TON DUC THANG UNIVERSITY

FACULTY OF ELECTRICAL AND

ELECTRONICS ENGINEERING

402070
DIGITAL SIGNAL PROCESSING
CHAPTER 2: Z-TRANSFORM

Tan N. Nguyen, Msc.

 OBJECTIVES

 Understand the Z-transform

 Know the ways to transform Z domain.
 Understand the Z-transform properties.

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 CHAPTER 2: Z - TRANSFORM

 2.1 z-Transform
 2.2 Properties of the Region of Convergence
for the z-transform
 2.3 The inverse z-Transform
 2.4 z-Transform Properties

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 Z - TRANSFORM

 z-Transform:two-sided, bilateral z-transform

X  z    x  n  z  n Z  x[n]
n 
Z
x[n]  X  z 
 one-sided, unilateral z-transform

X  z    xnz n

n 0

 If z  e , z-transform is Fourier transform.

jw

X  e jw    x  n  e jwn
n 

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 Z - TRANSFORM
 Relationship between z-transform and
Fourier transform
 Express the complex variable z in polar form as
z  re jw

X re    xnr e

jw n  jwn

n  
 The Fourier transform of the product of x n and
n

the exponential sequence r
 X e
If r  1, X  Z   jw

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 Z - TRANSFORM
 Complex z plane
  w    unit circle

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 Z - TRANSFORM

 Condition 
for convergence of

the z-transform
X  z    xnz X  z    x n z  
n n

n 0 n 0

X re jw    xnr e

z  re jw n  jwn

n  

X  re jw
   x  n r n

n 
 Convergence of the z-transform for a given
sequence depends only on r  z

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 Z - TRANSFORM

 Region of convergence (ROC)

 For any given sequence, the set of values of z
for which the z-transform converges is called the
Region Of Convergence (ROC).

X  z    xnz n

n 0

 if some value of z, say,

z1
z =z1, is in the ROC,
then all values of z on the circle defined by
|z|=|z1| will also be in the ROC.
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 Z - TRANSFORM

 Zero and pole

 The z-transform is most useful when the infinite
sum can be expressed in closed form, usually a
ratio of polynomials in z (or z-1).
Pz 
X z  
Q z 
 Zero: The value of z for which X z   0
 Pole: The value of z for which X z   

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 Z - TRANSFORM
 Example: Right-sided exponential sequence
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:  
   az 
1 z
X  z   a z n n 1 n
 1

n 0 n 0 1  az za
1
ROC: az  1 or z  a
zero : z  0 pole : z  a
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 Z - TRANSFORM

xn  a un n

z
X  z  for z  a
za
: zeros
 : poles
Gray region: ROC

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 Z - TRANSFORM

 Example: Left-sided exponential sequence

Determine the z-transform, including the ROC,
pole-zero-plot, for sequence:
xn  

a u n  1 n
1
Solution: X  z     a nu  n  1 z  n    a n z  n
n  n 
  1
  a z    a z 
n n 1 n a z z
 1

n 1 n 1
1 a z z  a

ROC: z  a , zero : z  0 pole : z  a

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 Z - TRANSFORM

xn  a u n  1
n

z
X  z 
za
for z  a

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 Z - TRANSFORM
 Example: Sum of two exponential sequences
Determine the z-transform, including the ROC,
pole-zero-plot, for sequence:
n n
1  1
x  n    u  n     u  n
2  3
 1 n  1
n
  n
Solution: X  z     2  u  n    3  u  n z
n      
 n  n
 
1  1 
    u  n z  n      u  n z  n
n   2  n   3
 n  n
 1 1   1 1 
  z      z 
n 0  2  n   3 
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 Z - TRANSFORM
 n  n
 1 1   1 1 
X  z   z      z 
n 0  2  n   3 
 1
2z  z  

1

1
  12 
1 1 1 1  1 1  1 1 
1 z 1 z  1  z 1  z 
2 3  2  3 
1 1 1
ROC: z  and z   ROC : z 
2 3 2
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 Z - TRANSFORM
 Finite-length sequence
N2
X z   x  n z
n  N1
n

Example:

xn   n   n  5

X z   1  z 5
ROC : z  0
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 Z - TRANSFORM

 Example: Finite-length sequence

Determine the z-transform, including the ROC,
pole-zero-plot, for sequence:
a n , 0  n  N  1
xn  
 0, otherwise
N 1 N 1
Solution: X  z   a z n n
   az 
1 n

n 0 n 0

1   az 
1 N
1 z a N N

  N 1 ROC : z  0
1  az 1 z za
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 Z - TRANSFORM
1 z a N N
N=16, a is real X  z   N 1 ROC : z  0
z za

