0% found this document useful (0 votes)
100 views43 pages

Lec7 10

The document discusses the z-transform, which is an important tool for analyzing discrete-time signals and linear time-invariant systems. The z-transform plays the same role for discrete-time signals as the Laplace transform does for continuous-time signals. Properties of the z-transform include linearity, time-shifting, scaling, differentiation, and convolution mapping to multiplication in the z-domain. Examples are provided to illustrate key concepts such as calculating z-transforms, using properties like time-shifting, and computing convolutions.

Uploaded by

ekmemon
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
100 views43 pages

Lec7 10

The document discusses the z-transform, which is an important tool for analyzing discrete-time signals and linear time-invariant systems. The z-transform plays the same role for discrete-time signals as the Laplace transform does for continuous-time signals. Properties of the z-transform include linearity, time-shifting, scaling, differentiation, and convolution mapping to multiplication in the z-domain. Examples are provided to illustrate key concepts such as calculating z-transforms, using properties like time-shifting, and computing convolutions.

Uploaded by

ekmemon
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 43

Lecture 7 – 10

Z - Transform

1
Z-Transform
 Transform techniques are an important tool in the
analysis of signals and LTI systems.
 Z-transform plays the same role in the analysis of D.T
signals and LTI systems as the Laplace transform does
in the analysis of C.T signals and LTI systems.
 In z-domain convolution of two time domain signals is
equivalent to multiplication of their corresponding z-
transforms. This property simplifies the analysis of
response of LTI systems to various signals.
 Z-transform provides a means of characterizing an LTI
system and its response to various signals by its pole-
zero location.
 From mathematical point of view, z-transform is an
alternative representation of signals. 2
The Direct Z-Transform
The z-transform of a discrete time signal is defined as the
power series

X ( z)   x[ n
n  
] z n

(1)

Where z is a complex variable. For convenience, the z-


transform of a signal x[n] is denoted by
X(z) = Z{x[n]}
Since the z-transform is an infinite series, it exists only for
those values of z for which this series converges. The
Region of Convergence (ROC) of X(z) is the set of all
values of z for which this series converges.
3
We illustrate the concepts by some simple examples.
Example 1: Determine the z-transform of
the following signals
(a) x[n] = [1, 2, 5, 7, 0, 1]
Solution: X(z) = 1 + 2z-1+ 5z-2 + 7z-3 + z-5,
ROC: entire z plane except z = 0

(b) y[n] = [1, 2, 5, 7, 0, 1]

Solution: Y(z) = z2 + 2z + 5 + 7z-1 + z-3


ROC: entire z-plane except z = 0 and z = .

(c) z[n] = [0, 0, 1, 2, 5, 7, 0, 1]


Solution: z-2 + 2z-3 + 5z-4 + 7z-5 + z-7, ROC: all z except z=0 4
p[n] = [n]
(d) 

Solution: P(z) = 1, ROC: entire z-plane.

(e) q[n] = A[n – k], k > 0


Solution: Q(z) = Az-k, entire z-plane except
z=0.
(f) r[n] = A[n+k], k > 0
Solution: R(z) = Azk,
ROC: entire z-plane except z = .
g) x[n] = u[n], X(z) =
5
Example 2: Determine the z-transform of
x[n] = (1/2)nu[n]

Solution: 
X( z )   x[n]z
n  
n

 n  n
 1  n  1 1 
   z    z 
n 0  2  n0  2 
2
1 1 
 1  z 1   z   .......
2 2 
1

1
1  z 1
2
ROC: |1/2 z-1| < 1, or equivalently |z| > 1/2
6
Example 3: Determine the z-transform of the
signal x[n] = anu[n]
Solution:
  
n

 
 
X( z )   a n z n   az 1
n0 n0

1
 1  az  az  
1 2
 .......
1

1  az 1
ROC :| z || a |

example4: x[n]= , find z-transform.


