DSP - Z-Transform Introduction

Discrete Time Fourier Transform D

DTTF
FTT exists for energy and power signals. Z-transform also

exists for neither energy nor Power N

NEEN
NPP type signal, up to a certain extent only. The

replacement z
z =
j
jw
= e
e
w
is used for Z-transform to DTFT conversion only for absolutely summable

signal.

So, the Z-transform of the discrete time signal x n

n in a power series can be written as −

∞
∞
−
−nn
X
X((z
z)) =
= ∑
∑ x
x((n
n))Z
Z
n
n−−∞
∞

The above equation represents a two-sided Z-transform equation.

Generally, when a signal is Z-transformed, it can be represented as −

X
X((Z
Z)) =
= Z
Z[[x
x((n
n))]]

Or x
x((n
n)) ⟷
⟷ X
X((Z
Z))

If it is a continuous time signal, then Z-transforms are not needed because Laplace transformations
are used. However, Discrete time signals can be analyzed through Z-transforms only.

Region of Convergence

Region of Convergence is the range of complex variable Z in the Z-plane. The Z- transformation of
the signal is finite or convergent. So, ROC represents those set of values of Z, for which X Z
Z has

a finite value.

Properties of ROC

ROC does not include any pole.

 For right-sided signal, ROC will be outside the circle in Z-plane.
For left sided signal, ROC will be inside the circle in Z-plane.
For stability, ROC includes unit circle in Z-plane.
For Both sided signal, ROC is a ring in Z-plane.
For finite-duration signal, ROC is entire Z-plane.
The Z-transform is uniquely characterized by −

Expression of X Z
Z

ROC of X Z
Z

Signals and their ROC

 x n X Z
ROC
n Z

1
Entire Z plane
δ
δ((n
n)) 1

U
U((n
n)) 1
1//(
(11−
−ZZ
−
−11
)
) Mod Z
Z >1

a
n
n
a u
u((n
n)) 1
1//(
(11−
−aaZ
Z
−
−11
)
) Mod Z
Z >Mod a
a

−
−aa u
u(
n
n
(−
−nn−
−11)
) 1
1//(
(11−
−aaZ
Z
−
−11
)
) Mod Z
Z <Mod a
a

n
naa u
u(
n
n
(n
n)) a
aZZ
−
−11
/
/((1
1−−a
aZZ
−
−11 2
2
)
) Mod Z
Z >Mod a
a

−
−aa u
u(
n
n
(−
−nn−
−11)
) a
aZZ
−
−11
/
/((1
1−−a
aZZ
−
−11 2
2
)
) Mod Z
Z <Mod a
a

U
U((n
n)) cos
cos ω
ωnn (
(ZZ
2
2
−
−ZZ cos
cos ω
ω)) Mod Z
Z >1
2
2
/
/((Z
Z −
−22Z
Z cos
cos ω
ω++1
1))

U
U((n
n)) sin
sin ω
ωnn (
(ZZ sin
sin ω
ω))/
/((Z
Z
2
2
−
−22Z
Z cos
cos Mod Z
Z >1
ω
ω++1
1))

Example

Let us find the Z-transform and the ROC of a signal given as x

x((n
n)) =
= {
{77,, 3
3,, 4
4,, 9
9,, 5
5}} , where

origin of the series is at 3.

Solution − Applying the formula we have −

∞
∞ −
−nn
X
X((z
z)) = ∑n=−∞ x
= ∑ x((n
n))Z
Z
n=−∞

3
3 −
−nn
=
= ∑
∑n=−1 x
x((n
n))Z
Z
n=−1
 −
−11 −
−22 −
−33
=
= x
x((−
−11)
)ZZ +
+xx(
(00)
)++x
x((1
1))Z
Z +
+xx(
(22)
)ZZ +
+xx(
(33)
)ZZ

−
−11 −
−22 −
−33
=
= 7
7ZZ +
+33+
+44Z
Z +
+99Z
Z +
+55Z
Z

ROC is the entire Z-plane excluding Z = 0, ∞, -∞

 DSP - Z-Transform Properties

In this chapter, we will understand the basic properties of Z-transforms.

Linearity

It states that when two or more individual discrete signals are multiplied by constants, their
respective Z-transforms will also be multiplied by the same constants.

