DIGITAL SIGNAL PROCESSING

Prof. Dr. Jameel Ahmed

Week 10
Faculty of Engineering & Applied Sciences Riphah International University
 Content
01 Transformation from S-Plane to Z-Plane

02 Zero Pole Representation

03 Inverse Z-Transform
04 Solution of difference equations
Transformation from S-

Plane to Z-Plane
 Transformation from S-
Plane to Z-Plane
• The relationship between Z-transform and Laplace Transform
can be illustrated as follows :
Let 𝑍=𝑒 𝑆𝑇 (𝑠 = 𝜎 + 𝑗𝜔)
Then 𝑍=𝑒 (σ + jω)𝑇 σ 𝑇
= 𝑒 .𝑒 jω 𝑇

σ 𝑇 2𝜋𝑓 2𝜋ω
Thus 𝑍 =𝑒 and < Z = ωT= =
F𝑠 ω𝑠
• Here the phase will form a circle with maximum radius of one.
• Magnitude is dependent on the value of σ.
 Transformation from S-
Plane to Z-Plane
σ<0
• Will yield magnitude less than one so pole will lie inside unit circle
σ>0
• Will yield magnitude greater than one so poles will lie outside the
unit circle
σ=0
• Will yield magnitude equal to one so pole will be on the unit circle.
Graphical Representation
Graphical Representation
Zero-Pole Representation
 Zero-Pole Representation

• The Zeros of the Z-Transform X(z) are the values of z for

which X(z) = 0

• The Poles of a Z-Transform X(z) are the values of z for which

X(z) = ∞.
 Pole Zero Plot
𝑁(𝑧)
• Z Transform can always be expressed in the form X Z =
𝐷(𝑧)
𝑁(𝑧) 𝐾(𝑧 − 𝑧1)(𝑧 − 𝑧2)(𝑧 − 𝑧3)
X Z = =
𝐷(𝑧) (𝑧 − 𝑃1)(𝑧 − 𝑃2)(𝑧 − 𝑃3)
• The Zi are called the ZEROS of X(z) and the Zp are called the POLES.

(𝑧 2 −1)(𝑧 3 +1)
X Z =
(𝑧 −0.6)(𝑧 −0.5+0.6𝑗)(𝑧 −0.5 −0.6𝑗)
 Pole Zero Plot
• Given a transfer function, Draw the pole zero plot
𝑧
𝐻 𝑧 = 𝑰𝒎(𝒛)
(𝑧 − 3)(𝑧 + 5)

Poles= roots of denominator= {3, -5} 

−𝟓

𝟑 𝑹𝒆(𝒛)
Zeros = roots of numerator = {0}
 Pole Zero Plot
• Poles give important information about STABILITY of a system
• A system is only stable if all the poles lie inside the unit circle
• No restrictions on zero locations.
• Zeros at the origin introduce a time advance.
• A minimum delay system can be obtained by ensuring an equal number
of poles and zeros, i.e. order of numerator = order of denominator.
Inverse Z-Transform
 Inverse Z-Transform

• A method of recovering the Original sequence x(n) from the Z-

Transform X(z), is Known as Inverse Z-Transform.
• Mathematically,

𝑥(𝑛) = 𝑍 −1 (𝑋 𝑍 )
 Methods of Inverse Z-Transform
• Direct Division (Power Series Method)
• Partial fraction expansion
 Direct Division Method
• Example: Determine the inverse Z-Transform by direct division
method: 1 −1
(1 − 𝑧 )
X Z = 3
(1 − 𝑧 −1 )(1 + 2𝑧 −1 )

1 −1
(1 − 𝑧 )
𝑋 𝑍 = 3
(1 + 𝑧 −1 − 2𝑧 −2 )
 Direct Division Method
4 −1 10 −2
1 − 𝑧 + 𝑧 − 6𝑧 −3
3 3

−1 −2
1 −1
1+ 𝑧 − 2𝑧 1 − 𝑧
3
4 −1 10 −2
𝑋(𝑍) = 1 − 𝑧 + 𝑧 − 6𝑧 −3
3 3
4 10
𝑥(0) = 1, 𝑥(1) = − , 𝑥(2) = , 𝑥(3) = −6
3 3
 Partial Fraction Method
• Example:
Find the inverse Z-Transform of

1 −1
(1 − 𝑧 )
X Z = 3
(1 − 𝑧 −1 )(1 + 2𝑧 −1 )
 Partial Fraction Method
• Solution:
1 −1 −1 −1
1 − 𝑧 = 𝐴 1 + 2𝑍 + 𝐵(1 − 𝑍 )
3
Assuming 𝑧 −1 =1
2
We find that 𝐴 =
9
1 7
And by putting Z-1 =- ,
we have B =
2 9
2 7
X Z = +
9(1 − 𝑍 ) 9(1 + 2𝑍 −1 )
−1
 Partial Fraction Method
Now we can write:
𝑥(𝑛) = 𝑥1 (𝑛) + 𝑥2 (𝑛)
2
𝑥1 (𝑛) = 𝑢(𝑛)
9
7 𝑛
𝑥2 (𝑛) = (−2 )𝑢(𝑛)
9
2 7 𝑛
𝑥 𝑛 = 𝑢 𝑛 + (−2 )𝑢(𝑛)
9 9
4 10
𝑥(0) = 1, 𝑥(1) = − , 𝑥 2 = , 𝑥(3) = −6
3 3
Solution of difference
equations using Z-Transform
 Difference Equations

