Lecture 3

Inverse z Transform:

– Introduction To Inverse z-Transform

– Direct Division Method
– Computational Method
– Partial Fraction Expansion Method
– Inversion Integral Method
– Z-Transform for Solving Difference Equations

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Introduction
❖ Unit Step Function
– When the z-transform is available, the corresponding time
domain function at the sampling instants is obtainable.
– The inversion of a z-transform function to its corresponding time
domain function is obtained only at the sampling instants.
– On the other hand, the transformation from F(z) to f*(t), or,
equivalently, to f(kT)) is unique.
– The inverse z-transform operator, denoted by Z-1, as follows:

f*(t) = f(kT) = Z -l [F(z)]

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Direct Division Method
– it is considerably easier to use this method to obtain the inverse
z-transform than other methods.
– The result is an infinite series
– It may not be as useful as an analytical expression.
– From the definition of the z-transform as:

X ( z ) = Z | x(t ) |=  x(kT )z −k
k =0
X ( z ) = x(0) + x(T ) z −1 + x(2T ) z −2 + .... + x(kT ) z −k + ...
The coefficients of z-1in the power series expansion of
X(z) are the values of x(t) at the sampling instants.
Hence, x(kT) or x(T) are determined by inspection.
Note, when performing the direct division method, put
z in the X(z) in the negative power form.

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Direct Division Method, Cont…
❖ Example
10 z + 5
– Find x(k) for k=0,1,2,3,4 when X(z) is : X ( z) =
(z − 1)( z − 0.2)
Rewrite X(z) in a ratio of polynomials in negative power of z as follows:
10 z −1 + 5 z −2
X ( z) = Complete the direct division as follows:
1 − 1 .2 z + 0 .2 z
−1 −2

10z −1 − 17z −2 + 18.4z −3 + 18.68z −4 + ...

1 − 1.2 z −1 + 0.2 z −2 10 z −1 + 5 z −2
10 z −1 − 12 z −2 + 2 z −3
17 z −2 − 2 z −3
17 z −2 − 20.4 z −3 + 3.4 z −4
18.4 z −3 − 3.4 z −4
18.4 z −3 − 22.08 z −4 + 3.68 z −5
18.68 z −4 − 3.68 z −5
18.68 z −4 − 22.416 z −5 + 3.736 z −6

the result therefor is x( 0 ) = 0, x( 1 ) = 10, x( 2 ) = 17, x( 3 ) = 18.4, x( 4 ) = 18.68.

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Direct Division Method, Cont…
❖ Examples
– Find x(k) when X(z) is :

1
1) X ( z ) =
z +1
2) X ( z ) = 1 + 2 z −1 + 3 z −2 + 4 z −3 + 2 z −1
2z 4 + 7z 3 + z 2 + 8z + 3
3) X ( z ) =
z4
z 3 + 2z 2 + z 2 + 3z + 4 z 3 + 2z 2 + z 2 + 3z + 4 z
4) X ( z ) = , Hint ; X ( z ) =
z ( z − 1)
2
z3 (z − 1)

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Computational Method
– Computational Method includes two approaches, namely:
– MATLab approach
– Difference equation approach
Only the first approach is discussed in detail in the laboratory
sessions.
❖ MATLab Approach:
– The approach is based on obtaining the output of a transfer of
which the input is the Kronecker delta and the output is the
function needs to be obtained.
– The Kronecker delta in Matlab is given by: x = [1
zeros(1,N)]
– The filter command can be used to obtain the output
numerically.
– The iztrans command is used to derive it symbolically
– More details will be given in the lab sessions.
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Partial Fraction Expansion Method

– The method requires to expand fractions so that the easily be

recognizable in the table of z-transform
– For simple poles and at least one zero at the origin, divide both
sides of X(z) by z, and then expand X(z)/z in the form of:
 X ( z) 
where ai = (z − pi )
X ( z) a1 a2 an
= + + ... +
z z − p1 z − p2 z − pn  z  z = pi

– If X(z)/z includes a n repeated pole with no other poles, then

X(z)/z will have the form:

X ( z) a1 a2 an
= + + ... + where :
z ( z − p) ( z − p)
n n −1
( z − p)
an  d k −1  X ( z) 
ck =  k −1  ( z − p ) n
  ; where k =1,2,..., n
(k − 1)!  dz  z  z= p 1

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Partial Fraction Expansion Method, Cont…

❖ Examples
– Find the inverse z transform of X(z) where:

1) X ( z) =
(1 − e )z
− aT

( z − 1)( z − e ) − aT

2z3 + z
2) X ( z) =
( z − 2)2 ( z − 1)
z+2
3) X ( z) =
( z − 2 )z 2
0.5 z −1
4) X ( z) =
(1 − z −1 )(1 − 0.5 z −1 )
z −1 (0.5 − z −1 )
5) X ( z) =
(1 − 0.8 z −1 )2 (1 − 0.5 z −1 )
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Inversion Integral Method
– This method is used to derive the inverse z transform using the
residues theory.
– The inverse z transform is obtained by calculating the residues:

x(kT ) = x(k ) = k1 + k 2 + ... + km

m
=  [residue of X ( z ) z k −1 at pole z = zi of X ( z ) z k −1 ]
i =1

– If the denominator of X(z) zk-1 contains a simple pole z=zi then

K = lim
z→z
( z
i
− z i
) X ( z ) z k −1

– If X(z) zk-1 contains a repeated pole z=zi of order q then

K=
1
lim
 d q −1

(q − 1)! z → zj  dz q −1
( 
z − z ) q
X ( z ) z 
k −1



j

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Inversion Integral Method, Cont…

❖ Examples
– Use the Inversion Integral Method to obtain the inverse z transform
x(kT) of X(z) where:

1) X ( z) =
(1 − e )z
− aT

( z − 1)( z − e )
− aT

z2
2) X ( z) =
( z − 1)2 ( z − e −aT )
z −1 (z -1 + 1)
3) X ( z ) = −1
( z − 2 )z − 2
0 .5 z − 2
4) X ( z) =
(1 − z −1 )3
z (z + 2)
5) X ( z) = ; use another different method to compare
( z − 1) 2

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Z-Transform Method for Solving Difference
Equations
– Z-Transform approach outsmarts other methods in solving
difference equations, particularly when it comes to the necessity
to obtain the close-form expression for x(k).
– From the real and complex translation terms, the following table
can be extracted:

Discrete Fn. Z-Transform

xk+3) z3X(z)-z3x(0)-z2x(1)-zx(2)
x(k+2) z2X(z)-z2x(0)-zx(1)
x(k+1) zX(z)-zx(0)
x(k) X(z)
x(k-1) z-1X(z)
x(k-2) z-2X(z)
x(k-3) z-3X(z)

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Z-Transform Method for Solving Difference
Equations, Cont…

❖ Examples
– Use the inverse z-transform to solve the difference equation:

1) x( k + 2) + 3 x( k + 1) + 2 x( k ) = 0; where x(0) = 0; x(1) = 1

2) x( k + 2) − x( k + 1) + 0.25 x( k ) = u ( k + 2); where :

x( 0 ) = 0; x( 1 ) = 1 and u(k) is the unit step input.

3) y(k)+5 y(k-1 )+6 y(k-2 )=u(k-1 )+3u(k-2 ) ; u(k) is the unit step input

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