Mathematically,

a
a1 x 1(
1 x1 (n
n))+
+aa2 x 2(
2 x2 (nn)
) =
= a
a1 X 1(
1 X1 (z
z))+
+aa2 X 2(
2 X2 (zz)
)

Proof − We know that,

∞
∞
−
−nn
X
X((Z
Z)) =
= ∑
∑ x
x((n
n))Z
Z
n
n==−
−∞∞

∞
∞ −
−nn
=
= ∑
∑n=−∞ (
(aa1 x 1(
1 x1 (nn)
)++a
a2 x 2(
2 x2 (n
n)))
)ZZ
n=−∞

∞
∞ −
−nn ∞
∞ −
−nn
=
= a
a1 ∑ x 1(
1 ∑n=−∞ x1 (nn)
)ZZ +
+aa2 ∑ x 2(
2 ∑n=−∞ x2 (nn)
)ZZ
n=−∞ n=−∞

=
= a
a1 X 1(
1 X1 (z
z))+
+aa2 X 2(
2 X2 (zz)
) H
Heen
ncce
ePPr
roov
veed
d

Here, the ROC is R

ROOC
C1 ⋂ ROC 2
1 ⋂ ROC2
.

Time Shifting
Time shifting property depicts how the change in the time domain in the discrete signal will affect
the Z-domain, which can be written as;

−
−nn
x
x((n
n−−n
n0 ) ⟷ X(Z )Z
0 ) ⟷ X(Z )Z
Or x
x((n
n−−1
1)) ⟷
⟷ Z
Z
−
−11
X
X((Z
Z))

Proof −

Let y
y((P
P)) =
= X
X((P
P −
−KK)
)

∞
∞ −
−pp
Y
Y((z
z)) =
= ∑
∑p=−∞ y
y((p
p))Z
Z
p=−∞

∞
∞ −
−pp
=
= ∑
∑p=−∞ (
(xx(
(pp−
−kk)
)))Z
Z
p=−∞

Let s = p-k

∞
∞ −
−((s
s++k
k))
=
= ∑
∑s=−∞ x
x((s
s))Z
Z
s=−∞

∞
∞ −
−ss −
−kk
=
= ∑
∑s=−∞ x
x((s
s))Z
Z Z
Z
s=−∞

−
−kk ∞
∞ −
−ss
=
= Z
Z [[∑
∑s=−∞ x
x((m
m))Z
Z ]]
s=−∞

−
−kk
=
= Z
Z X
X((Z
Z)) H
Heen
ncce
ePPr
roov
veed
d

Here, ROC can be written as Z = 0 p

p >
> 0
0 or Z = ∞ p
p <
< 0
0

Example

U n
n and U n
n−−1
1 can be plotted as follows
Z-transformation of U n
n cab be written as;

∞
∞ −
−nn
∑
∑n=−∞ [[U
U((n
n))]]Z
Z =
= 1
1
n=−∞

Z-transformation of U n
n−−1
1 can be written as;

∞
∞ −
−nn −
−11
∑
∑n=−∞ [[U
U((n
n−−1
1))]]Z
Z =
= Z
Z
n=−∞

So here x
x((n
n−−n
n0 ) = Z
0) = Z
−
−nn0
0
X
X((Z
Z)) H
Heen
ncce
ePPr
roov
veed
d

Time Scaling

Time Scaling property tells us, what will be the Z-domain of the signal when the time is scaled in its
discrete form, which can be written as;

n
n −
−11
a
a x
x((n
n)) ⟷
⟷ X
X((a
a Z
Z))

Proof −

Let y
y((p
p)) =
= a
a x
x(
p
p
(p
p))

∞
∞ −
−pp
Y
Y((P
P)) =
= ∑
∑p=−∞ y
y((p
p))Z
Z
p=−∞

∞
∞ p
p −
−pp
=
= ∑
∑p=−∞ a
a x
x((p
p))Z
Z
p=−∞

∞
∞ −
−11 −
−pp
=
= ∑
∑p=−∞ x
x((p
p))[[a
a Z
Z]]
p=−∞

−
−11
=
= X
X((a
a Z
Z)) H
Heen
ncce
eppr
roov
veed
d

ROC: = Mod a
arr1
1 < Mod Z
Z < Mod a
arr2
2 where Mod = Modulus

Example
Let us determine the Z-transformation of x
x((n
n)) =
= a
a
n
n
cos
cos ω
ωnn using Time scaling property.