• Discrete systems are often represented in the form of a

difference equation.
• This gives the output in terms of past and present input, as well
as previous output, with respect to the time index n.
• For example:

𝑦(𝑛) = 2𝑦(𝑛 − 1) + 3𝑥(𝑛)

 Difference Equations

• Considering the generalized difference equation

𝑁 𝑀

෍ 𝑎𝑘 𝑦 𝑛 − 𝑘 = ෍ 𝑏𝑘 𝑥 𝑛 − 𝑘
𝑘=0 𝑘=0
• By taking the Z-Transform on both sides
𝑁 𝑀

෍ 𝑎𝑘 −𝑘
𝑧 𝑌 𝑍 = ෍ 𝑏𝑘 −𝑘
𝑧 𝑋 𝑍
𝑘=0 𝑘=0
Transfer Function

𝑀
σ𝑘=0 𝑏𝑘 𝑧 −𝑘
𝑌(𝑧)
= 𝑁
𝑋(𝑧) 1 + σ𝑘=0 𝑎𝑘 𝑧 −𝑘

𝑀
σ𝑘=0 𝑏𝑘 𝑧 −𝑘
H(Z) = 𝑁 −𝑘
1 + σ𝑘=0 𝑎𝑘 𝑧
 Transfer Function
• Determine the transfer function of the system from difference equation:
1
𝑦(𝑛) = 𝑦(𝑛 − 1) + 2𝑥(𝑛)
2
• By computing the 𝓏-transform of the difference equation. We obtain:
1 −1
𝑌(𝑍) = 𝓏 𝑌(𝑧) + 2𝑋(𝓏)
2
𝑌(𝑍) 2
• The system Transfer function is: 𝐻(𝑍) = = 1
𝑋(𝓏) 1−𝓏 −1
2
1 𝑛
• Taking Inverse 𝓏-transform: ℎ(𝑛) = 2 𝑢(𝑛)
2
 Find the transfer function
𝐻(𝓏)
𝑦(𝑛) = 𝑥(𝑛) − 𝑥(𝑛 − 2) − 1.3𝑦(𝑛 − 1) − 0.36𝑦(𝑛 − 2)
Taking 𝓏-transform on both sides
−2 −1 −2
𝑌 𝓏 = 𝑋(𝓏) − 𝑋 𝓏 𝓏 − 1.3𝑌(𝓏)𝓏 − 0.36𝑌(𝓏)𝓏
−1 −2 −2
𝑌 𝓏 1 + 1.3𝓏 + 0.36𝓏 = 1−𝓏 𝑋(𝓏)

𝑌(𝓏 ) 1−𝓏 −2
𝐻 𝓏 = =
𝑋(𝓏 ) 1+1.3𝓏 −1 +0.36𝓏 −2
 Find the difference equation
Given a Transfer function
−1 2
1+𝓏
𝐻 𝓏 =
1 −1 3 −1
(1 − 𝓏 )(1 + 𝓏 )
2 4

−1 −2
1 + 2𝓏 + 𝓏 𝑌(𝑍)
𝐻 𝓏 = =
1 −1 3 −2 𝑋(𝓏)
1+ 𝓏 − 𝓏
4 8
1 −1 3 −2
1+ 𝓏 − 𝓏 𝑌(𝑍) = 1 + 2𝓏 −1 + 𝓏 −2 𝑋(𝑍)
4 8
And the difference equation is
1 3
𝑦(𝑛) + 𝑦(𝑛 − 1) − 𝑦(𝑛 − 2) = 𝑥(𝑛) + 2𝑥(𝑛 − 1) + 𝑥(𝑛 − 2)
4 8
 Example
When a discrete signal [1,-2] is inputted to a processing system the output sequence is [1, -
5, 8, -4]
a) Derive the transfer function for the system.
b) Find the output sequence in response to the finite input sequence of [2, 2, 1].
a) Transfer function
−1 −2 −3
𝑌(𝑍) 1 − 5𝓏 + 8𝓏 − 4𝓏
𝐻 𝓏 = = = 1 − 3𝓏 −1 + 2𝓏 −2
𝑋(𝑍) 1 − 2𝓏 −1
b) Output
𝑌(𝑍) = 𝐻(𝑍)𝑋(𝑍)
𝑌(𝑍) = 1 − 3𝓏 −1 + 2𝓏 −2 2 + 2𝓏 −1 + 𝓏 −2
𝑌(𝑍) = 2 − 4𝓏 −1 − 𝓏 −2 + 𝓏 −3 + 2𝓏 −4
 Unsolved Example
Determine the transfer function and the impulse response of the system
described by the difference equation.

1
𝑦(𝑛) = 𝑦(𝑛 − 1) + 4𝑥(𝑛)
4
 Unsolved Example
Compute the transfer function and the unit sample response of the
discrete-time system.

y(𝑛) = 2𝑥(𝑛) + 𝑥(𝑛 − 1) – 3𝑦(𝑛 − 1)

THE END!