7
Properties of z-transform
 Linearity
If x1[n]  X1(z)
and x2[[n]  X2(z)
then
a1x1[n] + a2x2[n]  a1X1(z) + a2X2(z)

8
Example: Determine the z-transform of
the signal x[n] = [3(2n) – 4(3n)]u[n]
Solution:
1
z[a u[n]] 
n

1  az 1
1 1
 z[3( 2)  4 3 ]  3
n
n
1
4
1  2z 1  3 z 1
Example 4: Determine the z-transform of
the signal (cosw0n)u[n]
1 1
 cos w 0nu[n]  e jw 0n  e  jw 0n
2 2
1 1 1 1
 z  cos w 0nu[n]  
jw 0 1
2 1e z 2 1  e  jw 0 z 1
1  z 1 cos w 0

1  2z 1 cos w 0  z  2 9
Time Shifting Property:
If x[n]  X(z) then x[n-k]  z-kX(z)

Proof:
since 
z[x[n  k ]]   x[n  k ]z
n  
n

then the change of variable m = n-k


produces

z[x[n  k ]]   x[m
m  
]z ( m  k )


z k
 x[m
m  
]z m
 z k
X( z )

10
Example: Find the z-transform of a unit step
function. Use time shifting property to find z-
transform of u[n] – u[n-N].

The z-transform of u[n] can be found as


 
z[u[n ]]   u[n]z
n  
n
 z
n0
n

1
 1  z 1  z  2  ....... 
1  z 1

Now the z-transform of u[n]-u[n-N] may be


found as follows:
1 N 1
z[u[n]  u[n  N ]]   z
1  z 1 1  z 1
1  z N

1  z 1

11
Scaling in the z-domain
If x[n]  X(z)
Then anx[n]  X(a-1z)
For any constant a, real or complex.
Proof:
   a x[n]z    
 

 x[n] a z
n 1 n
z a x[n] 
n n
  X a 1 z
n   n  
Example 5: Determine the z-transform of the signal
an(cosw0n)u[n].
Solution: since
1  z 1 cos w 0
z[cos( w 0n )u[n] 
1  2z 1 cos w 0  z  2
1
1  az cos w 0
 z[a  cos w 0n  u[n]] 
n

1  2az 1 cos w 0  a 2 z  2 12
Time reversal
If x[n]  X(z) then x[-n]  X(z-1)
Proof:
 x[m] z 
  
z[x[n]]   x[n]z
n  
n
  x[m]z
m  
m

m  
1  m
 X( z 1 )

Example 6: Determine the z-transform of


u[-n].
Solution: since z[u[n]] = 1/(1 – z-1)
Therefore,
Z[u[-n]] = 1/(1-z)

13
Differentiation in the z - Domain
x[n]  X(z) then nx[n] = -z(dX(z)/dz)
Tutorial:Q1: Prove the differentiation property
of z – transform.
Example 7: Determine the z-transform of the
signal x[n] = nanu[n].
Solution:
1
z[a n u[n]] 
1  az 1
1
d 1 az
 z[na n u[n]]   z 
dz 1  az 1

1  az 1  2

14
Convolution of two sequences
If x1[n]  X1(z) and x2[n]  X2(z) then
x1[n]*x2[n]  X1(z)X2(z)
Proof:
The convolution of x1[n] and x2[n] is defined as

x[n]  x1[n] * x 2 [n]   x [n]x [n  k ]
k  
1 2

The z-transform of x[n] is


 
   n
X ( z)   x[n]z n
    x1[k ]x2  n  k   z
n   n    k   

Upon interchanging the order of the summation


and applying the time shifting property, we obtain

  n 

X( z )   x1  k    x 2  n  k z   X 2  z   x1 [k ]z k  X 2  z X1  z  15
k   n    k  
Example 8: Compute the convolution
of the signals x1[n] = [1, -2, 1] and
1, 0  n  5
x 2 [n]  
0, elsewhere

Solution:
X1(z) = 1 – 2z-1 + z-2
X2(z) = 1 + z-1 + z-2 + z-3 + z-4 + z-5
Now X(z) = X1(z)X2(z) = 1 – z-1 – z-6 + z-7
Hence x[n] = [1, -1, 0, 0, 0, 0, -1, 1]
Note: You should verify this result from the
definition of the convolution sum.
16
Correlation of two sequences
If x1[n]  X1(z) and x2[n]  X2(z)
then rx1x2[k] = X1(z)X2(z-1)