Solution −

We already know that the Z-transformation of the signal cos

cos((ω
ωnn)
) is given by −

∞
∞
−
−nn 2
2 2
2
∑ (
∑ (cos
cos ω
ωnn)
)ZZ =
= (
(ZZ −
−ZZ cos
cos ω
ω))/
/((Z
Z −
−22Z
Z cos
cos ω
ω++1
1))

n
n==−
−∞∞

Now, applying Time scaling property, the Z-transformation of a

a
n
n
cos
cos ω
ωnn can be written as;

∞
∞ n
n −
−nn −
−11
∑
∑n=−∞ (
(aa cos
cos ω
ωnn)
)ZZ =
= X
X((a
a Z
Z))
n=−∞

−
−11 2
2 −
−11 −
−11 2
2 −
−11
=
= [[(
(aa Z
Z)) −
−((a
a Z
Z cos
cos ω
ωnn)
)]]/
/(((
(aa Z
Z)) −
−22(
(aa Z
Z cos
cos ω
ωnn)
)++1
1))

2
2 2
2
=
= Z
Z((Z
Z −
−aa cos
cos ω
ω))/
/((Z
Z −
−22a
azz cos
cos ω
ω++a
a )
)

Successive Differentiation
Successive Differentiation property shows that Z-transform will take place when we differentiate the
discrete signal in time domain, with respect to time. This is shown as below.

d
dxx(
(nn)
)
−
−11
=
= (
(11−
−ZZ )
)XX(
(ZZ)
)
d
dnn

Proof −

d
dxx(
(nn)
)
Consider the LHS of the equation − d
dnn

[[x
x((n
n))−
−xx(
(nn−
−11)
)]]
=
=
[[n
n−−(
(nn−
−11)
)]]

=
= x
x((n
n))−
−XX(
(nn−
−11)
)
 −
−11
=
= x
x((Z
Z))−
−ZZ x
x((Z
Z))

−
−11
=
= (
(11−
−ZZ )
)xx(
(ZZ)
) H
Heen
ncce
ePPr
roov
veed
d

ROC: R1< Mod Z

Z <R2

Example

Let us find the Z-transform of a signal given by x

x((n
n)) =
= n
n u
u((n
n))
2
2

By property we can write

d
dZZ[[U
U((n
n))]]
Z
Zzz[[n
nUU(
(nn)
)]] =
= −
−ZZ
d
dzz

Z
Z
d
d[[ ]]
Z
Z−−1
1
=
= −
−ZZ
d
dZZ

2
2
=
= Z
Z//(
(((Z
Z −
−11)
)

=
= y
y((lle
ett)
)

Now, Z[n.y] can be found out by again applying the property,

d
dyy
Z
Z((n
n,, y
y)) =
= −
−ZZ
d
dzz

3
3
d
d[[Z
Z//(
(ZZ−
−11)
) ]]
=
= −
−ZZ
d
dzz

2
2
=
= Z
Z((Z
Z +
+11)
)//(
(ZZ −
−11)
)

Convolution

This depicts the change in Z-domain of the system when a convolution takes place in the discrete
signal form, which can be written as −
 x
x1 (n) ∗ x 2(
1 (n) ∗ x2 (n
n)) ⟷
⟷ X
X1 (Z ). X 2(
1 (Z ). X2 (Z
Z))

Proof −

∞
∞ −
−nn
X
X((Z
Z)) = ∑n=−∞ x
= ∑ x((n
n))Z
Z
n=−∞

∞
∞ ∞
∞ −
−nn
=
= ∑
∑n=−∞ [[∑
∑k=−∞ x
x1 (k)x 2(
1 (k)x2 (n
n−−k
k))]]Z
Z
n=−∞ k=−∞

∞
∞ ∞
∞ −
−nn
=
= ∑
∑k=−∞ x
x1 (k)[∑
1 (k)[∑n
x
x2 (n − k)Z
2 (n − k)Z
]]
k=−∞ n

∞
∞ ∞
∞ −
−((n
n−−k
k)) −
−kk
=
= ∑
∑k=−∞ x
x1 (k)[∑ x 2(
1 (k)[∑n=−∞ x2 (nn−
−kk)
)ZZ Z
Z ]]
k=−∞ n=−∞

Let n-k = l, then the above equation cab be written as −

∞
∞ −
−kk ∞
∞ −
−ll
X
X((Z
Z)) =
= ∑
∑k=−∞ x
x1 (k)[Z
1 (k)[Z
∑
∑l=−∞ x
x2 (l)Z
2 (l)Z
]]
k=−∞ l=−∞

