The z-Transform

Content
 Introduction
 z-Transform
 Zeros and Poles
 Region of Convergence
 I
Important
t t z-Transform
T f Pairs
P i
 Inverse z-Transform
 z-Transform Theorems and Properties
 System Function

1
Why z-Transform?
 A generalization of Fourier transform
 Why generalize it?
– FT does not converge on all sequence
– Notation good for analysis
– Bring the power of complex variable theory deal with
the discrete-time signals and systems

Definition
 The z-transform of sequence x(n) is defined by

X ( z)   x ( n) z
n  
n

Fourier
f
Transform
 Let z = ej.

j
X (e )   x ( n)e
n 
 j n

2
z-Plane


 x ( n) z
Im
n
X ( z) 
z = ej
n  

 Re
j
X (e )   x ( n)e
n 
 j n

Fourier Transform is to evaluate z-transform

on a unit circle.

z-Plane
Im
X(z)
z = ej

Re

Im

Re

3
Periodic Property of FT
X(ej)
X(z)

  

Im

Re Can you say why Fourier Transform is

a periodic function with period 2?

Definition
 Give a sequence, the set of values of z for which the
z-transform converges, i.e., |X(z)|<, is called the
region of convergence.

 
| X ( z ) |  x ( n) z
n  
n
  | x(n) || z |
n  
n


ROC is centered on origin and

consists of a set of rings.

4
Stable Systems
 A stable system requires that its Fourier transform is
uniformly convergent.
Im  Fact: Fourier transform is to
evaluate z-transform on a unit
circle
circle.
1
 A stable system requires the
Re ROC of z-transform to include
the unit circle.

Example: Region of Convergence

5
Example: A right sided Sequence

x( n)  a n u (n)

x(n)

... n
-8 -7 -6 -5 -4 -3 -2 -1 1 2 3 4 5 6 7 8 9 10

Example: A right sided Sequence

For convergence of X(z), we

x( n)  a n u (n) require that


 | az
 1
| | az 1 | 1
X ( z)   a nu (n)z n
n  
n 0

 | z || a |
 a z n n

1 z
n 0 X ( z )   (az 1 ) n  1

 n 0 1  az za
  ( az 1 ) n
| z || a |
n 0

6
Example: A right sided Sequence
ROC for x(n)=anu(n)

z
X ( z) 
za
, | z || a | Which one is stable?
Im Im

1 1
a a a a
Re Re

Example: A left sided Sequence

x(n)  a n u (n  1)

-8 -7 -6 -5 -4 -3 -2 -1 1 2 3 4 5 6 7 8 9 10
... n

x(n)

7
 Example: A left sided Sequence

For convergence of X(z), we

x(n)  a n u (n  1) require that
 
X ( z )    a nu ( n  1)z  n
n   | a
n 0
1
z| | a 1 z | 1
1
   a n z n
n  
| z || a |

  a  n z n 
1 z
n 1 X ( z )  1   (a 1 z ) n  1  1

 n0 1 a z z  a
 1   a n z n
n 0 | z || a |

Example: A left sided Sequence

ROC for x(n)=anu( n1)

z
X ( z) 
za
, | z || a | Which one is stable?
Im Im

1 1
a a a a
Re Re

8
Represent z-transform as a
Rational Function

P( z ) where P(z) and Q(z) are

X ( z)  polynomials in z.
Q( z )

Zeros: The values of z’s such that X(z) = 0

Poles: The values of z’s such that X(z) = 

Example: A right sided Sequence

z
x( n)  a n u (n) X ( z)  , | z || a |
za
Im

ROC is bounded by y the

pole and is the exterior
a
Re of a circle.

9
Example: A left sided Sequence

z
x(n)  a n u (n  1) X ( z)  , | z || a |
za
Im

ROC is bounded by y the

pole and is the interior
a
Re of a circle.

Example: Sum of Two Right Sided Sequences

x(n)  ( 12 ) n u (n)  ( 13 ) n u (n)

z z 2 z ( z  121 )
X ( z)   
z  12 z  13 ( z  12 )( z  13 )
Im
ROC is bounded by poles
and is the exterior of a circle.
1/12
1/3 1/2 Re

ROC does not include any pole.

10
Example: A Two Sided Sequence

x(n)  ( 13 ) n u (n)  ( 12 ) n u ( n  1)
z z 2 z ( z  121 )
X ( z)   
z  13 z  12 ( z  13 )( z  12 )
Im
ROC iis bounded
b d d by
b poles
l
and is a ring.
1/12
1/3 1/2 Re

ROC does not include any pole.

Example: A Finite Sequence

x(n)  a n , 0  n  N 1
N 1 N 1
1  (az 1 ) N 1 zN  aN
X ( z )   a n z  n   (az 1 ) n  
n 0 n 0 1  az 1 z N 1 z  a
Im
N-1 zeros
ROC: 0 < z < 
N-1 poles ROC does not include any pole.
Re
Always Stable

11
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=.
 Ri h sided
Right id d sequences: The
Th ROC extendsd outward d ffrom the
h 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.

