Z-transform

Analysis of continuous time signal and LTI system Laplace’s transform

Analysis of discrete time signal and LTI system Z-transform
x(n) = discrete time signal in time domain
X ( z ) = discrete time signal in z-domain (z=complex)

Z {x(n)} = X ( z ) = 
n =−
x ( n) z − n

Infinite power series

Exists only for the values of z for which the
power series converges
ROC: (Region of convergence)

ROC of X(z) is the set of values of z for which X(z) attains a finite value

* Always mention ROC while z-transform is cited

Example 3.1.1
Find Z-transform of the signal

(a) x1 (n) = 1, 2,5, 7, 0,1



n = 0:5
5
X ( z ) =  x ( n) z − n
n =0
−1 −2 −3 −5 Coefficients represents
= 1 + 2 z + 5z + 7 z + z values of x(n) at n=0:5

See also Example 3.1.2

z = re j (complex)


X ( z) = 
n =−
x ( n) z − n

= 
n = −
x(n)r − n e − j n

x(n) ' s Z-transform exists if there is ROC, where X ( z )  

Example 3.1.3
Determine the z-transform of the signal
 n
, n0
x ( n) =  n u ( n) = 
0, n<0

  
X ( z) =  x ( n) z
n =−
−n
=  z
n =0
n −n
= ( z −1 ) n
n =0
 
 X ( z) =  ( z
n =0
−1 n
)   ( z −1 ) n
n =0

for X ( z ) to be stable it is required that  z −1  1  z  

1
then X ( z ) =
1 −  z −1
1
 x ( n) =  n u ( n)  X ( z ) = ROC: z  
1 −  z −1
 Example 3.1.4
Determine the z-transform of the signal
 n , n  0
x ( n) =  u ( n) = 
n

0, n<0

1
x(n) = − nu (−n − 1)  X ( z ) = ROC: z  
1− z −1

Conclusion A discrete time signal x(n) is uniquely determined by X ( z ) and it's ROC

Try example 3.1.5

 
X ( z) =  x ( n) r
n =−
− n − j n
e

 
n =−
x(n)r − n e − j n

= 
n =−
x ( n) r − n
−1 
 X ( z)  
n =−
x ( n) r −n
+  x ( n) r − n
n =0
 
x ( n)
  x ( − n) r +  n

n =1 n =0 rn

x ( n)
if x(−n)r n ,1  n   if ,0  n  
rn ROC exists if r2  r  r1
absolutely summable
absolutely summable

r  r1 , r1   r  r2
 ROC depends on
1) Duration of x(n)
2) whether x(n) causal/ anti causal/ two sided
 Properties of Z-transform
1) Linearity:

x1 (n)  X 1 ( z )
x2 (n)  X 2 ( z )
then a1 x1 (n) + a2 x2 (n)  a1 X 1 ( z ) + a2 X 2 ( z )

See example 3.2.1, 3.2.2

2) Time shifting:
x ( n)  X ( z )
x(n − k )  z − k X ( z )
ROC of z − k X ( z ) = ROC of X ( z ) except z = 0, if k  0
z = , if k  0

See example 3.2.3, 3.2.4

3) Time reversal:

x ( n)  X ( z ) ROC: r1  z  r2
1 1
x(−n)  X ( z −1 ) ROC:  z 
r2 r1

Try the proof and example 3.2.6

4) Scaling in the z-domain:

x ( n)  X ( z ) ROC: r1  z  r2
a n x(n)  X (a −1 z ) ROC: a r1  z  a r2

Proof:
 
Z {a x(n)} =
n

n =−
n
a x (n) z −n
=  x(n)(a −1 z ) − n =X (a −1 z )
n = −

ROC: r1  a −1 z  r2  a r1  z  a r2

See example 3.2.5

5) Differentiation in the z-domain:

x ( n)  X ( z )
dX ( z ) ROC: same
nx(n)  − z
dz

Proof:

d (  x ( n) z − n ) 
dX ( z )
dz
= n =−
dz
=  x(n)(−n) z
n =−
− n −1


= −z −1
 nx(n) z
n = −
−n
= − z −1 X {nx(n)}

Try example 3.2.7 and 3.2.8**

6) Convolution of 2 sequences**:

x1 (n)  X 1 ( z ) & x2 (n)  X 2 ( z )

x(n) = x1 (n) * x2 (n)  X ( z ) = X 1 ( z ). X 2 ( z )


 x (k ) x (n − k )
Proof:
x(n) = x1 (n) * x2 (n) = 1 2
k =−

Z {x(n)} = Z {  x1 (k ) x2 (n − k )}
k =−
 
=  [  x (k ) x (n − k )]z
n =− k =−
1 2
−n

 
=  x1 (k )  x2 (n − k )z − n
k =− n = −
X 2 ( z ).z − k
 
= 
k =−
x1 (k ) X 2 ( z ) z −k
=X 2 ( z )  x1 (k ) z − k =X 2 ( z ) X 1 ( z )
k =−

Try example 3.2.9

7) Correlation of 2 sequences:

x1 (n)  X 1 ( z ) & x2 (n)  X 2 ( z )


rx1x2 (l ) = 
n =−
x1 (n) x2 (n − l )  Rx1x2 ( z ) = X 1 ( z ). X 2 ( z −1 )

x1 (l ) * x2 (−l )  X 1 ( z ) X 2 ( z −1 )

