Module
for
Introduction to the z-transform
Chapter 9 z-transforms and applications
Overview
The z-transform is useful for the manipulation of discrete data sequences and has acquired a
new significance in the formulation and analysis of discrete-time systems. It is used extensively
today in the areas of applied mathematics, digital signal processing, control theory, population
science, economics. These discrete models are solved with difference equations in a manner that
is analogous to solving continuous models with differential equations. The role played by the z-
transform in the solution of difference equations corresponds to that played by the Laplace
transforms in the solution of differential equations.
9.1 The z-transform
The function notation for sequences is used in the study and application of z-
transforms. Consider a function defined for that is sampled at
times , where is the sampling period (or rate). We can write the
sample as a sequence using the notation . Without loss of generality we will
set and consider real sequences such as, . The definition of the z-transform
involves an infinite series of the reciprocals .
Definition 9.1 (z-transform) Given the sequence the z-transform is defined as
follows
(9-1) ,
which is a series involving powers of .
Remark 9.1. The z-transform is defined at points where the Laurent series (9-1)
converges. The z-transform region of convergence (ROC) for the Laurent series is chosen to be
, where .
Remark 9.2. The sequence notation is used in mathematics to study difference
equations and the function notation is used by engineers for signal processing. It's a
good idea to know both notations.
Remark 9.3. In the applications, the sequence will be used for inputs and the
sequence will be used for outputs. We will also use the notations
, and
Theorem 9.1 (Inverse z-transform) Let be the z-transform of the
sequence defined in the region . Then is given by the formula
(9-2) ,
where is any positively oriented simple closed curve that lies in the region and winds
around the origin.
Proof.
9.1.1 Admissible form of a z-transform
Formulas for do not arise in a vacuum. In an introductory course they are expressed as
linear combinations of z-transforms corresponding to elementary functions such as
In Table 9.1, we will see that the z-transform of each function in is a rational function of the
complex variable . It can be shown that a linear combination of rational functions is a rational
function. Therefore, for the examples and applications considered in this book we can restrict
the z-transforms to be rational functions. This restriction is emphasized this in the following
definition.