𝒁 − Transform

MATH- 232
Instructor: Dr. Naila Amir
Book: Advanced Modern Engineering Mathematics (4th Edition) by Glyn James
▪ Chapter: 6
▪ Sections: 6.2, 6.3, 6.4, 6.5
𝒁 −Transform & Inverse 𝒁 −Transform: Definition and notation
The 𝒁 −transform of a sequence {𝑥𝑛 }∞
−∞ is defined in general as:
∞
𝑥𝑛
𝒵{𝑥𝑛 }∞
−∞ = 𝑋 𝑧 = ෍ 𝑛 , (∗)
𝑧
𝑛=−∞
whenever the sum exists and where 𝑧 is a complex variable. The process of taking the
𝑍 −transform of a sequence thus produces a function of a complex variable 𝑧, whose form
depends upon the sequence itself. The symbol 𝒵 denotes the 𝒁 −transform operator; when it
operates on a sequence {𝑥𝑛 } it transforms the latter into the function 𝑋(𝑧) of the complex
variable 𝑧. It is usual to refer to {𝑥𝑛 }, 𝑋(𝑧) as a 𝒁 −transform pair, which is sometimes written
as {𝑥𝑛 } 𝑋(𝑧). From time domain (or space domain, 𝑛 −domain) to the 𝑧 −domain we have:
∞

{𝑥𝑛 }∞
−∞ = 𝒵 −1
𝑋 𝑧 = ෍ 𝑥𝑘 𝛿𝑛−𝑘 𝒵 𝑥𝑛 ∞
−∞ =𝑋 𝑧 .
𝑘=−∞
For a causal sequence, that is 𝑥𝑛 = 0, (𝑛 < 0) the 𝑍 −transform given in (∗) reduces to:
∞
𝑥𝑛
𝒵{𝑥𝑛 }∞
0 = 𝑋 𝑧 =෍ 𝑛 . (∗∗)
𝑧
𝑛=0
 Bilateral vs. Unilateral
◼ Two sided or bilateral 𝑍 −transform is defined as:
∞
𝑥𝑛
𝒵{𝑥𝑛 }∞
−∞ = 𝑋 𝑧 = ෍ 𝑛. (∗)
𝑧
𝑛=−∞

◼ Unilateral 𝑍 − transform
∞
𝑥𝑛
𝒵{𝑥𝑛 }∞
0 = 𝑋 𝑧 = ෍ 𝑛. ∗∗
𝑧
𝑛=0

For the present course we shall be concerned with causal sequences, and so the
definition given in (∗∗) will be the one that we shall use henceforth. We shall therefore
from now on take {𝑥𝑛 } to denote {𝑥𝑛 }∞ 0 . Non-causal sequences, however, are of
importance, and arise particularly in the field of digital image processing, among others.
𝒁 −transform of some
important functions
 Properties of the 𝒁 −transform

Note: 𝑥𝑛 = 𝑥[𝑛]
 Practice Problems:
1. Find the 𝑍 −transform and sketch the pole-zero plot with the ROC for each of the following
sequences:

2. The continuous-time function 𝑓 𝑡 = cos 𝜔𝑡 𝑢(𝑡), where 𝜔 is a constant and 𝑢(𝑡) is unit
step function, is sampled in the idealized sense at intervals 𝑇 to generate the sequence
{cos 𝑛𝜔𝑇}. Determine the 𝑍 − transform of the sequence.

3. The causal sequence {𝑥𝑛 } is generated by: 𝑥𝑛 = 1/2 𝑛 𝑛 ≥ 0 . Determine the

𝑍 −transform of the shifted sequence {𝑥𝑛−2 }.

