APTEP

23
ZTransforms
1. Introduction. 2. Definition. 3. Some
standard Z-transtorms. 4.
standard results. 7. Shifting u, to the Linearity property. 5. Damping rule. 6. Some
useful Z-transforms. 11. Some useful
right and to the left. 8.
Multiplication by n. 9. Two Basic thecrems. 10. Some
inverse Z-transforms. 12. Convolution
of Z-transforms. 14. Two-sided
Z-transform. 15. Evaluation of inverse Z-transfoms.theorems. 13. Convergence
equations. 17. Objective Type of Questions. 16. Application to Difference

23.1 INTRODUCTION
The development of communication
branch is based on discrete
transform in continuous systems. ASanalysis. 2-transform plays the same role
in discrete analysis as
similar to those of the
Laplace such, Z-transform has many
Laplace transform (§ 21.2). The main difference is that the properties
functions of continuous arguments Z-transform operates not on
The analogy of but on sequences of the discrete integer-valued
Laplace transform to Z-transform can be carried arguments, i.e. n 0,+1,+2. =

Laplace further. For every

transforms, there is a operational rule of
Laplace transform, there is a corresponding operationalofrule of Z-transforms and for every application of the
difference equation (§ 30.2) andcorresponding application Z-transform. A discrete system is
its solutions are found expressible as a
using 2-transforms.
23.2 DEFINITION
If the funotion u, is defined for discrete values (n 0, 1, 2,...
defined to be
=
)and u, =0 for n 0, then
<
its
Z-transform is

Z (u) Ul2)
= =
u,z" whenever the infinite series converges.
n =0 .)
The inverse Z-transform is written as 2-{U(2)] u
=

If we insert a
particular complex number z into the power series (), the
complex number. Tbus the Z-transform Ulz) is a complex valued function resuling value of Z (u,) will be a
of a complex variable z.

23.3 SOME STANDARD Z-TRANSFORMS

The direct application of the definition gives the following results:
(1) Zla") a (2) ZnP) =
-zZn).p
dz being a +ve inleger.
Proof. (1) By definition, Z (a") =
':"
n = 0

793
794 HiGER EnFF M
-

1+(a/z) +(al>" (alz + . .

-(alz) Koltayam, 20
(2)
2 tn')= n': "- 'n.z

Changingp top -

1, we get Z(nP )= n" Z

Differentiating it w.r.t. z,

n 0

Substituting (i) in (i), we obtain Z (nP) = -

z1Zn
which is the desired recurrence formula.
In particular, have the
we
following formulae
(3) Z(1) =

2 -1Taking a = 1 in (1) (4)Z(n) =

ITakingp =l in 2
2-1 1
(5)Ztn)= + z (V.T.U, 2014) (6)Zn)= t42+z
(z 1 (z 1
(7) Znd) = 2 +112 +1122+z
(z 1

23.4 LINEARITY PROPERTY

Ifa, b, c be any constants and u V, w, be any discrete functions, then
Z (au, bu, cw,) aZlu,) bZlu,) cZ(uw,)
+ -
= + -

Proof. By definition, 2 (au, + bo, -cw,) =

> (a, +bu, cw,)z" -

n =0

n =0 n =0 0

aZu,)+ 6Z (v,)-cZ (w,).

23.5 DAMPING RULE

IfZ (u,) = U2), then Zla" u,) = Ulaz)

Proof. By definition, Z (a-" u,) = a "u, .2" = u . (az)" =Ulaz). (Madras, 2006
n

Cor. Z (a"u,) =Ucla)

Obs. The geometric factor a" when | a |<1, damps the function u, hence the name damping rule.
23.6 SOME STANDARD RESULTS
The application of the damping rule leads to the following standard results:
a2 taf2
(1)Z(na")= -(2 a ) 2
(2) Ztn"an) =

(z - a
Z-TRANSPORMS 795
z - cos 0)
Bin 0
(3)2 (cos n®) =
(4)Zsin n0)=
-22 cos 0+ 1
(6) 2a" cos n0) = 2 a cos 0) (6) Zla" sin n0) = .
az sln 0
-2a2 cos 0 +a -2az cos 0 + a*
Proofs. (1) We know that Z(n) =
(z -1)2 Applying damping rule, we bave
Zna") Uaz)== ( (Madras, 2000 S)
(a-1 (z -a
2) We knowthat ZUn) = Applying damping rule, we have
(-1"

