Z -Transform

Dr. Ajay Singh Raghuvanshi

Electronics & Telecommunication
Engineering, NIT, Raipur
Content
 Introduction
 z-Transform
 Zeros and Poles
 Region of Convergence
 Important z-Transform Pairs
 z-Transform Theorems and
Properties

10/26/18 Dr. Ajay Singh Raghuvanshi 2

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

10/26/18 Dr. Ajay Singh Raghuvanshi 3

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 )  j
�x(n)e
n �
 j n

10/26/18 Dr. Ajay Singh Raghuvanshi 5

z-Plane


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

X (e )  j
�x(n)e
n �
 j n

Fourier
Fourier Transform
Transform is is to
to evaluate
evaluate z-
z-
transform
transform on
on aa unit
unit circle.
circle.
10/26/18 Dr. Ajay Singh Raghuvanshi 6
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) 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
10/26/18
ROC  {z  re
Dr. Ajay Singh Raghuvanshi
| Rx   r  R x  }
8
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.

10/26/18 Dr. Ajay Singh Raghuvanshi 9

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

x(n)

... n

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

10/26/18 Dr. Ajay Singh Raghuvanshi 10

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



X ( z)   a u(n)z
n  
n n
 |
| az 1
| az 1 | 1
n 0

 a z n 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 |
10/26/18 Dr. Ajay Singh Raghuvanshi 11
 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

10/26/18 Dr. Ajay Singh Raghuvanshi 12

Example: A left sided Sequence

x(n)   a u ( n  1) n

-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
For convergence of X(z), we require that
x(n)   a u ( n  1)
n

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

n 0

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

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

10/26/18 Dr. Ajay Singh Raghuvanshi 17

 Example: A left sided Sequence
z
x(n)  a u ( n  1)
n
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

x ( n)  ( ) u ( n)  (  ) u ( n)
1 n
2
1 n
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
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

1/12
and is a ring.
1/3 Re
1/2
ROC does not include
any pole.
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 Example: A Finite Sequence
x ( n)  a , n
0  n  N 1
N 1 N 1 1 N
1  ( az ) 1 z N
 a N
X ( z )   a n z n   (az 1 ) n  1
 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 must be a connected region
 A z-transform does not uniquely determine a sequence without
specifying the ROC

10/26/18 Dr. Ajay Singh Raghuvanshi 22

 Assignment : Rational z-Transform
[DOS: Before 10/9/18]
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
10/26/18 Dr. Ajay Singh Raghuvanshi 23
The z-Transform

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

All z
(n) 1
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 u (n  1)
n | z || a |
1  az 1
10/26/18 Dr. Ajay Singh Raghuvanshi 25
 Sequence z-Transform ROC


1 
[cos]
z 1

[cos 0 n]u ( n)
0
  | z | 1

1[2 
cos]
0z1
 z2



[sin
]z1

[sin 0 n]u ( n)
0
  | z | 1

1[2 
cos
0]
z 1
z2



1[
r 
cos]z1

[r n cos 0 n]u (n)

0

1 2 | z | r

1[
2r 
cos
]
0z r z2


[
r 
sin]
z 1

[ r n sin 0 n]u (n)

0
1 2 | z | r

1[
2r 
cos
0]
z rz2


an
0nN
1 1aNzN
 1
| z | 0
0
 otherwise1az
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The z-Transform

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

ROC’s
the above two
Z[ax(n)  by (n)]  aX ( z )  bY ( z ), z  Rx  R y
Overlay of

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Shift in time
Z[ x(n)]  X ( z ), z  Rx

Z[ x(n  n0 )]  z X ( z )n0
z  Rx

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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

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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)]  1
2j [ X ( z )  X * ( z*)] z  Rx

10/26/18 Dr. Ajay Singh Raghuvanshi 34

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

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

 lim x [ 0 ]  x [1] z  1  ...  x [ 0 ]

z 

x(0)  lim X ( z )
z 

10/26/18 Dr. Ajay Singh Raghuvanshi 35

Final Value Theorem(One sided Z Transform)

x(n)  0, for n  0

lim x[n]  lim( z  1) X ( z )

n  z 1

10/26/18 Dr. Ajay Singh Raghuvanshi 36

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
 
k  
x(k ) z  k  y (
n  
n )z n

k   n  

 X ( z )Y ( z )

10/26/18 Dr. Ajay Singh Raghuvanshi 38

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
10/26/18 Dr. Ajay Singh Raghuvanshi 39