DSP 2018 Lecture 2

z-
Transform(ZT)
Outline
1. Types of Z-Transform
2. Region of Convergence (ROC)
3. Poles and Zeros
4. Properties of ROC
5. Some Common z-Transform Pairs
6. Inverse Z-transform
7. Z-Transform Properties
8. Impulse response and Convolution Sum
9. Convolution properties
10.Correlation
03/02/23 Aline RUHUMURIZA 2

The z-Transform: Introduction
The The Z-transform is a tool used to analyze and design the
DSP element in sampled data system. It converts a discrete
time-domain signal, a sequence of real or complex
numbers into in the z-domain ( z is a complex variable).
z-transform (ZT) : used to simplify discrete time systems,
e.g., digital signal processing and filter design by its pole-
zeros locations.

The z-Transform: Introduction
The z-transform plays a similar role in discrete-
time systems to that which the Laplace
transform plays in continuous-time systems.
Applications of the z-transform include
 Its use to describe discrete-time signals and
systems
 Analysis of the degree of stability of discrete-
time systems
 Analysis of quantization errors in digital
filters
 Computation of the frequency responses of
discrete-time systems.
Types of z-Transform
Bilateral z-transform or two sided

X ( z)   x[n]z
n  
n
Unilateral z-transform, single sided or right sided:

in causal systems

Region of Convergence (ROC)
The ROC of X(z) is the sets of values of z for which
the Z-transform summation converges, i.e. the
sets of values of z for which X (z) attains a finite
value. In z-plane, ROC corresponds to a circle
with a radius of unity . Any time, it is required to
calculate the algebraic expression and indicate its
ROC. Im
Unit circle z-plane
ω
1 Re

Example 1
Expanding on the interval it becomes
ROC is
X(z) has a zero at z = 0 and a pole at z = 0.5

Example 2: Let the signal
Determine x[n] and its Z-transform
The z-transform of x[n] is the infinite power series

n
1 1 1
Xz   z   xn    un
1 1 2 2
1 z
2
X(z) has a zero at z = 0 and a pole at z =
ROC (region of convergence)

is bounded by poles.

Poles and Zeros
When X(z) is a rational function, i.e., a ration of
polynomials in z, then:
1. The roots of the numerator polynomial are
referred to as the zeros of X(z): the values of z’s
such that X(z) = 0
2. The roots of the denominator polynomial are
referred to as the poles of X(z): the values of z’s
such that X(z) = 
3. The region of convergence is bounded by poles.

ZT : Unit Impulse Sequence &Unit
Step
ROC consists of the entire z-

plane, including z = 0 and z = ∞


 [n  1]    [n  1]z
ZT n
z 1
n  
ROC: entire z-plane, including z = ∞ but excluding z =

0. 
 [n  1]  ZT
  [n  1]z
n  
n
z
ROC: entire z-plane, including z = 0 but excluding z =
∞.03/02/23 Aline RUHUMURIZA 12
z-Transform
The z-transform of a sequence x[n]is defined as

X ( z )  {x[n]} 
Example  x[ n
n  
] z n
x[ n]  a n u[ n]
 
,a

1 | z || a |
X ( z )  {x[n]}   x[n]z   u[n]z   (az ) 
n n n 1 n
1
• z-transform
n   is reduced
n   to discrete-time
n 0 1  az
Fourier
transform (DTFT) if is substituted by z .
j
e
• This means that z-transform on the unit-circle on
the complex plain is same as DTFT. z
• z-Transform  DTFT

Relationship Between FT and ZT
The following Eq.(1) and (2) are FT and ZT,
respectively.
FT
ZT
Replacing , ZT will become FT

X (ω )exists only when
Example 3
n
x[n]   u[n].
  n
X ( z)   n
.
u[n]z n
 z  1
n   n 0 n

