ECTE203: Digital Signal Processing
Lecture 3
The z-transform: Forward Transform & Properties
Prof. Lam Phung
Part A’s contents
Textbook
Lecture Topic Practice
Chapter
Lab 1
L1 Introduction to DSP 1, 2.1, 2.2
Tutorial 1
Lab 2
L2 Convolution and LTI Systems 2.3, 2.4
Tutorial 2
The z-transform:
L3 3.1, 3.2, 3.3
Forward Transform and Properties Lab 3
The z-transform: Tutorial 3
L4 3.4, 3.5
Inverse Transform and Applications
Random signals and 2.4, 2.5, 2.6,
L5 Tutorial 3
Cross-correlation Sequences 12.1
L6 Class Test - -
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Lecture 3's objectives
Learn the definition of the z-transform and its region of convergence.
Understand the properties and the common pairs of the z-transform.
Learn techniques to find the z-transform and ROC for a sequence x(n).
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Overview of DSP Tools in ECTE203
Signals x(t) and x(n)
● Sampling frequency Difference equation
● Nyquist rate
● Nyquist frequency
● Folding frequency ● Find output using time-domain.
● Normalized frequency ● Draw filter block diagrams.
● Normalized angular frequency ● Find convolution in time-domain.
System function
z-transform DTFT & Frequency response
● Find zeros, poles, stability. ● Find steady-state response to sine input.
● Find system function. ● Check if filter is low-pass, high-pass, etc.
● Find impulse, step responses.
● Find output using z-domain.
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Overview of DSP Tools in ECTE203
z transform ●
(Lectures 3, 4) ● z is a complex variable.
Discrete-time Fourier Transform DTFT Discrete Fourier Transform DFT, FFT
(Lecture 7) (Lectures 8, 9)
●
●
● ω is normalized angular
frequency between [0, 2π]. ● k is frequency index, k = 0, 1, …, N-1.
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Lecture 3's sequence
3.1 Definition of the z-transform
3.2 Region of convergence
3.3 Properties of the z-transform
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3.1 Definition of the z-transform
The z-transform X(z) of a signal x[n] is defined as
where z is a complex variable.
The set of z values where X(z) converges is called the region of convergence (ROC).
The z-transform of x[n] is also denoted by
The pair x[n] and X(z) is sometimes indicated as
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Definition of the z-transform
Example 3.1: Find z-transform and the ROC for
Arrow indicates x[n=0]
Answer: The z-transform is
n -2 -1 0 1 2 3
x 1 2 5 7 0 1
The ROC is the entire z-plane, except at z = 0 and z = ∞.
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Definition of the z-transform
Example 3.2: Find z-transform of the unit sample sequence
-2 -1 0 1 2 n
Answer: The z-transform is
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Definition of the z-transform
Example 3.3: Find z-transform of the unit step sequence
-2 -1 0 1 2 n
Answer: The z-transform is
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Math: Sum of geometric series
Let’s denote:
We’ll have:
Hence,
We also can derive:
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Lecture 3's sequence
3.1 Definition of the z-transform
3.2 Region of convergence
3.3 Properties of the z-transform
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3.2 Region of convergence
For a signal x(n), the set of z values for which the z-transform converges is called
the region of convergence:
Signal x(n) is uniquely determined by its X(z) and the ROC of X(z).
What is the general shape of the ROC?
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Region of convergence
We now analyze the ROC for four types of sequences.
3.2.1 3.2.2
Finite-duration Right-sided
sequences sequences
3.2.3 3.2.4
Left-sided Two-sided
sequences sequences
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3.2.1 Finite-duration sequences
x(n) has a finite-duration if it has a finite number of nonzero samples.
That is, x(n) is nonzero only for n1 ≤ n ≤ n2.
The z-transform of x(n):
The ROC exists everywhere, except possibly at:
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Finite-duration sequences
Example 3.4: Find z-transform and the ROC for
Answer:
The ROC is the entire z-plane.
The ROC is the entire z-plane except at z = 0. (k positive integer)
The ROC is the entire z-plane except at z = ∞.
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3.2.2 Right-sided sequences
x(n) is a right-sided sequence if x(n) ≠ 0 for n > n1:
The z-transform of this sequence is:
The ROC is the exterior of a circle:
If n1 < 0, the ROC must exclude: z = ∞.
