CHAPTER 2

THE INVERSE z TRANSFORM

Introduction
𝑓(𝑘) = 𝑍 −1 [𝐹(𝑧)ሿ

• Only the time sequence, 𝑓(𝑘), at the sampling instant is obtained from the inverse z
transform.
• Yields a unique 𝑓(𝑘) but not a unique 𝑓(t).
Inverse z transform yields a time sequence that specifies the value of 𝑓(t) only at discrete
instants of time, t = 0, T, 2T, … and says nothing about the values of 𝑓(t) at all other times.
That is, many different time functions 𝑓(t) can have the same 𝑓(𝑘T).

An obvious method of finding the inverse z-transform is to refer to a z transform table. For
complicated function of z, we have to express as a sum of simpler z transform. Other than
referring to z transform tables, 3 methods for obtaining z transform :
1)Direct division method
2)Partial fraction expansion method
3)Inverse integral method

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Direct division method
If 𝐹(z) is expanded into a power series in 𝑧 −𝑘 , that is, if,
∞

𝐹 𝑧 = ෍ 𝑓(𝑘) 𝑧 −𝑘 = 𝑓 0 + 𝑓 1 𝑧 −1 + 𝑓 2 𝑧 −2 + ⋯ + 𝑓 𝑘 𝑧 −𝑘 + ⋯
𝑘=0

Then 𝑓(𝑘) is the coefficient of the 𝑧 −𝑘 term. Hence, the values of 𝑓(𝑘) for 𝑘 = 0,1,2,3, ⋯ can
be determined by inspection.

𝐹 𝑧 = 1 + 𝑧 −1 + 𝑧 −2 + 𝑧 −3 + ⋯ z transform of a unit step function

= 𝑓 0 𝑧 −0 + 𝑓 1 𝑧 −1 + 𝑓 2 𝑧 −2 + ⋯ + 𝑓 𝑘 𝑧 −𝑘 + ⋯

𝑓 0 = 1, 𝑓 1 = 1, 𝑓 2 = 1, … , 𝑓 𝑘 = 1, …

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Example 1: direct division

Find 𝑓(𝑘) for 𝑘 = 0,1,2,3, ⋯ when 𝐹(𝑧) is given by,

10𝑧 + 5
𝐹 𝑧 =
𝑧 − 1 (𝑧 − 0.2)

First, rewrite 𝐹(𝑧) as a ratio of polynomials in 𝑧 −1 , as follows:

10𝑧 −1 + 5𝑧 −1
𝐹 𝑧 =
1 − 1.2𝑧 −1 + 0.2𝑧 −2

Dividing the numerator by the denominator, we have,

1−1.2𝑧−1 +0.2𝑧−2
10𝑧 −1 + 5𝑧 −2

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 𝑓(1) 𝑓(2) 𝑓(3) 𝑓(4)
Thus,
𝐹 𝑧 = 10𝑧 −1 + 17𝑧 −2 + 18.4𝑧 −3 + 18.68𝑧 −4 + ⋯

By comparison:-

𝑓 0 = 0; 𝑓 1 = 10; 𝑓 2 = 17; 𝑓 3 = 18.4; 𝑓 4 = 18.68

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Partial fraction expansion

This method is similar to the method used in performing Inverse LT on an s-

domain function. Similar application of such method may be applied to perform
inverse z transform on a z-domain function to obtain the time domain function.

This method requires that all terms in the partial fraction expansion be easily
recognizable in the table of z transform pairs. To find the inverse z transform, if
𝐹(𝑧) has one or more zeros at the origin(𝑧 = 0), then 𝐹(𝑧)/𝑧 or 𝐹(𝑧) is expanded
into a sum of simple first or second order terms by partial fraction expansion, and
a z transform table is used to find the corresponding time function of each
expanded term. It is noted that the only reason that we expand 𝐹(𝑧)/𝑧 into partial
fractions is that each expanded term has a form that may easily be found from
commonly available z transform tables.

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Example 2: partial fraction
Consider the function:-
𝑧 −1
𝑋(𝑧) =
1 − 𝑎𝑧 −1

By writing 𝑧𝑋(𝑧) as 𝑌(𝑧), we obtain,

1
𝑧𝑋 𝑧 = 𝑌 𝑧 =
1 − 𝑎𝑧 −1
Referring to the z transform table, 𝑌(𝑧) can be obtained as:
𝑍 −1 𝑌(𝑧) = 𝑦 𝑘 = 𝑧 𝑘

Hence the inverse z transform of 𝑋 𝑧 = 𝑧 −1 𝑌(𝑧) is given by,

𝑍 −1 𝑋(𝑧) = 𝑥 𝑘 = 𝑦(𝑘 − 1)

Since 𝑦 𝑘 is assumed to be zero for all 𝑘 < 0, we have,

𝑦 𝑘 − 1 = 𝑎𝑘−1 , 𝑘 = 1,2,3 ⋯
𝑥 𝑘 =ቊ
0, 𝑘≤0

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Example 3: partial fraction
Consider the function:-
1 − 𝑒 −𝑎𝑇 𝑧
𝑋(𝑧) =
(𝑧 − 1)(𝑧 − 𝑒 −𝑎𝑇 )

where 𝑎 is constant 𝑇 and is the sampling period.

