The z-Transform

主講人：虞台文
Content
 Introduction
 z-Transform
 Zeros and Poles
 Region of Convergence
 Important z-Transform Pairs
 Inverse z-Transform
 z-Transform Theorems and Properties
 System Function
The z-Transform

Introduction
Why z-Transform?
 A generalization of Fourier transform
 Why generalize it?
– FT does not converge on all sequence
– Notation good for analysis
– Bring the power of complex variable theory deal with
the discrete-time signals and systems
The z-Transform

z-Transform
Definition
 The z-transform of sequence x(n) is defined by

X ( z)   x ( n) z
n  
n

Fourier
Transform
 Let z = ej.

X (e )  j
 x ( n )e
n 
 j n
z-Plane

Im
X ( z)   x ( n) z
n  
n
z = ej

 Re
j
X (e )   x ( n )e
n 
 j n

Fourier
Fourier Transform
Transform isis to
to evaluate
evaluate z-transform
z-transform
on
on aa unit
unit circle.
circle.
z-Plane
X(z) Im

z = ej

Re

Im
Re
Periodic Property of FT
X(z) X(ej)

  

Im
Re Can
Canyou
yousay
saywhy
whyFourier
FourierTransform
Transformisis
aaperiodic
periodicfunction
functionwith
withperiod
period2?
2?
The z-Transform

Zeros and Poles

Definition
 Give a sequence, the set of values of z for which the
z-transform converges, i.e., |X(z)|<, is called the
region of convergence.

 
| X ( z ) |  x (
n  
n ) z n
  | x
n  
( n ) || z | n


ROC
ROC isis centered
centered on on origin
origin and
and
consists
consists of
of aa set
set of
of rings.
rings.
Example: Region of Convergence
 
| X ( z ) |  x (
n  
n ) z n
  | x
n  
( n ) || z | n


Im ROC
ROCisisan
anannual
annualring
ringcentered
centered
on
onthe
theorigin.
origin.
r
Re Rx  | z | Rx 
j
ROC  {z  re | Rx   r  Rx  }
Stable Systems
 A stable system requires that its Fourier transform is
uniformly convergent.
Im  Fact: Fourier transform is to
evaluate z-transform on a unit
circle.
1
 A stable system requires the
Re ROC of z-transform to include
the unit circle.
 Example: A right sided Sequence

xx((nn))aannuu((nn))

x(n)

... n
-8 -7 -6 -5 -4 -3 -2 -1 1 2 3 4 5 6 7 8 9 10
 Example: A right sided Sequence

For convergence of X(z), we

xx((nn))aa uu((nn))
nn
require that



 1
| az | | az 1 | 1
X ( z)   a u (n)z
n  
n n
n 0

 | z || a |
  a n z n 
1 z
n 0 X ( z )   (az ) 
1 n
1

 n 0 1  az za
  (az 1 ) n
| z || a |
n 0
Example: A right sided Sequence R
OC for x(n)=anu(n)

zz
XX((zz))
zzaa
,, | |zz||| |aa| | Which
Which one
one isis stable?
stable?
Im Im

1 1
a a a a
Re Re
 Example: A left sided Sequence

xx((nn))aannuu((nn11))

-8 -7 -6 -5 -4 -3 -2 -1 1 2 3 4 5 6 7 8 9 10
... n

x(n)
Example: A left sided Sequence

For convergence of X(z), we

xx((nn))aa uu((nn11))
nn
require that
 
X ( z )    a u ( n  1)z
 z|
1
n
| a 1 z | 1
n

n  
| a
1
n 0
   a n z n
n  
| z || a |

  a  n z n 
1 z
n 1 X ( z )  1   (a z )  1 
1 n
1

 n 0 1 a z z  a
 1   a n z n
n 0 | z || a |
Example: A left sided Sequence RO
C for x(n)=anu( n1)

zz
XX((zz))
zzaa
,, | |zz||| |aa| | Which
Which one
one isis stable?
stable?
Im Im

1 1
a a a a
Re Re
The z-Transform

Region of
Convergence
Represent z-transform as a
Rational Function

P( z ) where P(z) and Q(z) are

X ( z)  polynomials in z.
Q( z )