 1
For convergence of X(z), we require
n 0
 z 
n

1 z
X ( z)    z  1
 
1 z 1

z 
, z 
n 0
Im
Unit circle
z-plane
Clearly, X(z) has a zero at z =
a1 Re 0 and a pole at z = α
Example 4
Consider a signal that is the sum of two real
exponentials: n n
1 1
x[n]  7  u[n]  6  u[n].
The z-transform is then  3  2
 n  n
1 1
X ( z)  7  n
  u[n]z  6
n    3 

  u[n]z
n    2 
n
7 6
  1
1 z 1
3
1
1 z
1
2

Im
z z  32  z  1
 2
1/3 1/2 1 3/2 Re
z  13 z  12 
X (z) has zeros at z = 0 and z = 3/2
03/02/23
poles at z = 1/3 and z = 1/2
Aline RUHUMURIZA 17
z-transforms of finite-duration signals
By definition, X(z) is a power series where z is a

a)complex
X1(z) = 1 variable.
+ 2z-1 + 5z-2 + 7z-3 + z-5 , ROC : entire z-plane
except z = 0
b) X2(z) = z2 + 2z + 5 + 7z-1 + z- 3 , ROC: entire z-plane
except z = 0 and z =
Properties of ROC
Property 1: The ROC of X(z) consists of a ring in
the z-plane centered about the origin.
Property 2: The ROC does not contain any poles.
Property 3: If x[n] is of finite duration, then the

ROC is the entire z-plane, except possibly z = 0
and/or z = ∞.

Properties of ROC
Property 4: If x[n] is a right-sided sequence,
and if the circle z  r0 is in the ROC, then
all finite values of z for which z  r0 will
also be in the ROC. Im
z-plane
Re

Properties of ROC
Property 5: If x[n] is a left-sided sequence, and if
the circle z  r0 is in the ROC, then all
0  z  r0
values of z for which will also be
Im
in the ROC.Im
z-plane
z-plane
Re Re
Property 6: If x[n] is two sided, and if the circle

z  r0 is in the ROC, then the ROC will consist
of a ring in the z-plane that includes the circlez  r0
Property Properties of ROC. 7
If the z transform X (z) of x[n] is rational, then
its ROC is bounded by poles or extends to
infinity
Property 8:
If the z-transform X(z) of x[n] is rational, and if
x[n] is right sided, then the ROC is the region in
the z-plane outside the outermost pole ― i.e.,
outside the circle of radius equal to the largest
magnitude of the poles of X(z). If x[n] is causal,
then the ROC also includes z = ∞.

Properties of ROC
Property 9:
If the z-transform X(z) of x[n] is rational, and
if x[n] is left sided, then the ROC is the region
in the z-plane inside the innermost nonzero
pole ― i.e., inside the circle of radius equal
to the smallest magnitude of the poles of X(z)
other than any at z = 0. In particular, if x[n] is
anticausal, then the ROC also includes
z = 0.

Properties of ROC
• A ring or disk in the z-plane centered at the origin.
• The Fourier Transform of x(n) is converge
absolutely iff the ROC includes the unit circle.
• The ROC cannot include any poles
• Finite Duration Sequences: The ROC is the entire z-
plane except possibly z=0 or z=.
• Right sided sequences: The ROC extends outward
from the outermost finite pole in X(z) to z=.
• Left sided sequences: The ROC extends inward from
the innermost nonzero pole in X(z) to z=0.
Example 6
Consider all of the possible ROCs that can be
connected with the function
1
X ( z)  .
 
1 1
1  3 z 1  2z 1


Some Common z-Transform Pairs

Inverse Z-transform
To find the sequence x [ n ] from its z-transform
X(z) is called the inverse z-transform.
1

n 1
x[n]  X ( z ) z dz
2j
The symbol  denotes integration around a
counterclockwise circular contour centered at
the origin and with radius r.
Inverse Z-transform
Ways for resolving the Inverse Z transform
• Inspection method
• Partial fraction expansion
• Power series expansion
1.Inspection Method
• Make use of known z-transform pairs such as
Some Common z-Transform Pairs
Inverse Z-transform
1.Inspection Method
Make use of known z-transform pairs
such as:
1
a un 
n Z
 1
z  a
1  az
Example 7: The inverse z-transform of

n
1 1 1
Xz   z   xn    un
1 1 2 2
1 z
2
Example 7
Consider the z-transform
2 1
X ( z )  4 z  2  3z , 0  z  .
From the power-series definition of the z-
transform, we can determine the inverse
transform of X(z) by inspection:
4, n  2
2, n0