Zna") = Ua-lz) = la":+a'z _alz + a2)

a-1 (z-a
(3) and (4) We know that Z(1) = Applying damping rule, we have

zlz - e
Zle-ino)= Z(e-0n. 1= ze
G-e)
(z-e)(z -e)
zlz cos 0) - iz sin zlz - cos) -iz sin 0

2-e" +e")+1 -2z cos 0+1

Equating real and imaginary parts, we get (3) and (4). (V.T.U., 2013; Anna, 2009)

6) We know that Z (eos n0) =

z{z -
cos ) By damping rule, we have
2-2z cos 6 +1
a z (az - cos 0) zlz a cos 0) (V.T.U, 2006)
Za" cos n0) =
(a -2az)cos 6 +1 2-2az cos +a
Similarly using (4) above, we get (6).

Example 23.1. Find the Z-transform of the following:

(ii) (n +1) (V.T.U., 2010)
) 3n 4 sin nal4 + 6a
V.T.U, 2009 S; Kottayam, 2005)
(iii) sin (3n + 6).

Solution. (i) Z(3n - 4 sin nT 5 a ) = 3Z(n) -4Z sin +5a Z(1)

By Linearty propertyl

2 sin na/4
3 +ba Using formulae for Z1), Zln), Z(sin n0))
-4-2 cos n/4 + 1

- 13-5a) + 5a2 2 2
(z 1 2-22+1
(it) Zn+ 1P = Ztn* + 2n + 1) =Z(rn2) + 22(n) + Z(1)

: (22 +1)

(iii) ZIsin (3n + 5)) =Zlsin 3n cos 5+ cos 3n sin 5)

= cos 5.Z (sin 3n) + sin 5.Z (cos 3n) (using formulae for Z (sin n0), Z (cos n6)
Z 6in 3 zlz cos 3) (z sin 5 - sin 2)
COs 5 + sin 5. -
-22 cos 3+ 1 2 - 2z cos 3 + 1 2z cos 3 +1
 HHGHER ENGINEERNG MATHEMAYCS
796
Example 23.2. Pind the Z-tranaforms of the ollowin
(m)n

Solution. i Let u, - 1 , (e ) " k w h e r e k - e " . Uy d a m p i n g : r l 7 " u,) = hz),

Z ) Z " 1)- (kz)

1/k 2

Le 4 1, e"" (e ")
"
e k" where k *"

Ry damping rule, Z i e . n) = Z(k " . n)= Ulk e) where l z ) = Ztn) =

z)ZAn) ( 1-

k(z - 1/k) (2 - e"

kz 1
Let n, ean = (e*)" = k" where k =e"
y damping rule,

Zien2) =Z(k" . n2) = Ukz) 1ere Uz) =Zn2)= (7-1

t
kz)+kz ziz+ 1/k) ze"(z + e")
kz -1 ( 1/k (z- e"
Example 23.3. Find the Z-transform of) cosh ne (V.T.U, 2014) (ii) a" cosh ne.

e+8
Solution. (i) Z (cosh n8) =z
Apply damping rule to both terms, taking u, = 1.
[z{«".1)+z{e'r*.]
-
Z(cosh n8) = -

z cosh 0
- 22 cosh +1
Zla" cosh n6) = Z[al)" , cosh ne] Apply damping rule using (i
(a - (a z) cosh z(z a cosh 6)
( a 2 - 2(a z) cosh +1 - 2az cosh 6+ a
Example 23.4. Find the Z-transforms of
( i e sin 2t (Madras, 2003) (ii) c* cos ka. (k 20) (U.P.T.U., 2004 S)

Solution. (i) We know that 2 (sin 21) = z sin 2

..(A
2-22 cos 2 +1
Z (e sin 2t) =Z Ite-1). sin 2t Apply damping rule, using (A
(e 2) sin 2 ez sin 2

( e a - 2(e 2)cos 2+1 - 2ez cos 2 +e

2 2 - CO8 O)
(u)We know that z (cos kG) ...(B)
222 cOs a t
Ze cos ko) = Z Ic-))-* , cos kul Apply damping rule, using (B
(e 2)e'z - cos al 22 -- c cos a)

(e 2 - 2c 2) cos a + 1 22cz cos a + c

2
 798
23.7 (1) SHIFTING U, TO THE RIGHT
If Z u , ) - U e ) , then 2 u , ) * Me) (0)
Proof. By definition,.