Zeros: The values of z’s such that X(z) = 0

Poles: The values of z’s such that X(z) = 
Example: A right sided Sequence

z
x ( n)  a n u ( n) X ( z)  , | z || a |
za

Im

ROC is bounded by the

pole and is the exterior
a
Re of a circle.
Example: A left sided Sequence

z
x(n)  a nu (n  1) X ( z)  , | z || a |
za

Im

ROC is bounded by the

pole and is the interior
a
Re of a circle.
Example: Sum of Two Right Sided Sequences

x(n)  ( 12 ) n u (n)  ( 13 ) n u (n)

z z 2 z ( z  121 )
X ( z)   
z2 z3
1 1
( z  12 )( z  13 )
Im
ROC is bounded by poles
and is the exterior of a circle.
1/12
1/3 1/2 Re
ROC does not include any pole.
Example: A Two Sided Sequence

x(n)  ( 13 ) n u (n)  ( 12 ) n u ( n  1)
z z 2 z ( z  121 )
X ( z)   
z3 z2
1 1
( z  13 )( z  12 )
Im
ROC is bounded by poles
and is a ring.
1/12
1/3 1/2 Re
ROC does not include any pole.
Example: A Finite Sequence
x ( n)  a n , 0  n  N 1
N 1 N 1
1  (az 1 ) N 1 zN  aN
X ( z)   a z n n
  ( az )
1 n
  N 1
n 0 n 0 1  az 1 z za
Im
N-1 zeros
ROC: 0 < z < 
N-1 poles ROC does not include any pole.
Re
Always
Always Stable
Stable
Properties of ROC
 A ring or disk in the z-plane centered at the origin.
 The Fourier Transform of x(n) is converge absolutely iff the ROC includ
es the unit circle.
 The ROC cannot include any poles
 Finite Duration Sequences: The ROC is the entire z-plane except possibl
y z=0 or z=.
 Right sided sequences: The ROC extends outward from the outermost fi
nite pole in X(z) to z=.
 Left sided sequences: The ROC extends inward from the innermost nonz
ero pole in X(z) to z=0.
More on Rational z-Transform

Consider the rational z-transform

with the pole pattern:
Im

Find
Find the
the possible
possible a b c
ROC’s
ROC’s Re
 More on Rational z-Transform

Consider the rational z-transform

with the pole pattern:
Im
Case 1: A right sided Sequence.

a b c
Re
More on Rational z-Transform

Consider the rational z-transform

with the pole pattern:
Im
Case 2: A left sided Sequence.

a b c
Re
More on Rational z-Transform

Consider the rational z-transform

with the pole pattern:
Im
Case 3: A two sided Sequence.

a b c
Re
More on Rational z-Transform

Consider the rational z-transform

with the pole pattern:
Im
Case 4: Another two sided Sequence.

a b c
Re
The z-Transform

Important
z-Transform Pairs
Z-Transform Pairs
Sequence z-Transform ROC
(n) 1 All z
All z except 0 (if m>0)
( n  m ) z m
or  (if m<0)
1
u (n) | z | 1
1  z 1
1
 u ( n  1) | z | 1
1  z 1

1
n
a u (n) | z || a |
1  az 1
1
 a nu ( n  1) | z || a |
1  az 1
Z-Transform Pairs
Sequence z-Transform ROC
1  [cos 0 ]z 1
[cos 0 n]u (n) | z | 1
1  [2 cos 0 ]z 1  z  2

[sin 0 ]z 1
[sin 0 n]u (n) | z | 1
1  [2 cos 0 ]z 1  z  2

1  [r cos 0 ]z 1
[r n cos 0 n]u (n) | z | r
1  [2r cos 0 ]z 1  r 2 z  2

[r sin 0 ]z 1
[r n sin 0 n]u (n) | z | r
1  [2r cos 0 ]z 1  r 2 z  2

a n 0  n  N 1 1 aN zN
 | z | 0
0 otherwise 1  az 1
The z-Transform

Inverse z-Transform
The z-Transform

z-Transform Theorems
and Properties
Linearity
Z [ x(n)]  X ( z ), z  Rx
Z [ y (n)]  Y ( z ), z  Ry