Time reversal
Try example 3.2.10
8) Initial value theorem:

if x(n) causal then x(0) = lim X ( z )

z →

Proof: 
X ( z ) =  x(n) z − n = x(0) + x(1)z −1 + x(2) z −2 +
n =0

as z → , z − n → 0 0
Rational Z transform

X ( z ) → ratio of 2 polynomials in z −1 or z
N ( z ) b0 + b1 z −1 + b2 z −2 + + bM z − M
i.e. X ( z ) = =
D( z ) a0 + a1 z −1 + a2 z −2 + + aN z − N
M zeros

N −M
 (z − z )
k
b0
=Gz k =1
, where G 
N a0
 (z − p )
k =1
k

Poles
Poles never reside in ROC of
Poles: values of z for which X ( z ) =  X(z)

Zeros: values of z for which X ( z ) = 0

**Poles & Zeros may also occur at z = 0 & at z = 

Graphical representation of X(z)

Poles: X

Zeros: O

Fig : pole zero plot of x(n) = a nu (n)

Example 3.3.2 & example 3.3.3***

System Function of an LTI system
Y ( z) = H ( z) X ( z)
Y ( z)
 H ( z) = System function
X ( z)
From the definition of z-transform

H ( z) =  h( n) z
n =−
−n

H ( z ) calculation for the system described by linear constant coefficient difference equation:

N M
y ( n) = −  a k y ( n − k ) +  b k y ( n − k )
k =1 k =0

Taking z-transform on both sides

M

Y ( z) k
b z −k

= H ( z) = k =0
N
1 +  ak z − k
X ( z)
k =1
 M

Y ( z) b z k
−k

= H ( z) = k =0
N
1 +  ak z − k
X ( z)
k =1

if ak = 0, 1 k  N
M M
1
H ( z ) =  bk z −k
= M k
b z M −k All zero system (M trivial poles at z=0 and
k =0 z k =0 M nontrivial zeros)

if bk = 0, 1 k  M
b0 b0 z n All pole system (N trivial zeros
H ( z) = N
= N
, a0  1
at z=0 and N nontrivial zeros)
1 +  ak z −k
a z k
−k

k =1 k =0

Example 3.3.4
Inverse Z-transform

1) From inspection Look for similarity with any familiar form

(Table 3.3)

2) By power series expansion

Example 3.4.2
Determine the inverse z-transform of
1
x( z ) =
1 − 1.5 z −1 + 0.5 z −2
when
(a) ROC: z  1
(b) ROC: z  0.5
( a ) ROC : z  1  x(n) is expected to be causal

Seek a power series expansion in negative power of z

1 3 −1 7 −2 15 −3 31 −4
X ( z) = = 1+ z + z + z + z
3 −1 1 −2 2 4 8 16
1− z + z
2 2
3 7 15 31
 x(n) = {1, , , , , }
2 4 8 16

( b ) ROC : z  0.5  x(n) is expected to be anticausal

Seek a power series expansion in positive power of z

1
X ( z) = = 2 z 2 + 6 z 3 + 14 z 4 + 30 z 5 + 62 z 6 +
3 −1 1 −2
1− z + z
2 2
x(n) = { 62,30,14, 6, 2, 0, 0}
 3) By partial fraction expansion

1) Distinct Poles (real)

A1 A2 AN
X ( z) = + + +
1 − p1 z −1 1 − p2 z −1 1 − pN z −1
inverse z-transform of each of the terms

−1  1  
 ( p ) n
u (n), if ROC: z  pk causal
=
k
Z  −1 
1 − pk z  −( pk ) u (−n − 1), if ROC: z  pk
n
anticausal

x(n) =( A1 p1n + A2 p2 n + + AN pN n )u (n)

2) Distinct Poles (complex conjugate)

A1 = A1 e j
A1 A2
X ( z) = +
1 − p1 z −1 1 − p2 z −1 p1 = re j
A2 = A1* , p2 = p1* x(n) = A1 r n e j (  n + )  + e − j (  n + )u (n)
inverse z-transform
=2 A1 r n cos(  n +  )u (n)
x(n) =  A1 ( pk ) n + A1* ( pk * ) n  u (n) if causal
3) Multiple Poles (real)

 pz −1 
−1
Z  −1 2  = np n
u (n) if causal (Double real poles)
 (1 − pz ) 

Example 3.4.10
Example 3.4.8
Determine the inverse z-transform of
1
x( z ) =
1 − 1.5 z −1 + 0.5 z −2
when
(a) ROC: z  1
(b) ROC: z  0.5
(c) ROC: 0.5  z  1
Pole Location & Time Domain Behavior for Real Causal Signal

General form in time domain

Time domain behavior

Stability

Pole location Relative to unit circle

Inside the circle z 1

On the boundary of the circle z =1

Outside the circle z 1

Case 1: one pole (Real) x ( n) = a n u ( n)
(a) z 1

Positive pole

Negative pole
Case 1: one pole (Real)

(b) z =1

Positive pole

Negative pole
Case 1: one pole (Real)

(c) z 1

Positive pole

Negative pole
Case 2: two poles (Identical & Real) x(n) = na nu (n)
(a) z 1

Positive pole

Negative pole
Case 2: two poles (Identical & Real) x(n) = na nu (n)
(b) z =1

Positive pole

Negative pole
Case 2: two poles (Identical & Real) x(n) = na nu (n)
(c) z 1

Positive pole

Negative pole
Case 3: two poles (Complex conjugate) x(n) = r n cos 0 n u (n)

r 1

r =1

r 1