Zu, 2", " =z *0

Obs. 7his rule will be very useful in applications to diterenee equntion
(2) Shifting u, to the left. IfZ tu,) = Ulz), then
Zu,.= "|U/(z) - uo - u - 4 .
(n*)
Prof 7u,.=u,.=2 n
,

-,"|
n 0 n = 0

Hence 2u,.) =z*|U(2) -u, - u,-u-. Uk - zk-

12 1
-

J.N.T.U., 2002)
In particular, we have thefollowing standard results:
(1) Zu,.=
(3) Ziu,
/U2)- u,}: .y= U a ) (2)Z(u, u} -

ug -
=*[U:) u, - ul- u ) -

Example 23.8. Show that 2 |

Hence evaluate Z[1/(n + 1!] and Z[1/(n + 21]. (Madras, 2006)

Solution. We have 3 t = elk

n = 0

Shifting (1/n!) one unit to the left gives

= zle-l - 1)

Similarly shifting (1n!) two units to the left gives

z 1 =Aele -1 - z),
(n+2)!
23.8 MULTIPLICATION BY n
f Zu,)= ulz), then Z (nu,) = -

Proof. Znu,)= n.4," = -z) u,-n)z

n 0 n =0
:-:u, " )
- 2 ",:*") = -z 4 i--Ui.

2
Obs. We have, Zn'u,) |-4ulz)= (Madras, "H6

In general, Z(n"u,) =
ul:).
 799
Z-TAANSFORMS

Example 23.9. Find the Z-transform of) n ain n0 i) n'en

d)
Solution. (i) We know that Z (nu,) d nd Z(sin n0).
2 2 2 cON 0 +1

8in 0
Zn sin n0) = -

zZ (in n0)
=
-

zde22z cos 0+ 1
sin 0- z sin 0 z(z- 1) Bin
( - 2 2 cos0 + 1 (22 -22 cos +1

() We know that ZAen)=

2

unem( - (-
ze
-( ( -

23.9 TwO BASIC THEOREMs

0 or asn>o without requiring complete
knowledge
In apphcations, we often need the values ofu, for n
=

behaviour of U(z) as z > o and

to the
of u, for small values of n is related
of u. We can find this as the behaviour theorems
vice-versa. The precise relationship is given by
the following initial and final value

(1) Initial value theorem.

=
Uc), then u = Lt U(z)
IfZ(u,)
Proof. We know that Ulz)
+
u,2 + u z t .
=Z{u,) u =

as required.
Taking imits as zo, we get Lt [U(2)]= U»
be found successively, giving:
Similarly additional initial values can and so on.

4 Lt z {Ul)-]} ;u Lt
U(2) -4 -4}
z

(2) Final value theorem. IfZu,) =

U(a), then
(z- 1)U()
Lt (4,)= Lt
(4+1 4,)"
Proof By definition, Z (4,+1-4,)= n =0

or Z{u,.1)-Zu,)= 2 (,+1 -4,)2%

n =0

zlUa)-4l - U(a) =2 ( 4 1 u ,)z"

or
= 0

Or
Uc) a- 1)-ug= (u,.1 -4, )z
n0

Taking limits of both sides as z > 1, we get

l(u, - ug) +(u2 - u,) + . . +(,.1 u,)

-

Lt lz 1) Uz)) -u =
(1,
2 1 n = 0
Z-TRANSFORMS
801
14, Given that Z(u,)= ,|>3, show that u, 2, u 21, u =
139.

