Z -Transform

Dr. Ajay Singh Raghuvanshi

Electronics & Telecommunication
Engineering, NIT, Raipur
Content
 IntroductionLTI Discrete Time
System (Revision)
 z-Transform
 Zeros and Poles
 Region of Convergence
 Important z-Transform Pairs
 z-Transform Theorems and
Properties
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Linear-Time Invariant System
• Special importance for their mathematical tractability
• Most signal processing applications involve LTI systems
• LTI system can be completely characterized by their impulse
response

[n-k] T{.} hk[n] hn k    hn n  k  hn  k 
k 


• Represent any input xn 
 xk n  k 
k 

    
yn  T   xk n  k    xk Tn  k    xk hk n
k   k  k 

• From time invariance we arrive at convolution


yn   xk  hn  k   xk   hk 
k 

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 Cascade connection of LTI systems in time
domain
x[n] h1[n] h2[n] y[n]

x[n] h2[n] h1[n] y[n]

x[n] h1[n]h2[n] y[n]

 Convolution in time becomes very important

property of Systems
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Important Properties of Convolution

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Finite Impulse Response (FIR) LTI Systems

Causal FIR LTI systems N

y (n)  h(k ) x(n  k )
k 0

Infinite Impulse Response (IIR) LTI Systems

IIR LTI systems:


y (n)  h(k ) x(n  k )
k 0

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Recursive and Non-recursive LTI Systems
Causal non-recursive LTI:
N
y (n)  h(k ) x(n  k )
k 0
Causal recursive LTI:

N M
y (n)  b(k ) x(n  k )   a (k ) y (n  k )
k 0 k 1
LTI systems:
characterized by constant-coefficient difference equations

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 Generalised Linear difference equations: Different
Conventions
N M
yn   ak yn  k   bk xn  k 
Some books k 1 k 0
follow this
N M
yn   ak yn  k    bk xn  k 
Case1

k 1 k 0

Some books N M

follow this yn  ak yn  k    bk xn  k 

Case2 k 1 k 0

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 System N M
Transfer yn   ak yn  k   bk xn  k 
Function k 1 k 0
N M
Case1 Y Z   ak Y Z z  k  bk X Z  z  k
k 1 k 0


N M
Y Z 1   ak z  k   X Z  bk z  k
k 1 k 0
M

Y Z  k
b z k

H z    k 0N
X Z 
1   ak z k

k 1

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 N M
System yn  ak yn  k    bk xn  k 
Transfer k 1 k 0
Function N M

Case2 Y Z   ak Y Z z k
  bk X Z  z k

k 1 k 0

 a
N M
Y Z 1  k 
z  k  X Z  bk z  k
k 1 k 0
M

Y Z  k
b z k

H z    k 0N
X Z 
1   ak z k

k 1

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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

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Basic Notations of Z Transform

xn   xnz n
 X ( z)
n 

xn   X ( z )
z


X ( z )  xnz n

n 0
j
z re
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Definition
 The z-transform of sequence x(n) is defined

by
X ( z )   x ( n) z
n

n 
 Let z = e  j .

X (e )   x ( n )e
j  j n

n  

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z-Plane
 Im
X ( z )   x ( n) z n
z = e  j
n 

 Re

X (e )   x ( n )e
j  j n

n  

Fourier
Fourier Transform
Transform is is to
to evaluate
evaluate z-
z-
transform
transform on
on aa unit
unit circle.
circle.
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Definition RoC
 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) z
n 
n
  | x(n) || z |  
n 
n

ROC
ROC is is centered
centered on
on origin
origin and
and consists
consists of
of aa
set
set of
of rings.
rings.

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Example: Region of
Convergence
 
| X ( z ) | 
n 
x ( n ) z n
  | x ( n )
n 
|| z | n


Im
ROC
ROC isis an
an annual
annual ring
ring
r centered
centered onon the
the origin.
origin.
Re

Rx  | z | Rx 
j
09/10/2024
ROC {z re
Dr. Ajay Singh Raghuvanshi
| Rx   r  Rx  }
16
Stable Systems
 A stable system requires that its Fourier
transform is uniformly convergent.
 Fact: Fourier transform is to
Im
evaluate z-transform on a unit
circle.
1  A stable system requires the
Re
ROC of z-transform to include
the unit circle.

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Example: A right sided
Sequence
n
x(n) a u (n)
x(n)

... n

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

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Example: A right sided
Sequence
n
x(n) a u (n) For convergence of X(z), we require that



X ( z )   a u (n)z
n n

n 
 |
n 0
az 1
| | az  1 | 1

 a n z  n | z || a |
n 0 
1 z

X ( z )  (az )  1 n

 (az ) 1 n
n 0 1  az 1
z a
n 0
| z || a |
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 Example: A right sided
Sequence ROC for x(n)=anu(n)
z W1hich
X ( z)  , | z || a | W1hich one
one is
is stable?
stable?
z a
Im Im

1 1
a a a a
Re Re

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Example: A left sided Sequence

n
x(n)  a u ( n  1)
-8 -7 -6 -5 -4 -3 -2 -1 1 2 3 4 5 6 7 8 9 10
n
...

x(n)

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Example: A left sided Sequence
n For convergence of X(z), we require that
x(n)  a u ( n  1)
 
X ( z )   a n

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

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

 | z || a |
1  a
n 0
n n
z

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 Example: A left sided Sequence
ROC for x(n)=anu( n1)
z
X ( z)  , | z || a | Which
z a Which one
one is
is stable?
stable?
Im Im

1 1
a a a a
Re Re

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Representation of z-transform
as a Rational Function

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

X ( z) 
Q( z ) are polynomials in z.