Z [ax(n)  by (n)]  aX ( z )  bY ( z ), z  Rx  R y

Overlay of
the above two
ROC’s
Shift
Z [ x(n)]  X ( z ), z  Rx

Z [ x(n  n0 )]  z X ( z )
n0
z  Rx
Multiplication by an Exponential Sequence

Z [ x(n)]  X ( z ), Rx- | z | Rx 

1
Z [a x(n)]  X (a z )
n
z | a | Rx
Differentiation of X(z)
Z [ x(n)]  X ( z ), z  Rx

dX ( z )
Z [nx(n)]   z z  Rx
dz
Conjugation
Z [ x(n)]  X ( z ), z  Rx

Z [ x * (n)]  X * ( z*) z  Rx
Reversal
Z [ x(n)]  X ( z ), z  Rx

1
Z [ x( n)]  X ( z ) z  1 / Rx
Real and Imaginary Parts

Z [ x(n)]  X ( z ), z  Rx

Re[ x(n)]  12 [ X ( z )  X * ( z*)] z  Rx

Im[ x(n)]  1
2j [ X ( z )  X * ( z*)] z  Rx
Initial Value Theorem
x(n)  0, for n  0

x(0)  lim X ( z )
z 
Convolution of Sequences

Z [ x(n)]  X ( z ), z  Rx
Z [ y (n)]  Y ( z ), z  Ry

Z [ x(n) * y (n)]  X ( z )Y ( z ) z  Rx  R y
Convolution of Sequences

x ( n) * y ( n)   x(k ) y (n  k )
k  

 

 n
Z [ x(n) * y (n)]     x(k ) y (n  k )  z
n    k   
   
  x(k )  y(n  k )z n
 
k  
x(k ) z  k  y (
n  
n )z n

k   n  

 X ( z )Y ( z )
The z-Transform

System Function
Shift-Invariant System

x(n) y(n)=x(n)*h(n)
h(n)
h(n)

X(z) H(z) Y(z)=X(z)H(z)

Shift-Invariant System

X(z) Y(z)
H(z)
H(z)
YY((zz))
H((zz)) 
H
XX ((zz))
Nth-Order Difference Equation
NN M
M

aa yy((nnkk))
kk00
kk bb xx((nnrr))
rr00
rr

N M
Y ( z ) ak z  k  X ( z ) br z  r
k 0 r 0

M
M NN
rr kk
H((zz))  
H bbrrzz   aakkzz
rr00 k 0
k 0
Representation in Factored Form

Contributes poles at 0 and zeros at cr

M
M
AA
 (1  crr z ))
(1  c z 11

H((zz)) 
rr11
H NN


 r )
(1
(1
kk11
ddr z
z
11
)

Contributes zeros at 0 and poles at dr

Stable and Causal Systems
Causal Systems : ROC extends outward from the outermost pole.
Im
M
M
AA
 (1  crr z ))
(1  c z 11

H((zz)) 
rr11
H NN Re

 r )
(1
(1
kk11
ddr z
z
11
)
Stable and Causal Systems
Stable Systems : ROC includes the unit circle.
Im
M
M
AA
 (1  crr z ))
(1  c z 11
1

H((zz)) 
rr11
H NN Re

 r )
(1
(1
kk11
ddr z
z
11
)
Example
Consider the causal system characterized by
y (n)  ay (n  1)  x(n) Im

11 1
H((zz)) 
H 11
11az
az a Re

h( n)  a n u ( n)
 Determination of Frequency Response
from pole-zero pattern

 A LTI system is completely characterized by its

pole-zero pattern.
Im
Example: p1
zzzz11 e j0
HH((zz))
((zz pp11)()(zz pp22)) z1
Re
j
j0 0  z
e p2
HH((ee j00)) j0 e jz101
j

((ee j0  pp11)()(ee j0  pp22))

 Determination of Frequency Response
from pole-zero pattern

 A LTIjj
|H(e
|H(e )|=?
)|=?
system

pole-zero pattern. 
is completely characterized
jj by its
H(e
H(e )=?
)=?
Im
Example: p1
zzzz11 e j0
HH((zz))
((zz pp11)()(zz pp22)) z1
Re
j
j0 0  z
e p2
HH((ee j00)) j0 e jz101
j

((ee j0  pp11)()(ee j0  pp22))

Determination of Frequency Response
from pole-zero pattern

 A LTIjj
|H(e
|H(e )|=?
)|=?
system

pole-zero pattern. 
is completely characterized
H(e
jj
H(e )=?
)=?
by its

Im
Example: p1
| | 2
j
|H(e )| = e j0
| || | z1
1 3 Re

H(ej) = 1(2+ 3 ) p2
Example
11
H((zz)) 
20
H 11
11az
az 10

dB
Im
0

-10
0 2 4 6 8

a Re 0

-1

-2
0 2 4 6 8