Signal Processing II:

z-transform
Abdi T. Abdalla Hubert Msuya Department of Electronics and Telecommunication EngUDSM (2011) Lecture 3

Introduction

Fourier transform plays a key role in representing and analyzing discrete-time signals and systems Z-transform for discrete-time signals is the counterpart of the Laplace transform for continuous-time signals. The z-transform may be used to

solve constant coefficient difference equations evaluate the response of a linear time-invariant system to a given input and design linear filters.
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Motivation

The Fourier transform does not converge for all sequences, including: n x( n ) = sin ( nw0 ) u ( n ) x( n ) = ( 0.5) u ( n ) x( n ) = u ( n ) It is useful to have generalization of the Fourier transform that will encompasses a broader class of signals In analytical problems the z-transform notation is often more convenient than Fourier

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Definition of the z-transform

The z-transform of a discrete-time signal x(n) is defined by X ( z) =

n=

x ( n) z n

where z

= re jw

is a complex variable.

The values of z for which the sum converges define a region in the z-plane referred to as the region of convergence (ROC). Notationally, if x(n) has a z-transform X(z), we write

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z-transform

Because the z-transform is a function of a complex variable, it is convenient to describe it using the complex z-plane. With
z = Re( z ) + j Im( z ) = re jw

The axes of the z-plane are the real and imaginary parts of z as illustrated and the contour corresponding to Izl = 1 is a circle of unit radius referred to as the unit circle. The z-transform evaluated on the unit circle corresponds to the DTFT
X (e jw ) = X ( z ) z =e jw
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z-transform

More specifically, evaluating X(z) at points around the unit circle, beginning at z = 1 (w = 0), through z = j (w X (e jw ) = /2), to z = - 1 (w = ) , we obtain the values of for 0 w In order for the DTFT of a signal to exist, the unit circle must be within the region of convergence of X(z)

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z-transform

Many of the signals of interest in digital signal processing have z-transforms that are rational functions of z:

Factoring the numerator and denominator polynomials, a rational z-transform may be expressed as follows:

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Pole-Zero Plot

The values of z that make X(z) equal to zero, are referred to as the zeros of X(z) and the values of z that make X(z) undefined, are referred to as the poles. The poles and zeros provide a concise representation for X(z) that is often represented pictorially in terms of a polezero plot in the z-plane. With a pole-zero plot, the location of each pole is indicated by an "x" and the location of each zero is indicated by an "o", The region of convergence is indicated by shading the appropriate region of the z-plane. It is, in general, an annulus of the form
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Properties of the ROC

A finite-length sequence has a z-transform with ROC that includes the entire z-plane except, possibly, z = 0 and z = A right-sided sequence has a z-transform with a region of convergence that is the exterior of a circle:

A left-sided sequence has a z-transform with a region of convergence that is the interior of a circle:

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Examples
1.

Find the z-transform of the sequence the definition of the z-transform solution

Using

with the sum converging if . Therefore, the region of convergence is the exterior of a circle defined by the set of points Expressing X ( z ) in terms of positive powers of z

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Examples

X( z ) has a zero at z = 0 and a pole at z = A pole-zero diagram with the ROC is shown in the figure Note, if , the unit circle is included within the ROC, and the DTFT of x(n) exists

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Examples
2.

Find the z-transform of the sequence Using the definition of the z-transform solution

With the sum converging if Therefore the region of convergence is the interior of a circle defined by the set of points Comparing the z-transforms of the signals in Examples 1 and 2, we see that they are the same, differing only in their regions of convergence.
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Examples

Thus, the z-transform of a sequence is not uniquely defined until its region of convergence has been specified.

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Common z-Transform Pairs

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Properties of z-Transform
1. Just as with the DTFT, there are a number of important and useful z-transform properties: Linearity the ROC is the intersection of Rx and Ry Shifting Property Shifting a sequence (delaying or advancing) multiplies the ztransform by a power of z. That is, if x(n) has a z-transform X (z), Time Reversal If x(n) has a z-transform X(z) with a region of convergence Rx, that is the annulus , the z-transform of the time-reversed sequence x(-n) is
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2.

3.

Properties of z-Transform
3. Time Reversal Its ROC is 4. Convolution Theorem The most important z-transform property is the convolution theorem, which states that convolution in the time domain is mapped into multiplication in the frequency domain 5. Derivative If X(z) is the z-transform of x(n), the z-transform of nx(n) is
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, which is denoted by 1/Rx

Examples
3.

Find the z-transform of the sequence solution Here we have a sum of two sequences. Therefore, we may find the z-transform of each sequence separately and add them together. From Example 1, we know that the z-transform of is

from Example 2 that the z-transform of is

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Examples

Therefore, the z-transform of is

with a region of convergence , which is the set of all points that are in the ROC of both X 1 ( z ) and X 2 ( z )

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