EC533: Digital Signal Processing

5 l l

Lecture 5
The Z-Transform
 5.1 - Introduction

• The Laplace Transform (s domain) is a valuable tool for

representing, analyzing
l & designing
d continuos-time signalsl &
systems.
• The zz-transform
transform is convenient yet invaluable tool for representing,
analyzing & designing discrete-time signals & systems.
• The resulting transformation from s-domain to z-domain is called
z-transform.
z-transform

• The relation between s-plane and z-plane is described below :

z = esT
• The z-transform maps any point s = σ + jω in the s-plane to z-
plane (r θ).
 5.2 – The Z-Transform
For continuous-time signal,
Ti
Time Domain
D i S‐Domain

For discrete-time signal,

Ƶ Z‐Domain
Time Domain
Ƶ-1

Causal 
System

where,
 5.2.1 – Z-Transform Definition
• The z-transform of sequence x(n) is defined by
∞
−n
X ( z ) = ∑ x ( n) z Two sided z transform
Bilateral z transform
n = −∞

¾ For causal system

∞
−n
X (z) = ∑ x(n)z One sided z transform
Unilateral z transform
n=0
• The z transform reduces to the Discrete Time Fourier transform
(DTFT) if r=1; z = e−jω.
DTFT
∞
X ( e jω ) = ∑
n = −∞
x ( n ) e − jω n
5.2.2 – Geometrical interpretation of
z transform
z-transform
• The ppoint z = rejω is a
vector of length r from Im z
origin and an angle ω with j
respect to real axis. z = rejω

r
ω
R z
Re
• Unit circle : The contour -1 1

|z| = 1 is a circle on the z-

plane
l with
ith unity
it radius
di -j

DTFT is to evaluate z-transform on a unit circle.

 5.2.3 – Pole-zero Plot

• A graphical representation
Im z
of z-transform on z-plane j
– Poles denote by “x” and
– zeros denote by “o”
Re z
-1 1

-j
 Example
¾ Find the z-transform of,

9 Solution:

It’s a geometric sequence

Recall: Sum of a Geometric Sequence

where, a: first term,  r: common ratio,
n: number of terms   
 5.3 – Region Of Convergence (ROC)
• ROC of X(z) is the set of all values of z for which X(z) attains a
finite value.
• 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.
∞ ∞
−n
| X ( z ) |= ∑ x(n) z = ∑ | x(n) || z |− n < ∞
n = −∞ n = −∞
∞
−n
Im ∑ | x(n)r |< ∞
n = −∞
ROC is an annual ring centered on
r the origin.

Re Rx − <| z |< Rx +

ROC = {z = re jω | Rx − < r < Rx + }

Ex. 1 Find the z-transform of the following sequence
x = {2,
{2 -3,
3 77, 44, 00, 00, ……..}}
∞
X ( z) = ∑ x[ n
n = −∞
] z −n
= 2 − 3 z −1
+ 7 z −2
+ 4 z −3

2 z 3 − 3z 2 + 7 z + 4
= , |z|>0
z 3

The ROC is the entire complex z - plane except the origin.

Ex. 2 Find the z-transform of δ [n]

∞
X ( z) = ∑ δ [
n = −∞
n ] z −n
=1

with an ROC consisting of the entire z - plane.

Ex. transform of δ [n -1]
Ex 3 Find the zz-transform 1]
∞
1
X ( z) =
n = −∞
∑ δ [ n − 1] z −n
=
z
z −1
=

with an ROC consisting of the entire z - plane except z = 0 .