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Right-sided sequences
Example 3.5: Find X(z) and its ROC for
Answer: The z-transform is
Im{z}
ROC: |a| < |z|
|a|
Re{z}
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3.2.3 Left-sided sequences
x(n) is a left-sided sequence if x(n) ≠ 0 for n < n2:
The z-transform of this sequence is:
The ROC is the interior of a circle:
If n2 > 0, the ROC must exclude: z = 0.
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Left-sided sequences
Example 3.6: Find X(z) and its ROC for
Answer: The z-transform is
Im{z}
|a| ROC: |z| < |a|
Re{z}
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Uniqueness of the z-transform
X(z) by itself does not uniquely specify sequence x(n).
From Examples 3.5 and 3.6:
X(z) and its ROC together uniquely specify signal x(n).
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3.2.4 Two-sided sequences
x(n) is a two-sided sequence if it extends for n = -∞ to ∞.
The z-transform of such a sequence is
The first series (right-sided) converges for:
The second series (left-sided) converges for:
If r1 < r2, the ROC is:
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Two-sided sequences
Example 3.7: Find X(z) and its ROC for Im{z}
b
Answer: The z-transform is
a Re{z}
The ROC is:
If |a| ≥ |b|, the ROC does not exist.
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Region of convergence: Summary
The ROC is an annular region between two limits:
where r1 can be 0, r2 can be ∞, and |z| denotes the magnitude.
Imaginary{z}
r1
Real{z}
r2
X(z) ROC: r1 < r < r2
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Lecture 3's sequence
3.1 Definition of the z-transform
3.2 Region of convergence
3.3 Properties of the z-transform
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3.3 Properties of the z-transform
In this section, we study the properties of the z-transform and the common z-transform pairs.
These are summarized in two tables.
These tables are important tools in solving z-transform problems.
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Table 3.1: Properties of the z-transform
Section 3.3.1
Section 3.3.2
Section 3.3.3
Section 3.3.4
Section 3.3.5
Section 3.3.6
Section 3.3.7
Section 3.3.8
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Table 3.2: Common z-transform pairs
Slide 9
Slide 10
Slide 20
Slide 22
Slide 35
Slide 38
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3.3.1 Linearity
A linear combination in time-domain corresponds to a linear combination in the z-domain:
Example 3.8: Find the z-transform of
Answer:
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3.3.2 Time shifting
Shifting right by k samples in time is equivalent to multiplication by z-k in the z-domain:
Example 3.9: Find the relationship between Y(z) and X(z) for the following LTI system:
Answer: Applying the z-transform to both sides gives
The ratio Y(z)/X(z) is called the system function.
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3.3.3 Time-reversal
Reversal in time-domain is equivalent to z-inversion in the z-domain:
Example 3.10: Find the z-transform of
Answer: In Slide 35, we already know that
Applying the time-reversal property gives
Note:
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3.3.4 Scaling
Multiplication with an in the time-domain is equivalent to scaling by a-1 in the z-domain:
Example 3.11: Find the z-transform of
Answer: In Slide 35,we already know:
Applying the scaling property gives:
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3.3.5 Differentiation
Multiplication with n in the time-domain is equivalent to differentiation in the z-domain:
Example 3.12: Find the z-transform of
Answer: In Slide 10, we already know:
Hence, applying the differentiation property gives:
Note:
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Differentiation
Here, we have 𝑢 = 1, and 𝑣 = 1 − 𝑧 −1 . Hence, 𝑢′ = 0, and 𝑣 ′ = 𝑧 −2 :
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3.3.6 Convolution
Convolution in time is equivalent to multiplication in the z-domain:
h(n)
H(z)
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Convolution
Example 3.13: Use the z-transform to compute the output of the following system (a ≠ b)
Answer:
Compare with
Tutorial 2, Problem 3
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3.3.7 Initial value theorem
If x(n) is a causal sequence, i.e., x(n) = 0 for n < 0, then
Using this theorem, we can find x(0) without having to find the inverse z-transform.
This theorem is also useful for checking errors in z-transform calculation.
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Initial value theorem
Example 3.14: Given that
find x(0).
Answer:
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3.3.8 Final value theorem
If a causal sequence x(n) converges, then
Using this theorem, we can find x(∞) without having to find the inverse z-transform.
This theorem is also useful for checking errors in z-transform calculation.
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Final value theorem
Example 3.15: Given that
find x(∞).
Answer:
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Lecture 3's summary
To revise for this lecture:
Define the z-transform.
Determine the ROC for different types of sequences x(n).
Understand the key properties of the z-transform.
Familiarize with the common z-transform pairs.
Learn to compute the z-transform X(z) for a given x(n).
Practice: Tutorial 3, Lab 3.
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