4 Kundur Z-TransfProperties Handouts

The z -Transform and Its Properties

Professor Deepa Kundur
University of Toronto
Reference: Sections 3.1 and 3.2 of John G. Proakis and Dimitris G. Manolakis, Digital Signal Processing: Principles, Algorithms, and Applications, 4th edition, 2007.
Professor Deepa Kundur (University of Toronto) The z -Transform and Its Properties
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3.1 The z -Transform
The Direct z -Transform

Direct z -Transform:
Region of Convergence
X (z ) =
n=
x (n)z n
the region of convergence (ROC) of X (z ) is the set of all values of z for which X (z ) attains a nite value The z -Transform is, therefore, uniquely characterized by:
Notation: X (z )
Z
Z{x (n)}
1. expression for X (z ) 2. ROC of X (z )
x (n) X (z )
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ROC Families: Finite Duration Signals
ROC Families: Innite Duration Signals
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3.2 Properties of the z -Transform
z -Transform Properties
Property Notation: Time Domain x (n ) x1 (n) x2 (n) a1 x1 (n) + a2 x2 (n) x (n k ) z -Domain X (z ) X1 (z ) X2 (z ) a1 X1 (z ) + a2 X2 (z ) z k X (z ) X (a1 z ) X (z 1 ) X (z ) dX (z ) z dz X1 (z )X2 (z ) ROC ROC: r2 < |z | < r1 ROC1 ROC2 At least ROC1 ROC2 At least ROC, except z = 0 (if k > 0) and z = (if k < 0) |a|r2 < |z | < |a|r1 1 < |z | < r1 r1 2 ROC r2 < |z | < r1 At least ROC1 ROC2 among others . . .
Linearity Property
Linearity: Time shifting:
x1 (n) X1 (z ), ROC1 x2 (n) X2 (z ), ROC2 a1 x1 (n) + a2 x2 (n) a1 X1 (z ) + a2 X2 (z ), At least ROC1 ROC2

Z Z
z -Scaling: Time reversal Conjugation: z -Dierentiation: Convolution:
an x (n) x (n) x (n) n x (n) x1 (n) x2 (n)
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Linearity Property
Let x (n) = a1 x1 (n) + a2 x2 (n)
Time Shifting Property
X (z ) =
n=
x (n)z n (a1 x1 (n) + a2 x2 (n))z n

n=
x (n) X (z ),
ROC
= = a1
x (n k ) z k X (z ), x2 (n)z n
x1 (n)z n + a2
n= n=
At least ROC except z = 0 (k > 0) or z = (k < 0)
= a1 X1 (z ) + a2 X2 (z ) ROC: At least ROC1 ROC2

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Time Shifting Property

Let y (n) = x (n k ).
Time Shifting Property: ROC

x (n) = (n)
Z
X (z ) = 1, ROC: entire z -plane
Y (z ) =
n=
y (n)z n (x (n k ))z
n= n
Example: For k = 1 y (n) = x (n (1)) = x (n + 1) = (n + 1)

Z
y (n) = (n + 1)
Let m = n k
Y (z ) = z , ROC: entire z -plane except z =
=
m=
x (m)z
(m+k )
=
m=
x (m)z m z k = z k X (z )
Example: For k = 1 y (n) = x (n (1)) = x (n 1) = (n 1)

Z
= z k
m=
x (m)z m
y (n) = (n 1)
Y (z ) = z 1 , ROC: entire z -plane except z = 0
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Scaling in the z -Domain
Scaling in the z -Domain

Let y (n) = an x (n)
Y (z ) = x (n) X (z ),
Z
y (n)z n
n=
ROC: r1 < |z | < r2 =
an x (n)z n
n=
an x (n) X (a1 z ),
ROC: |a|r1 < |z | < |a|r2
x (n)(a1 z )n
n= 1
= X (a z ) ROC: r1 < |a1 z | =

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|z | |a |
< r2 |a|r1 < |z | < |a|r2

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z -Transform Properties
Property Notation: Time Domain x (n ) x1 (n) x2 (n) a1 x1 (n) + a2 x2 (n) x (n k ) z -Domain X (z ) X1 (z ) X1 (z ) a1 X1 (z ) + a2 X2 (z ) z k X (z ) X (a1 z ) X (z 1 ) X (z ) dX (z ) z dz X1 (z )X2 (z ) ROC ROC: r2 < |z | < r1 ROC1 ROC2 At least ROC1 ROC2 ROC, except z = 0 (if k > 0) and z = (if k < 0) |a|r2 < |z | < |a|r1 1 < |z | < r1 r1 2 ROC r2 < |z | < r1 At least ROC1 ROC2 among others . . .
Convolution Property
Linearity: Time shifting:
z -Scaling: Time reversal Conjugation: z -Dierentiation: Convolution:
an x (n) x (n) x (n) n x (n) x1 (n) x2 (n)
x (n) = x1 (n) x2 (n) X (z ) = X1 (z ) X2 (z )
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Convolution using the z -Transform