𝟐𝒛+𝟏
4. Determine 𝓩−𝟏 .
(𝒛+𝟏)(𝒛−𝟑)
Example: The continuous-time function 𝑓 𝑡 = cos 𝜔𝑡 𝑢(𝑡), where 𝜔 is a constant and 𝑢(𝑡) is
unit step function, is sampled in the idealized sense at intervals 𝑇 to generate the sequence
{cos 𝑛𝜔𝑇}. Determine the 𝑍 − transform of the sequence.
𝑒 𝑖𝑛𝜔𝑇 +𝑒 −𝑖𝑛𝜔𝑇
Solution: Using the result cos 𝑛𝜔𝑇 = and the linearity property, we have:
2
1
𝒵 cos 𝑛𝜔𝑇 = 𝒵 𝑒 𝑖𝑛𝜔𝑇 + 𝒵 𝑒 −𝑖𝑛𝜔𝑇 .
2
We know that:
𝑧
𝒵 𝑎𝑛 = ; valid for 𝑧 > 𝑎 .
𝑧−𝑎
Thus,
𝑖𝜔𝑇 𝑛
𝑧
𝒵 (𝑒 ) = 𝑖𝜔𝑇
; valid for 𝑧 > 𝑒 𝑖𝜔𝑇 ⇒ 𝑧 > 1 .
𝑧−𝑒
and
𝑧
𝒵 (𝑒 −𝑖𝜔𝑇 )𝑛 = −𝑖𝜔𝑇
; valid for 𝑧 > 𝑒 −𝑖𝜔𝑇 ⇒ 𝑧 > 1 .
𝑧−𝑒
Therefore,
1 𝑧 𝑧 𝑧(𝑧−cos 𝜔𝑇)
𝒵 cos 𝑛𝜔𝑇 = + = valid for 𝑧 > 1 .
2 𝑧−𝑒 𝑖𝜔𝑇 𝑧−𝑒 −𝑖𝜔𝑇 𝑧 2 −2𝑧 cos 𝜔𝑇+1
 𝑛
Example: The causal sequence {𝑥𝑛 } is generated by: 𝑥𝑛 = 1/2 𝑛 ≥ 0 . Determine the
𝑍 −transform of the shifted sequence {𝑥𝑛−2 }.
Solution:
Using the time shifting property we have:
1 𝑛
𝒵 𝑥𝑛−2 = 2 𝒵 1/2 .
𝑧
We know that:
𝑧
𝒵 𝑎𝑛 = ; valid for 𝑧 > 𝑎 .
𝑧−𝑎
Thus,
𝑛
𝑧
𝒵 1/2 = ; valid for 𝑧 > 1/2 .
𝑧 − 1/2
Therefore,
1 𝑧 2
𝒵 𝑥𝑛−2 = 2 = ; valid for 𝑧 > 1/2 .
𝑧 𝑧 − 1/2 𝑧(2𝑧 − 1)
Example:
𝟐𝒛+𝟏
Determine 𝓩−𝟏 (𝒛+𝟏)(𝒛−𝟑)
.
Solution:
Example:
𝟐𝒛+𝟏
Determine 𝓩−𝟏 (𝒛+𝟏)(𝒛−𝟑)
.
Solution:
 Practice Questions
▪ Determine the 𝑍 −transform: 𝑿(𝒛) of the sequence:
𝒏
−𝟏
𝒙𝒏 =𝟑 𝒖 𝒏 − 𝟏 − 𝟐 𝟑 𝒏 𝒖 −𝒏 − 𝟏 .
𝟐
Moreover, sketch the pole-zero plot with the ROC (region of convergence) by clearly
identifying the ROC, poles, and zeros of 𝑋 𝑧 .

▪ The dynamics of a discrete-time system are determined by the difference equation:

𝒚𝒌+𝟐 − 𝟔𝒚𝒌+𝟏 + 𝟗𝒚𝒌 = 𝒙𝒌 ; 𝒌≥𝟎 ,
where {𝒙𝒌 } = {𝜹𝒌 }. Determine the output of the system {𝒚𝒌 } provided 𝒚𝟎 = 𝟎 and
𝒚𝟏 = 𝟎.
(For the present case 𝑥𝑘 = {𝛿𝑘 } = 𝛿[𝑘] is the impulse sequence, 𝑦𝑘 = 𝑦[𝑘].
 Practice Question
The dynamics of a discrete-time system are determined by the difference equation:
𝒚𝒌+𝟐 − 𝟔𝒚𝒌+𝟏 + 𝟗𝒚𝒌 = 𝒙𝒌 ; 𝒌≥𝟎 ,
where {𝒙𝒌 } = {𝜹𝒌 }. Determine the output of the system {𝒚𝒌 } provided 𝒚𝟎 = 𝟎 and 𝒚𝟏 = 𝟎. (For the
present case 𝑥𝑘 = {𝛿𝑘 } = 𝛿[𝑘] is the impulse sequence, 𝑦𝑘 = 𝑦[𝑘].
Solution:
For the present case 𝑥𝑘 = {𝛿𝑘 } = 𝛿[𝑘] is the impulse sequence. We know that
𝛿 𝑘 ⟷ 1; valid for all 𝑧 . (1)
Also, we know that if ℎ 𝑘 ⟷ 𝐻 𝑧 then:
𝑛0 −1