The partial fraction expansion of 𝑋(𝑧)/𝑧 is,

𝑋(𝑧) 1 1
= −
𝑧 𝑧 − 1 𝑧 − 𝑒 −𝑎𝑇

1 1
𝑋 𝑧 = =
1 − 𝑧 −1 1 − 𝑒 −𝑎𝑇 𝑧 −1
From z transform table,
1
𝑍 −1 =1
1 − 𝑧 −1

1
𝑍 −1 = 𝑒 −𝑎𝑘𝑇
1− 𝑒 −𝑎𝑇 𝑧 −1

Hence, the inverse z transform of 𝑋(𝑧) is,

𝑥 𝑘𝑇 = 1 − 𝑒 −𝑎𝑘𝑇 , 𝑘 = 0,1,2, ⋯

8
Inverse integral method
The inverse z transform of 𝐹(𝑧) is given as :-

1
𝑍 −1 𝐹(𝑧) = 𝑓 𝑘𝑇 𝑓 𝑘 = ර 𝐹(𝑧) 𝑧 𝑘−1 𝑑𝑧
2𝜋𝑗 𝐶
where C is a circle with its center at the origin of the z plane such that all poles of 𝐹(𝑧)𝑧 𝑘−1
are inside it. The equation for giving the inverse z transform in terms of residues can be
derived by using theory of complex variables. It can be obtained as follows:
𝑚

𝑓 𝑘𝑇 = 𝑓 𝑘 = 𝐾1 + 𝐾2 + ⋯ + 𝐾𝑚 = ෍ 𝑟𝑒𝑠𝑖𝑑𝑢𝑒 𝑜𝑓 𝐹 𝑧 𝑧 𝑘−1 𝑎𝑡𝑝𝑜𝑙𝑒 𝑧 = 𝑧𝑖 𝑜𝑓𝐹(𝑧)𝑧 𝑘−1

𝑖=1
Equation 2.2
where 𝐾1 , 𝐾2 , ⋯ , 𝐾𝑚 denote the residues of 𝐹(𝑧)𝑧 𝑘−1 at poles 𝑧1 , 𝑧2 , ⋯ , 𝑧𝑚 respectively.

In evaluating residues, note that if the denominator of 𝐹(𝑧)𝑧 𝑘−1 contains a simple pole 𝑧 = 𝑧𝑖
then the corresponding residue K is given by,

𝐾 = lim 𝑧 − 𝑧𝑖 𝐹(𝑧)𝑧 𝑘−1

𝑧→𝑧𝑖

Equation 2.3

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Inverse integral method - continued
If 𝐹(𝑧)𝑧 𝑘−1 contains a multiple pole 𝑧𝑖 of order q, the residue K is given by,

1 𝑑 𝑞−1 𝑞
𝐾= lim 𝑧 − 𝑧𝑗 𝐹(𝑧)𝑧 𝑘−1
𝑞 − 1 ! 𝑧→𝑧𝑖 𝑑𝑧 𝑞−1

The values of k in Equation 2.2. and 2.3 are non-negative integer values.

If 𝐹(𝑧) has a zero of order r at the origin, then 𝐹(𝑧)𝑧 𝑘−1 in Equation 2.2 will involve a zero of order
𝑟 + 𝑘 − 1 at the origin. If 𝑟 ≥ 1, then 𝑟 + 𝑘 − 1 ≥ 0 for 𝑘 ≥ 0, and there is no pole at 𝑧 = 0 in
𝐹(𝑧)𝑧 𝑘−1 . However, if 𝑟 ≤ 0 then there will be a pole at 𝑧 = 0 for one or more non-negative values of
k. In such a case, separate inversion of Equation2.2 is necessary for each value of k.

It should be noted that the inversion integral method, when evaluated by residues, is a very simple
technique for obtaining the inverse z transform, provided that 𝐹(𝑧)𝑧 𝑘−1 has no poles at the origin,
𝑧 = 0. If however 𝐹(𝑧)𝑧 𝑘−1 has a simple pole or a multiple pole at 𝑧 = 0, the calculations may
become cumbersome and the partial-fraction expansion method may prove to be simpler to apply.

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Example 4: inverse integral

Find 𝑓(𝑘) by using the inversion integral method when 𝐹(𝑧) is given by,
𝑧(1 − 𝑒 −𝑎𝑇 )
𝐹 𝑧 =
𝑧 − 1 (𝑧 − 𝑒 −𝑎𝑇 )

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z transform to solve difference equation

𝑍 𝑓(𝑘) = 𝐹 𝑧

The above equation can be expressed using

𝑓 𝑘 + 1 ,𝑓 𝑘 + 2 ,𝑓 𝑘 + 3 ,⋯
and

𝑓 𝑘 − 1 ,𝑓 𝑘 − 2 ,𝑓 𝑘 − 3 ,⋯

in terms of 𝐹(𝑧) and the initial conditions.

