Digital Signal Processing

Z-Transform

I II
Analysis of Discrete Time Analysis of Discrete LTI
Signal Using Z-transform System Using Z-transform

Tsion Y.
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Analysis of discrete time signal using Z-
Transform


X(z) =  x  n  z−n
n =−

✓ Offers insight into the nature of system characteristics such as

stability, causality and frequency response.


X ( z ) =  xn z − n
n =0

✓ Used to solve difference equation with initial conditions

Z
x[n] ⎯→ X ( z ) 2
 Cont.…

▪ ROC does not contain any poles

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 Cont.…

𝐵(𝑧)
𝑋 𝑧 =
𝐴(𝑧)
Poles, zeros and pole-zero plot
Zeros: the values of 𝑧 where X(z) = 0
Poles: the values of 𝑧 where X(z) = ∞
Pole- zero plot: the plot of zeros and poles of X(z) in the z plane in
which zeros denoted by and poles by 
E.g.1 Determine the z-transform and the ROC of the signals
𝑥 n = {1, 2, 5, 7, 0, 1}
Solution: 
X(z) = 
n =−
x ( n ) z − n = z 2 + 2z + 5 + 7z −1 + z −3
ROC: entire z plane except 𝑧 = 0 and 𝑧 = ∞ 4
 E.g.2 Determine the z-transform and the ROC of the signals
𝑥 𝑛 = δ 𝑛 + δ(𝑛 − 5)
Ans: 𝑋 𝑧 = 1 + 𝑧 −5 , ROC: 𝑧 > 0 or entire z-plane except 𝑧 = 0

E.g.3 Determine the z-transform, including the ROC in z-plane and a sketch of
the pole-zero-plot, for sequence: xn = a un
n

Solution:
  
X(z) =  a u[n]z
n = −
n −n
= a z
n =0
n −n
=  (az −1 ) n
n =0
0
1 − (az −1 ) 
= −1
=?
1 − az
If az −1  1, or, z  a
1 z
X(z) = =
1 − az −1 z−a
−1
ROC: az  1 or z  a

zero : z = 0， pole : z = a : zeros

 : poles
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Gray region: ROC
Eg.4 Determine the z-transform, including the ROC in z-plane and a sketch of
the pole-zero-plot, for sequence: xn = −a nu− n − 1
Solution:
 −1 

 ( −a ) =−a z = − a z ( )
n
−n −n −1
X(z) = n
u[ −n − 1] z n

n =−
1 − (a −1z) 0 n =− n =1

=1− =?
1 − a −1z
If a −1z  1, or, z  a

1 1 − a −1z 1
X(z) = 1 − = −
1 − a −1z 1 − a −1z 1 − a −1z
1 z
= =
1 − az −1 z − a

ROC: a -1 z  1, z  a
zero : z = 0 pole : z = a
Note: the z-transform is exactly the same as for eg.3. This implies that a z
transform does not uniquely determine a sequence without specifying the ROC
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Eg.5 Determine the z-transform, including the ROC, pole-zero-plot, for sequence:

( ) ( ) u −n − 1
n n
x  n = − 1 u  n − 1
3 2
Solution:
n
 1 Z 1 1 n
 −  u  n   , z  1
−   u  − n − 1 
Z 1
, z 
1
 3 1
1+ z −1 3 2 1 2
3 1- z −1
2
 1 
2z  z −
X (z ) =
1
+
1  12  1 1
= ROC :  z 
1 1  1 −1  1 −1  3 2
1 + z −1 1 − z −1  1 + z  1 − z 
3 2  3  2 

ROC: is the region of overlap

1 1
z  I z 
3 2
1
zeros : z = 0 and
12
1 1
poles : z = − and
3 2
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Exercise: Determine the z-transform, including the ROC, pole-zero-plot, for

( 2 ) u n − ( − 3 ) u −n −1，

sequence: n n
x  n =
1 1

Properties of the Z-Transform

Consider that x  n  ⎯→ X ( z ) ,
Z
ROC = Rx

Linearity: a x1  n  + b x2  n  ⎯
Z
→ a X1 ( z ) + b X 2 ( z ) , ROC = Rx1  Rx2

Time shift: x  n − no  ⎯→ z − no X ( z ) ,

Z
ROC = Rx

Multiplication by z
Exponential:  n
x  n  Z
⎯ → X  , ROC =  Rx
 

Differentiation of dX ( z )
n x  n  ⎯→ − z
Z
Z-domain: , ROC = Rx
dz

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 Cont.…
1 1
Time reversal: x  −n  ⎯
Z
→X   , ROC =
z Rx
Convolution: x1  n   x2  n  ⎯
Z
→ X1 ( z ) X 2 ( z ) , ROC : Rx1  Rx2

E.g. Determine the z-transform of 𝑥 𝑛 = 𝑛α𝑛 u(n)