∞
∞ −
−kk
=
= ∑
∑k=−∞ x
x1 (k)X 2(
1 (k)X2 (Z
Z))Z
Z
k=−∞

∞
∞ −
−kk
=
= X
X2 (Z ) ∑ x 1(
2 (Z ) ∑k=−∞ x1 (ZZ)
)ZZ
k=−∞

=
= X
X1 (Z ). X 2(
1 (Z ). X2 (Z
Z)) H
Heen
ncce
ePPr
roov
veed
d

ROC: R
ROOC
C⋂⋂R
ROOC
C22

Example

Let us find the convolution given by two signals

x
x1 (n) = {3, −2, 2}
1 (n) = {3, −2, 2}
... e
eqq.. 1
1

x
x22
(
(nn)
) =
= {
{22,, 0
0 ≤
≤ 4
4 a
annd
d 0
0 e
ells
seew
whhe
erre
e}} ... e
eqq.. 2
2

Z-transformation of the first equation can be written as;

 ∞
∞ −
−nn
∑
∑n=−∞ x
x1 (n)Z
1 (n)Z
n=−∞

−
−11 −
−22
=
= 3
3−−2
2ZZ +
+22Z
Z

Z-transformation of the second signal can be written as;

∞
∞ −
−nn
∑
∑n=−∞ x
x2 (n)Z
2 (n)Z
n=−∞

−
−11 −
−22 −
−33 −
−44
=
= 2
2++2
2ZZ +
+22Z
Z +
+22Z
Z +
+22Z
Z

So, the convolution of the above two signals is given by −

∗
∗
X
X((Z
Z)) =
= [[x
x1 (Z ) x 2(
1 (Z ) x2 (Z
Z))]]

−
−11 −
−22 −
−11 −
−22 −
−33 −
−44
=
= [[3
3−−2
2ZZ +
+22Z
Z ]] ×
× [[2
2++2
2ZZ +
+22Z
Z +
+22Z
Z +
+22Z
Z ]]

−
−11 −
−22 −
−33
=
= 6
6++2
2ZZ +
+66Z
Z +
+66Z
Z +
+.. .. .. .. .. .. .. .. ..

Taking the inverse Z-transformation we get,

x
x((n
n)) =
= {
{66,, 2
2,, 6
6,, 6
6,, 6
6,, 0
0,, 4
4}}

Initial Value Theorem

If x n
n is a causal sequence, which has its Z-transformation as X z
z , then the initial value

theorem can be written as;

X
X((n
n))(
(aat
t n
n =
= 0
0)) =
= lim
limzz→
→∞
X(z)
∞ X(z)

Proof − We know that,

∞
∞ −
−nn
X
X((Z
Z)) =
= ∑
∑n=0 x
x((n
n))Z
Z
n=0

Expanding the above series, we get;

0
0 −
−11 −
−22
=
= X
X((0
0))Z
Z +
+XX(
(11)
)ZZ +
+XX(
(22)
)ZZ +
+.. .. .. .. .. ..
 −
−11 −
−22
=
= X
X((0
0))×
×11+
+XX(
(11)
)ZZ +
+XX(
(22)
)ZZ +
+.. .. .. .. .. ..

In the above case if Z → ∞ then Z

Z
−
−nn
→
→ 0
0 B
Beec
caau
usse
enn >
> 0
0

Therefore, we can say;

lim
limzz→
→∞
X(z) = X(0)
∞ X(z) = X(0)
H
Heen
ncce
ePPr
roov
veed
d

Final Value Theorem

Final Value Theorem states that if the Z-transform of a signal is represented as X Z

Z and the

poles are all inside the circle, then its final value is denoted as x n
n or X ∞
∞ and can be written

as −

−
−11
X
X((∞
∞)) =
= lim
limnn→
→∞
X(n) = lim z→
∞ X(n) = limz →1
[X(Z )(1 − Z
1 [X(Z )(1 − Z
)
)]]

Conditions −
It is applicable only for causal systems.

X
X((Z
Z))(
(11−
−ZZ
−
−11
)
) should have poles inside the unit circle in Z-plane.