15. Show that () Z z log Madras, 2003 S) Gi)z nn +1) Anna, 2006 S)

16. Using 2Zn)

(z - 1)
show that 2 (n cos n9) = t 2)cos -22
(2-22cos 0 +1)

23.10 SOME USEFUL Z-TRANSFORMS

Sr. No. Sequence u, (n 20) Z-transform Uz) = Z{u)

kz/z- 1)
2.
3.
kz/z +1)
z/(z- 1)
4 n
(z2+2z -1)3
5. nP -
z d/dz [Z(nP-1)], p + ve integer.
6.
8tn) 1
on =0
n#0
7. un)=
un) n<0)
1 n20 z/(z 1)
8 a z/a-a)
9. na" az/z- a)2
10. na (az2+a2z -a)"
11. Sinne 2 Sin

2 - 22 cos 0+1

12. cos ne zlz cos 6)

2-2z cos +1
az sin 6
13. a sin n8
z - 2az cos 0+a

14. a cos ne zz-acos 0)

z - 2az cos 0+a

15. sinh ne 2 sinh

2-22 cosh 0 +1
zlz cosh 0)
16. cosh ne
-22 cosh +1
az sinh 0
17. a sinh n0
-2az cosh 0 +a
zlz - a cosh 0)
18. a cosh ne
-2az cosh 0 + a*
19. a' Uzla)
20. 2Ulz)- u
z21U(z) - ug - u,2
+2
z"{U(z) - ug - u,2 - u,z1
3
21 r- k 2*U(z)
- zdld:|U/E))
22. nu

23 Lt Uz)

Lt u,) L t (z - 1) U:}
24.
n
 802 HiatER ENGINIT PONO
MAHeMA
23.11 SOME USEFUL INVERSE Z-TRANSFORMS
S.No Inverse2-transform u, U ) )
a

(-a

(n Ia
(-a
(n 1) (n 2) a"-3
-a
a

6 +0
-a

n+1la"

8. n+ 1)(n +2) a" utn)

23.12 CONVOLUTION THEOREM

If2- {U)) = u, and Z-'{V(z)) =v, then

Z-[U). Va) =
m-m =u,* v,
m=0
where the symbol» denotes the convolution operation.

Proof. We have Ulz) 24,, Ve) =,

=

n 0

Ue) Va) =(u, + u +uz . +u,z+... ) x (, + U,2 +Uz+.. +V,2"+..

4n+4n-1 t un -2t t4, )2" = ug", +u,Pn -1 t.. +4,o

Tn=0

whence follows the desired result.

Obs. The convolution theorem plays an important role in the solution of difference
problems involving sums of two independent random variables.
equations and in probability

Example 23.11. Use conuolution theorem to evaluate

Z- (2-a) (z - b)|
(Anna, 2013)

Solution. We know that Z- a" and

Z72 b
--57a -*
2".8m = E which is
a G.P.

(alb* -1 a*1 -}"*1

= b
a/b-1 a b
7 HANSORMB 805
Example 21.1 4. Find the nue 2 iransform oflog (aleUbypoaver erien method

Solutiou. P'utting 1 , i:) o /y o y) yt

/y

'
tor n 0
Thus
n othorwine
Example 23,16. Find the inverse Z-transform of az + 1" by division method

21z
Solution by netunl division
2 1 222 4
32+2 +32
z-
22"+ 222 + 1 2 "+" 22z1
Continuing this process of division, we get an infinite series i.e.,

Ua)= -1nz
n-0

Thus u=-1)"- n.
1. Partial fractions method. This method is similar to that of finding the inverse Laplace transforms
using partial fractions. The method consists of decomposing Uaz into partial fructions, multiplying
the
resulting expansion by z and then inverting the same.

Example 23.16. Find the inverse Z-transforms of

)2+3 (V.7.U., 2014; C.S.V.T.U., 2007) (ii) - 2 0 2 (Calicut, 2012 V.T.U., 2011)
(z + 2) (z - 4)
(a 2 (2- 4)

Solution. (i) We write Uz) =

222 +32 U(z) 22 +3
(z +2) (z - 4)
+2) (2 -4)2+2-4
where A = 1/6 and B = 11/6

Uz) ,11 z_
On inversion, we have
(Using $ 23.10 (8)
4, -2 4
(ii) We write Uz) = -20z
(z - 2 (z - 4)

U(z) 2 0 A+ Bz +Cz,
as
(z-2 (z - 4) (z 23 z -4

get D =1/2. Multiplying throughout by (z 2" (z 4), we get

- -

Readily we
z2- 20 (A + Bz + C2) (2 - 4) + Dz - 2).

