Chapter 4

Z-TRANSFORMS
4.1 Introduction
𝑍– Transform plays an important role in discrete analysis and may be seen as discrete analogue
of Laplace transform. Role of 𝑍– Transforms in discrete analysis is the same as that of Laplace
and Fourier transforms in continuous systems.
Definition: The 𝑍–Transform of a sequence 𝑢𝑛 defined for discrete values 𝑛 = 0,1,2,3, …
and (𝑢𝑛 = 0 for 𝑛 < 0 ) is defined as 𝑍{𝑢𝑛 } = ∑∞ 𝑛=0 𝑢𝑛 𝑧
−𝑛
. 𝑍– Transform of the sequence
𝑢𝑛 i.e. 𝑍{𝑢𝑛 } is a function of 𝑧 and may be denoted by 𝑈(𝑧)
Remark:
• 𝑍– Transform exists only when the infinite series ∑∞ 𝑛=0 𝑢𝑛 𝑧
−𝑛
is convergent.
• 𝑍{𝑢𝑛 } = ∑𝑛=0 𝑢𝑛 𝑧
∞ −𝑛
is termed as one-sided transform and for two sided 𝑍– transform
∞ −𝑛
𝑍{𝑢𝑛 } = ∑𝑛=−∞ 𝑢𝑛 𝑧
Results on 𝒁– Transforms of standard sequences

1. 𝒛
𝒁{𝒂𝒏 } =
𝒛−𝒂

𝑍 {𝑎 𝑛 } = ∑ ∞ 𝑛 −𝑛
𝑛=0 𝑎 𝑧
𝑎 𝑎2 𝑎3 𝑎𝑛
=1+ + + + ⋯+ +⋯
𝑧 𝑧2 𝑧3 𝑧𝑛
1 𝑎
= 𝑎 , | |<1
1− 𝑧
𝑧
𝑧 𝑎
∴ 𝑍 {𝑎 𝑛 } = , | |<1
𝑧−𝑎 𝑧
2. 𝒛
𝒁{𝟏} =
𝒛−𝟏
𝑧
𝑍 {1} = Putting 𝑎 = 1 in Result 1
𝑧−1

𝒛
𝒁{(−𝟏)𝒏 } =
3. 𝒛+𝟏
𝑧
𝑍{(−1)𝑛 } = Putting 𝑎 = −1 in Result 1
𝑧+1
4.
𝒌𝒛
𝒁{𝒌} =
𝒛−𝟏

𝑍 {𝑘 } = ∑ ∞
𝑛=0 𝑘𝑧
−𝑛
= 𝑘 ∑∞
𝑛=0 𝑧
−𝑛

1 1 1 1
= 𝑘 [1 + + + + ⋯+ + ⋯]
𝑧 𝑧2 𝑧3 𝑧𝑛
𝑘𝑧
∴ 𝑍 {𝑘 } =
𝑧−1
5. Recurrence formula for 𝒏𝒑 : 𝒅
𝒁{𝒏𝒑 } = −𝒛 𝒁{𝒏𝒑−𝟏 }
𝒅𝒛
Page | 1
 𝑍 {𝑛 𝑝 } = ∑ ∞ 𝑝 −𝑛
𝑛=0 𝑛 𝑧 , 𝑝 is a positive integer …①
𝑍{𝑛𝑝−1 } = ∑∞ 𝑛=0 𝑛
𝑝−1 −𝑛
𝑧 …②
Differentiating ② w.r.t. 𝑧, we get
𝑑
𝑍{𝑛𝑝−1 } = ∑∞
𝑛=0 𝑛
𝑝−1
(−𝑛)𝑧 −𝑛−1
𝑑𝑧
= −𝑧 −1 ∑∞ 𝑝 −𝑛
𝑛=0 𝑛 𝑧
𝑑
⇒ 𝑍{𝑛𝑝−1 } = −𝑧 −1 𝑍{𝑛𝑝 } using①
𝑑𝑧
𝑑
⇒ 𝑍{𝑛𝑝 } = −𝑧 𝑍{𝑛𝑝−1 }
𝑑𝑧
𝒅
6. Multiplication by 𝒏: 𝒁{𝒏𝒖𝒏 } = −𝒛 𝒁{𝒖𝒏 }
𝒅𝒛
𝑍{𝑛𝑢𝑛 } = ∑∞
𝑛=0 𝑛𝑢𝑛 𝑧
−𝑛

= −𝑧 ∑∞
𝑛=0 𝑢𝑛 (−𝑛)𝑧
−𝑛−1
𝑑
= −𝑧 ∑∞
𝑛=0 𝑢𝑛 𝑧 −𝑛
𝑑𝑧
𝑑
= −𝑧 ∑∞
𝑛=0 (𝑢𝑛 𝑧 −𝑛 )
𝑑𝑧
𝑑
= −𝑧 (∑∞
𝑛=0 𝑢𝑛 𝑧
−𝑛 )
𝑑𝑧
𝑑
= −𝑧 𝑍 { 𝑢𝑛 }
𝑑𝑧

𝒛
7. 𝒁{𝒏} =
(𝒛 − 𝟏 )𝟐

𝑑
𝑍{𝑛} = −𝑧 𝑍{𝑛0 } using Recurrence Result 5 or 6
𝑑𝑧
𝑑
= −𝑧 𝑍 {1}
𝑑𝑧
𝑑 𝑧
= −𝑧 using result 2
𝑑𝑧 𝑧−1
𝒛
⇒ 𝑍{𝑛} = (𝒛−𝟏)𝟐
8.
𝒛𝟐 + 𝒛
𝒁 { 𝒏𝟐 } =
(𝒛 − 𝟏 )𝟑
𝑑
𝑍{𝑛2 } = −𝑧 𝑍{𝑛} using Recurrence Result 5 or 6
𝑑𝑧
𝑑 𝒛
= −𝑧 using Result 7
𝑑𝑧 (𝒛−𝟏)𝟐
𝑧 2 +𝑧
⇒ 𝑍{𝑛2 } = (𝑧−1)3

𝟎, 𝒏 < 0 𝒛 𝟎, 𝒏 < 0
9. 𝒁 {𝒖(𝒏) = { }= , , 𝒖 ( 𝒏) = { is unit step sequence
𝟏, 𝒏 ≥ 𝟎 𝒛−𝟏 𝟏, 𝒏 ≥ 𝟎

𝑍{𝑢(𝑛)} = ∑∞
𝑛=0 𝑢 (𝑛)𝑧
–𝑛
= ∑∞
𝑛=0 1𝑧
−𝑛
1 1 1 1
= 1 + + 2 + 3 + ⋯+ 𝑛 + ⋯
𝑧 𝑧 𝑧 𝑧
𝒛
⇒ 𝑍{𝑢(𝑛)} =
𝒛−𝟏

Page | 2
 𝟏, 𝒏 = 𝟎 𝟏, 𝒏 = 𝟎
10. 𝒁 {𝜹(𝒏) = { }=𝟏 𝜹 ( 𝒏) = { is unit impulse sequence
𝟎, 𝒏 ≠ 𝟎 𝟎, 𝒏 ≠ 𝟎

𝑍{𝛿 (𝑛)} = ∑∞𝑛=0 𝛿 (𝑛)𝑧

–𝑛

=1+0+0+⋯
⇒ 𝑍{𝛿 (𝑛)} = 1
4.2 Properties of Z-Transforms
1. Linearity: 𝒁{𝒂𝒖𝒏 + 𝒃𝒗𝒏 } = 𝒂𝒁{𝒖𝒏 } + 𝒃𝒁{𝒗𝒏 }
Proof: 𝑍{𝑎𝑢𝑛 + 𝑏𝑣𝑛 } = ∑∞
𝑛=0(𝑎𝑢𝑛 + 𝑏𝑣𝑛 )𝑧
−𝑛

= 𝑎 ∑∞
𝑛=0 𝑢𝑛 𝑧
−𝑛
+ 𝑏 ∑∞
𝑛=0 𝑣𝑛 𝑧
−𝑛

= 𝑎𝑍 {𝑢𝑛 } + 𝑏𝑍{𝑣𝑛 }
2. Change of scale (or Damping rule):
𝒛
If 𝒁{𝒖𝒏 } ≡ 𝑼(𝒛), then 𝒁{𝒂−𝒏 𝒖𝒏 } ≡ 𝑼(𝒂𝒛) and 𝒁{𝒂𝒏 𝒖𝒏 } ≡ 𝑼 ( )
𝒂
Proof: 𝑍{𝑎−𝑛 𝑢𝑛 } = ∑∞𝑛=0 𝑎 −𝑛
𝑢 𝑛 𝑧 −𝑛

= ∑∞ 𝑢
𝑛=0 𝑛 (𝑎𝑧) −𝑛
≡ 𝑈(𝑎𝑧)
𝑧
Similarly, 𝑍{𝑎𝑛 𝑢𝑛 } ≡ 𝑈 ( )
𝑎
Results from application of Damping rule

