Chapter 03
Z-transform
1
Z-transform
• The z-transform is the discrete domain equivalent of the Laplace
Transform.
• The Z plane is a complex plane, where, 𝑧 = 𝑟𝑒 𝑗𝜃 .
• This transform is most widely applied in the analysis and design of IIR
filters, also termed recursive filters because of the feedback nature of their
operation.
• Z transform of a discrete time signal is defined as:
∞
𝑋 𝑧 = 𝑥 𝑛 𝑧 −𝑛
𝑛=−∞
• The inverse process of obtaining x(n) from X(z) is called the inverse z-
transform.
• The relationship is denoted by,
𝑥(𝑛) ↔ 𝑋 𝑧
2
Z-transform
• Region of Convergence, ROC: Z-transform exists only for those values of
z, for which the series converges.
• The region of convergence (ROC)of X(z) is the set of values for which X(z)
attains a finite value. Thus anytime we site a z-transform, we should also
indicate its ROC.
• One of the classification of DT signals is :
a. Finite Signal
b. Infinite Signal
• Each group can be further classified into:
i. Causal Signal ( 0 ≤ 𝑛 < ∞)
ii. Anti-Causal Signal (−∞ < 𝑛 ≤-1)
iii. Non-Causal /Two sided Signal (−∞ ≤ 𝑛 ≤ ∞)
3
Z-transform of DT Finite signals
4
Finite Duration DT Signals and Corresponding
ROC
5
Z-transform of DT Infinite Signal
• Example 01:The signal, x(n), is a causal signal .
6
Z-transform of DT Infinite Signal
• Example 02:
7
Z-transform of DT Infinite Signal
• Example 03:
8
Z-transform of DT Infinite Signal
• ROC of anti-causal Infinite DT signal
9
Z-transform of DT Infinite Signal
• Example 04
10
Z-transform of DT Infinite Signal
• If we consider the two cases, the outcomes will be as follows:
11
Z-transform of DT Infinite Signal
12
Properties of Z- transform:
a. Linearity
b. Time Shifting
c. Scaling
d. Time Reversal
e. Differentiation
f. Convolution
g. Correlation
h. Multiplication
13
Properties of Z- transform:
• Linearity
If, 𝑥1 (n) ↔ 𝑋1 (z) and 𝑥2 (n) ↔ 𝑋2 (z)
Then,
Example 05:
14
Properties of Z- transform:
15
Properties of Z- transform:
16
Properties of Z- transform:
• Convolution of two sequences:
• Example 06
17
Properties of Z- transform:
• Solution:
18
Table1: Properties of z-transform.
19
Table2: Some common z-transform pairs
20
Rational z-transform: Poles and Zeros
• A LTI system may be represented as an equation, sometimes called a
difference equation.
• The z-transform of a difference equation is a rational function, a ratio of
two polynomials.
• The zeros are the values of z for which the transfer function becomes equal
to zero, X(z)=0. These are the roots of the numerator polynomial.
• Similarly, the poles represent the roots of the denominator polynomial, i.e.
they are the values of z for which the transfer function becomes infinite,
X(z)=∞.
21
Rational z-transform: Poles and Zeros
• As long as the poles of a system lie within the unit circle, it will be stable.
• Poles are represented with the symbol, ”x” and zeros are represented
using “o”.
• Example 07
22
Pole location and time domain behavior of
causal signals
23
Pole location and time domain behavior of
causal signals
24
Pole location and time domain behavior of
causal signals
25
Explain pole zero position
26
Explain pole zero position
In case of a pair of complex conjugate poles, the distance ‘r’
of the poles from the origin determines the envelope of the
sinusoidal signal and their angle with the real positive axis,
its relative frequency. Note that the amplitude of the signal
is growing if r>1, constant if r=1 and decaying if r<1.
27
System Function of an LTI System
• The z-transform of the impulse response, h(n), is called the system function
and is denoted by H(z).
• For a LTI system, the output, y(n), could be computed from the convolution
of x(n) and h(n).
• According to properties of z-transform, convolution in time domain is
multiplication in z domain.
• Therefore, Y(z)= X(z)H(z)
• The z-transform of δ(n) is 1. So, if the input is a delta function, then the
output Y(z)= 1(H(z)), which is basically H(z).
28
System Function of an LTI System
Example 08
𝑌 𝑧
We know, = 𝐻(𝑧)
𝑋 𝑧
29
Inverse z-transform
1. Power Series Expansion/ Long Division
a. Causal Signal
b. Anti-causal Signal
2. Partial Fraction
Example 9:
Determine the inverse z-transform by power series expansion:
1
𝑋 𝑧 =
1 − 1.5𝑧 −1 + 0.5𝑧 −2
when,
a) ROC: 𝑧 > 1
b) ROC: : 𝑧 < 0.5
30
Inverse z-transform
31
Inverse z-transform
32
Inverse z-transform
• Example 10: Determine the inverse z-transform by partial fraction
1
𝑋 𝑧 =
1 − 1.5𝑧 −1 + 0.5𝑧 −2
Solution:
𝑧2
X(z)= 2
𝑧 −1.5𝑧+0.5
𝑋 𝑧 𝑧 𝐴 B
= = +
𝑧 𝑧 − 1 𝑧 − 0.5 𝑧−1 z − 0.5
A z − 0.5 + B z − 1
=
z − 1 z − 0.5
Therefore,
z = A z − 0.5 + B(z − 1)
33
Inverse z-transform
34
Inverse z-transform
35
Inverse z-transform
36
Inverse z-transform
37
Pole-zero cancellation:
• When a Z-transform has a pole exactly at the same location as a zero, then,
the pole is cancelled by the zero and consequently the term (or factor)
containing that pole gets eliminated.
• Pole-zero cancellations can occur either in the system function itself , in
this case we say that the order of the system has been reduced by one, or, in
the product of the system function with z-transform of the input signal.
• In the second case, it is said that the pole of the system is suppressed by the
zero in the input signal or vice versa.
38
Pole-zero cancellation:
System
(𝑧 + 2)
𝐻 𝑧 =
(𝑧 + 0.5)(𝑧 − 0.5)(𝑧 − 2)
39
Pole-zero cancellation:
• If we follow the first option, then, to make this system stable we need to
cascade a second system. The second system must have a zero at the exact
same location as the pole, i.e at 2. So the overall system will become:
System
40