Basic Steps: 1. Compute z -Transform of each of the signals to convolve (time domain z -domain): X1 (z ) = Z{x1 (n)} X2 (z ) = Z{x2 (n)} 2. Multiply the two z -Transforms (in z -domain): X (z ) = X1 (z )X2 (z ) 3. Find the inverse z -Transformof the product (z -domain time domain): x (n) = Z 1 {X (z )}
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Common Transform Pairs

1 2 3 4 5 6 7 8 9 10 Signal, x (n) (n ) u (n ) an u (n) nan u (n) an u (n 1) nan u (n 1) cos(0 n)u (n) sin(0 n)u (n) an an cos(0 n)u (n) sin(0 n)u (n) z -Transform, X (z ) 1
1 1z 1 1 1az 1 az 1 (1az 1 )2 1 1az 1 az 1 (1az 1 )2 1z 1 cos 0 12z 1 cos 0 +z 2 z 1 sin 0 12z 1 cos 0 +z 2 1az 1 cos 0 12az 1 cos 0 +a2 z 2 1az 1 sin 0 12az 1 cos 0 +a2 z 2
ROC All z |z | > 1 |z | > |a| |z | > |a| |z | < |a| |z | < |a| |z | > 1 |z | > 1 |z | > |a| |z | > |a|
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1 2 3 4 5 6 7 8 9 10 Signal, x (n) (n ) u (n ) an u (n) nan u (n) an u (n 1) nan u (n 1) cos(0 n)u (n) sin(0 n)u (n) an an cos(0 n)u (n) sin(0 n)u (n) z -Transform, X (z ) 1
1 1z 1 1 1az 1 az 1 (1az 1 )2 1 1az 1 az 1 (1az 1 )2 1z 1 cos 0 12z 1 cos 0 +z 2 z 1 sin 0 12z 1 cos 0 +z 2 1az 1 cos 0 12az 1 cos 0 +a2 z 2 1az 1 sin 0 12az 1 cos 0 +a2 z 2

ROC All z |z | > 1 |z | > |a| |z | > |a| |z | < |a| |z | < |a| |z | > 1 |z | > 1 |z | > |a| |z | > |a|
z -Transform expressions that are a fraction of polynomials in z 1 (or z ) are called rational.
z -Transforms that are rational represent an important class of signals and systems.
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4 Kundur Z-TransfProperties Handouts

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4 Kundur Z-TransfProperties Handouts

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The z -Transform and Its Properties

The z -Transform and Its Properties

The z -Transform and Its Properties

The z -Transform and Its Properties

3.1 The z -Transform

The z -Transform and Its Properties

3.1 The z -Transform

The Direct z -Transform

1. expression for X (z ) 2. ROC of X (z )

The z -Transform and Its Properties

3.1 The z -Transform

The z -Transform and Its Properties

3.1 The z -Transform

ROC Families: Finite Duration Signals

ROC Families: Innite Duration Signals

The z -Transform and Its Properties

3.2 Properties of the z -Transform

The z -Transform and Its Properties

3.2 Properties of the z -Transform

Linearity: Time shifting:

x1 (n) X1 (z ), ROC1 x2 (n) X2 (z ), ROC2 a1 x1 (n) + a2 x2 (n) a1 X1 (z ) + a2 X2 (z ), At least ROC1 ROC2

z -Scaling: Time reversal Conjugation: z -Dierentiation: Convolution:

an x (n) x (n) x (n) n x (n) x1 (n) x2 (n)

The z -Transform and Its Properties

3.2 Properties of the z -Transform

The z -Transform and Its Properties

3.2 Properties of the z -Transform

Time Shifting Property

x (n)z n (a1 x1 (n) + a2 x2 (n))z n

At least ROC except z = 0 (k > 0) or z = (k < 0)

= a1 X1 (z ) + a2 X2 (z ) ROC: At least ROC1 ROC2

The z -Transform and Its Properties

3.2 Properties of the z -Transform

The z -Transform and Its Properties

3.2 Properties of the z -Transform

Time Shifting Property

Time Shifting Property: ROC

X (z ) = 1, ROC: entire z -plane

Example: For k = 1 y (n) = x (n (1)) = x (n + 1) = (n + 1)

Y (z ) = z , ROC: entire z -plane except z =

Example: For k = 1 y (n) = x (n (1)) = x (n 1) = (n 1)

Y (z ) = z 1 , ROC: entire z -plane except z = 0

The z -Transform and Its Properties

3.2 Properties of the z -Transform

The z -Transform and Its Properties

3.2 Properties of the z -Transform

Scaling in the z -Domain

Scaling in the z -Domain

ROC: r1 < |z | < r2 =

ROC: |a|r1 < |z | < |a|r2

= X (a z ) ROC: r1 < |a1 z | =

< r2 |a|r1 < |z | < |a|r2

The z -Transform and Its Properties

3.2 Properties of the z -Transform

The z -Transform and Its Properties

3.2 Properties of the z -Transform

Linearity: Time shifting:

z -Scaling: Time reversal Conjugation: z -Dierentiation: Convolution:

an x (n) x (n) x (n) n x (n) x1 (n) x2 (n)

x (n) = x1 (n) x2 (n) X (z ) = X1 (z ) X2 (z )

The z -Transform and Its Properties

3.2 Properties of the z -Transform

The z -Transform and Its Properties

3.2 Properties of the z -Transform