Chapter

p 5
z-Transform
Ha Hoang Kha, Ph.D.Click to edit Master subtitle style
Ho Chi Minh City University of Technology
@
Email: [email protected]
 ™ The z-transform is a tool for analysis, design and implementation of
discrete time signals and LTI systems.
discrete-time systems

™ Convolution in time-domain ⇔ multiplication in the z-domain

Ha H. Kha 2 z-Transforms
 Content

1 z-transform
1. t f

2. Properties of the z-transform

3. Causality and Stability

4. Inverse z-transform

Ha H. Kha 3 Discrete-Time Systems

 1. The z-transform

™ The z-transform of a discrete-time signal x(n) is defined as the power

series:
∞
X ( z) = ∑ x (
n = −∞
n ) z −n
= x(−2) z − 2 + x(−1) z + x(0) + x(1) z −1 + x(2) z − 2 +

™ The region of convergence (ROC) of X(z) is the set of all values of

z for
f which
hi h X(
X(z)) attains
i a finite
fi i value.
l
∞
ROC = {z ∈ C | X ( z ) = ∑ x ( n) z
n = −∞
−n
≠ ∞}

™ The z-transform of impulse response h(n) is called the transform

function of the filter:
∞
H ( z) = ∑ h (
n = −∞
∞
n ) z −n

Ha H. Kha 4 z-Transforms
 Example

™ Determine the z-transform of the following finite-duration signals

a) x1(n)=[1, 2, 5, 7, 0, 1]
b) x2(n)=x1(n-2)

c) x3(n)=x1(n+2)

d) x4(n)=δ(n)

e) x5(n)=δ(n-k),
(n)=δ(n k) k>0

f) x6(n)=δ(n+k), k>0

Ha H. Kha 5 z-Transforms
 Example

™ Determine the z-transform of the signal

( )=(0 5)nu(n)
a)) x(n)=(0.5) ( )
b) x(n)=-(0.5)nu(-n-1)

Ha H. Kha 6 z-Transforms
 z-transform and ROC

™ It is possible for two different signal x(n) to have the same z-

transform. Such signals
g can be distinguished
g in the z-domain byy their
region of convergence.
™ z-transforms:

and their ROCs:

ROC of a causal signal is the ROC of an anticausal signal

exterior
t i off a circle.
i l is the interior of a circle.
circle
Ha H. Kha 7 z-Transforms
 Example

™ Determine the z-transform of the signal

x(n) = a nu (n) + b n u (− n − 1)

™ The ROC of two-sided signal is a ring (annular region).

Ha H. Kha 8 z-Transforms
 2. Properties of the z-transform

™ Linearity:
if x1 (n) ←
⎯→z
X 1 ( z ) with ROC1
and x2 ( n ) ←
⎯→z
X 2 ( z ) with ROC 2
then
x(n) = x1 (n) + x2 (n) ←
⎯→z
X ( z ) = X 1 ( z ) + X 2 ( z ) with ROC = ROC1 ∩ ROC 2

™ Example: Determine the z-transform and ROC of the signals

a) x(n)=[3(2)n-4(3)n]u(n)
b) x(n)=cos(w0 t)u(n)
c) x(n)=sin(w0 t)u(n)

Ha H. Kha 9 z-Transforms
 2. Properties of the z-transform

™ Time shifting:
if x ( n) ←
⎯→z
X ( z)
then x(n − D) ←
⎯→z
z − D X ( z)
™ The ROC of z − D X (z ) is the same as that of X(z) except for z=0 if
D>0 and z=∞ if D<0.
z transform of the signal x(n)=2nu(n-1).
Example: Determine the z-transform u(n 1)
™ Scaling in the z-domain:
if x ( n) ←
⎯→z
X ( z ) ROC : r1 ≤| z |≤ r2
then a n x(n) ←
⎯→z
→ X (a −1 z ) ROC : | a | r1 ≤| z |≤| a | r2
for any constant a, real or complex
Example: Determine the zz-transform x(n) ancos(w0n)u(n).
transform of the signal x(n)=a n)u(n)
Ha H. Kha 10 z-Transforms
 2. Properties of the z-transform

™ Time reversal:
if x ( n) ←
⎯→z
X ( z ) ROC : r1 ≤| z |≤ r2
−1 1 1
then x ( − n) ← ⎯→ X ( z ) ROC : ≤| z |≤
z

r2 r1
Example: Determine the z-transform of the signal x(n)=u(-n).

™ Convolution of two sequence:

if x1 (n) ←
⎯→ z
X 1 ( z ) and x2 ( n ) ←
⎯→z
X 2 ( z)
then x(n) = x1 (n) ∗ x2 (n) ← ⎯→z
X ( z) = X1 ( z) X 2 ( z)
the ROC is,, at least,, the intersection of that for X1((z)) and X2((z).
)
Example: Compute the convolution of x=[1 1 3 0 2 1] and h=[1, -2, 1] ?