x[ n]  
3, n 1

0, otherwise
x[n]  4 [n  2]  2 [n]  3 [n  1]
Performing the partial-fraction expansion
Determine the causal signal x[n] if its z-transform is
1. Eliminate the negative powers by multiplying

both numerator and denominator by z 2, we get
2. Dividing X (z) by z and by using partial fraction,

we obtain:
Performing the partial-fraction expansion

The inverse z-transform

Z-Transform Properties: 1.Linearity
ZT
If x1[n]  X 1 ( z ), with ROC  R1
ZT
and x2 [n]  X 2 ( z ), with ROC  R2
then

Z-Transform Properties: 2.Time Shifting
ZT
If x[n]  X ( z ), with ROC  R
then ZT  n0
x[n  n0 ]  z X ( z ), with ROC  R
no is an integer
If positive the sequence is shifted right
If negative the sequence is shifted left

Verification of the time-shifting property
By the change of variables m = n – no & n = m +no

3 Scaling in the z-Domain
ZT
x[n]  X ( z ), with ROC  R
If
n  z 
then z0 x[n]  X  ,
ZT
with ROC  z0 R
 z0 
4 Time Reversal
1
ZT 1
x[n]  X  , with ROC 
z R
Consequence: if z0 is in the ROC for x[n], then
1/ z0 is in the ROC for x[–n]. Reflection in time
domain corresponds to inversion in z-domain.
Verification of the time-scaling property

Example

5.Differentiation in the z-Domain property
ZT dX ( z )
nx[n]   z , with ROC  R
dz
We know that:
Differentiating both sides with respect to z, we have
By multiplying both sides by – z, we get:
Thus,
03/02/23
we conclude that Aline RUHUMURIZA 47
Impulse response and Convolution Sum
Consider the input x[n] of a discrete time
system to be an excitation of the system; and
y[n] to be the system’s response.
T = transformation between x[n] system’s
excitation and y[n] system’s response.
If x[n] = δ[n] then the system’s response is

called the impulse response h[n] = T . δ[n]
Impulse response and Convolution Sum
A. Impulse Response:
The impulse response (or unit sample response)
h[n] of a discrete-time LTI system is defined to
be the response of the system when the input
is the unit sample δ[n], that is,

Response to an arbitrary Input
The input x[n] can be expressed as
Since the system is linear, the response y[n] of the

system to an arbitrary input x[n] can be expressed
as

Since the system is time-invariant, we
have
C. Convolution Sum:
 Called the convolution sum

* denotes the convolution operation
The output of any discrete-time LTI system is
the convolution of the input x[n] with the
impulse response h[n] of the system. This
powerful result allows us to compute the
system output for any input signal excitation.

Example 1
• Find the linear discrete convolution by definition for the
following sequences:
x[n] = {1, 2, 2} ; h[n] = {1, 1, 1}
• x[n] starts at n1 = 0 and h[n] starts at n2 = 0. Therefore,

y[n] will start at n = n1+n2 = 0.
• The length of x[n] is N1 = 3 and that of h[n] is N2 = 3.
Hence, the length of y[n] is N = N1+N2-1 = 5.
• By definition,
For n< 0 = 0
•03/02/23
n = 0, k = 0 Aline RUHUMURIZA 54
n = 1, k = 0, 1
n = 2, k = 0, 1, 2
n = 3, k = 0, 1, 2, 3
n = 4, k = 0, 1, 2, 3, 4
For n > 4
=0 Therefore,

By tabular method
h[n]
x[n] h[-2] h[-1] h[0] h[1] h[2] …
y[-2] y[-1] y[0] y[1] y[2] y[3] y[4]
x[0] x[0]h[-2] x[0]h[-1] x[0]h[0] x[0]h[1] x[0]h[2] 0 0
x[1] x[1]h[-2] x[1]h[-1] x[1]h[0] x[1]h[1] x[1]h[2] 0 0
x[2] x[2]h[-2] x[2]h[-1] x[2]h[0] x[2]h[1] x[2]h[2] 0 0
： 0 0 0 0 0 0 0

