𝑧) = , |𝑧| < |𝑎|
𝑧−𝑎

ROC is defined by |𝑧/𝑎| < 1 or|𝑧| < |𝑎|

ROC (cont. )

❑ Right-sided signal x[n] = 0 for k < 0

𝑧 >𝑟+

❑ Left-sided signal x[n] = 0 for k ≥ 0

𝑧 < 𝑟_

❑ Two-sided signal – both directions

𝑟+ < 𝑧 < 𝑟_
𝑧-Transform Examples

Z-Transform Example #1 - Z-Transform Part 1 (Adam Panagos)

https://www.youtube.com/watch?v=eeCiXEaVYcg&t=0s

Z-Transform Example #2 - Z-Transform Part 1 (Adam Panagos)

https://www.youtube.com/watch?v=PbUprYe-a7o

Z-Transform Example #3 -Z-Transform Part 1 (Adam Panagos)

https://www.youtube.com/watch?v=TVJr6w5E88k
 𝒛-Transform Tables

]
𝑧-Transform Properties

]
ROC & Poles Zeros Plot
𝑄(𝑧) Poles; when P(z)=0
𝑋 𝑧 =
𝑃(𝑧) Zeros, when Q(z) =0

𝑧
Example: 𝐻 𝑧 = 1 3
𝑧− 𝑧+
2 4

ROC
3/4
1/2 1
𝑧 >
2
3 3
Z<− @ 𝑧 >
4 4
zero
LTI SYSTEM APPLICATIONS
Transfer function 𝐻(𝑧)
𝑌(𝑧)
𝐻(𝑧) =
𝑋(𝑧)

𝑋(𝑧) 𝑌(𝑧) = 𝑋(𝑧)𝐻(𝑧)

𝐻(𝑧)
LTI SYSTEM APPLICATIONS

Example : Transfer function 𝐻(𝑧) of a discrete system

LTI SYSTEM APPLICATIONS
Inverse 𝑧-Transform
THREE Procedures for finding the inverse 𝑧-Transform:

First Procedure : complex inversion integral. However this integration

is in complex plane and is usually too complicated to be of practical
value.

Second Procedure: Partial Fraction Expansion (PFE)

Third Procedure : Long Division

LTI SYSTEM
APPLICATIONS
Second
Procedure:
Partial
Fraction
Expansion
(PFE)
LTI SYSTEM APPLICATIONS
Third Procedure: Inverse z-transform by long division
LTI SYSTEM APPLICATIONS
LTI SYSTEM APPLICATIONS : Complex Poles

𝑄(𝑧) 𝑘1 𝑧 𝑘1∗ 𝑧 −𝑏 ± 𝑏 2 − 4𝑎𝑐

𝑌 𝑧 = 𝑧−𝑝1 𝑧−𝑝1∗
= 𝑧−𝑝1
+𝑧−𝑝∗ 𝑃𝑜𝑙𝑒𝑠 =
2𝑎
1
LTI SYSTEM APPLICATIONS : Complex Poles
Causality of LTI System Applications

A discrete-time LTI system with the function 𝐻(𝑧) is causal if only if

the ROC is the exterior of a circle outside the outermost pole.

]
Right hand-sided signal
ROC
Stability of LTI System Applications

A discrete-time LTI system is stable if and only if the ROC of its

system function 𝐻(𝑧) includes the unit circle |𝑧| = 1
|𝑧| = 0.5

ROC |𝑧| = 2
 Causality and Stability of LTI System Applications
A Causal discrete-time LTI system with function 𝐻(𝑧) is stable and causal if and
only if all the poles of 𝐻(𝑧) lies inside the unit circle, |𝑧| = 1. i.e., all the poles
must all have magnitude smaller than 1.
|𝑧| = 0.5(𝑝𝑜𝑙𝑒) |𝑧| = 0.75(𝑝𝑜𝑙𝑒)

ROC

|𝑧| = 1

https://www.youtube.com/watch?v=WoPB-s6V8X0&t=21s
Exercises: Find the 𝑧-Transform of : right

ROC 𝑋(𝑧)

ROC 𝑌(𝑧)

left
Exercises:

]
Exercises:
Express the bilateral z-transform of given function in closed form

1 SOLUTION:
− 10 ≤ 𝑛 ≤ 0
2 0 10
1 1
𝑥𝑛 = 𝑥𝑛 =෍ +෍
1 2 4
1 ≤ 𝑛 ≤ 10 −10 1
4 10
0 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒
𝑋 𝑧 = ෍ 𝑥 𝑛 𝑧 −𝑛
−10

1 1 1 1 1 1 1 1
𝑋 𝑧 = 𝑧10 + 𝑧9 + 𝑧 8 +…+ 𝑧+ + 𝑧+ 𝑧 −2 +… + 𝑧 −10
2 2 2 2 2 4 4 2
Exercises:
Find the Inverse Z-transform

2 + 2𝑧 −1 for
𝑋 𝑧 = 1< 𝑧 <3
1 + 3𝑧 −1 1 − 𝑧 −1
 Exercises: 2 + 2𝑧 −1
Find the Inverse Z-transform 𝑋 𝑧 =
1 + 3𝑧 −1 1 − 𝑧 −1

Solution: 2 + 2𝑧 −1 𝐴 𝐵
𝑋 𝑧 = = +
1 + 3𝑧 −1 1 − 𝑧 −1 1 + 3𝑧 −1 1 − 𝑧 −1

2+2𝑧 −1 2+2𝑧 −1
𝐴= |for 𝑧 −1 = −1/3
=1 𝐵= |for 𝑧 −1 = 1
=1
1−𝑧 −1 1+3𝑧 −1

2 + 2𝑧 −1 1 1
𝑋 𝑧 = = +
1 + 3𝑧 −1 1 − 𝑧 −1 1 + 3𝑧 −1 1 − 𝑧 −1
Using Z-transform table 1 1
⇒ −3𝑛 𝑢 −𝑛 − 1 ⇒𝑢 𝑛
1 + 3𝑧 −1 1 − 𝑧 −1

Thus, the inverse of X(z) is

x 𝑛 = −3𝑛 𝑢 −𝑛 − 1 + 𝑢 𝑛