Proof − We know that

+
+ k
k −
−nn
Z
Z [[x
x((n
n++1
1))−
−xx(
(nn)
)]] =
= lim
limkk→
→∞
∑ Z
∞ ∑n=0 Z
[[x
x((n
n++1
1))−
−xx(
(nn)
)]]
n=0

+
+ +
+ k
k −
−nn
⇒
⇒ Z
Z [[x
x((n
n++1
1))]] −
−ZZ [[x
x((n
n))]] =
= lim
limk ∑ Z [[x
x((n
n++1
1))−
−xx(
(nn)
)]]
k→
→∞∞ ∑n=0 Zn=0

+
+ +
+ k
k −
−nn
⇒
⇒ Z
Z[[X
X((Z
Z)) −
−xx(
(00)
)]] −
−XX(
(ZZ)
) =
= lim
limkk→
→∞
∑ Z
∞ ∑n=0 Z
[[x
x((n
n++1
1))−
−xx(
(nn)
)]]
n=0

Here, we can apply advanced property of one-sided Z-Transformation. So, the above equation can
be re-written as;

+
+ +
+ 0
0 +
+
Z
Z [[x
x((n
n++1
1))]] =
= Z
Z[[X
X((2
2)) −
−xx(
(00)
)ZZ ]] =
= Z
Z[[X
X((Z
Z)) −
−xx(
(00)
)]]

Now putting z = 1 in the above equation, we can expand the above equation −
 lim
limkk→
→∞
[x(1) − x(0) + x(6) − x(1) + x(3) − x(2)+. . .
∞ [x(1) − x(0) + x(6) − x(1) + x(3) − x(2)+. . .
.. .. ..

.. .. .. +
+xx(
(xx+
+11)
)−−x
x((k
k))]]

This can be formulated as;

−
−11
X
X((∞
∞)) =
= lim
limn X
X((n
n)) =
= lim
limz [[X
X((Z
Z))(
(11−
−ZZ )
)]] H
Heen
ncce
ePPr
roov
veed
d
n→
→∞∞ z→
→11

Example

Let us find the Initial and Final value of x n

n whose signal is given by

−
−11 −
−22
X
X((Z
Z)) =
= 2
2++3
3ZZ +
+44Z
Z

Solution − Let us first, find the initial value of the signal by applying the theorem

x
x((0
0)) =
= lim
limzz→
→∞
X(Z )
∞ X(Z )

−
−11 −
−22
=
= lim
limzz→
→∞
[2 + 3Z
∞ [2 + 3Z
+
+44Z
Z ]]

3
3 4
4
=
= 2
2++(
( )
)++(
( )
) =
= 2
2
∞
∞ ∞
∞

Now let us find the Final value of signal applying the theorem

−
−11
x
x((∞
∞)) =
= lim
limzz→
→∞
[(1 − Z
∞ [(1 − Z
)
)XX(
(ZZ)
)]]

−
−11 −
−11 −
−22
=
= lim
limz [[(
(11−
−ZZ )
)((2
2++3
3ZZ +
+44Z
Z )
)]]
z→
→∞∞

−
−11 −
−22 −
−33
=
= lim
limzz→
→∞
[2 + Z
∞ [2 + Z
+
+ZZ −
−44Z
Z ]]

=
= 2
2++1
1++1
1−−4
4 =
= 0
0

Some other properties of Z-transform are listed below −

Differentiation in Frequency
It gives the change in Z-domain of the signal, when its discrete signal is differentiated with respect
to time.
 d
dXX(
(zz)
)
n
nxx(
(nn)
) ⟷
⟷ −
−ZZ
d
dzz

Its ROC can be written as;

r
r2 <
< M
Mood
d((Z
Z)) <
< r
r1
2 1

Example

Let us find the value of x n

n through Differentiation in frequency, whose discrete signal in Z-

domain is given by x
x((n
n)) ⟷
⟷ X
X((Z
Z)) =
= llo
ogg(
(11+
+aaZ
Z
−
−11
)
)

By property, we can write that

d
dxx(
(ZZ)
)
n
nxx(
(nn)
) ⟷
⟷ −
−ZZ
d
dzz

−
−22
−
−aaZ
Z
=
= −
−ZZ[[ ]]
−
−11
1
1++a
aZZ

−
−11 −
−11
=
= (
(aaZ
Z )
)//(
(11+
+aaZ
Z )
)

−
−11
=
= 1
1−−1
1//(
(11+
+aaZ
Z )
)

n
n
n
nxx(
(nn)
) =
= δ
δ((n
n))−
−((−
−aa)
) u
u((n
n))

n
n
⇒
⇒ x
x((n
n)) =
= 1
1//n
n[[δ
δ((n
n))−
−((−
−aa)
) u
u((n
n))]]

Multiplication in Time
It gives the change in Z-domain of the signal when multiplication takes place at discrete signal
level.