The Initial Value Theorem:


If x[n] is causal then x[0]  lim
z 
X( z )

Final Value Theorem


If x[n]  X(z), then
17
Example 9: Find the final value of

2 z 1
X( z ) 
1  1.8z 1  0.8z  2

Solution:
1
   
1  z  1 X( z )  1  z  1
2 z
1  1.8z 1  0.8z  2
1 1
 1  z 1 
2 z 2 z

1  z 1  0.8z  1  0.8z 1
1 1

The final value theorem yields


2 z 1 2
y[ ]  lim   10
z 1 1  0.8z 1 0.2
18
Inverse z-transform
In general, the inverse z-transform may be
found by using any of the following
methods:
 Power series method
 Partial fraction method

19
Power Series Method
Example 2: Determine the z-transform of
1
X( z )  1 2
1  1.5z  0.5z
By dividing the numerator of X(z) by its
denominator, we obtain the power series
1
 1  32 z 1  74 z  2  158 z  3  16
31  4
z  ...
1  32 z 1  12 z  2

 x[n] = [1, 3/2, 7/2, 15/8, 31/16,…. ]

20
Power Series Method
Example 2:Determine the z-transform of
1
4z
X(z )  1 2
2  2z  z
By dividing the numerator of X(z) by its
denominator, we obtain the power series

 x[n] = [2, 1.5, 0.5, 0.25, …..]

21
 Step1: Eliminate all the (–ve) powers of z.

 Step2: Make coefficient of highest power of z in


denominator equal to 1.

 Step3: Factorize X(z).

 Step4: Divide X(z) by z.

 Step5: Multiply both sides by z.

22
Partial Fraction Method:
Example 1: Find the signal corresponding to
the z-transform
z 3
X( z ) 
2  3 z 1  z  2
Solution:X(z)  z 3

0.5

0.5
2  3z 1  z  2 z 3  1.5z 2  0.5z z  z  1 z  0.5
X( z ) 0.5 3 1 1 4
 2   2 
z z  z  1 z  0.5  z z z  1 z  0.5
1 z z
X( z )  3    ( 4)
z z 1 z  0.5
1 1
or X( z )  3  z  1
1
4
1 z 1  0.5z 1

 x[n]  3[n]  [n  1]  u[n]  4 0.5 u[n]


n
23
Partial Fraction Method:
Example 2: Find the signal corresponding to the z-
transform
1
Y( z ) 
1  0.2z 1  0.2z 
1 1 2

Solution:
z3
Y( z ) 
 z  0.2  z  0.2  2
Y( z ) z2 0.25 0.75 0.1
   
z  z  0.2 z  0.2 2 z  0.2 z  0.2  z  0.2 2
0.25z 0.75z 0.1z
Y( z )   
z 1 z  0.2  z  0.2  2
1
1 1 0 .2 z
 0.25  0. 75  0 .1
1  0.2z 1 
1  0.2z 1 0.2 1  0.2z 1  2

 y[n]  0.25  0.2 u[n]  0.75 0.2 u[n]  0.5n 0.2 u24[n]
n n n
The One-Sided z-Transform
It differs from 2-sided z-transform in the lower limit
of summation which is always zero whether or not
the signal is zero for n<0 (i-e causal).

The one-sided or unilateral z-transform of a signal


x[n] is defined by


X ( z)   x[n]z
n 0
n

It can be used to solve difference equation with non


zero initial conditions.

25

 Characteristics:
 
 It does not contain information about the signal
x[n] for negative values of time.
 It is unique only for causal signals because only
these signals are zero for n<0.
 For non-causal it is not unique.
 Examples:
 x1[n] = {1,2,5,7,0,1} ,

 X2[n] = {1,2,5,7,0,1}

26
  x3[n] = {0, 0,1, 2, 5, 7, 0, 1}

x4[n] = {2,4,5,7,0,1}

Observation:
x2[n] x4[n] but
Hence not unique for non-causal signals. 27
Pulse Transfer Function
It is defined as the ratio of the z-transform of the
output to the z-transform of the input when all
initial conditions are assumed to be zero.
Mathematically,
M