12
 More on Rational z-Transform

Consider the rational z-transform

with the pole pattern:
Im

Find
Fi d th
the possible
ibl a b c
ROC’s Re

More on Rational z-Transform

Consider the rational z-transform

with the pole pattern:
Im
Case 1: A right sided Sequence.

a b c
Re

13
More on Rational z-Transform

Consider the rational z-transform

with the pole pattern:
Im
Case 2: A left sided Sequence.

a b c
Re

More on Rational z-Transform

Consider the rational z-transform

with the pole pattern:
Im
Case 3: A two sided Sequence.

a b c
Re

14
More on Rational z-Transform

Consider the rational z-transform

with the pole pattern:
Im
Case 4: Another two sided Sequence.

a b c
Re

Z-Transform Pairs
Sequence z-Transform ROC
(n) 1 All z
All z except 0 (if m>0)
( n  m ) z m
or  (if m<0)
1
u (n) | z | 1
1  z 1
1
 u (  n  1) | z | 1
1  z 1

1
a nu (n) | z || a |
1  az 1
1
 a nu ( n  1) | z || a |
1  az 1

15
Z-Transform Pairs
Sequence z-Transform ROC
1
1  [cos 0 ]z
[cos 0 n]u (n) | z | 1
1  [2 cos 0 ]z 1  z  2

[sin 0 ]z 1
[sin 0 n]u ( n) | z | 1
1  [2 cos 0 ]z 1  z  2

1  [r cos 0 ]z 1
[r n cos 0 n]u (n) | z | r
1  [2r cos 0 ]z 1  r 2 z  2

[r sin 0 ]z 1
[r n sin 0 n]u (n) | z | r
1  [2r cos 0 ]z 1  r 2 z  2

a n 0  n  N 1 1 a N zN
 | z | 0
0 otherwise 1  az 1

The z-Transform

z-Transform Theorems
and Properties

16
Linearity
Z [ x(n)]  X ( z ), z  Rx
Z [ y (n)]  Y ( z ), z  Ry

Z [ax(n)  by (n)]  aX ( z )  bY ( z ), z  Rx  R y
Overlay of
the above two
ROC’s

Shift
Z [ x(n)]  X ( z ), z  Rx

Z [ x(n  n0 )]  z n0 X ( z ) z  Rx

17
Multiplication by an Exponential Sequence

Z [ x(n)]  X ( z ), Rx- | z | Rx 

Z [a n x(n)]  X (a 1 z ) z | a | Rx

Differentiation of X(z)
Z [ x(n)]  X ( z ), z  Rx

dX ( z )
Z [nx(n)]   z z  Rx
dz

18
Conjugation
Z [ x(n)]  X ( z ), z  Rx

Z [ x * (n)]  X * ( z*) z  Rx

Reversal
Z [ x(n)]  X ( z ), z  Rx

Z [ x(n)]  X ( z 1 ) z  1 / Rx

19
Real and Imaginary Parts

Z [ x(n)]  X ( z ), z  Rx

Re[ x(n)]  12 [ X ( z )  X * ( z*)] z  Rx

Im [ x(n)]  1
2j [ X ( z )  X * ( z*)] z  Rx

Initial Value Theorem

x(n)  0, for n  0

x(0)  lim X ( z )
z 

20
 Convolution of Sequences

Z [ x(n)]  X ( z ), z  Rx
Z [ y (n)]  Y ( z ), z  Ry

Z [ x(n) * y ( n)]  X ( z )Y ( z ) z  Rx  R y

Convolution of Sequences

x ( n) * y ( n)   x(k ) y (n  k )
k  


  
Z [ x(n) * y (n)]     x(k ) y (n  k )  z  n
n    k   
   
  x(k )  y(n  k )z n
  x(k ) z  y(n)z
k  
k

n  
n

k   n  

 X ( z )Y ( z )

21
 The z-Transform

System Function

Shift-Invariant System

x(n) y(n)=x(n)*h(n)
h(n)

X(z) H(z) Y(z)=X(z)H(z)

22
Shift-Invariant System

X(z) Y(z)
H(z)
Y ( z)
H ( z) 
X ( z)

Nth-Order Difference Equation

N M

a
k 0
k y (n  k )   br x(n  r )
r 0

N M
Y ( z ) ak z k
 X ( z ) br z  r
k 0 r 0

M N
r k
H ( z )   br z  ak z
r 0 k 0

23
Representation in Factored Form

Contributes poles at 0 and zeros at cr

M
A (1  cr z 1 )
H ( z)  N
r 1

 (1  d z
k 1
r
1
)

Contributes zeros at 0 and poles at dr

Stable and Causal Systems

Causal Systems : ROC extends outward from the outermost pole.
Im
M
A (1  cr z 1 )
H ( z)  N
r 1
R
Re
 (1  d z
k 1
r
1
)

24
Stable and Causal Systems
Stable Systems : ROC includes the unit circle.
Im
M
A (1  cr z 1 ) 1
H ( z)  N
r 1
R
Re
 (1  d z
k 1
r
1
)

Example
Consider the causal system characterized by
y (n)  ay (n  1)  x(n) Im

1 1
H ( z) 
1  az 1 a Re

h( n)  a n u ( n)

25
 Determination of Frequency Response
from pole-zero pattern

 A LTI system is completely characterized by its

pole-zero pattern.
Im
Example: p1
z  z1 e j 0
H ( z) 
( z  p1 )( z  p2 ) z1
Re

j 0 e j0  z1 p2
H (e ) j0
(e  p1 )(e j0  p2 )

Determination of Frequency Response

from pole-zero pattern

A LTIj
|H(e )|=?
pole-zero pattern.
 H(e j)=?
system is completely characterized by its

Im
Example: p1
z  z1 e j 0
H ( z) 
( z  p1 )( z  p2 ) z1
Re

e j0  z1 p2
H ( e j 0 )  j0
(e  p1 )(e j0  p2 )

26
Determination of Frequency Response
from pole-zero pattern

 A LTIj
|H(e )|=?
pole-zero pattern.
 H(e j)=?
system is completely characterized by its

Im
Example: p1
| | 2
|H(ej)| =
|H( e j 0
| || | z1
1 3 Re

H(ej) = 1(2+ 3 ) p2

Example
1 20
H ( z) 
1  az 1 10
dB

0
Im
-10
0 2 4 6 8

a Re 0

-1

-2
0 2 4 6 8

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