1
1
x
x1 (n). x 2(
1 (n). x2 (n
n)) ⟷
⟷ (
( )
)[[X
X11(
(ZZ)
)∗∗X
X22(
(ZZ)
)]]
2
2ΠΠj
j

Conjugation in Time
This depicts the representation of conjugated discrete signal in Z-domain.

∗
∗ ∗
∗ ∗
∗
X
X (
(nn)
) ⟷
⟷ X
X (
(ZZ )
)
 DSP - Z-Transform Existence

A system, which has system function, can only be stable if all the poles lie inside the unit circle.
First, we check whether the system is causal or not. If the system is Causal, then we go for its
BIBO stability determination; where BIBO stability refers to the bounded input for bounded output
condition.

This can be written as;

M
Mood
d((X
X((Z
Z)))
) <
< ∞
∞

−
−nn
=
= M
Mood
d((∑
∑xx(
(nn)
)ZZ )
) <
< ∞
∞

−
−nn
=
= ∑
∑MMo
odd(
(xx(
(nn)
)ZZ )
) <
< ∞
∞

j
jww −
−nn
=
= ∑
∑MMo
odd[[x
x((n
n))(
(rre
e )
) ]] <
< 0
0

−
−nn −
−jjw
wnn
=
= ∑
∑MMo
odd[[x
x((n
n))r
r ]]M
Mood
d[[e
e ]] <
< ∞
∞

∞
∞ −
−nn
=
= ∑
∑n=−∞ M
Mood
d[[x
x((n
n))r
r ]] <
< ∞
∞
n=−∞

The above equation shows the condition for existence of Z-transform.

However, the condition for existence of DTFT signal is

∞
∞

∑
∑ M
Mood
d((x
x((n
n)) <
< ∞
∞
n
n==−
−∞∞

Example 1

Let us try to find out the Z-transform of the signal, which is given as

−
−nn n
n
x
x((n
n)) =
= −
−((−
−0.5
0.5)
) u
u((−
−nn)
)+ 3 u
+3 u((n
n))
 n
n n
n
=
= −
−((−
−22)
) u
u((n
n))+
+33 u
u((n
n))

Solution − Here, for −

−((−
−22)
) u
u((n
n))
n
n
the ROC is Left sided and Z<2

For 3
n
n
3 u
u((n
n)) ROC is right sided and Z>3

Hence, here Z-transform of the signal will not exist because there is no common region.

Example 2

Let us try to find out the Z-transform of the signal given by

n
n n
n
x
x((n
n)) =
= −
−22 u
u((−
−nn−
−11)
)++(
(0.5
0.5)
) u
u((n
n))

Solution − Here, for ROC of the signal is Left sided and Z<2
n
n
−
−22 u
u((−
−nn−
−11)
)

For signal (
(0.5
0.5)
) u
n
n
u((n
n)) ROC is right sided and Z>0.5

So, the common ROC being formed as 0.5<Z<2

Therefore, Z-transform can be written as;

1
1 1
1
X
X((Z
Z)) =
= {
{ −
}
}++{
{ }
}
−11 −
−11
1
1−−2
2ZZ (
(11−
−0.5
0.5Z
Z))

Example 3

Let us try to find out the Z-transform of the signal, which is given as x
x((n
n)) =
= 2
2
r
r((n
n))

Solution − r n
n is the ramp signal. So the signal can be written as;

n
nuu(
(nn)
) n
n
x
x((n
n)) =
= 2
2 {
{11,, n
n <
< 0
0((u
u((n
n)) =
= 0
0)) a
annd
d 2
2 ,, n
n ≥
≥ 0
0((u
u((n
n)) =
= 1
1))}
}

n
n
=
= u
u((−
−nn−
−11)
)++2
2 u
u((n
n))

Here, for the signal u

u((−
−nn−
−11)
) and ROC Z<1 and for 2
2 u
n
n
u((n
n)) with ROC is Z>2.
So, Z-transformation of the signal will not exist.

Z -Transform for Causal System

Causal system can be defined as h

h((n
n)) =
= 0
0,, n
n <
< 0
0 . For causal system, ROC will be outside the

circle in Z-plane.