1 2
b0  b1 z  b2 z  .....  bM z M b z k
k
Y ( z)
H ( z)   k 0

a0  a1 z 1  a2 z  2  .....  a N z  N N
X ( z)
a
k 0
k z k

The roots of the denominator of a pulse transfer function


are called Poles and those of the numerator are called
Zeros.
The above pulse transfer function has M zeros and N poles.
We can represent H(z) graphically by a pole-zero plot in the
Complex plane, which shows the location of poles by crosses
28
() and the location of zeros by circles (o).
Stability:
A discrete time system is said to be stable if, and only
if, all of its poles lie inside a unit circle. If any pole(s)
lie(s) on the unit circle, the system is said to be
marginally stable.
The unit circle of z-plane is equal to L.H.P in time
domain.
Im(z) 
 Unit circle 
  Re(z)
Unstable System


Stable System
29
Marginally stable
Example: A system is characterized by the
difference equation
y[n] – 0.1y[n-1] – 0.02 y[n-2] = 2x[n] – x[n-1].
Find the system transfer function and unit
impulse response.
Solution: Taking the z-transform of both sides of the
difference equation (ignoring the initial
conditions) we have
Y(z) – 0.1 z-1Y(z) – 0.02z-2Y(z) = 2X(z) – z-1X(z)
Y(z) [ 1 –0.1z-1 – 0.02z-2 ]= X(z) [2 – z-1]
Y( z ) 2  z 1

X( z ) 1  0.1z 1  0.02z  2
This transfer function has two poles (i.e. z = -0.1, 0.2) and
Two zeros at z =0, 0.5. This shows that the system is
BIBO stable. The Pole-zero plot is given on the next slide.
30
Pole-zero plot

Imaginary Part 1

-1
-1.5 -1 -0.5 0 0.5 1 1.5
Real Part
31
To find the unit impulse response, we
compute the inverse z-transform of H(z) by
using partial fraction expansion:
2  z 1 2z 2  z 2z 2  z
H ( z)   2 
1
1  0.1z  0.02 z 2
z  0.1z  0.02  z  0.2 z  0.1
H( z ) 2z  1 2 4
  
z  z  0.2 z  0.1 z  0.2 z  0.1
 2z 4z  1   1 
H( z )    2  1 
 4  1  0.1z 1 
z  0.2 z  0.1  1  0.2z   

and, the unit impulse response is

h[n] = -2(0.2)nu[n] + 4(-0.1)nu[n]

32
 Example: A system is characterized by the
difference equation
y[n] – 0.1y[n-1] – 0.02 y[n-2] = 2x[n] – x[n-1].
- Find the system transfer function.
- Response of system to unit step input.

- Hint X(z) =

- Y(z) = H(z) . X(z)

33
Response of systems with non-zero initial
conditions
 We can use z-transform to solve the difference
equation that characterizes a causal, linear, time
invariant system. The following expressions are
especially useful to solve the difference
equations:
 z[y[(n-1)T] = z-1Y(z) +y[-T]
 Z[y(n-2)T] = z-2Y(z) + z-1y[-T] + y[-2T]
 Z[y(n-3)T] = z-3Y(z) + z-2y[-T] + z-1y[-2T] +
y[-3T]

34
Tutorial 5 Q1: Determine the step response of
the system
y[n]=ay[n-1] + x[n], -1 < a < 1
when the initial condition is y[-1] = 1.

35
Example: Consider the following difference
equation:
y[nT] –0.1y[(n-1)T] – 0.02y[(n-2)T] = 2x[nT] –
x[(n-1)T]
where the initial conditions are y[-T] = -10 and y[-
2T] = 20. Find the output y[nT] when x[nT] is the
unit step input.
Solution:
Computing the z-transform of the difference
equation gives
Y(z) – 0.1[z-1Y(z) + y[-T]] – 0.02[z-2Y(z) + z-1y[-T]
+ y[-2T]] = 2X(z) – z-1X(z)
Substituting the initial conditions we get
Y(z) – 0.1z-1Y(z) +1 – 0.02z-2Y(z) + 0.2z-1 –0.4 =
(2 – z-1)X(z) 36
 1 2
1  0.1z  0.02z Y(z )  2  z
1