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

Poles: The values of z’s such that X(z) = 

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Example: A right sided Sequence

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

ROC is bounded by
a
Re the pole and is the
exterior of a circle.

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Example: A left sided Sequence

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

ROC is bounded by the

a
pole and is the interior of
Re a circle.

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Example: Sum of Two Right Sided Sequences
1 n 1 n
x(n) ( ) u (n)  ( ) u (n)
2 3
z z 2 z ( z  121 )
X ( z)   
z  12 z  13 ( z  12 )( z  13 )

Im
ROC is bounded by poles
and is the exterior of a
1/12 circle.
1/3 1/2
Re ROC does not include any pole.

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Example: A Two-Sided Sequence
1 n 1 n
x(n) ( ) u (n)  ( ) u ( n  1)
3 2

z z 2 z ( z  121 )
X ( z)   
z  13 z  1
2 ( z  13 )( z  12 )
Im
ROC is bounded by poles
and is a ring.
1/12
1/3 Re
1/2
ROC does not include
any pole.

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Example: A Finite Sequence
n
x(n) a , 0 n  N  1
N1 N1 1 N N N
1  (az ) 1 z a
X ( z )  a z  (az ) 
n n
1
1 n
 N1
n 0 n 0 1  az z z a
Im
N-1 zeros

ROC: 0 < z < 

N-1 poles
Re ROC does not include any
pole.
Always
Always Stable
Stable
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 Properties of ROC
 A ring or disk in the z-plane centered at the origin.
 The Fourier Transform of x(n) is converge absolutely if and only
if the ROC includes the unit circle.
 The ROC cannot include any poles
 Finite Duration Sequences: The ROC is the entire z-plane
except possibly z = 0 or z = .
 Right sided sequences: The ROC extends outward from the
outermost finite pole in X(z) to z=.
 Left sided sequences: The ROC extends inward from the
innermost nonzero pole in X(z) to z=0.
 The ROC of a two-sided sequence is a ring bounded by poles
 The ROC is a connected region A z-transform does not
uniquely determine a sequence without specifying the ROC

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 Assignment : Rational z-Transform
[DOS: Before 1/9/19]
Im

1. Consider the rational z-transform with

the pole pattern:
Find
Find the
the possible
possible ROC’s
ROC’s a b c
Re
2. For the two sided sequence shown
below determine the location of poles and
zeros and also specify ROC. Explain with
proper diagram both in time and Z-
domain  1
n
 1
n

xn     un -   u- n - 1

 3  2
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The z-Transform

Important
z-Transform Pairs
Z-Transform Pairs
Sequence z-Transform ROC

All z
(n) 1
m
All z except 0 (if m>0)
( n  m ) z or  (if m<0)
1
u (n) | z | 1
1 z1
1
 u ( n  1) | z | 1
1 z1

1
a nu (n) | z || a |
1  az  1
1
 a nu ( n  1) | z || a |
1  az  1

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 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

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The z-Transform
Properties
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
09/10/2024 Dr. Ajay Singh Raghuvanshi 36
Shift in time
Z[ x(n)]  X ( z ), z  Rx

n0
Z[ x(n  n0 )]  z X ( z ) z  Rx

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Multiplication by an Exponential Sequence

Z[ x(n)]  X ( z ), Rx- | z | Rx 

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

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Multiplication of time Differentiation of X(z)

Z[ x(n)]  X ( z ), z  Rx

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

Z[ x(n)]  X ( z ), z  Rx

Z[ x * (n)]  X * ( z*) z  Rx

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Reversal
Z[ x(n)]  X ( z ), z  Rx

1
Z[ x( n)]  X ( z ) z  1 / Rx

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

Re[ x(n)]  [ X ( z )  X * ( z*)]

1
2 z  Rx
Im[ x(n)]  21j [ X ( z )  X * ( z*)] z  Rx

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Initial Value Theorem
x(n) 0, for n  0


lim X ( z ) lim  x[ n] z  n
z  z 
n 0

lim x[0]  x[1] z  1  ...  x[0]

z 

x(0) lim X ( z )
z 

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Final Value Theorem(One sided Z Transform)

x(n) 0, for n  0

lim x[n] lim( z  1) X ( z )

n  z 1

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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

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Convolution of Sequences (Prove)

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 , put n  k m, or n k  m
k  n 
 
  x(k ) z k
 y(m)z m
 X ( z )Y ( z )
k  m 

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

rxyn [ x(n) * y ( n)]

 
Z rxyn Z [ x(n) * y ( n)] 
1
X ( z )Y ( z ) , z  Rx  R y
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