𝒂𝒛
i. 𝒁{𝒂𝒏 𝒏} =
(𝒛 − 𝒂)𝟐
𝑧
Proof: 𝑍{𝑛} = (𝑧−1)2 ≡ 𝑈(𝑧) say
𝑧
𝑧 𝑎𝑧
∴ 𝑍 {𝑎 𝑛 𝑛 } ≡ 𝑈 ( ) = 𝑧
𝑎
2 = (𝑧−𝑎)2
𝑎 ( −1)
𝑎

ii. 𝒏 𝟐}
𝒂𝒛𝟐 + 𝒂𝟐 𝒛
𝒁{𝒂 𝒏 =
(𝒛 − 𝒂)𝟑

𝑧 2 +𝑧
Proof: 𝑍{𝑛2 } = (𝑧−1)3 ≡ 𝑈(𝑧) say
𝑧 2 𝑧
𝑧 ( ) +( ) 𝑎(𝑧 2 +𝑎𝑧)
𝑛 2} 𝑎 𝑎
∴ 𝑍 {𝑎 𝑛 ≡ 𝑈( ) = 3 = (𝑧−𝑎)3
𝑎 𝑧
(( )−1)
𝑎

iii. 𝒛(𝒛−𝐜𝐨𝐬 𝜽) 𝒛 𝐬𝐢𝐧 𝜽

𝒁{ 𝐜𝐨𝐬 𝒏𝜽} = , 𝒁{ 𝐬𝐢𝐧 𝒏𝜽} =
𝒛𝟐 −𝟐𝒛 𝐜𝐨𝐬 𝜽+𝟏 𝒛𝟐 −𝟐𝒛 𝐜𝐨𝐬 𝜽+𝟏

–𝑛 –𝑛
Proof: We have 𝑍{𝑒 –𝑖𝑛𝜃 } = 𝑍{(𝑒 𝑖𝜃 ) } = 𝑍{(𝑒 𝑖𝜃 ) . 1}
𝑧
Now 𝑍{1} =
𝑧−1
–𝑛 𝑧𝑒 𝑖𝜃
∴ 𝑍{(𝑒 𝑖𝜃 ) . 1} = ∵ 𝑍{𝑎−𝑛 𝑢𝑛 } ≡ 𝑈(𝑎𝑧)
𝑧𝑒 𝑖𝜃 −1
𝑧
=
𝑧–𝑒 –𝑖𝜃
𝑧(𝑧−𝑒 𝑖𝜃 )
=
(𝑧−𝑒 –𝑖𝜃 )(𝑧−𝑒 𝑖𝜃 )

Page | 3
 𝑧 (𝑧–𝑐𝑜𝑠𝜃−𝑖𝑠𝑖𝑛𝜃)
= ∵ 𝑒 𝑖𝜃 = 𝑐𝑜𝑠𝜃 + 𝑖𝑠𝑖𝑛𝜃
𝑧 2 –𝑧 (𝑒 𝑖𝜃 +𝑒 −𝑖𝜃 )+1

𝑧 (𝑧−𝑐𝑜𝑠𝜃–𝑖𝑠𝑖𝑛𝜃 𝑒 𝑖𝜃 +𝑒 –𝑖𝜃
= ∵ 𝑐𝑜𝑠𝜃 =
𝑧 2 –2𝑧𝑐𝑜𝑠𝜃+1 2
𝑧(𝑧−𝑐𝑜𝑠𝜃) 𝑧 sin 𝜃
∴ 𝑍{𝑒 –𝑖𝑛𝜃 } = −𝑖
𝑧 2 −2𝑧 cos 𝜃+1 𝑧 2 −2𝑧 cos 𝜃+1
𝑧(𝑧−𝑐𝑜𝑠𝜃) 𝑧 sin 𝜃
⇒ 𝑍{cos 𝑛𝜃 − 𝑖 sin 𝑛𝜃} = −𝑖
𝑧 2 −2𝑧 cos 𝜃+1 𝑧 2 −2𝑧 cos 𝜃+1
𝑧(𝑧−cos 𝜃)
∴ 𝑍{ cos 𝑛𝜃} = …③
𝑧 2 −2𝑧 cos 𝜃+1

𝑧 sin 𝜃
and 𝑍{ sin 𝑛𝜃} = …④
𝑧 2 −2𝑧 cos 𝜃+1

iv. 𝒛(𝒛−𝒂𝐜𝐨𝐬 𝛉) 𝒂𝒛 𝐬𝐢𝐧 𝜽

𝒁{ 𝑎𝑛 𝐜𝐨𝐬 𝒏𝜽} = , 𝒁{ 𝑎𝑛 𝐬𝐢𝐧 𝒏𝜽} =
𝒛𝟐 −𝟐𝒂𝒛 𝐜𝐨𝐬 𝜽+𝒂𝟐 𝒛𝟐 −𝟐𝒛 𝐜𝐨𝐬 𝜽+𝒂𝟐

𝑧
By Damping rule, replacing 𝑧 by in ③and ④, we get
𝑎
𝑧(𝑧−𝑎cos θ) 𝑎𝑧 sin 𝜃
𝑍{ 𝑎𝑛 cos 𝑛𝜃} = and 𝑍{ 𝑎𝑛 sin 𝑛𝜃} =
𝑧 2 −2𝑎𝑧 cos 𝜃+𝑎2 𝑧 2 −2𝑧 cos 𝜃+𝑎2

3. Right Shifting Property

For 𝒏 ≥ 𝒌, 𝒁{𝒖𝒏−𝒌 } = 𝒛−𝒌 𝒁{𝒖𝒏 } , 𝒌 is positive integer
Proof: 𝑍{𝑢𝑛−𝑘 } = ∑∞ 𝑛=0 𝑢𝑛−𝑘 𝑧
−𝑛

= 𝑢−𝑘 𝑧 0 + 𝑢1−𝑘 𝑧 −1 + ⋯ +𝑢−1 𝑧 −𝑘+1 + 𝑢0 𝑧 −𝑘 + 𝑢1 𝑧 −(𝑘+1) + 𝑢2 𝑧 −(𝑘+2) + ⋯

= 0 + 𝑢0 𝑧 −𝑘 + 𝑢1 𝑧 −(𝑘+1) + 𝑢2 𝑧 −(𝑘+2) + ⋯ ∵ 𝑢𝑛 = 0 for 𝑛 < 0
∞ −𝑛
= ∑𝑛−𝑘=0 𝑢𝑛−𝑘 𝑧
= ∑∞𝑚=0 𝑢𝑚 𝑧
−𝑘−𝑚

= 𝑧 −𝑘 ∑∞𝑚=0 𝑢𝑚 𝑧
−𝑚

= 𝑧 −𝑘 ∑∞𝑛=0 𝑢𝑛 𝑧
−𝑛

= 𝑧 −𝑘 𝑍{𝑢𝑛 }
4. Left Shifting Property
𝒖 𝒖 𝒖
If 𝒌 is a positive integer 𝒁{𝒖𝒏+𝒌 } = 𝒛𝒌 [𝒁{𝒖𝒏 } − 𝒖𝟎 − 𝟏 − 𝟐𝟐 − ⋯ − 𝒌−𝟏
𝒌−𝟏
]
𝒛 𝒛 𝒛
Proof: 𝑍{𝑢𝑛+𝑘 } = ∑∞ 𝑛=0 𝑢𝑛+𝑘 𝑧
−𝑛

= 𝑧 𝑘 ∑∞𝑛=0 𝑢𝑛+𝑘 𝑧
−(𝑛+𝑘)

= 𝑧 𝑘 [𝑢𝑘 𝑧 −𝑘 + 𝑢1+𝑘 𝑧 −(1+𝑘) + 𝑢2+𝑘 𝑧 −(2+𝑘) + ⋯ ]

= 𝑧 𝑘 [𝑢0 + 𝑢1 𝑧 −1 + 𝑢2 𝑧 −2 + ⋯ + 𝑢𝑘−1 𝑧 −(𝑘−1) + 𝑢𝑘 𝑧 −𝑘 + ⋯ ]
−𝑧 𝑘 [𝑢0 + 𝑢1 𝑧 −1 + 𝑢2 𝑧 −2 + ⋯ + 𝑢𝑘−1 𝑧 −(𝑘−1) ]
= 𝑧 𝑘 [∑∞
𝑛=0 𝑢𝑛 𝑧
−𝑛
− ∑𝑘−1
𝑛=0 𝑢𝑛 𝑧
−𝑛 ]

𝑢1 𝑢2 𝑢𝑘−1
= 𝑧 𝑘 [𝑍{𝑢𝑛 } − 𝑢0 − − − ⋯− ]
𝑧 𝑧2 𝑧 𝑘−1
In particular for 𝑘 = 1,2,3
𝑍{𝑢𝑛+1 } = 𝑧[𝑍{𝑢𝑛 } − 𝑢0 ]
𝑢
𝑍{𝑢𝑛+2 } = 𝑧 2 [𝑍 {𝑢𝑛 } − 𝑢0 − 1]
𝑧
3 𝑢1 𝑢2
𝑍{𝑢𝑛+3 } = 𝑧 [𝑍 {𝑢𝑛 } − 𝑢0 − − ]
𝑧 𝑧2