Ha H. Kha 11 z-Transforms
 2. Properties of the z-transform

™ Differentiation in the z-domain

if x ( n) ← ⎯→
z
X ( z)
then dX ( z )
nx(n) ← ⎯→ − z
z

dz
the ROCs of both are the same.

z transform of the signal x(n)=nanu(n).

Example: Determine the z-transform u(n)

Ha H. Kha 12 z-Transforms
 3. Causality and stability

™ A causal signal of the form

x(n) = A1 p1n u (n) + A2 p2nu (n) +
will have z-transform
A1 A2
X ( z) = −1
+ −1
+ ROC | z |> max | pi |
1 − p1 z 1 − p2 z i

the ROC of causal signals

g are outside of the circle.

™ A anticausal signal of the form

x(n) = − A1 p1n u (− n − 1) − A2 p2nu (− n − 1) +
A1 A2
X ( z) = −1
+ −1
+ ROC | z |< min | pi |
1 − p1 z 1 − p2 z i

the ROC of causal signals

g are inside of the circle.

Ha H. Kha 13 z-Transforms
 3. Causality and stability

™ Mixed signals have ROCs that are the annular region between two
circles.

™ It can be shown that a necessary and sufficient condition for the

stability of a signal x(n) is that its ROC contains the unit circle.

Ha H. Kha 14 z-Transforms
 4. Inverse z-transform

− transform
x(n) ⎯z⎯ ⎯⎯→ X ( z ), ROC
X ( z ), ROC ⎯inverse
⎯ ⎯z -⎯ ⎯ ⎯→ x(n)
transform

x ( n) ←
⎯→z
→ X ( z ), ROC

™ In inverting a z-transform, it is convenient to break it into its partial

fraction (PF) expression form, i.e., into a sum of individual pole
terms whose inverse z transforms are known.
1
™ Note that with X ( z ) = -1 we have
1 - az
⎧ a nu (n) if ROC | z |>| a | (causal
( l signals)
i l)
x ( n) = ⎨ n
⎩− a u (−n − 1) if ROC | z |<| a | (anticausal signals)

Ha H. Kha 15 z-Transforms
 Partial fraction expression method
™ In general, the z-transform is of the form
N ( z ) b0 + b1 z −1 + + bN z − N
X ( z) = =
D( z ) 1 + a0 z −1 + aM z − M
™ The poles are defined as the solutions of D(z)=0. There will be M
poles say at p1, p2,…,p
poles, pM . Then,
Then we can write
D( z ) = (1 − p1 z −1 )(1 − p2 z −1 ) (1 − pM z −1 )

™ If N < M and all M poles are single poles.

where

Ha H. Kha 16 z-Transforms
 Exampleod
™ Compute all possible inverse z-transform of

Solution:
- Find the poles: 1-0.25z-2 =0 Æ p1=0.5, p2=-0.5
- We have N
N=11 and M=2,
M 2, i.e., N < M. Thus, we can write

where

Ha H. Kha 17 z-Transforms
 Exampleod

Ha H. Kha 18 z-Transforms
 Partial fraction expression method

™ If N=M

Wh
Where and
d ffor i=1,…,M
i 1 M

™ If N> M

Ha H. Kha 19 z-Transforms
 Exampleod
™ Compute all possible inverse z-transform of

Solution:
- Find the poles: 1-0.25z-2 =0 Æ p1=0.5, p2=-0.5
- We have N
N=22 and M=2,
M 2, i.e., N = M. Thus, we can write

where

Ha H. Kha 20 z-Transforms
 Exampleod

Ha H. Kha 21 z-Transforms
 Exampleod
™ Determine the causal inverse z-transform of

Solution:
- We have
h N=55 and
d M=2,2 i.e.,
i N > M. Thus,
Th we have
h to divide
di id the
h
denominator into the numerator, giving

Ha H. Kha 22 z-Transforms
 Partial fraction expression method
™ Complex-valued poles: since D(z) have real-valued coefficients, the
complex-valued poles of X(z) must come in complex-conjugate pairs

C id i the
Considering h causall case, we h
have

Writing A1 and p1 in their polar form, say,

with B1 and R1 > 0,, and thus,, we have

A a result,
As lt the
th signal
i l ini time-domain
ti d i is
i

Ha H. Kha 23 z-Transforms
 Exampleod
™ Determine the causal inverse z-transform of

Solution:

Ha H. Kha 24 z-Transforms
 Exampleod

Ha H. Kha 25 z-Transforms
 Homework

™ Problems: 5.2, 5.3, 5.4, 5.6, 5.6, 5.8, 5.16

Ha H. Kha 26 z-Transforms