Z-transform Definition

Definition 2.1 Given the causal sequence

then its z-transform is
defined as
The Z-transform

M. Sami Fadali
Professor of Electrical Engineering
UNR
=time delay operator
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Example Z-transform Definition

Definition 2.2 Laplace transform the impulse train
Obtain the z-transform of the sequence representation of sampled signal

Solution Definition 2.1 gives

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Identities Used Repeatedly Unit Impulse
1

n
1 a n1

k 0
a k

1 a
, a 1
-1 0 1

Definition 2.1:
1
a
1
k

a
, a 1 Impulse-sampled version:

k 0 , Laplace transform
z-transform obtained using Definition 2.2
same as Definition 2.1
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Sampled Unit Step Sampled Exponential

1
1 a
2
...... a ......

-1 0 1 2 -1 0 1 2

z-transform Definition 2.1 z-transform Definition 2.1

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 Z-transform Properties Time Delay
Linearity: Use Definition 2.2 and the linearity Use the time delay property of the Laplace
of the Laplace transform. transform
Z Z
Example Example

Z
Z Z
Z Z

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Time Advance Time Advance: Proof

Apply Defn. 2.1 to

Z Z

Using proof by induction, generalize

Z
Change index of summation to

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 Example Discrete-Time Convolution
Use the time advance property to find the z-transform
of the causal sequence
Z Z
Solution

Proof: Let the convolution give

Easier solution:
Write the sequence as
Use the linearity of the z-transform.
Causal Sequence
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DT Convolution Proof (cont.) Example

Find the z-transform of the convolution of two
sampled step sequences.
Solution:
Sampled step
Causal Sequence
Change index summation index from to
By the convolution theorem,
z-transform = product of the z-transforms of two
step sequences.

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 Multiplication by Exponential Example
Z Find the z-transform of the exponential
sequence
Proof

z-transform of a sampled step

(same as earlier example )

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Complex Differentiation Proof (Cont.)

For any , define
Z
Assume Z
Proof (Induction)
(i) Establish validity for . Z
(ii) Assume validity for any and prove it for .
For , we have

Z Substitute for

Z Z
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 Example
Inversion of the z-Transform
Find the z-transform of the sampled ramp sequence

Solution: z-transform of a sampled step

1. Long division: gives as many terms of
series as desired.
Write as:
2. Partial fraction expansion and table
Apply the complex differentiation property
look-up: similar to Laplace transform
Z inversion.

Note: For the transform of multiply by .

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Long Division Example

(i) Using long division, expand as a Inverse z-transform
. .
series Solution: 1 2 3
z 0.8 z 0.26 z ......
(i) Long Division z 2 0.2 z 0.1 z 1
z 0.2 0.1z -1
0.8 0.10 z -1
0.8 0.16 z -1 0.08 z 2
0.26 z 1 ...
(ii) Write the inverse transform as the
sequence
(ii) Inverse Transformation
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 Partial Fraction Expansion I: Simple Real Roots
(i) Find the partial fraction expansion of . Residue of a complex function at a
(ii) Obtain the inverse transform using the simple pole
z-transform tables.

Three types of z-domain functions F(z): Residue = partial fraction coefficient of the
with simple (non-repeated) real poles. term of the expansion
with complex conjugate & real poles.
with repeated poles.

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Example Example (cont.)

Obtain the inverse z-transform of the F ( z) 1
Az F ( 0) 50
function z z 0 0.02
F ( z) 1 01.
B ( z 01
.) 90
. . z z 0.1 ( 01. )(01.)
Solution: Solve using two different methods. F ( z) 1 0.2
C ( z 0.2) 40
z z 0.2 ( 0.2)( 01
.)
(i) Partial Fraction Expansion (dividing by z)
Partial fraction expansion then multiply by
. . . .

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 Example (cont.) Example (cont.)
(i) Partial Fraction Expansion (without
dividing by z)
(ii) Table Lookup

50 ( k ) 90( 01
. ) k 40( 0.2) k , k 0
f (k )
0 , k 0
Partial fraction coefficients
Note:
so the time sequence can be rewritten as .

90( 01
. ) k 40( 0.2) k , k 1
f (k ) .
0 , k 1
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II: Complex Conjugate & Simple

Example (cont.)
Real Roots
Partial Fraction Expansion
Use the following z-transforms ( rad.)

e sin(d ) z
Z e k
sin( kd ) 2
z 2e cos(d ) z e 2
(ii) Table Lookup (use the delay theorem)
z[ z e cos(d )]
. ) k 1 8( 0.2) k 1 , k 1
9( 01
Z e k
cos(kd )
z 2 2e cos(d ) z e 2
f (k )
0 , k 1
Same denominator with roots
(Verify: same answer as before)
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 Residues With Complex Example
Conjugate Poles Find the inverse z-transform of
. .

Solution (i) Partial Fraction Expansion

Dividing by z gives
= angle of pole ( partial fraction coefficient )

Use:

.
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Example (cont.) Example (cont.)