Page | 4
 5. Initial Value theorem:
If 𝒁{𝒖𝒏 } = 𝑼(𝒛), then 𝒖𝟎 = 𝐥𝐢𝐦 𝑼(𝒛)
𝒛→∞
𝒖𝟏 = 𝐥𝐢𝐦 𝒛[𝑼(𝒛)−𝒖𝟎 ]
𝒛→∞
𝒖𝟏
𝒖𝟐 = 𝐥𝐢𝐦 𝒛𝟐 [𝑼(𝒛)−𝒖𝟎 − ]
𝒛→∞ 𝒛
⋮
Proof: By definition 𝑈(𝑧) = 𝑍{𝑢𝑛 } = ∑∞𝑛=0 𝑢𝑛 𝑧
−𝑛
𝑢 𝑢 𝑢
⇒ 𝑈(𝑧) = 𝑢0 + 1 + 22 + 33 + ⋯ …⑤
𝑧 𝑧 𝑧
𝑢1 𝑢2 𝑢3
∴ lim 𝑈(𝑧) = lim [𝑢0 + + + + ⋯]
𝑧→∞ 𝑧→∞ 𝑧 𝑧2 𝑧3
= 𝑢0 + 0 + 0 + 0 + ⋯ = 𝑢0
Again, from⑤, we get
𝑢 𝑢 𝑢
𝑈(𝑧)−𝑢0 = 1 + 22 + 33 + ⋯
𝑧 𝑧 𝑧
𝑢2 𝑢3
⇒ 𝑧[𝑈(𝑧)−𝑢0 ] = 𝑢1 + + +⋯
𝑧 𝑧2
𝑢2 𝑢3
⇒ lim 𝑧[𝑈(𝑧)−𝑢0 ] = lim [𝑢1 + + + ⋯ ] = 𝑢1
𝑧→∞ 𝑧→∞ 𝑧 𝑧2
2 𝑢1
Similarly, 𝑢2 = lim 𝑧 [𝑈(𝑧)−𝑢0 − ]
𝑧→∞ 𝑧
Note: Initial value theorem may be used to determine the sequence 𝑢𝑛 from the given
function 𝑈(𝑧)
6. Final Value theorem:
If 𝒁{𝒖𝒏 } = 𝑼(𝒛), then 𝐥𝐢𝐦 𝒖𝒏 = 𝐥𝐢𝐦 (𝒛 − 𝟏)𝑼(𝒛)
𝒏→∞ 𝒛→𝟏
∞
Proof: 𝑍{𝑢𝑛+1 − 𝑢𝑛 } = ∑𝑛=0(𝑢𝑛+1 − 𝑢𝑛 )𝑧 −𝑛
⇒ 𝑍{𝑢𝑛+1 } − 𝑍{𝑢𝑛 } = ∑∞ 𝑛=0(𝑢𝑛+1 − 𝑢𝑛 )𝑧
−𝑛

⇒ 𝑧 [ 𝑍 { 𝑢𝑛 } − 𝑢0 ] − 𝑍 { 𝑢𝑛 } = ∑ ∞
𝑛=0(𝑢𝑛+1 − 𝑢𝑛 )𝑧
−𝑛

By using left shifting property for 𝑘 = 1

⇒ ( 𝑧 − 1 ) 𝑍 { 𝑢𝑛 } − 𝑢0 = ∑ ∞
𝑛=0(𝑢𝑛+1 − 𝑢𝑛 )𝑧
−𝑛

or (𝑧 − 1)𝑈(𝑧) − 𝑢0 = ∑∞ 𝑛=0(𝑢𝑛+1 − 𝑢𝑛 )𝑧
−𝑛
∵ 𝑍{𝑢𝑛 } = 𝑈(𝑧)
Taking limits 𝑧 → 1 on both sides
lim (𝑧 − 1)𝑈(𝑧) − 𝑢0 = ∑∞ 𝑛=0(𝑢𝑛+1 − 𝑢𝑛 )
𝑧→1
or lim (𝑧 − 1)𝑈(𝑧) − 𝑢0 = lim [(𝑢1 − 𝑢0 ) + (𝑢2 − 𝑢1 ) + ⋯ + (𝑢𝑛+1 − 𝑢𝑛 )]
𝑧→1 𝑛→∞
= lim [𝑢𝑛+1 ] − 𝑢0
𝑛→∞
⇒ lim (𝑧 − 1)𝑈(𝑧) = 𝑢∞
𝑧→1
or lim (𝑧 − 1)𝑈(𝑧) = lim 𝑢𝑛
𝑧→1 𝑛→∞
Note: Initial value and final value theorems determine the value of 𝑢𝑛 for 𝑛 = 0 and
for 𝑛 ⟶ ∞ from the given function 𝑈(𝑧).
7. Convolution theorem
Convolution of two sequences 𝑢𝑛 and 𝑣𝑛 is defined as 𝑢𝑛 ∗ 𝑣𝑛 = ∑𝑛𝑚=0 𝑢𝑚 𝑣𝑛−𝑚
Convolution theorem for 𝑍-transforms states that
If 𝑼(𝒛) = 𝒁{𝒖𝒏 } and 𝑽(𝒛) = 𝒁{𝒗𝒏 }, then 𝒁{𝒖𝒏 ∗ 𝒗𝒏 } = 𝑼(𝒛). 𝑽(𝒛)
Proof: 𝑈(𝑧). 𝑉 (𝑧) = 𝑍{𝑢𝑛 }. 𝑍{𝑣𝑛 }
= [∑∞
𝑛=0 𝑢𝑛 𝑧
−𝑛 ] [∑∞
. 𝑛=0 𝑣𝑛 𝑧 −𝑛 ]

Page | 5
 𝑢1 𝑢2 𝑢𝑛 𝑣1 𝑣2 𝑣𝑛
= [𝑢0 + + + ⋯+ + ⋯ ] . [𝑣0 + + +⋯+ + ⋯]
𝑧 𝑧2 𝑧𝑛 𝑧 𝑧2 𝑧𝑛
= (𝑢0 𝑣0 ) + (𝑢0 𝑣1 + 𝑢1 𝑣0 )𝑧 −1 + (𝑢0 𝑣2 + 𝑢1 𝑣1 + 𝑢2 𝑣0 )𝑧 −2 + ⋯
= ∑∞
𝑛=0(𝑢0 𝑣𝑛 + 𝑢1 𝑣𝑛−1 + 𝑢2 𝑣𝑛−2 + ⋯ + 𝑢𝑛 𝑣0 )𝑧
−𝑛

𝑛
= ∑∞
𝑛=0(∑𝑚=0 𝑢𝑚 𝑣𝑛−𝑚 )𝑧
−𝑛

⇒ 𝑈(𝑧). 𝑉 (𝑧) = 𝑍{∑𝑛𝑚=0 𝑢𝑚 𝑣𝑛−𝑚 } ∵ ∑∞

𝑛=0 𝑢𝑛 𝑧
−𝑛
= 𝑍 { 𝑢𝑛 }
⇒ 𝑈(𝑧). 𝑉 (𝑧) = 𝑍{𝑢𝑛 ∗ 𝑣𝑛 } ∵ 𝑢𝑛 ∗ 𝑣𝑛 = ∑𝑛𝑚=0 𝑢𝑚 𝑣𝑛−𝑚
𝑛𝜋
Example1 Find the 𝑍–transform of 2𝑛 + 3 sin − 5𝑎4
4
Solution: By linearity property
𝑛𝜋 𝑛𝜋
𝑍 {2𝑛 + 3 sin − 5𝑎4 } = 2𝑍{𝑛} + 3𝑍 {sin } − 5𝑍{𝑎4 }
4 4
𝑛𝜋
= 2𝑍{𝑛} + 3𝑍 {sin } − 5𝑎4 𝑍{1}
4
𝜋
2𝑧 3𝑧 𝑆𝑖𝑛
4 5𝑎4 𝑧
= (𝑧−1)2 + 𝜋 −
𝑧 2 −2𝑧𝑐𝑜𝑠 +1 𝑧−1
4
𝑧 𝑧 sin 𝜃 𝑧
∵ 𝑍{𝑛} = (𝑧−1)2 , 𝑍{ sin 𝑛𝜃} = , 𝑍 {1} =
𝑧 2 −2𝑧 cos 𝜃+1 𝑧−1
3𝑧
𝑛𝜋 2𝑧 5𝑎4 𝑧
∴ 𝑍 {2𝑛 + 3 sin − 5𝑎4 } = (𝑧−1)2 + √2
−
4 𝑧 2 −√2 𝑧+1 𝑧−1