By tabular method

Example 2
A causal discrete-time LTI system is described
by: y[n]- ¾ y[n-1] + 1/8 y[n-2] = x [n]
Where x[n] and y[n] are the input and output of

the system, respectively.
i) Determine the system function H (z).
ii) Find the impulse response h[n] of the system

6. The Convolution Property
ZT
If x1[n]  X 1 ( z ), with ROC  R1
ZT
and x2 [n]  X 2 ( z ), with ROC  R2
then
The convolution property is one of the most

powerful because it converts the convolution of 2
signals in time domain to multiplication of their
transforms.
Computation of the convolution of 2
signals using ZT

Properties of the z-transform
Convolution of 2 signals using ZT
(time domain z-domain)

Compute the convolution x[n] of the following
signals by using Z-transforms

Convolution properties
1. The Commutative Property
 
x[n]  h[n]  h[n]  x[n]   h[k ]x[n  k ]   x[k ]h[n  k ]
k   k  
2. The Associative Property
x[n]  (h1 [n]  h2 [n])  ( x[n]  h1 [n])  h2 [n]

3. The Distributive Property
x[n]  (h1 [n]  h2 [n])  x[n]  h1 [n]  x[n]  h2 [n]
The Initial- and Final-Value Theorems
If x[n] is a causal sequence, i.e., x[n] = 0, for n <
0, then
Initial-value theorem :
x[0]  lim X ( z )
z 
Final -value theorem :
lim x[n]  limz  1X ( z )
n  z 1
Correlation
Correlation is a measure of the degree
between two signals in which two signals are
similar. Correlation of signals is often
encountered in:
1.RADAR and SONAR where the location of the
target is measured by comparing the
transmitted and received/reflected signal.
2. Digital communications and other areas such
as image processing. Correlation is a
mathematical operation that is very similar
to convolution.
RADAR Target Detection
The location of the target is
measured by comparing the
transmitted and received
/reflected signal

Correlation of discrete-time signals
• The correlation between two signals is
computed to measure the degree to which the
two signals are similar.
• Applications of correlation are found in RADAR,

SONAR, digital communication, geology and
other areas of science and engineering.
• Two types are distinguished
 Autocorrelation of a sequence with itself
 Crosscorrelation of two sequences
• Auto-correlation : correlation of a
sequence with itself. It involves only one
signal x[n].
r xx[l] =
or equivalently as
r xx[l] =


rx1x2 (l )  1 2
x ( n
n  
) x ( n  l ) 
z
R x1 x2 ( z )  X 1 ( z ) X 2 ( z 1
)



• Cross-correlation: measure of the similarities or
shared properties between 2 signals.
• The index l is the (time) shift (or lag) parameter and
the subscripts xy on the crosscorrelation rxy indicate
the sequences being correlated.
• Let 2 sequences x[n] and y [n] each of which has finite
energy, the cross-correlation is defined as:
r xy[l] =
Or equivalently as
r xy[l] =

• Suppose that we have two real signal
sequences x(n) and y(n) each of which has
finite energy.
• The crosscorrelation of x(n) and y(n) is a
sequence rxy(l) defined as

rxy (l )   x(n) y (n  l ),
n  
l  0,  1,  2, 

  x ( n  l ) y ( n)
n  


rxy (0)   x(n) y(n)  2  1  6  14  4  2  6  7
n  


rxy (1)   x(n) y(n  1)  
n  
The sequence y(n) is shifted to the right

0 0 2 1 3 7 1 2 3 0
0 0 0 1 1 2  2 4 1  2
                
  1  3  14  2  8  3  13



rxy ( 1)   x(n) y (n  1)  
n  
0 0 2 1 3 7 1 2 3 0
0 1 1 2 2 4 1 2 5 0
                 
  2  2  6  28  8  1  4  15  0

Link between Continuous and Discrete
Sampling Theorem x(n)
x(t)
x(t)
x(n)
t n
Continuous Discrete
Laplace Transform z Transform
x(t) X(s) x(n) X(z)
 n 
X ( s)   x(t )e dt st X ( z)   x ( n) z
n  
n