ℎ 𝑘 + 𝑛0 ⟷ 𝑧 𝑛0 𝐻 𝑧 − 𝑧 𝑛0 ෍ 𝑥 𝑘 𝑧 −𝑘 .
𝑘=0
Using above property we have:
1

𝑦𝑘+2 = 𝑦 𝑘 + 2 ⟷ 𝑧 2 𝑌 𝑧 − 𝑧 2 ෍ 𝑦 𝑘 𝑧 −𝑘
𝑘=0

⟹ 𝑦 𝑘 + 2 ⟷ 𝑧 2 𝑌 𝑧 − 𝑧 2 𝑦 0 𝑧 −0 + 𝑦 1 𝑧 −1 .
 Solution
Similarly:
𝑦 𝑘 + 1 ⟷ 𝑧𝑌 𝑧 − 𝑧 𝑦 0 𝑧 −0 .
For the present case 𝑦0 = 𝑦 0 = 0 and 𝑦1 = 𝑦(1) = 0, so we get:
𝑦 𝑘 + 2 ⟷ 𝑧 2𝑌 𝑧 and 𝑦 𝑘 + 1 ⟷ 𝑧𝑌 𝑧 . (2)
Consider the difference equation:
𝑦𝑘+2 − 6𝑦𝑘+1 + 9𝑦𝑘 = 𝑥𝑘 ; 𝑘≥0 3
Taking 𝑧 −transform of both sides of (3) we get:
𝒵 𝑦𝑘+2 − 6𝑦𝑘+1 + 9𝑦𝑘 = 𝒵 𝑥𝑘 .
Using linearity property we get:
𝒵 𝑦𝑘+2 − 6𝒵 𝑦𝑘+1 + 9𝒵 𝑦𝑘 = 𝒵 𝑥𝑘 . 4
Using (1) and (2) in (4) we get:

1
𝑧 2𝑌 𝑧 − 6𝑧𝑌 𝑧 + 9𝑌 𝑧 = 1 ⟹ 𝑧2 − 6𝑧 + 9 𝑌 𝑧 = 1 ⟹ 𝑌 𝑧 = 2 .
𝑧 − 6𝑧 + 9
 Solution
1 1
𝑌 𝑧 = 2 = 2.
𝑧 − 6𝑧 + 9 𝑧−3

1
⟹ 𝑦𝑘 = 𝒵 −1 𝑌 𝑧 = 𝒵 −1 2 . (5)
𝑧−3
We know that:
𝑧
𝑎𝑘 ⟷ ; valid for 𝑧 > 𝑎
𝑧−𝑎
For 𝑎 = 3, we have:
𝑧
(3)𝑘 ⟷ ; valid for 𝑧 > 3
𝑧−3
𝑑
Also, if ℎ 𝑘 ⟷ 𝐻 𝑧 then 𝑘ℎ 𝑘 ⟷ −𝑧 𝐻 𝑧 . Thus, we have:
𝑑𝑧

𝑑 𝑧 3𝑧
𝑘 (3)𝑘 ⟷ −𝑧 = 2
𝑑𝑧 𝑧 − 3 𝑧−3
 Solution
Also, if ℎ 𝑘 ⟷ 𝐻 𝑧 then ℎ 𝑘 − 𝑛 ⟷ 𝑧 −𝑛 𝐻(𝑧). Thus, we have:

3𝑧 3
𝑘−1 (3)𝑘−1 ⟷ 𝑧 −1 2
= 2
.
𝑧−3 𝑧−3
Thus,

1 𝑘−1
1
𝑘 − 1 (3) ⟷ 2
. (6)
3 𝑧−3
Using (6) in (5), we get the output of the system as:

1
𝑦𝑘 = 𝑘 − 1 (3)𝑘−1 ; (𝑘 ≥ 0)
3