Example2 Find the 𝑍–transform of the sequence {4, 8, 16, 32, … }

Solution: 𝑢𝑛 = 2𝑛+2 , 𝑛 = 0,1,2,3 ….
𝑍{2𝑛+2 } = 𝑍{22 2𝑛 }
4𝑧 2 𝑧 𝑎
= 4 𝑍 {2𝑛 } = , | | < 1 ∵ 𝑍 {𝑎 𝑛 } = ,| |<1
𝑧−2 𝑧 𝑧−𝑎 𝑧

Example3 Find the 𝑍–transform of (𝑛 + 1)2

Solution: 𝑍{(𝑛 + 1)2 } = 𝑍{𝑛2 + 2𝑛 + 1}
= 𝑍{𝑛2 } + 2𝑍{𝑛} + 𝑍{1}
𝑧 2+ 𝑧 2𝑧 𝑧
= + +
(𝑧−1)3 (𝑧−1)2 𝑧−1
𝑧 2+ 𝑧 𝑧 𝑧
∵ 𝑍 {𝑛 2 } = , 𝑍{𝑛} = (𝑧−1)2 , 𝑍{1} =
(𝑧−1)3 𝑧−1
Example4 Find the 𝑍–transform of
𝑛𝜋 𝜋
i. 𝑛 cos 𝑛𝜃 ii. sin ( + ) iii. 𝑒 −2𝑛 iv. 𝑎|𝑛|
2 4
𝑧 (𝑧−𝑐𝑜𝑠𝜃)
Solution: i. 𝑍{cos 𝑛𝜃 } =
𝑧 2 −2𝑧𝑐𝑜𝑠𝜃+1
𝑑 𝑧 (𝑧–𝑐𝑜𝑠𝜃)
∴ 𝑍{𝑛cos 𝑛𝜃 } = −𝑧 [ ]
𝑑𝑧 𝑧 2 −2𝑧𝑐𝑜𝑠𝜃+1
𝑑
∵ 𝑍{𝑛𝑢𝑛 } = −𝑧 𝑍 { 𝑢𝑛 }
𝑑𝑧
−𝑧 2 𝑐𝑜𝑠𝜃+2𝑧–𝑐𝑜𝑠𝜃
= −𝑧 [ (𝑧 2 ]
−2𝑧𝑐𝑜𝑠𝜃+1)2

𝑧 3 𝑐𝑜𝑠𝜃−2𝑧 2 + 𝑧𝑐𝑜𝑠𝜃
= (𝑧 2 −2𝑧𝑐𝑜𝑠𝜃+1)2
𝑛𝜋 𝜋 𝑛𝜋 𝜋 𝑛𝜋 𝜋
ii. 𝑍 {sin ( + )} = 𝑍 {sin cos + cos sin }
2 4 2 4 2 4
𝜋 𝑛𝜋 𝜋 𝑛𝜋
= cos 𝑍 {sin } + sin 𝑍 {cos }
4 2 4 2

Page | 6
 𝜋 𝜋
1 𝑧 sin 𝑧 (𝑧−𝑐𝑜𝑠 )
2 2
= [ 𝜋 + 𝜋 ]
√2 𝑧 2 −2𝑧 cos 2 +1 𝑧 2 −2𝑧 𝑐𝑜𝑠 +1
2

𝑧 sin 𝜃 𝑧(𝑧−cos 𝜃)
∵ 𝑍{ sin 𝑛𝜃 } = , 𝑍{ cos 𝑛𝜃 } =
𝑧 2 −2𝑧 cos 𝜃+1 𝑧 2 −2𝑧 cos 𝜃+1
1 𝑧 𝑧2 1 𝑧+𝑧 2
= [ + ]= [ ]
√2 𝑧 2 +1 𝑧 2 +1 √2 𝑧 2 +1

iii. 𝑍{𝑒 −2𝑛 } = 𝑍{(𝑒 −2 )𝑛 }

𝑧 𝑧
= 𝑧−𝑒−2 ∵ 𝑍{𝑎𝑛 } = 𝑧−𝑎
𝑧𝑒2
= 𝑧𝑒2 −1
𝑎−𝑛 , 𝑛 < 0
iv. 𝑎|𝑛| = {
𝑎𝑛 , 𝑛 ≥ 0
Taking two sided 𝑍– transform: 𝑍{𝑎|𝑛| } = ∑∞ |𝑛| −𝑛
𝑛=−∞ 𝑎 𝑧
∴ 𝑍{𝑎|𝑛| } = ∑−1
−∞ 𝑎 𝑧 + ∑∞
−𝑛 −𝑛 𝑛 −𝑛
0 𝑎 𝑧
𝑎 𝑎2 𝑎3
= [… +𝑎3 𝑧 3 + 𝑎2 𝑧 2 + 𝑎𝑧] + [1 + + 2
+ + ⋯]
𝑧 𝑧 𝑧3

𝑎𝑧 1 𝑎
= 1−𝑎𝑧 + 𝑎 , |𝑎𝑧| < 1 and | | < 1
1−𝑧 𝑧
𝑎𝑧 𝑧 1
= 1−𝑎𝑧
+ 𝑧−𝑎 , |𝑧| < and |𝑎| < |𝑧|
|𝑎|
𝑧(1−𝑎𝑧) 1
= , |𝑎| < |𝑧| <
(1−𝑎𝑧)(𝑧−𝑎) |𝑎|
𝑧 1
⇒ 𝑍{𝑎|𝑛| } = , |𝑎| < |𝑧| <
|𝑎|
𝑧−𝑎

2𝑛 , 𝑛 < 0
Example5 Find the 𝑍–transform of 𝑢𝑛 = {
3𝑛 , 𝑛 ≥ 0
Taking two sided 𝑍– transform: 𝑍{𝑢𝑛 } = ∑∞
𝑛=−∞ 𝑢𝑛 𝑧
−𝑛

∴ 𝑍{𝑢𝑛 } = ∑−1 𝑛 −𝑛
−∞ 2 𝑧 + ∑∞ 𝑛 −𝑛
0 3 𝑧
𝑧3 𝑧2 𝑧 3 32 33
= [… + 3
+ 2
+ ] + [1 + + 2
+ +⋯]
2 2 2 𝑧 𝑧 𝑧3
𝑧
1 𝑧 3
= 2
1−2
𝑧 + 3 , | | < 1 and | | < 1
1−𝑧 2 𝑧
𝑧 𝑧
= 2−𝑧
+ 𝑧−3 , |𝑧| < |2| and |3| < |𝑧|
𝑧(𝑧−3)+𝑧(2−𝑧)
= , |3| < |𝑧| < |2|
(2−𝑧)(𝑧−3)
𝑧
⇒ 𝑍 { 𝑢𝑛 } = 3 < |𝑧| < 2
,
𝑧 2 −5𝑧+6
2𝑛 , 𝑛 < 0
∴ 𝑍 –transform does not exist for 𝑢𝑛 = { 𝑛 as the set 3 < |𝑧| < 2 is infeasible.
3 , 𝑛≥0
Example6 Find the 𝑍–transform of
𝑛 𝑛+𝑟 1 1
i. 𝐶𝑟 0 ≤ 𝑟 ≤ 𝑛 ii. 𝐶𝑟 iii. (𝑛+𝑟)!
iv. (𝑛−𝑟)!

Solution: i. 𝑍{ 𝑛 𝐶𝑟 } = ∑𝑛𝑟=0 𝑛 𝐶𝑟 𝑧 −𝑟
= 1 + 𝑛 𝐶1 𝑧 −1 + 𝑛 𝐶2 𝑧 −2 + ⋯ + 𝑛 𝐶𝑛 𝑧 −𝑛
= (1 + 𝑧 −1 )𝑛
ii. 𝑍{ 𝑛+𝑟 𝐶𝑟 } = ∑∞
𝑟=0
𝑛+𝑟
𝐶𝑟 𝑧 −𝑟
𝑛+1
=1+ 𝐶1 𝑧 −1 + 𝑛+2
𝐶2 𝑧 −2 + 𝑛+3
𝐶3 𝑧 −3 + ⋯
(𝑛+2)(𝑛+1) (𝑛+3)(𝑛+2)(𝑛+1)
= 1 + (𝑛 + 1) 𝑧 −1 + 𝑧 −2 + 𝑧 −3 + ⋯
2! 3!
Page | 7
 (−𝑛−1)(−𝑛−2)
= 1 + (−𝑛 − 1)(− 𝑧 −1 ) + (−𝑧 −1 )−2
2!
(−𝑛−1)(−𝑛−2)(−𝑛−3)
+ (−𝑧 −1 )−3 + ⋯
3!