Table 2.3 summarizes 𝐹(𝑧) for the terms.

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 Discrete function z Transform

1. 𝑓(𝑘 + 4) 𝑧 4 𝐹 𝑧 − 𝑧 4 𝑓 0 − 𝑧 3 𝑓 1 − 𝑧 2 𝑓 2 − 𝑧𝑓 3

2. 𝑓 𝑘+3 𝑧 3 𝐹 𝑧 − 𝑧 3 𝑓 0 − 𝑧 2 𝑓 1 − 𝑧𝑓 2

3. 𝑓 𝑘+2 𝑧 2 𝐹 𝑧 − 𝑧 2 𝑓 0 − 𝑧𝑓 1

4. 𝑓 𝑘+1 𝑧𝐹 𝑧 − 𝑧𝑓 0

5. 𝑓(𝑘) 𝐹 𝑧

6. 𝑓(𝑘 − 1) 𝑧 −1 𝐹(𝑧)

7. 𝑓 𝑘−2 𝑧 −2 𝐹(𝑧)

8. 𝑓 𝑘−3 𝑧 −3 𝐹(𝑧)

9. 𝑓 𝑘−4 𝑧 −4 𝐹(𝑧)

Table 2.3: Transforms of 𝒇(𝒌 + 𝒎) and 𝒇(𝒌 − 𝒎)

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Example 5: solving difference equation

Consider a discrete time system described by the following difference

equation:
𝑦 𝑘 + 2 + 0.5𝑦 𝑘 + 1 + 0.06𝑦 𝑘 = −(0.5)𝑘+1
with the initial conditions 𝑦 0 = 0, 𝑦 1 = 0. We have to find the solution
𝑦 𝑘 for 𝑘 > 0.
Taking z-transform on both sides of the above equation:
𝑧
𝑧2𝑌 𝑧 + 0.5𝑧𝑌 𝑧 + 0.06𝑌 𝑧 = −0.5
𝑧 − 0.5
Or,
0.5𝑧 0.5𝑧
𝑌 𝑧 =− =−
𝑧 − 0.5 𝑧 2 + 0.5𝑧 + 0.06 𝑧 − 0.5 𝑧 + 0.2 (𝑧 + 0.3)

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Example 5: - continued
Using partial fraction expansion:

0.8937𝑧 7.143𝑧 6.25𝑧

𝑌 𝑧 =− + −
𝑧 − 0.5 𝑧 + 0.2 𝑧 + 0.3
Taking inverse z transform:

𝑦 𝑘 = −0.893 0.5 𝑘 + 7.143(−0.2)𝑘 −6.25(−0.3)𝑘

𝑦 𝑘 = 0 for 𝑘 < 0

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Example 6:
Solve the following difference equation by using z transform method:
𝑥 𝑘 + 2 + 3𝑥 𝑘 + 1 + 2𝑥 𝑘 = 0, 𝑥 0 = 0, 𝑥 1 = 1

The z transform of 𝑥 𝑘 + 2 , 𝑥 𝑘 + 1 , 𝑥(𝑘) are given by,

𝑍 𝑥(𝑘 + 2) = 𝑧 2 𝑋 𝑧 − 𝑧 2 𝑥 0 − 𝑧𝑥(1)
𝑍 𝑥(𝑘 + 1) = 𝑧𝑋 𝑧 − 𝑧𝑥(0)
𝑍 𝑥(𝑘) = 𝑋 𝑧

Taking the z transform of both sides of the difference equation, we obtain;

𝑧 2 𝑋 𝑧 − 𝑧 2 𝑥 0 − 𝑧𝑥 1 + 3𝑧(𝑋 𝑧 − 3𝑧𝑥 0 + 2𝑋 𝑧 = 0

Substituting initial data and simplifying:-

𝑧 𝑧 𝑧 𝑧 1 1
𝑋 𝑧 = = = − = −
𝑧2 + 3𝑧 + 2 𝑧 + 1 (𝑧 + 2) (𝑧 + 1) 𝑧+2 1+𝑧 −1 1 + 2𝑧 −1

1 1
𝑍 −1 = (−1)𝑘 ; 𝑍 −1 = (−2)𝑘
1 + 𝑧 −1 1 + 2𝑧 −1

∴ 𝑥 𝑘 = (−1)𝑘 (−2)𝑘 ; 𝑘 = 0,1,2, ⋯

16
Simulation diagram & flow graphs
LTI DT system can be represented by either a differences
equation or a transfer function. Other representation commonly
used is a simulation diagram/block diagram and flow graph.

17
Example 7:
Present 𝑦 𝑘 = 𝑥 𝑘 − 𝑥 𝑘 − 1 − 𝑦(𝑘 − 1) using a simulation diagram and
signal flow graph.

Simulation diagram

Signal flow graph

18