∞
∞
−
−nn
H
H((Z
Z)) =
= ∑
∑hh(
(nn)
)ZZ

n
n==0
0

Expanding the above equation,

−
−11 −
−22
H
H((Z
Z)) =
= h
h((0
0))+
+hh(
(11)
)ZZ +
+hh(
(22)
)ZZ +
+.. .. .. .. .. .. .. .. ..

=
= N
N((Z
Z))/
/DD(
(ZZ)
)

For causal systems, expansion of Transfer Function does not include positive powers of Z. For
causal system, order of numerator cannot exceed order of denominator. This can be written as-

lim
limzz→
→∞
H (Z ) = h(0) = 0
∞ H (Z ) = h(0) = 0
o
orr F
Fiin
niit
tee

For stability of causal system, poles of Transfer function should be inside the unit circle in Z-plane.

Z-transform for Anti-causal System

Anti-causal system can be defined as h

h((n
n)) =
= 0
0,, n
n ≥
≥ 0
0 . For Anti causal system, poles of

transfer function should lie outside unit circle in Z-plane. For anti-causal system, ROC will be inside
the circle in Z-plane.
 DSP - Z-Transform Inverse

If we want to analyze a system, which is already represented in frequency domain, as discrete time
signal then we go for Inverse Z-transformation.
Mathematically, it can be represented as;

−
−11
x
x((n
n)) =
= Z
Z X
X((Z
Z))

where x n
n is the signal in time domain and X Z
Z is the signal in frequency domain.

If we want to represent the above equation in integral format then we can write it as

1
1 −
−11
x
x((n
n)) =
= (
( )
)∮∮ X
X((Z
Z))Z
Z d
dzz
2
2ΠΠj
j

Here, the integral is over a closed path C. This path is within the ROC of the x z
z and it does

contain the origin.

Methods to Find Inverse Z-Transform

When the analysis is needed in discrete format, we convert the frequency domain signal back into
discrete format through inverse Z-transformation. We follow the following four ways to determine
the inverse Z-transformation.
Long Division Method
Partial Fraction expansion method
Residue or Contour integral method

Long Division Method

In this method, the Z-transform of the signal x z

z can be represented as the ratio of polynomial as

shown below;

x
x((z
z)) =
= N
N((Z
Z))/
/DD(
(ZZ)
)
Now, if we go on dividing the numerator by denominator, then we will get a series as shown below

−
−11 −
−22
X
X((z
z)) =
= x
x((0
0))+
+xx(
(11)
)ZZ +
+xx(
(22)
)ZZ +
+.. .. .. .. .. .. .. .. ..

The above sequence represents the series of inverse Z-transform of the given signal f
foor
rnn ≥
≥ 0
0

and the above system is causal.

However for n<0 the series can be written as;

1
1 2
2 3
3
x
x((z
z)) =
= x
x((−
−11)
)ZZ +
+xx(
(−−2
2))Z
Z +
+xx(
(−−3
3))Z
Z +
+.. .. .. .. .. .. .. .. ..

Partial Fraction Expansion Method

Here also the signal is expressed first in N z

z /D z
z form.

If it is a rational fraction it will be represented as follows;

−
−11 −
−22 −
−mm
x
x((z
z)) =
= b
b0 + b 1Z
0 + b1 Z +
+bb2
2Z
Z +
+.. .. .. .. .. .. .. .. .. +
+bbm
mZ
Z )
)

−
−11 −
−22 −
−NN
/
/((a
a0 + a 1Z
0 + a1 Z +
+aa2
2Z
Z +
+.. .. .. .. .. .. .. .. .. +
+aan
nZ
Z )
)

The above one is improper when m<n and an≠0

If the ratio is not proper i

i.. e
e.. I
Immp
prro
oppe
err , then we have to convert it to the proper form to solve it.

Residue or Contour Integral Method

In this method, we obtain inverse Z-transform x n

n by summing residues of [[x
x((z
z))Z
Z
n
n−−1
1
]] at all

poles. Mathematically, this may be expressed as

n
n−−1
1
x
x((n
n)) =
= ∑
∑ r
rees
siid
duue
ess o
off[[x
x((z
z))Z
Z ]]

a
allll p
poolle
ess X
X((z
z))

Here, the residue for any pole of order m at z

z =
= β
β is
 m
m−−1
1
1
1 d
d m
m n
n−−1
1
R
Rees
siid
duue
ess =
= lim
lim {
{ {
{((z
z−−β
β)) X
X((z
z))Z
Z }
}
m
m−−1
1
(
(mm−
−11)
)!! Z
Z→→β
β d
dZZ
 DSP - Z-Transform Solved Examples

Example 1

Find the response of the system s

s((n
n++2
2))−
−33s
s((n
n++1
1))+
+22s
s((n
n)) =
= δ
δ((n
n)) , when all the initial

conditions are zero.