= (1 − 𝑧 −1 )−𝑛−1
Example 7 Find the 𝑍–transform of
1 1 1
i. ii. (𝑛+𝑟)!
iii. (𝑛−𝑟)!
𝑛!
1 1 1 1 1
i. 𝑍 { } = ∑∞
𝑛=0 𝑧 −𝑛 = 1 + 𝑧 −1 + 𝑧 −2 + 𝑧 −3 + ⋯
𝑛! 𝑛! 1! 2! 3!
11 1 1 1 1 1
=1+ + 2
+ 3
+ ⋯ = 𝑒𝑧
1! 𝑧 2! 𝑧 3! 𝑧
1 1
⇒ 𝑍{ } = 𝑒 𝑧
𝑛!
1 1
ii. 𝑍 {(𝑛+𝑟)!} = ∑∞
𝑛=0 (𝑛+𝑟)! 𝑧
−𝑛

1 1
Now 𝑍 { } = 𝑒 𝑧
𝑛!
𝑢1 𝑢2 𝑢𝑘−1
Also from left shifting property 𝑍{𝑢𝑛+𝑘 } = 𝑧 𝑘 [𝑍 {𝑢𝑛 } − 𝑢0 − − − ⋯− ]
𝑧 𝑧2 𝑧 𝑘−1
1 1 1 1 1
∴ 𝑍 {(𝑛+𝑟)!} = 𝑧 𝑟 [𝑒 𝑧 − 1 − − − ⋯ − (𝑟−1)!𝑧 𝑟−1]
𝑧 2! 𝑧 2
1 1
In particular {(𝑛+1)!} = 𝑧1 [𝑒 − 1] 𝑧

1 1 1
{(𝑛+2)!} = 𝑧 2 [𝑒 𝑧 − 1 − ]
𝑧

⋮
1 1
iii. 𝑍 {(𝑛−𝑟)!} = ∑∞
𝑛=0 (𝑛−𝑟)! 𝑧
−𝑛

1 1
Now 𝑍 { } = 𝑒 𝑧
𝑛!

Also from right shifting property, 𝑍{𝑢𝑛−𝑘 } = 𝑧 −𝑘 𝑍{𝑢𝑛 } , 𝑘 is positive integer

1 1
∴ 𝑍 {(𝑛−𝑟)!} = 𝑧 −𝑟 𝑒 𝑧
1 1
In particular {(𝑛−1)!} = 𝑧 −1 𝑒 𝑧
1 1
{(𝑛+2)!} = 𝑧 −2 𝑒 𝑧

⋮
𝑧 𝑧
Example8 Find 𝑍{𝑢𝑛+2 } if 𝑍{𝑢𝑛 } = +
𝑧−1 𝑧 2 +1
𝑧 𝑧
Solution: Given 𝑍{𝑢𝑛 } = 𝑈(𝑧) = +
𝑧−1 𝑧 2 +1
𝑢1
From left shifting property 𝑍{𝑢𝑛+2 } = 𝑧 2 [𝑍{𝑢𝑛 } − 𝑢0 − ] …①
𝑧
Now from initial value theorem 𝑢0 = lim 𝑈(𝑧)
𝑧→∞
𝑧 𝑧
= lim [ + ]
𝑧→∞ 𝑧−1 𝑧 2 +1

Page | 8
 1
1 𝑧
= lim [ 1+ 1 ]=1+0
𝑧→∞ 1−𝑧 1+ 2
𝑧
∴ 𝑢0 = 1 …②
Also from initial value theorem 𝑢1 = lim 𝑧[𝑈(𝑧)−𝑢0 ]
𝑧→∞
𝑧 𝑧
= lim 𝑧 [ + − 1]
𝑧→∞ 𝑧−1 𝑧 2 +1
2𝑧 2 −𝑧+1
= lim 𝑧 [ ]=2
𝑧→∞ (𝑧 2 +1)(𝑧−1)
∴ 𝑢1 = 2 …③
𝑧 𝑧 2
Using ②and ③ in ①, we get 𝑍{𝑢𝑛+2 } = 𝑧 2 [ + −1− ]
𝑧−1 𝑧 2 +1 𝑧
𝑧(𝑧 2 –𝑧+2)
⇒ 𝑍{𝑢𝑛+2 } = (𝑧−1)(𝑧 2
+1)

Example9 Verify convolution theorem for 𝑢𝑛 = 𝑛 and 𝑣𝑛 = 1

Solution: Convolution theorem states that 𝑍{𝑢𝑛 ∗ 𝑣𝑛 } = 𝑈(𝑧). 𝑉 (𝑧)
We know that 𝑢𝑛 ∗ 𝑣𝑛 = ∑𝑛𝑚=0 𝑢𝑚 𝑣𝑛−𝑚
= ∑𝑛𝑚=0 𝑚 . 1
𝑛(𝑛+1)
= 0 + 1 + 2 + 3 + ⋯+ 𝑛 =
2
𝑛(𝑛+1) 1
⇒ 𝑍{𝑢𝑛 ∗ 𝑣𝑛 } = ∑∞
𝑛=0 𝑧 −𝑛 = [∑∞ 2 −𝑛
𝑛=0 𝑛 𝑧 + ∑∞
𝑛=0 𝑛 𝑧
−𝑛 ]
2 2
1
= [𝑍{𝑛2 } + 𝑍{𝑛}]
2
1 𝑧(𝑧+1) 𝑧 1 𝑧(𝑧+1)+𝑧(𝑧−1) 1 2𝑧 2
= [(𝑧−1)3 + (𝑧−1)2 ] = [ (𝑧−1)3
] = [(𝑧−1)3]
2 2 2
𝑧2
∴ 𝑍{𝑢𝑛 ∗ 𝑣𝑛 } = (𝑧−1)3 …①
𝒛 𝑧
Also 𝑈(𝑧) = 𝑍{𝑛} = (𝒛−𝟏)𝟐 and 𝑉 (𝑧) = 𝑍{1} =
𝑧−1
𝑧2
⇒ 𝑈(𝑧). 𝑉 (𝑧) = (𝑧−1)3 …②

From ①and ② 𝑍{𝑢𝑛 ∗ 𝑣𝑛 } = 𝑈(𝑧). 𝑉 (𝑧)

Example10 If 𝑢𝑛 = 𝛿 (𝑛) − 𝛿 (𝑛 − 1) , 𝑣𝑛 = 2𝛿 (𝑛) + 𝛿 (𝑛 − 1) , Find the 𝑍 -transform of
their convolution.
Solution: 𝑈(𝑧) = 𝑍{𝛿 (𝑛) − 𝛿 (𝑛 − 1)}, 𝑉 (𝑧) = 𝑍{2𝛿 (𝑛) + 𝛿 (𝑛 − 1)}
Now 𝑍{𝛿 (𝑛)} = 1 and 𝑍{𝛿 (𝑛 − 1)} = 𝑧 −1 ∵ 𝑍{𝑢𝑛−𝑘 } = 𝑧 −𝑘 𝑍{𝑢𝑛 }
∴ 𝑈(𝑧) = 1 − 𝑧 −1 and 𝑉 (𝑧) = 2 + 𝑧 −1
Also 𝑍{𝑢𝑛 ∗ 𝑣𝑛 } = 𝑈(𝑧). 𝑉 (𝑧)
⇒ 𝑍{𝑢𝑛 ∗ 𝑣𝑛 } = (1 − 𝑧 −1 )(2 + 𝑧 −1 ) = 2 − 𝑧 −1 − 𝑧 −2

4.3 Inverse Z-Transform

Given a function 𝑈(𝑧), we can find the sequence 𝑢𝑛 by one of the following methods
• Inspection (Direct inversion)
• Direct division
• Partial fractions
Page | 9
 • Residues (Inverse integral)
• Power-Series
• Convolution theorem