1 z 1
1
 0.2z  0.6  1

 1
Y ( z ) 1  0.1z  0.02 z 2
 
2  z 1
1 z 1
 0 .2 z 1
 0.6

1.4  0.6z 1  0.2z 2 1.4  0.6z 1  0.2z 2


Y( z )  
1
1
1  z 1  0.1z  0.02z 2
 
1  z 1 1  0.2z 1 1  0.1z 1  
1.4z 3  0.6z 2  0.2z

 z  1 z  0.2  z  0.1
Y( z ) 1.136  0.567 0.830
  
z z  1 z  0.2 z  0.1
1 1 1
Y( z )  1.136  0 .567  0. 830
1  z 1 1  0.2z 1 1  0.1z 1

and the output signal y[nT] is

y[nT]  1.136u[nT]  0.567(0.2) u[nT]  0.830( 0.1) u[nT


37
] n n
Pole-Zero Cancellation
 When a z-transform has a pole that is at the
same location as a zero, the pole is cancelled by
the zero and, consequently, the term containing
that pole in the inverse z-transform vanishes.
 Pole-zero cancellation may occur either in the
system function itself or in the product of the
system function with the z-transform of the
input signal.
 When the zero is located very near the pole but
not exactly at the same location, the term in the
response has a very small amplitude.
 Pole-zero cancellation may cause unstability
and should be avoided in most cases.
38
Example: Determine the unit impulse response of
the system characterized by the difference
equation
y[n] = 2.5y[n-1] – y[n-2] + x[n] – 5x[n-1] + 6x[n-2]
Solution: Taking the z-transform of both sides of
the above difference equation and ignoring all
initial conditions, we obtain the following pulse
transfer function:
H( z ) 
1  5 z 1  6 z  2

  
1  2 z  1 1  3 z 1

1  3 z 1
 1
2.5z 1
1
1  2.5z  z 2
 1 1

1  2 z 1  2z 
1 1 1
1 2 z 1  12 z 1
and therefore

h[n]  [n]  2.5 


1 n 1
2
u[n  1]

39
System Frequency response
The frequency response of a BIBO stable
system is defined as
H(w) = H(z)|z = ejw
The frequency response function is usually
expressed in terms of its magnitude |H(w)|
and phase (w), where
H(w) = |H(w)|ej(w)
Usually, the magnitude is plotted on a
logarithmic scale as
|H(w)|dB = 20log10|H(w)|

40
Example: Determine the frequency response
function H(w) and the magnitude |H(w)|dB for the
LTI system characterized by the difference
equation
y[n] = 1.8y[n-1] – 0.81y[n-2] + x[n] + 0.95x[n-1]
Solution: The pulse transfer function is
1  0.95z 1 1  0.95z 1
H( z )  
1
1  1.8z  0.81z 2

1  0.9z 12

Now the frequency response function may be obtained as


1  0.95e  jw
H w  
1  0.9e  jw
 2

The magnitude response is


1.9025  1.9 cos w
| H( w ) |
1.81  1.8 cos w
41
We note that |H(w)| has its maximum at w = 0,
where |H(0)| = 195. It is customary to normalize
|H(w)| by its peak value and plot
20log(|H(w)|/|H(w)|max). A plot of the normalized
magnitude of the frequency response is shown
below:
0
-10
-20
-30
-40
-50
-60
-70
-80
-90
- 0 
42
Example: Find the frequency response for the
system
y[n] = -0.1y[n-1] + 0.2y[n-2] + x[n] + x[n-1]

Solution: The system function is


1  z 1
H( z ) 
1  0.1z 1  0.2z  2
1 1
1  z 1  z 2  z  z
Now H(z )H(z 1 )  
1  0.1z  0.2z 1  0.1z  0.2z 1.05  0.08( z  z 1 )  0.2(z 2  z  2 )
1 2 2

1 2  2 cos w
| H( w ) | | H( z )H( z ) |z e jw
2

1.45  0.16 cos w  0.8 cos 2 w


2  2 cos w
| H( w ) |
1.45  0.16 cos w  0.8 cos 2 w

43

You might also like