Solution:
To find 𝑋 𝑧 we will use multiplication by exponential, and derivative properties
1
u  n  ⎯→
Z
−1
, z 1
1− z
1
 nu  n  ⎯
Z
→ −1
, z 
1− z
d  1   z −1
X (z ) = −z , z  so n u  n  ⎯→ , z 
n Z
 −1 
dz  1 −  z 
(1 −  z )
2
−1

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 E.g. find the z-transform of
n −5
x  n  = ( 0.5 ) u  n − 5
Solution:
To find 𝑋 𝑧 we will use multiplication by exponential, and time shifting
properties
1
u  n  ⎯→
Z
−1
, z 1
1− z
z z −4
X ( z ) = z −5 = z  0.5
z − 0.5 z − 0.5
E.g. Compute the convolution of the following signals by using z-transform
x1  n  =   n  +2  n − 1 +  n − 2， x2  n  =   n  −   n − 1，
find y  n  = x1  n  * x2  n 
Solution:
Y ( z ) = X1 ( z ) X 2 ( z )
X 1 ( z ) = 1 + 2z −1+z −2， X 2 ( z ) = 1 − z ,
−1

Y ( z ) = (1 + 2 z +z−1 −2
)(1 − z )
−1
= 1 + z −1 − z −2 − z −3 10
Z-Transform Table

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 Inverse Z-Transform
✓ Formal inverse z-transform is based on a Cauchy integral theorem.

✓ Less formal ways are sufficient and preferable in finding the inverse z-
transform. :
▪ Inspection method
▪ Partial fraction expansion
▪ Power series expansion
Inspection Method
This "method" is to basically become familiar with the z-transform pair tables.
 n  1, ROC : all z
a nu n 
1
−1
, ROC : z  a
1 − az
− a nu − n − 1
1
 −1
, ROC : z  a 12
1 − az
Eg.1 Find the inverse z-transform of
using inspection method
Solution:

Eg.2 Find the inverse z-transform of

Solution:

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 Partial fraction expansion (PFE) method
✓ Simple (distinct) poles
✓ Repeated Poles

Simple (distinct) poles

𝑁(𝑧) 𝑏0 + 𝑏1 𝑧 −1 +𝑏2 𝑧 −2 + ⋯ . . + 𝑏𝑀 𝑧 −𝑀
𝑋 𝑧 = =
𝐷(𝑧) 𝑎0 + 𝑎1 𝑧 −1 +𝑎2 𝑧 −2 + ⋯ . . + 𝑎𝑁 𝑧 −𝑁
where 𝑁(𝑧) and D 𝑧 are polynomial of order M and N respectively
✓ a rational function 𝑋 𝑧 is called proper if 𝑎𝑁 ≠ 0 and 𝑀 < 𝑁
if 𝑀 < 𝑁, 𝑁(𝑧)
𝑋 𝑧 =
PFE form, (𝑧 − 𝑝1 )(𝑧 − 𝑝2 ) … (𝑧 − 𝑝𝑛 )
𝑋(𝑧) 𝐴1 𝐴2 𝐴𝑁
= + +……+
𝑧 𝑧−𝑝1 𝑧−𝑝2 𝑧−𝑝𝑁
coefficient 𝐴1 , 𝐴2 , ……, 𝐴𝑁 determined by
𝑋 𝑧 𝑘 = 1,2, … , 𝑁
𝐴𝑘 = 𝑧 − 𝑝𝑘
𝑧 𝑧 = 𝑝𝑘
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 Cont.…
✓ a rational function 𝑋 𝑧 is called improper if and 𝑀 ≥ 𝑁

if 𝑀 ≥ 𝑁, use long division

𝑃(𝑧) Where 𝑄- quotient
𝑋 𝑧 =𝑄+ 𝑃(𝑧)- remainder
𝐷(𝑧)
𝐷(𝑧)- Divisor
The division repeated until 𝑀 < 𝑁

Eg. Find the inverse z-transform of , ROC: 𝑧 > 1

Solution:
First make sure X(z) is proper rational function, 𝑀 < 𝑁
eliminate the negative power of z

Dividing 𝑋(𝑧) by z, and write in PFE form

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 Cont.…
Finding the
constants:

𝐦𝐮𝐥𝐭𝐢𝐩𝐥𝐲𝐢𝐧𝐠 𝐛𝐲 𝐳

Therefore, inverse z-transform is:

7 −1 1 −2
4− z + z
X (z ) = 4 4 1
Eg. Find the inverse z-transform of , z 
3 1 2
1 − z −1 + z −2
Solution: 4 8