4.3.1 Inspection (Direct inversion) method

Sometimes by observing the coefficients in the given series 𝑈(𝑧), it is possible to find
the sequence 𝑢𝑛 as illustrated in the given examples.
1 1 1
Example 11 Find 𝑢𝑛 if 𝑈(𝑧) = 1 + 𝑧 −1 + 𝑧 −2 + 𝑧 −3 + ⋯
2 4 8
1 𝑛
Solution: Given that 𝑈(𝑧) = ∑∞
𝑛=0 ( ) 𝑧
–𝑛
…①
2
Also, by the definition of Z-transform 𝑈(𝑧) = ∑∞
𝑛=0 𝑢𝑛 𝑧
−𝑛
…②
1 𝑛
Comparing ①and ②, we get 𝑢𝑛 = ( )
2
𝑧3
Example12 Find 𝑢𝑛 if 𝑈(𝑧) = (𝑧−1)3
𝑧3 𝑧−1 –3 1 –3
Solution: 𝑈(𝑧) = (𝑧−1)3 = ( ) = (1 − )
𝑧 𝑧
3 6 10
∴ 𝑈 (𝑧 ) = 1 + + + +⋯
𝑧 𝑧2 𝑧3
𝑛(𝑛+1) 𝑛(𝑛+1)(𝑛+2)
∵ (1 − 𝑥)–𝑛 = 1 + 𝑛𝑥 + 𝑥2 + 𝑥3 + ⋯
2! 3!
(𝑛+1)(𝑛+2)
⇒ 𝑈 (𝑧 ) = ∑ ∞
𝑛=0 𝑧 –𝑛
2
(𝑛+1)(𝑛+2)
Comparing with 𝑈(𝑧) = ∑∞
𝑛=0 𝑢𝑛 𝑧
−𝑛
, we get 𝑢𝑛 =
2
2𝑧 𝑧
Example13 Find inverse 𝑍-transform of 3 + −
𝑧−1 2𝑧−1
2𝑧 𝑧
Solution: Given that 𝑈(𝑧) = 3 + −
𝑧−1 2𝑧−1
−1 𝑧 1 𝑧
∴ 𝑢𝑛 = 3𝑍 −1 [1] + 2𝑍 [ ] − 𝑍 −1 [ 1]
𝑧−1 2 𝑧−
2
1 1 𝑛 1 𝑛+1
⇒ 𝑢𝑛 = 3𝛿 (𝑛) + 2𝑢(𝑛) − ( ) = 3𝛿 (𝑛) + 2𝑢(𝑛) − ( )
2 2 2
𝑧 𝑧
∵ 𝑍 −1 [1] = 𝛿 (𝑛), 𝑍 −1 [ ] = 𝑢(𝑛), 𝑍 −1 [ ] = 𝑎𝑛
𝑧−1 𝑧−𝑎
where 𝛿 (𝑛) and 𝑢(𝑛) are unit impulse and unit step sequences respectively.
𝑧 −3
Example14 Find inverse 𝑍-transform of 2𝑧 −2 −
𝑧−1
𝑧 −3
Solution: Given that 𝑈(𝑧) = 2𝑧 −2 −
𝑧−1
−1 [ −2 −1 𝑧
∴ 𝑢𝑛 = 2𝑍 𝑧 . 1] − 𝑍 [𝑧 −4 . ]
𝑧−1
⇒ 𝑢𝑛 = 2𝛿 (𝑛 − 2) − 𝑢(𝑛 − 4)
∵ From Right shifting property 𝑍 −1 [𝑧 −𝑘 𝑈(𝑧)] = 𝑢𝑛−𝑘
4.3.2 Direct division method
Direct division is one of the simplest methods for finding inverse 𝑍-transform and can
be used for almost every type of expression given in fractional form.
𝑧
Example15 Find the inverse 𝑍-transform of
𝑧 2 −3𝑧+2
𝑧
Solution: Given that 𝑈(𝑧) =
𝑧 2 −3𝑧+2

Page | 10
 By actual division, we get
𝑧 −1 + 3𝑧 −2 + 7𝑧 −3
𝑧 2 − 3𝑧 + 2 𝑧
𝑧 − 3 + 2𝑧 −1
3 − 2𝑧 −1
3 − 9𝑧 −1 + 6𝑧 −2
7𝑧 −1 − 6𝑧 −2
7𝑧 −1 − 21𝑧 −2 + 14𝑧 −3
15𝑧 −2 − 14𝑧 −3
⋮
⇒ 𝑈(𝑧) = 𝑧 −1 + 3𝑧 −2 + 7𝑧 −3 + ⋯
= ∑∞ 𝑛
𝑛=0(2 – 1)𝑧
–𝑛

∴ 𝑢 𝑛 = 2𝑛 − 1
4𝑧 2 +2𝑧
Example16 Find the inverse 𝑍 -transform of
2𝑧 2 −3𝑧+1
4𝑧 2 +2𝑧
Solution: Given that 𝑈(𝑧) = , by actual division, we get
2𝑧 2 −3𝑧+1

2 + 4𝑧 −1 + 5𝑧 −2
2𝑧 2 − 3𝑧 + 1 4𝑧 2 + 2𝑧
4𝑧 2 − 6𝑧 + 2
8𝑧 − 2
8𝑧 − 12 + 4𝑧 −1
10 − 4𝑧 −1
10 − 15𝑧 −1 + 5𝑧 −2
11𝑧 −1 − 5𝑧 −2
⋮
−1 −2
⇒ 𝑈(𝑧) = 2 + 4𝑧 + 5𝑧 + ⋯
= ∑∞
𝑛=0(6 − 2
2−𝑛 ) –𝑛
𝑧
∴ 𝑢𝑛 = 6 − 22−𝑛
1 𝑛
∴ 𝑢𝑛 = 6−4 ( )
2

4.3.3 Partial fractions method

Partial fractions method can be used only if order of expression in the numerator is less
than or equal to that in the denominator. If order of expression in the numerator is
greater, then the fraction may be brought to desired form by direct division. Partial
𝑈(𝑧)
fractions are formed of the expression as demonstrated in the examples below.
𝑧
𝑧
Example17 Find the inverse 𝑍 -transform of
6𝑧 2 −5𝑧+1
𝑧
Solution: Given that 𝑈(𝑧) =
6𝑧 2 −5𝑧+1
𝑈(𝑧) 1 1
∴ = =
𝑧 6𝑧 2 –5𝑧+1 (2𝑧−1) (3𝑧−1)
𝑈(𝑧) 2 3
⇒ = −
𝑧 2𝑧−1 3𝑧−1
𝑧 𝑧
⇒ 𝑈 (𝑧 ) = 1 – 1
𝑧– 𝑧–
2 3

1 𝑛 1 𝑛 𝑧 𝑧
∴ 𝑢𝑛 = ( ) – ( ) ∵ 𝑍 {𝑎 𝑛 } = or 𝑍 −1 [ ] = 𝑎𝑛
2 3 𝑧−𝑎 𝑧−𝑎
i.e. 𝑢𝑛 = 2–𝑛 – 3–𝑛

Page | 11
 4𝑧 2 +2𝑧
Example18 Find the inverse 𝑍 -transform of
2𝑧 2 −3𝑧+1
4𝑧 2 −2𝑧 2𝑧(2𝑧−1)
Solution: Given that 𝑈(𝑧) = = (2𝑧−1)(𝑧−1)
2𝑧 2 −3𝑧+1
𝑈(𝑧) 2(2𝑧+1)
∴ = (2𝑧−1)(𝑧−1)
𝑧
By partial fractions, we get
𝑈(𝑧) −8 6
= +
𝑧 2𝑧−1 𝑧−1
−8𝑧 6𝑧
⇒ 𝑈 (𝑧 ) = +
2𝑧−1 𝑧−1
𝑧 𝑧
∴ 𝑢𝑛 = −4𝑍 −1 [ 1 ] + 6𝑍 −1 [ ]
𝑧− 𝑧−1
2

1 𝑛 𝑧
⇒ 𝑢𝑛 = −4 ( ) + 6(1)𝑛 ∵ 𝑍 −1 [ ] = 𝑎𝑛
2 𝑧−𝑎
1 𝑛
i.e. 𝑢𝑛 = −4 ( ) + 6
2
1
Example19 Find the inverse 𝑍 -transform of (1−𝑧 −1)(2−𝑧 −1
)
1
Solution: Given that 𝑈(𝑧) = (1−𝑧 −1 )(2−𝑧 −1 )

Multiplying and dividing by 𝑧 2 , we get

𝑧2 𝑧2
𝑈 (𝑧 ) = = (𝑧−1)(2𝑧−1)
𝑧(1−𝑧 −1 )𝑧(2−𝑧 −1 )
𝑈(𝑧) 𝑧
∴ = (𝑧−1)(2𝑧−1)
𝑧

By partial fractions, we get

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

𝑧 1 𝑧
∴ 𝑢𝑛 = 𝑍 −1 [(𝑧−1)] − 𝑍 −1 [ ]
1
2 𝑧−
2

1 1 𝑛 𝑧
⇒ 𝑢𝑛 = ( 1 ) 𝑛 − ( ) ∵ 𝑍 −1 [ ] = 𝑎𝑛
2 2 𝑧−𝑎
1 𝑛+1
i.e. 𝑢𝑛 = 1 − ( )
2
4𝑧 2 −2𝑧
Example20 Find the inverse 𝑍 -transform of
𝑧 3 −5𝑧 2 +8𝑧−4
4𝑧 2 −2𝑧 2𝑧(2𝑧−1)
Solution: Given that 𝑈(𝑧) = = (𝑧−1)(𝑧−2)2
𝑧 3 −5𝑧 2 +8𝑧−4
𝑈(𝑧) 2(2𝑧−1)
∴ = (𝑧−1)(𝑧−2)2
𝑧
By partial fractions, we get
𝑈(𝑧) 2 2 6
= − + (𝑧−2)2
𝑧 𝑧−1 𝑧−2
2𝑧 2𝑧 6𝑧
⇒ 𝑈 (𝑧 ) = − + (𝑧−2)2
𝑧−1 𝑧−2