Ex. 4 Find the z-transform of δ [n +1]

∞
X ( z) = ∑ δ [
n = −∞
n + 1] z −n
=z

with an ROC consisting of the entire z - plane except z = ∞,

i.e., there is a pole at infinity.
Ex.5 Find the z-transform of the following right-sided sequence
(causal)
x [ n] = a u [ n]
n

∞ ∞
−n
X ( z ) = ∑ a u[n]z
n
= ∑ (az −1 ) n
n = −∞ n =0

This form
Thi f to find
fi d inverse
i
ZT using PFE
Ex.6 Find the z-transform of the following left-sided sequence
 Ex. 7 Find the z-transform of

Rewriting x[n] as a sum of left-sided

left sided and right
right-sided
sided sequences
and finding the corresponding z-transforms,
 where

Notice from the ROC that the z-transform

doesn’t exist for b > 1
5.3.1 – Characteristic Families of Signals with Their
Corresponding ROC
 5.3.2 – Properties of ROC

• A ringg or disk in the z-plane

p centered at the origin.
g
• 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=∞.
• Right sided sequences (causal seq.): The ROC extends
outward from the 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.
• Two-sided sequence: The ROC is a  ring bounded by two 
circles passing through two pole with no poles inside the ring
circles passing through two pole with no poles inside the ring
 5.4 - Properties of z-Transform
(1) Linearity : a x[n] + b y[n] ←→ a X ( z ) + b Y ( z )

⎛z⎞
(4) Z - scale Property : a x[n] ←→ X ⎜ ⎟
n

⎝a⎠
1
(5) Time Reversall : x [−n] ←→ X ( )
z
(6) Convolution : h [n] ∗ x [n] ←→ H ( z ) X ( z )
Transfer 
Function
 5.5 - Rational z-Transform

For most practical signals, the z-transform can be expressed

as a ratio off two polynomials
l l

N ( z) ( z − z1 )( z − z 2 ) L ( z − z M )
X ( z) = =G
D( z ) ( z − p1 )( z − p2 ) L ( z − p N )
where
G is scalar gain,
z1 , z 2 , L, z M are the zeroes of X(z), i.e., the roots
of the numerator polynomial
and p1 , p2 , L , p N are the poles of X(z), i.e., the roots
of the denominator polynomial.
5.6 - Commonly used z-Transform pairs

Sequence z‐Transform ROC

δ[n] 1 All values of z
All values of z

u[n] 1 |z| > 1
1 − z −1

1
αnu[n] |z| > |α|
1 − αz −1
αz −1
nαnu[n] (1 − αz −1 ) 2 |z| > |α|
|z| > |α|

1
(n+1) αnu[n] |z| > |α|
(1 − αz −1 ) 2

1 − (r cos ω0 ) z −1
(rn cos ω on) u[n] |z| > |r|
1 − (2r cos ω0 ) z −1 + r 2 z −2

1 − (r sin ω0 ) z −1
(rn sin ωon) [n] |z| > |r|
1 − (2r cos ω0 ) z −1 + r 2 z −2
 5.7 - Z-Transform & pole-zero distribution &
Stabilityy considerations

Thus, 
unstable
z
stable R.H.S.
™ Mapping between S-plane & Z-plane is done as follows: L.H.S.

1) Mapping of Poles on the jω‐axis

1) Mapping of Poles on the jω of the s‐domain
axis of the s to the z‐domain
domain to the z domain ωs/4

Maps to a unit circle & represents Marginally stable terms 1

ωs/2 ω=0
ω=ωs
3ωs/4
5.7 - Z-Transform & pole-zero distribution &
Stabilityy considerations – cont.
2) Mapping of Poles in the L.H.S. of the s‐plane to the z‐plane

Maps to inside the unit circle & represents stable terms & the
system is stable.

3) Mapping of Poles in the R.H.S. of the s‐plane to the z‐plane

Outside the unit circle & represents unstable terms.

¾ Discrete Systems Stability Testing Steps

1) Find the pole positions of the z-transform.

2) If any pole is on or outside the unit circle. (Unless coincides with zero on the unit
circle) Æ The system is unstable.
5.7.1 - Pole Location and Time-domain
Behavior of Causal Signals
 5.7.2 - Stable and Causal Systems
C
Causal
l Systems
S t : ROC extends
t d outward
t d from
f the
th outermost
t t pole.
l
Im

R
Re

Stable Systems : ROC includes the unit circle. Im

A stable system requires that its Fourier transform is 1

uniformly convergent.
Re