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 Z - TRANSFORM

 z-Transform pairs
 n  1, ROC : all z
u n 
1
1
, ROC : z  1
1 z
 u  n  1 
1
1
, ROC : z  1
1 z
  n  m  z  m ,
ROC : all z except 0  if m  0  or   if m  0 
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 Z - TRANSFORM

a u n
1
n
 1
, ROC : z  a
1  az

 a u  n  1
1
n
 1
, ROC : z  a
1  az
1
na u n 
az
n
, ROC : z  a
1  az  1 2

1
 na u  n  1 
az
n
, ROC : z  a
1  az  1 2

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 CHAPTER 2: Z - TRANSFORM

 2.1 z-Transform
 2.2 Properties of the Region of Convergence
for the z-transform
 2.3 The inverse z-Transform
 2.4 z-Transform Properties

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 PROPERTIES OF THE ROC FOR THE
Z-TRANSFORM
 Property 1: The ROC is a ring or disk in the
z-plane centered at the origin.
0  rR  z  rL  

 For a given x[n], ROC is

dependent only on z .
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 PROPERTIES OF THE ROC FOR THE
Z-TRANSFORM
 Property 2: The Fourier transform of
converges absolutely if the ROC of the z-

transform of x n includes the unit circle.
 The z-transform reduces to the Fourier
transform when z  1 ze jw

 

X  z    xnz n X e jw
   x  n e  jwn

n 0 n 

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 PROPERTIES OF THE ROC FOR THE
Z-TRANSFORM
 Property 3: The ROC cannot contain any
poles.
 X z  is infinite at a pole and therefore does not
converge.

 Property 4: If x n is a finite-duration
sequence, i.e., a sequence that is zero
except in a finite interval : N1  n  N 2
 then the ROC is the entire z-plane, except
possible z  0 or z   N2
X  z 
n
a z
n  N1
n

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 PROPERTIES OF THE ROC FOR THE
Z-TRANSFORM
 LTI system Stability, Causality, and ROC
 Consider a LTI system with impulse response h[n].
The z-transform of h[n] is called the system function
H (z) of the LTI system.

 Stable system(h[n] is absolutely summable and

therefore has a Fourier transform): ROC include
unit-circle.

 Causal system (h[n]=0,for n<0): right sided

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 PROPERTIES OF THE ROC FOR THE
Z-TRANSFORM
 EXAMPLE: Stability, Causality, and the ROC
Consider a LTI system with impulse response h[n].
The z-transform of h[n] i.e. the system function H (z)
has the pole-zero plot shown in Figure. Determine
the ROC, if the system is:
(1) stable system:
(ROC include unit-circle)
(2) causal system:
(right sided sequence)

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 PROPERTIES OF THE ROC FOR THE
Z-TRANSFORM
 Solution: (1) stable system (ROC include unit-
circle)

1
ROC: 2  z  2, the impulse response is two-sided,
system is non-causal. stable.

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 PROPERTIES OF THE ROC FOR THE
Z-TRANSFORM

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 PROPERTIES OF THE ROC FOR THE
Z-TRANSFORM
 (2) causal system: (right sided sequence)

 ROC: z  2 ,the impulse response is right-

sided. system is causal but unstable.
 A system is causal and stable if all the poles
are inside the unit circle.

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 PROPERTIES OF THE ROC FOR THE
Z-TRANSFORM

1
2 2

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 PROPERTIES OF THE ROC FOR THE
Z-TRANSFORM
1
 ROC: z  , the impulse response is left-
2
sided, system is non-causal, unstable since
the ROC does not include unit circle.

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 CHAPTER 2: Z - TRANSFORM

 2.1 z-Transform
 2.2 Properties of the Region of Convergence
for the z-transform
 2.3 The inverse z-Transform
 2.4 z-Transform Properties

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 THE INVERSE Z-TRANSFORM

 Formal inverse z-transform is based on a

Cauchy integral theorem.
1

n 1
xn  X ( z) z dz c  ROC
2 j c

  Res[ X ( z ) z n 1 ]z  z
i
i

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 THE INVERSE Z-TRANSFORM

 Less formal ways are sufficient and

preferable in finding the inverse z-transform:
 Inspection method
 Partial fraction expansion
 Power series expansion

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 THE INVERSE Z-TRANSFORM
 Inspection Method
Z 1
a u  n 
n
1
, z a
1  az

X z  
1 1
, z 
1 1 2
1 z
2
n
1
xn    un
2
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 THE INVERSE Z-TRANSFORM

1Z
a u  n  1 
n
1
, z a
1  az

X z  
1 1
, z
1 1 2
1 z
2
n
1
xn    u n  1
2
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 THE INVERSE Z-TRANSFORM

 Partial Fraction Expansion

 1  c z 
M M M

b z k
k
z N
b z k
M k
b0 k
1

X  z  k 0
 k 0
 k 0

 1  d z 
N N N

a z a z
k M N k a0 1
k z k k
k 0 k 0 k 0
N
Ak
 1
if M  N
k 1 1  d k z
where Ak  1  d k z 1
 X  z  z d
k
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 THE INVERSE Z-TRANSFORM