Page | 12
 𝑧 𝑧 2𝑧
∴ 𝑢𝑛 = 2𝑍 −1 [ ] − 2𝑍 −1 [ ] + 3𝑍 −1 [(𝑧−2)2 ]
𝑧−1 𝑧−2
𝑧 𝑎𝑧
⇒ 𝑢𝑛 = 2(1)𝑛 – 2(2)𝑛 + 3𝑛(2)𝑛 ∵ 𝑍 −1 [ ] = 𝑎𝑛 and 𝑍 −1 [(𝑧−𝑎)2] = 𝑛𝑎𝑛
𝑧−𝑎

i.e. 𝑢𝑛 = 2– 2𝑛+1 + 3𝑛. 2𝑛

4.3.4 Method of residues (Inverse integral)
By using the theory of complex variables, it can be shown that the inverse 𝑍-transforms
1
is given by 𝑢𝑛 = ∮ 𝑈(𝑧)𝑧 𝑛–1 𝑑𝑧 = sum of residues of 𝑈(𝑧)
2𝜋𝑖 𝑐
where c is the closed contour which contains all the insolated singularities of 𝑈(𝑧)in the
region of convergence.
Method of residues is one of the most efficient methods and can be used to find the
inverse 𝑍- transform where partial fractions are tedious to find.
𝑧
Example21 Find the inverse z-transform of
𝑧 2 +7𝑧+10
𝑧
Solution: 𝑈 (𝑧 ) =
𝑧 2 +7𝑧+10
1
Now 𝑢𝑛 =
2𝜋𝑖 𝑐
∮ 𝑈(𝑧)𝑧 𝑛–1 𝑑𝑧
1 𝑧
⇒ 𝑢𝑛 = ∮ 𝑧 𝑛–1 𝑑𝑧
2𝜋𝑖 𝑐 𝑧 2 +7𝑧+10
1 𝑧𝑛
= ∮𝑐 𝑑𝑧
2𝜋𝑖 𝑧 2 +7𝑧+10
1 𝑧𝑛
= ∮𝑐 (𝑧+2)(𝑧+5)
𝑑𝑧
2𝜋𝑖
There are two simple poles at 𝑧 = −2 and 𝑧 = −5
𝑧𝑛 (–2)𝑛
Residue at 𝑧 = −2 is given by lim (𝑧 + 2) (𝑧+2)(𝑧+5)
=
𝑧→−2 3
𝑧𝑛 (–5)𝑛
Residue at 𝑧 = −5 is given by lim (𝑧 + 5) (𝑧+2)(𝑧+5) =
𝑧→−5 −3
(–2)𝑛 (–5)𝑛 1
∴ 𝑢𝑛 = sum of residues = + = {(– 2)𝑛 – (– 5)𝑛 }
3 –3 3
𝑧 2 +𝑧
Example22 Find the inverse z-transform of (𝑧−1)(𝑧 2 +1)
𝑧 2 +𝑧
Solution: 𝑈(𝑧) = (𝑧−1)(𝑧 2
+1)
1
Now 𝑢𝑛 = ∮ 𝑈(𝑧)𝑧 𝑛–1 𝑑𝑧
2𝜋𝑖 𝑐
1 𝑧 2 +𝑧
⇒ 𝑢𝑛 = ∮ 𝑧 𝑛–1 𝑑𝑧
2𝜋𝑖 𝑐 (𝑧−1)(𝑧 2 +1)
1 𝑧 𝑛 (𝑧+1)
= ∮𝑐 (𝑧−1)(𝑧+𝑖)(𝑧−𝑖)
𝑑𝑧
2𝜋𝑖

There are three simple poles at 𝑧 = 1, 𝑧 = −𝑖 and 𝑧 = 𝑖

𝑧 𝑛 (𝑧+1)
Residue at 𝑧 = 1 is given by lim(𝑧 − 1) =1 (𝑧−1)(𝑧+𝑖)(𝑧−𝑖)
𝑧→1
𝑧 𝑛 (𝑧+1) 1
Residue at 𝑧 = −𝑖 is given by lim (𝑧 + 𝑖) (𝑧−1)(𝑧+𝑖)(𝑧−𝑖) = − (−𝑖)𝑛
𝑧→−𝑖 2
𝑧 𝑛 (𝑧+1) 1
Residue at 𝑧 = 𝑖 is given by lim(𝑧 − 𝑖) (𝑧−1)(𝑧+𝑖)(𝑧−𝑖) = − 𝑖 𝑛
𝑧→𝑖 2
1 1 1
∴ 𝑢𝑛 = sum of residues = 1 − (−𝑖)𝑛 − 𝑖 𝑛 = 1 − {(−𝑖)𝑛 + 𝑖 𝑛 }
2 2 2
𝑧(𝑧+1)
Example23 Find the inverse z-transform of
(𝑧−1)3

Page | 13
 𝑧(𝑧+1)
Solution: 𝑈 (𝑧 ) =
(𝑧−1)3
1
Now 𝑢𝑛 = ∮ 𝑈(𝑧)𝑧 𝑛–1 𝑑𝑧
2𝜋𝑖 𝑐
1 𝑧 𝑛 (𝑧+1)
⇒ 𝑢𝑛 = ∮ 𝑑𝑧
2𝜋𝑖 𝑐 (𝑧−1)3

Here 𝑧 = 1 is a pole of order 3

1 𝑑2 (𝑧−1)3 𝑧 𝑛 (𝑧+1)
Residue at 𝑧 = 1 is given by lim [ ]
2! 𝑧→1 𝑑𝑧 2 (𝑧−1)3
1 𝑑2
= lim [𝑧 𝑛 (𝑧 + 1)]
2! 𝑧→1 𝑑𝑧 2
1 𝑑
= lim [(𝑛 + 1)𝑧 𝑛 + 𝑛𝑧 𝑛−1 ]
2! 𝑧→1 𝑑𝑧
1
= lim [(𝑛 + 1)𝑛𝑧 𝑛−1 + 𝑛(𝑛 − 1)𝑧 𝑛−2 ]
2! 𝑧→1

= [𝑛 2 + 𝑛 + 𝑛 2 − 𝑛 ] = 𝑛 2
∴ 𝑢𝑛 = Sum of residues = 𝑛2
4.3.5 Power series method
In this method, we find the inverse 𝑍 - transform by expanding 𝑈(𝑧) in power series.
𝑧
Example 24 Find 𝑢𝑛 if 𝑈(𝑧) = log
𝑧+1
𝑧 𝑧+1 −1 𝑧+1 1
Solution: Given 𝑈(𝑧) = log = log ( ) = − log = − log (1 + )
𝑧+1 𝑧 𝑧 𝑧
1
∴ 𝑈(𝑧) = − log(1 + 𝑦) Putting = 𝑦
𝑧
𝑦2 𝑦3 𝑦4
= −𝑦 + − + −⋯
2 3 4
𝑥2 𝑥3 𝑥4
∵ log(1 + 𝑥) = 𝑥 − + − +⋯
2 3 4
1 1 1 1 1
⇒ 𝑈 (𝑧 ) = − + − + −⋯ ∵ 𝑦=
𝑧 2𝑧 2 3𝑧 3 4𝑧 4 𝑧
(−1)𝑛
⇒ 𝑈 (𝑧 ) = 0 + ∑ ∞
𝑛=1 𝑛 𝑧
−𝑛

Comparing with 𝑈(𝑧) = ∑∞𝑛=0 𝑢𝑛 𝑧

−𝑛
, we get
0 for 𝑛 = 0
𝑢𝑛 = {(–1)𝑛
, 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒
𝑛

4.3.6 Convolution theorem method

Convolution theorem for 𝑍-transforms states that:
If 𝑈(𝑧) = 𝑍{𝑢𝑛 } and 𝑉 (𝑧) = 𝑍{𝑣𝑛 }, then 𝑍{𝑢𝑛 ∗ 𝑣𝑛 } = 𝑈(𝑧). 𝑉 (𝑧)
⇒ 𝑍 −1 [𝑈(𝑧). 𝑉 (𝑧)] = 𝑢𝑛 ∗ 𝑣𝑛
𝑧2
Example25 Find the inverse z-transform of (𝑧−1)(2𝑧−1)
using convolution theorem.
𝑧 𝑧 1 𝑧
Solution: Let 𝑈(𝑧) = 𝑍{𝑢𝑛 } = (𝑧−1) and 𝑉 (𝑧) = 𝑍{𝑣𝑛 } = (2𝑧−1) = ( )
1
2 𝑧−
2
1 1 𝑛 𝑧
Clearly 𝑢𝑛 = (1)𝑛 and 𝑢𝑛 = ( ) ∵ 𝑍 −1 [ ] = 𝑎𝑛
2 2 𝑧−𝑎

Now by convolution theorem 𝑍 −1 [𝑈(𝑧). 𝑉 (𝑧)] = 𝑢𝑛 ∗ 𝑣𝑛

𝑧2 1 𝑛+1
⇒ 𝑍 −1 [(𝑧−1)(2𝑧−1)] = (1)𝑛 ∗ ( )
2

Page | 14
 We know that 𝑢𝑛 ∗ 𝑣𝑛 = ∑𝑛𝑚=0 𝑢𝑚 𝑣𝑛−𝑚
1 𝑛+1−𝑚
= ∑𝑛𝑚=0(1)𝑚 ( )
2
1 𝑛+1 1 𝑛 1 𝑛−1 1
=( ) +( ) +( ) + ⋯+
2 2 2 2
1 1 1 2 1 𝑛
= [1 + + ( ) + ⋯ + ( ) ]
2 2 2 2

1 1 1 𝑛+1
= [ 1 (1 − ( ) )]
2 1− 2
2
𝑎
∵ 𝑆𝑛 = (1 − 𝑟 𝑛 )
1−𝑟
1 1 𝑛+1
= [2 (1 − ( ) )]
2 2

1 𝑛+1
=1−( )
2

4.4 Applications of Z-Transforms in Solving Difference Equations

Difference equations may be solved using usual methods of calculating Complimentary
Function (C.F.) and Particular Integral. Z- Transforms can also be used to solve a difference
equation particularly when the particular integral is difficult to evaluate.