Multiply by the denominator & equate coefficients
and known, solve for
Check calculations
0.05 A1 = 0.05 (20) = 1
0.9 A1 + A2 0.1 A + B
= 0.9(20)+19.6890.1(1.311) 1.557 0
Partial fraction expansion (multiply eqn. by )
(ii) Table Lookup (1st two terms easy)
1.311z 2 1.557 z 1.311z[ z e cos(d )] Cze sin(d )
z 2 2(0.5) z 0.5 z 2 2e cos(d ) z e 2
and
Equate denominator coefficients
, angle in 2nd quadrant,
Equate coefficients in the numerator

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 Example (Cont.) Example (cont.)
z-transform tables give
Substitute for the coefficients
f (k ) 20 (k ) 19.689(0.1) k
19.689z
F ( z ) 20 (0.707) k [1.311cos(3 k 4) 4.426 sin(3 k 4)], k 0
z 0 .1

1.311z[ z (0.707) cos(3 4)] 4.426 z (0.707) sin(3 4) 4.616 1.3112 4.4262 sin 1 1.311 4.616 0.288
z 2 2(0.707) cos(3 4) z 0.5 cos 1 1.311 4.616 1.283 / 2 0.288 1.283
e sin(d ) z Use Trig. Identities:
Z e k
sin( kd ) 2
z 2e cos(d ) z e 2 sin A B sin A cos B sin B cos A

f (k ) 20 (k ) 19.689(0.1) k 4.616(0.707) k sin(3 k 4 0.288)]
z[ z e cos(d )]
Z e k
cos(kd )
z 2e cos(d ) z e 2
2 cos A B cos A cos B sin A cos B
f (k ) 20 (k ) 19.689(0.1) k 4.616(0.707) k cos(3 k 4 1.283)]
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Example (cont.) Pole-Zero Map

Residue Approach 1.5
(i) Partial Fraction Expansion
1
Dividing by z gives
Imaginary Axis 0.5

0

-0.5

Obtain partial fraction expansion as in 1st approach -1

-1.5
-3 -2 -1 0 1 2 3
Real Axis
. .

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 Example (cont.) MATLAB
19.689z 0.656 j 2.213 0.656 j 2.213 G(z) numerator 5(z+3), denominator z3+0.1z2+0.4z
F ( z ) 20
z 0. 1 z 0 .5 j 0 .5 z 0 .5 j 0 .5
>> num = 5*[1, 3]
Convert from Cartesian to polar form >> den = [1, 0.1, 0.4, 0]
.
>> denp =conv(den1, den 2) % Multiply polynomials
f ( k ) 2 A p cos p k A Partial Fraction Coefficients
k

>> [r, p, k] = residue( num, den)

Inverse z-transform to obtain p = poles, r = residues , k = coefficients of the
f (k ) 20 (k ) 19.689(0.1) k 4.616(0.707) k cos(3 k 4 1.283)] polynomial resulting from dividing the numerator by
the denominator.
as obtained earlier.
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MATLAB Example Other Form

>> [r,p,k]=residue(num,den)
r= >> A=2*real(r(1))
0.6557 + 2.2131i A=
F ( z) z 3 2z 1
0.6557 - 2.2131i
19.6885
z
z z 0.1 z 0.5 0.5 2
2
1.3115
-20.0000 >> B=2*real(r(1)*p(2))
p= B=
-0.5000 + 0.5000i
-0.5000 - 0.5000i
1.5574
0.1000
0
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 III: Repeated Roots Example
Obtain the inverse z-transform of the function
N ( z) r
A1i n Aj
F z n
z z r 1 i
z zj
z z1 r z z j i 1 1 j r 1

j r 1 Solution
(i) Partial Fraction Expansion (Dividing by z)
1 d i 1

A1, i i 1
( z z1 ) r F ( z ) , i 1, 2, ... , r
(i 1) ! d z z z1

. .
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Partial Fraction Coefficients Example (cont.)

Partial Fraction Expansion

(ii) Table Lookup

z-transform tables and Definition 2.1 yield

8(0.5) k 2 k 2 4 k 1 8 k , k0
f (k )
0 , k0

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 Example (cont.) The Final Value Theorem
Theorem 2.1 The Final Value Theorem
If a sequence approaches a constant limit
Evaluating at yields as tends to infinity, then the limit is given
by

Lim
k 3

(0.5) , k3
f (k ) Lim
0 , k 3

Using the delay theorem gives the same answer

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Limitations of Final Value Proof of Final Value Thm.

Let have a constant limit as tends to infinity
Limit must exist for final value
theorem to apply. = sequence that decays to zero as
Does not apply to: Lim

(i) An unbounded sequence.
(ii) An oscillatory sequence.
Partial fraction coefficient
Lim

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 Example 2.17 Example 2.18
Verify the final value theorem using the z- Obtain the final value for the sequence whose z-
transform of a decaying exponential sequence transform is
and its limit as k tends to infinity.
Z
Solution: z-transform pair What can you conclude concerning the constants
and if it is known that the limit exist?
Limit with a > 0
Solution: Conditions for the validity of the final
Lim
value theorem
Final value theorem Apply the final value theorem
Lim Lim

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Z-transform Solution of
(ii) Solve for X(z)
Difference Equations
Example 2.19: Solve the linear difference equation

with the initial conditions

Solution
(i) z-transform

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 (iii) Partial fraction expansion Equating Coefficients
The partial fraction of is Multiply by the denominator

Equate coefficient of z2

(iv) Inverse z-transformation: z-transform tables

. .

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Plot of the Solution x(k)

x(k)
15
14

12

10

0
0 1 2 3 4 5 6 7
k
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