 Example: Second-Order z-Transform

1 1
X  z  , z 
 1 1  1 1  2
1  z 1  z 
 4  2 
X z  
A1 A2

 1 1   1 1 
1  z   1  z 
 4   2 
 1 1 
A1  1  z  X z   1  1 1 
A2  1  z  X z   2
 4  z
1  2 
2
z
1
4
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 THE INVERSE Z-TRANSFORM

1
X z  
2 1
 , z 
 1 1   1 1  2
 1  z  1  z 
 4   2 

n n
1 1
xn  2  un    un
2 4

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 THE INVERSE Z-TRANSFORM

 Partial Fraction Expansion(continue)

M

b z k
k

X z   k 0
N
if M  N
a z
k 0
k
k

M N N
X z    Br z   rAk
1
r 0 k 1 1  d k z
Br is obtained by long division

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 THE INVERSE Z-TRANSFORM
 Example: Inverse by Partial Fractions
X z  
1
1  2z  z 2

1 z 1 2
 ,
 z 1
3 1 1 2  1 1 
1 z  z 1  z  1  z
1
 
2 2  2 

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 THE INVERSE Z-TRANSFORM
1  2 z 1  z 2 A1 A2
X z   B0  
3 1 1 2 1 1 1  z 1
1 z  z 1 z
2 2 2
2
1 2 3 1
z  z  1 z 2  2 z 1  1
2 2
z 2  3z 1  2
1
 1  5z 5 z 1  1
X z   2 
 1 1 
1  z  1  z
1
 
 2 
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 THE INVERSE Z-TRANSFORM

1  5 z 1 A1 A2
X  z  2   2  1
 1 1  
 
1  1 z
 1  z 1  z 1
1 z 1

 2  2
 
  1  5 z 1  1  
A1    1  z 1   9

 1  1 z 1  1  z 1  2 
  2 
  1
z
2
 
  1  5 z 1 
A2   
 1  z 1 
 8
  2 
 
 1  1 z 1  1  z 1 

z 1

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 THE INVERSE Z-TRANSFORM
9 8
X z  2   , z 1
 1 1  1  z 
1

1  z 
 2  n
1
  un
1

Z
2  2 n
Z
 1 1   2
1  z 
 2 

 un x  n  2  n  9   u  n  8u  n
1 Z  1
n

1 z 1
 2

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 CHAPTER 2: Z - TRANSFORM

 2.1 z-Transform
 2.2 Properties of the Region of Convergence
for the z-transform
 2.3 The inverse z-Transform
 2.4 z-Transform Properties

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 Z-TRANSFORM PROPERTIES

xn X z ,
Z
ROC  Rx
 Linearity
x1n X1 z ,
Z
ROC  Rx1
x2 n X 2 z ,
Z
ROC  Rx2

ax1  n   bx2  n   aX 1  z   bX 2  z 

Z

ROC contains (may more than) Rx1  Rx2

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 Z-TRANSFORM PROPERTIES

 Time Shifting
x  n  n0   z Z  n0
X  z
 n0 is an integer

 n0 is positive, x n is shifted right

 n0 is negative, x n is shifted left

 except for the possible addition 

ROC  Rx  
 or deletion of z  0 or z   
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 Z-TRANSFORM PROPERTIES
 Example: Shifted Exponential Sequence
n
1
X z   , z     u  n 
1 1 Z

z
1 4  4 
4  
1  
X z   z 
1
X z  
z 4
 4  1

1 1 1 1  1 1 
1 z 1 z 1 z 
4 4  4 
n 1
 1
n
1
x  n   4  n   4   u  n  xn    un  1
4 4
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 Z-TRANSFORM PROPERTIES
 Multiplication by an Exponential sequence
z xn
n
0  X z / z0 , ROC  z0 Rx
Z

if Rx is rR  z  rL , z0 Rx is z0 rR  z  z0 rL

if z0  e jw0
ze jw

e jw0 n
xn X e
F
 j  w w0 
: AM
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 Z-TRANSFORM PROPERTIES
 Differentiation of X(z)
dX  z 
nx  n    z
Z
, ROC  Rx

dz
X  z    xnz n

n  

dX  z  
z   z   n  x  n  z  n 1

dz  n 
  nx  n  z  Z nx  n 
n

n 
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 Z-TRANSFORM PROPERTIES

 Convolution of Sequences
x1n x2 n X1 z X 2 z , ROC contains Rx1  Rx2
Z


yn  x1 n* x2 n   x k x n  k 
1 2
k  

  
 n
Y  z    y  n z     x1  k  x2  n  k  z
n

n  n   k  

 X1  z  X 2  z 
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 SUMMARY

 Definition z-transform
 Properties of the Region of Convergence for
the z-transform
 Many ways to perform the inverse z-Transform
 Important Properties of Z-transform

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 HOMEWORK

 Review chapter 2
 Read chapter 3(pp.153->254)
 Solve the exercises : 3.3, 3.4, 3.8, 3.9, 3.11,
3.16.

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