Algorithm to solve a difference equation using Z- Transforms

1. Apply Z-transform on both sides of the given difference equation.

2. Use left shifting property to expand 𝑍{𝑢𝑛+1 }, 𝑍{𝑢𝑛+2 } , 𝑍{𝑢𝑛+3 } etc
𝑈(𝑧)
3. Keeping on one side, resolve the terms on other side into partial fractions.
𝑧
4. Find 𝑢𝑛 by applying inverse Z-Transform using partial fractions or any other
suitable method.
Example 26 Using 𝑍-transforms, solve the difference equation 𝑦𝑛+2 − 4𝑦𝑛+1 + 4𝑦𝑛 = 0,
given that 𝑦0 = 1 and 𝑦1 = 0
Solution: Taking 𝑍-transforms on both sides such that 𝑍{𝑦𝑛 } is denoted by 𝑌(𝑧)
𝑍{𝑦𝑛+2 } − 4𝑍{𝑦𝑛+1 } + 4𝑍{𝑦𝑛 } = 0 …①
Using left shifting property
𝑍{𝑦𝑛+1 } = 𝑧[𝑌(𝑧) − 𝑦0 ] …②
𝑦1
𝑍{𝑦𝑛+2 } = 𝑧 2 [𝑌(𝑧) − 𝑦0 − ] …③
𝑧
Using and ② and ③ in ①
𝑦1
𝑧 2 [𝑌(𝑧) − 𝑦0 − ] − 4𝑧[𝑌(𝑧) − 𝑦0 ] + 4𝑌(𝑧) = 0
𝑧
⇒ 𝑌(𝑧)[𝑧 2 − 4𝑧 + 4] − 𝑦0 [𝑧 2 − 4𝑧] − 𝑦1 𝑧 = 0
⇒ 𝑌(𝑧)[𝑧 2 − 4𝑧 + 4] − [𝑧 2 − 4𝑧] = 0 ∵ 𝑦0 = 1 and 𝑦1 = 0
⇒ 𝑌(𝑧)(𝑧 − 2)2 = 𝑧(𝑧 − 4)
𝑌(𝑧) (𝑧−4)
⇒ =(
𝑧 𝑧−2)2

Resolving into Partial fractions, we get

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

Taking inverse 𝑍-transform

𝑧 𝑎𝑧
𝑦𝑛 = 2𝑛 − 2𝑛 𝑛 ∵ 𝑍 −1 ( ) = 𝑎𝑛 and 𝑍 −1 ((𝑧−𝑎)2) = 𝑎𝑛 𝑛
𝑧−𝑎
𝑛(
⇒ 𝑦𝑛 = 2 1 − 𝑛)

Example 27 Using 𝑍-transforms, solve the difference equation 𝑢𝑛+2 − 4𝑢𝑛+1 + 3𝑢𝑛 = 5𝑛
Solution: Taking 𝑍-transforms on both sides such that 𝑍{𝑢𝑛 } is denoted by 𝑈(𝑧)
𝑍{𝑢𝑛+2 } − 4𝑍{𝑢𝑛+1 } + 3𝑍{𝑢𝑛 } = 𝑍{5𝑛 } … ①
Using left shifting property
𝑍{𝑢𝑛+1 } = 𝑧[𝑈(𝑧) − 𝑢0 ] …②
𝑢1
𝑍{𝑢𝑛+2 } = 𝑧 2 [𝑈(𝑧) − 𝑢0 − ] …③
𝑧
Using and ② and ③ in ①
𝑢1 𝑧
𝑧 2 [𝑈(𝑧) − 𝑢0 − ] − 4𝑧[𝑈(𝑧) − 𝑢0 ] + 3𝑈(𝑧) =
𝑧 𝑧−5
2 2 𝑧
⇒ 𝑈(𝑧)[𝑧 − 4𝑧 + 3] − 𝑢0 [𝑧 − 4𝑧] − 𝑢1 𝑧 =
𝑧−5
𝑧
⇒ 𝑈(𝑧)(𝑧 − 1)(𝑧 − 3) = 𝑢0 𝑧(𝑧 − 4) + 𝑢1 𝑧 +
𝑧−5
𝑈(𝑧) 𝑢0 (𝑧−4)+𝑢1 1
⇒ = (𝑧−1)(𝑧−3)
+ (𝑧−1)(𝑧−3)(𝑧−5)
𝑧

Resolving into Partial fractions, we get

𝑈(𝑧) A B 𝐶 𝐷 𝐸
⇒ =[ + ]+[ + + ] …④
𝑧 z−1 z−3 𝑧−1 𝑧−3 𝑧−5
𝑢0 (𝑧−4)+𝑢1 A B
Here (𝑧−1)(𝑧−3)
=[ + ]
z−1 z−3

⇒ 𝑢0 (𝑧 − 4) + 𝑢1 = 𝐴(𝑧 − 3) + 𝐵(𝑧 − 1)
Putting 𝑧 = 1 and 𝑧 = 3 respectively on both sides, we get
−3𝑢0 + 𝑢1 = −2𝐴 and −𝑢0 + 𝑢1 = 2𝐵
1 1
⇒ 𝐴 = (3𝑢0 − 𝑢1 ) and 𝐵 = (−𝑢0 + 𝑢1 ) …⑤
2 2
1 C D E
Also
(z−1)(z−3)(z−5)
= + +
z−1 z−3 Z−5
⇒ 1 = C (z– 3) (z– 5) + D (z– 1) (z– 5) + E (z– 1) (z– 3)
Putting 𝑧 = 1, 3 and 5 respectively, we get
1 1 1
we get C = , D = − and E = …⑥
8 4 8
Using ⑤ and ⑥ in ④, we get
(3𝑢0 −𝑢1 )𝑧 (−𝑢0 +𝑢1 )𝑧 1 𝑧 1 𝑧 1 𝑧
𝑈 (𝑧 ) = [ + ]+ [ ( )− ( )+ ( )]
2(𝑧–1) 2(𝑧−3) 8 𝑧−1 4 𝑧−3 8 𝑧−5

Taking inverse 𝑍-transform

3𝑢0 −𝑢1 −𝑢0 +𝑢1 1 1 1
𝑢𝑛 = ( ) 1𝑛 + ( ) 3𝑛 + 1𝑛 – 3𝑛 + 5𝑛
2 2 8 4 8

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 3𝑢0 −𝑢1 1 −𝑢0 +𝑢1 1 1
⇒ 𝑢𝑛 = ( + ) 1𝑛 + ( − ) 3𝑛 + 5𝑛
2 8 2 4 8
𝑛 1 𝑛
⇒ 𝑢𝑛 = 𝑐1 + 𝑐2 3 + 5
8
3𝑢0 −𝑢1 1 −𝑢0 +𝑢1 1
where 𝑐1 = + , 𝑐2 = −
2 8 2 4

Exercise 4A
5𝑛 , 𝑛 < 0
1. Find the 𝑍–transform of 𝑢𝑛 = {
3𝑛 , 𝑛 ≥ 0
1
2. Find the 𝑍–transform of 𝑢𝑛 = (𝑛−𝑝)!
2𝑧
3. Find the inverse 𝑍–transform of (𝑧−1)(𝑧 2 +1)
4. Solve the difference equation 𝑦𝑥+2 + 4𝑦𝑥+1 + 3𝑦𝑥 = 3𝑥 , 𝑦0 = 0, 𝑦1 = 1
using 𝑍–transforms

Answers
2𝑧
1. , 3 < |𝑧| < 5
𝑧 2 −8𝑧+15
1
−𝑝 𝑧
2. 𝑧 𝑒
(−𝑖)𝑛 𝑖𝑛
3. 1 + −
−1+𝑖 1+𝑖
1 𝑥 5 3
4. 𝑦𝑥 = 3 − (−3)𝑥 + (−1)𝑥
24 12 8

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