Solution − Taking Z-transform on both the sides of the above equation, we get

2
2 1
1
S
S((z
z))Z
Z −
−33S
S((z
z))Z
Z +
+22S
S((z
z)) =
= 1
1

2
2
⇒
⇒ S
S((z
z)){
{ZZ −
−33Z
Z +
+22}
} =
= 1
1

1
1 1
1 α
α11
α
α22
⇒
⇒ S
S((z
z)) =
= =
= =
= +
+
2 z
{
{z
2
z −
−33z
z++2
2}} (
(zz−
−22)
)((z
z−−1
1)) z−−2
2 z
z−−1
1

1
1 1
1
⇒
⇒ S
S((z
z)) =
= −
−
z
z−−2
2 z
z−−1
1

Taking the inverse Z-transform of the above equation, we get

−
−11 1
1 −
−11 1
1
S
S((n
n)) =
= Z
Z [[ ]] −
−ZZ [[ ]]
Z
Z−−2
2 Z
Z−−1
1

n
n−−1
1 n
n−−1
1 n
n−−1
1
=
= 2
2 −
−11 =
= −
−11+
+22

Example 2

Find the system function H z

z and unit sample response h n
n of the system whose difference

equation is described as under

1
1
y
y((n
n)) =
= y
y((n
n−−1
1))+
+22x
x((n
n))
2
2
where, y n
n and x n
n are the output and input of the system, respectively.

Solution − Taking the Z-transform of the above difference equation, we get

1
1 −
−11
y
y((z
z)) =
= Z
Z Y
Y((Z
Z))+
+22X
X((z
z))
2
2

1
1 −
−11
=
= Y
Y((Z
Z))[[1
1−− Z
Z ]] =
= 2
2XX(
(ZZ)
)
2
2

Y
Y((Z
Z)) 2
2
=
= H
H((Z
Z)) =
= =
= 1
1 −
−11
X
X((Z
Z)) [[1
1−− Z
Z ]]
2
2

This system has a pole at Z

Z =
=
1
1

2
2
and Z
Z =
= 0
0 and H
H((Z
Z)) =
=
2
2
1
1 −
−11
[[1
1−− Z
Z ]]
2
2

Hence, taking the inverse Z-transform of the above, we get

1
1 n
n
h
h((n
n)) =
= 2
2(( )
) U
U((n
n))
2
2

Example 3

Determine Y z
z ,n≥0 in the following case −

1
1 1
1
y
y((n
n))+
+ y
y((n
n−−1
1))−
− y
y((n
n−−2
2)) =
= 0
0 g
giiv
veen
n y
y((−
−11)
) =
= y
y((−
−22)
) =
= 1
1
2
2 4
4

Solution − Applying the Z-transform to the above equation, we get

1
1 −
−11 1
1 −
−22 −
−11
Y
Y((Z
Z))+
+ [[Z
Z Y
Y((Z
Z))+
+YY(
(−−1
1))]] −
− [[Z
Z Y
Y((Z
Z))+
+ZZ Y
Y((−
−11)
)++4
4((−
−22)
)]]
2
2 4
4

=
= 0
0

1
1 1
1 1
1 1
1 1
1
⇒
⇒ Y
Y((Z
Z))+
+ Y
Y((Z
Z))+
+ −
− 2
Y
Y((Z
Z))−
− −
− =
= 0
0
2 2
2ZZ 2
2 4
4ZZ
4
4ZZ 4
4

1
1 1
1 1
1 1
1
⇒
⇒ Y
Y((Z
Z))[[1
1++ −
− 2
]] =
= −
−
2 2
2ZZ 4
4ZZ
4
4ZZ 2
2

2
2
4
4ZZ +
+22Z
Z−−1
1 1
1−−2
2ZZ
⇒
⇒ Y
Y((Z
Z))[[ ]] =
=
2 4
4
4Z
2 4ZZ
Z
 Z
Z((1
1−−2
2ZZ)
)
⇒
⇒ Y
Y((Z
Z)) =
= 2
2
4
4ZZ +
+22Z
Z−−1
1