Putting z = 0, 1,- 1 successively and solving the resulting simultaneous ecquations, we get A = 6, B =0,
C /2.
1 122 + z" 1 20z 2 +42" +82
Thus U2)
(2 - 2 z-4 2 ( 2 A

22 +4z
2122(z -2 :-4
 Han EMHE VGG
MAnWM
806

Ons invermion, we gt ( 2 n*)4" Uming 4 23

10 (8)&(
n 4"

Example Pind the ineerw Ztroneorm of

23.17.

he-B 6 5 / - 2 t a - 3PL for 2 1a l<3.

Solution. Splhtting into artial fractions, we obtaiu

i 2 ) : - 6 6.5) C where A -H -(
-2(2 -3 -2 3-3

so that 2/z < I and zi,

where 2|z|

On inversion,we get u. =2n-1,n21 and u,=-(n + 2)3-2, n s0.

II. Inversion integral method. The inverse Z-transform of Ula) is given by the formula

Uer
2J e d
sum of residues of Ua)-1'at the poles of U2) which are inside the contour
C drawn according to the ROC given.
The following examples will illustrate the application of this formula:
Example 23.18. Using the inversion integral method, find the inverse Z-transform of

(V.T.U., 2o0s
-1) (a-2)
Solution. Let Ue) = Its poles are atz = 1 andz = 2.

Using Ulz) in the inversion integral, we have

4
Ul)E-1 dz,
where C is a circle large enough to enclose both the poles of Ulz).
sum of residues of UE)2"1 at z = 1 and 2 = 2.

Now Res 1Ua) E" -1, -1 L,- -1)(2 -2) -1

and
ResUa)"1,. Ltz-2-D-2
(z- 1)(2 -2)
=2

Thus the required inverse Z-transform u = 2" - 1, n = 0, 1, 2, ..

Z-TRANSFORMS 807

Example23.19, Find the inverse2-trans/orm of2a//(e-D (Mudras, 2000 8)

Solution. Let Uc) =F 22 It hus three poles at z = 1,2 = ti.

(z - 1)(2 + i ) (z - i)

Using U2) in the inversion integral, we have

2Ti
U2). z"l da, where C is a circle large enough to enclose the poles of Uz).
sum of residues of Ulz).zn-l at z = 1,2 = ti.

22
Now Res Uz)zn-1,= Lt -1) (z- 1)(z+1)) 1

22
Res [Uc) zn-1, =, =

Ltl2-z-)(2+)2 -

i)1ti
Res Uz) 22
zn-,= -= Lt2+ -)2 +i)z -i) i-

4,=1 -i
Hence
ul4i 1-i
PROBLEMS 23.3

Using convolution theorem, evaluate the inverse Z-transforms of the following:

(Anna, 2012) 3.
-1)(2 -3)
(2 + a) (z + b)
=E
b-a
(ba1 - a"). (Anna, 2009

Find the inverse Z-transforms of the following:

42
5. | z| > |a |. (Kottayam, 2005) 6.
(2-z)(32 - 1)
Z a

8.
1822 C.S.V.7U, 200)
7-1 (22 1)(42 + 1)

9 8 - 23 32-18z +26 (Anna. 2005 S)

10.
(4 2 (2-2)(z -3) (z - 4)

1.
4:-22 (V.T.U., 2011 S) 12.
3+32 LAnno, 20u9
5 +82 4 (2 1 (2 +1)
(1 - e ) z
13.
(2 1) (2 -e )
14. Obtain 2-'|1/lz -2)(2 - 3)1 for (i) | z | <2; (ii) 2 < | z | <3;(ii) | z | > 3. (Marathwada, 2i/0S)
15. Evaluate Z' (a -5)) for |z |>5. (Mumbai 20/9
Using inversion integral, find the inverse Z-transform of the following functions :

6. z +3 17. (22-1)z
(+1)(z - 2) 2z - 1) (z +0.5)

+z
18. (C.S.V.T.U., 2008) 19. (Madras, 2003)
2z-1)(2 +0.5) (z- 1)(2+1)
20.22( - 1)
(2412