First check X(z) is proper rational function. 𝑀 = 𝑁 = 2. so, use long division
1
2 − z −1
X (z ) = 2 + 4
3 1
1 − z −1 + z −2
4 8
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 Cont.… 1
2z 2 − z
eliminate the negative power of z, X ( z ) = 2 + 4
3 1
z2 − z+ denominator
4 8
Factorize the denominator and obtain the roots 1
2z 2 − z
X (z ) = 2 + 4
 1  1
z −  z − 
 2  4
Dividing both sides by z, and write in PFE form
1
X (z ) 2z −
4 A1 A2
=2+ = 2+ +
z  1  1 1 1
 z − z − z− z−
Finding the  2 
 4  2 4
constants:
X (z ) 3 −1
=2+ +
z 1 1
z− z−
2 4

X (z ) 3z −z
𝐦𝐮𝐥𝐭𝐢𝐩𝐥𝐲𝐢𝐧𝐠 𝐛𝐲 𝐳 =2+ +
z 1 1
z− z−
2 4
() ()
n n
Therefore, inverse z-transform is: x  n  = 2 (n) + 3 2 u  n  − 4 u  n 
1 1
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 Cont.…
Repeated poles

If 𝑋(𝑧) has a pole of multiplicity, that it contains in its denominator the factor
(𝑧 − 𝑝𝑘 )𝑟
𝑋(𝑧) 𝐴1 𝐵1 𝐵2
= + +
𝑧 𝑧−𝑝1 𝑧−𝑝2 (𝑧−𝑝2 )2
1 𝑑 𝑟−𝑘 𝑋 𝑧
𝑟 𝑡ℎ order Repeated poles 𝐵𝑘 = 𝑧 − 𝑧0 𝑟
⋮ 𝑧 = 𝑧0
𝑟 − 𝑘 ! 𝑑𝑧 𝑟−𝑘 𝑧
𝑘 = 1, … , 𝑟
Eg . Find the inverse z-transform of

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 Cont.…

Then,

Therefore, inverse z-transform is:

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 Transform Analysis of LTI systems

LTI system described by input-output relation called a difference equation

with constant coefficients
𝑁 𝑀
General form of linear
constant coefficient 𝑦 𝑛 = − ෍ 𝑎𝑘 𝑦 𝑛 − 𝑘 + ෍ 𝑏𝑘 𝑥 𝑛 − 𝑘
difference equation 𝑘=1 𝑘=0

H(z) is called the system function or the transfer function of

the LTI discrete system

It is defined as the ratio of the Z-transform of the output sequence y(n) to

the Z-transform of the input sequence x(n) when the initial conditions are
neglected
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 Cont.…
System causality and stability
In order to uniquely determine z-transform, must know ROC or other
knowledge of the system characteristics
For a LTI system with impulse response h[n]
ℎ(𝑛) Z 𝐻 𝑧
✓ Causal system: ℎ 𝑛 = 0 𝑓𝑜𝑟 𝑛 < 0, 𝐻(𝑧) is right-sided transform.
✓ Stable system: ℎ[𝑛] is absolutely summable and ROC includes unit
circle.
✓ the impulse response is left sided, system is non-causal and unstable if the
ROC does not include unit circle
❖ A system is causal and stable, if all poles of H(z) are inside the unit circle.
Eg. A linear shift invariant system is described by the difference equation

Determine the system function

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 Cont.…
Solution: Taking Z-transform on both sides

One side z-transform and its properties ∞

−𝑛
One side or unilateral z-transform is defined by 𝑋+ 𝑧 = ෍ 𝑥 𝑛 𝑧
𝑛=0
Used to solve linear constant difference equation that have initial conditions
Shifting property of unilateral Z-transform
y(n-k) 𝑧 −𝑘 (𝑌 𝑧 + σ𝑛=𝑘 𝑛=1 𝑦 −𝑛 𝑧 )
𝑛

y(n+k) 𝑧 𝑘 (𝑌 𝑧 − σ𝑛=𝑘−1 𝑛=0 𝑦 𝑛 𝑧 −𝑛 )

Solution to difference Equation Using Z-Transform
✓ The procedure to solve difference equation using Z-Transform:
1. Apply the unilateral z-transform to the difference equation.
2. Substitute the initial conditions.
3. Solve for the difference equation in the z-transform domain.
4. Find the solution in the time domain by applying the inverse z-transform.
The response of a system to a given input has two components: 22
 Cont.…
1. Zero state or forced response
The response of the system due to input alone when the initial conditions are
neglected
2. Zero input or natural response
The response of the system due to initial conditions alone when the input is
neglected
❖ The response due to input and initial conditions considered simultaneously
is the total response of the system.
Eg. LIT system is described by the difference equation

with y(–1) = 0 and y(–2) = –1.

Find (a) the natural response of the system (b) the forced response of the system
for a step input

Solution: a)

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 Zero input response:

b) To find the forced response due to a step input, put x(n) = u(n)

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Zero state response:

Eg. Solve the following difference equation

with x(n) = (1/3)n u(n) and the initial condition y(–1) = 1.

Solution:
The given difference equation is:

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 Let

Therefore

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THANK YOU FOR
YOUR
ATTENTION!

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