Link between Continuous and Discrete
Sampling Theorem x(n)
x(t)
x(t)
x(n)
t n
Continuous Discrete
Laplace Transform z Transform
X(s) x(n) X(z)
x(t)  n 
X (s)   x(t )e
 st
dt X ( z)   x (
n  
n ) z n

Fourier Transform Discrete Fourier Transform
x(t) X(j) x(n) X(k)
 2k
N -1 j n
 X ( k )   x ( n )e
 j t
X ( )  x (t ) e dt N
03/02/23
 Aline RUHUMURIZA n 0 80
DTFT  z-Transform

DSP 2018 Lecture 2

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

DSP 2018 Lecture 2

Uploaded by

Copyright:

Available Formats

z-

03/02/23 Aline RUHUMURIZA 2

03/02/23 Aline RUHUMURIZA 3

Unilateral z-transform, single sided or right sided:

03/02/23 Aline RUHUMURIZA 5

03/02/23 Aline RUHUMURIZA 6

Expanding on the interval it becomes

X(z) has a zero at z = 0 and a pole at z = 0.5

Determine x[n] and its Z-transform

The z-transform of x[n] is the infinite power series

03/02/23 Aline RUHUMURIZA 8

X(z) has a zero at z = 0 and a pole at z =

ROC (region of convergence)

03/02/23 Aline RUHUMURIZA 9

03/02/23 Aline RUHUMURIZA 10

ROC consists of the entire z-

03/02/23 Aline RUHUMURIZA 11

ROC: entire z-plane, including z = ∞ but excluding z =

03/02/23 Aline RUHUMURIZA 13

Replacing , ZT will become FT

03/02/23 Aline RUHUMURIZA 16

By definition, X(z) is a power series where z is a

Property 2: The ROC does not contain any poles.

Property 3: If x[n] is of finite duration, then the

03/02/23 Aline RUHUMURIZA 19

03/02/23 Aline RUHUMURIZA 20

Property 6: If x[n] is two sided, and if the circle

03/02/23 Aline RUHUMURIZA 22

03/02/23 Aline RUHUMURIZA 23

03/02/23 Aline RUHUMURIZA 25

03/02/23 Aline RUHUMURIZA 28

Example 7: The inverse z-transform of

1. Eliminate the negative powers by multiplying

2. Dividing X (z) by z and by using partial fraction,

03/02/23 Aline RUHUMURIZA 37

03/02/23 Aline RUHUMURIZA 39

03/02/23 Aline RUHUMURIZA 41

03/02/23 Aline RUHUMURIZA 42

By the change of variables m = n – no & n = m +no

03/02/23 Aline RUHUMURIZA 43

03/02/23 Aline RUHUMURIZA 45

03/02/23 Aline RUHUMURIZA 46

Differentiating both sides with respect to z, we have

By multiplying both sides by – z, we get:

If x[n] = δ[n] then the system’s response is

03/02/23 Aline RUHUMURIZA 50

Since the system is linear, the response y[n] of the

03/02/23 Aline RUHUMURIZA 51

 Called the convolution sum

03/02/23 Aline RUHUMURIZA 53

• x[n] starts at n1 = 0 and h[n] starts at n2 = 0. Therefore,

03/02/23 Aline RUHUMURIZA 55

y[-2] y[-1] y[0] y[1] y[2] y[3] y[4]

x[0] x[0]h[-2] x[0]h[-1] x[0]h[0] x[0]h[1] x[0]h[2] 0 0

x[1] x[1]h[-2] x[1]h[-1] x[1]h[0] x[1]h[1] x[1]h[2] 0 0

x[2] x[2]h[-2] x[2]h[-1] x[2]h[0] x[2]h[1] x[2]h[2] 0 0

03/02/23 Aline RUHUMURIZA 56

03/02/23 Aline RUHUMURIZA 57

Where x[n] and y[n] are the input and output of

i) Determine the system function H (z).

ii) Find the impulse response h[n] of the system

03/02/23 Aline RUHUMURIZA 58

The convolution property is one of the most