The z-Transform

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

=
n
n
z n x z X ) ( ) (
Let z = e
je
.
( ) ( )
j j n
n
X e x n e
e e

=
=

Fourier
Transform
z-Plane
Re
Im
z = e
je
e

=
n
n
z n x z X ) ( ) (
( ) ( )
j j n
n
X e x n e
e e

=
=

Fourier Transform is to evaluate z-transform
on a unit circle.
z-Plane
Re
Im
X(z)
Re
Im
z = e
je
e
Periodic Property of FT
Re
Im
X(z)
t t e
X(e
je
)
Can you say why Fourier Transform is
a periodic function with period 2t?
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.
< = =


=

n
n
n
n
z n x z n x z X | || ) ( | ) ( | ) ( |
ROC is centered on origin and
consists of a set of rings.
Example: Region of Convergence
Re
Im
< = =


=

n
n
n
n
z n x z n x z X | || ) ( | ) ( | ) ( |
ROC is an annual ring centered
on the origin.
+
< <
x x
R z R | |
r
} | {
+
e
< < = =
x x
j
R r R re z ROC
Stable Systems
Re
Im
1
A stable system requires that its Fourier transform is
uniformly convergent.
Fact: Fourier transform is to
evaluate z-transform on a unit
circle.
A stable system requires the
ROC of z-transform to include
the unit circle.
Example: A right sided Sequence
) ( ) ( n u a n x
n
=
1 2 3 4 5 6 7 8 9 10 -1 -2 -3 -4 -5 -6 -7 -8
n
x(n)
. . .
Example: A right sided Sequence
) ( ) ( n u a n x
n
=
n
n
n
z n u a z X

= ) ( ) (

=
0 n
n n
z a

=
0
1
) (
n
n
az
For convergence of X(z), we
require that
<

0
1
| |
n
az
1 | |
1
<

az
| | | | a z >
a z
z
az
az z X
n
n

= =

1
0
1
1
1
) ( ) (
| | | | a z >
a a
Example: A right sided Sequence
ROC for x(n)=a
n
u(n)
| | | | , ) ( a z
a z
z
z X >

=
Re
Im
1
a a
Re
Im
1
Which one is stable?
Example: A left sided Sequence
) 1 ( ) ( = n u a n x
n
1 2 3 4 5 6 7 8 9 10 -1 -2 -3 -4 -5 -6 -7 -8
n
x(n)
. . .
Example: A left sided Sequence
) 1 ( ) ( = n u a n x
n
n
n
n
z n u a z X

= ) 1 ( ) (
For convergence of X(z), we
require that
<

0
1
| |
n
z a
1 | |
1
<

z a
| | | | a z <
a z
z
z a
z a z X
n
n

= =

1
0
1
1
1
1 ) ( 1 ) (
| | | | a z <
n
n
n
z a

=
1
n
n
n
z a

=
1
n
n
n
z a

=
0
1
a a
Example: A left sided Sequence
ROC for x(n)=a
n
u( n1)
| | | | , ) ( a z
a z
z
z X <

=
Re
Im
1
a a
Re
Im
1
Which one is stable?
The z-Transform
Region of
Convergence
Represent z-transform as a
Rational Function
) (
) (
) (
z Q
z P
z X =
where P(z) and Q(z) are
polynomials in z.
Zeros: The values of zs such that X(z) = 0
Poles: The values of zs such that X(z) =
Example: A right sided Sequence
) ( ) ( n u a n x
n
=
| | | | , ) ( a z
a z
z
z X >

=
Re
Im
a
ROC is bounded by the
pole and is the exterior
of a circle.
Example: A left sided Sequence
) 1 ( ) ( = n u a n x
n
| | | | , ) ( a z
a z
z
z X <

=
Re
Im
a
ROC is bounded by the
pole and is the interior
of a circle.
Example: Sum of Two Right Sided Sequences
) ( ) ( ) ( ) ( ) (
3
1
2
1
n u n u n x
n n
+ =
3
1
2
1
) (
+
+

=
z
z
z
z
z X
Re
Im
1/2
) )( (
) ( 2
3
1
2
1
12
1
+

=
z z
z z
1/3
1/12
ROC is bounded by poles
and is the exterior of a circle.
ROC does not include any pole.
Example: A Two Sided Sequence
) 1 ( ) ( ) ( ) ( ) (
2
1
3
1
= n u n u n x
n n
2
1
3
1
) (

+
+
=
z
z
z
z
z X
Re
Im
1/2
) )( (
) ( 2
2
1
3
1
12
1
+

=
z z
z z
1/3
1/12
ROC is bounded by poles
and is a ring.
ROC does not include any pole.
Example: A Finite Sequence
1 0 , ) ( s s = N n a n x
n
n
N
n
n
N
n
n
z a z a z X ) ( ) (
1
1
0
1
0

=

= =
Re
Im
ROC: 0 < z <
ROC does not include any pole.
1
1
1
) ( 1

=
az
az
N
a z
a z
z
N N
N

=
1
1
N-1 poles
N-1 zeros
Always 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
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.

More on Rational z-Transform
Re
Im
a b c
Consider the rational z-transform
with the pole pattern:
Find the possible
ROCs
More on Rational z-Transform
Re
Im
a b c
Consider the rational z-transform
with the pole pattern:
Case 1: A right sided Sequence.
More on Rational z-Transform
Re
Im
a b c
Consider the rational z-transform
with the pole pattern:
Case 2: A left sided Sequence.
More on Rational z-Transform
Re
Im
a b c
Consider the rational z-transform
with the pole pattern:
Case 3: A two sided Sequence.
More on Rational z-Transform
Re
Im
a b c
Consider the rational z-transform
with the pole pattern:
Case 4: Another two sided Sequence.
The z-Transform
Important
z-Transform Pairs
Z-Transform Pairs
Sequence z-Transform ROC
) (n o 1
All z
) ( m n o
m
z

All z except 0 (if m>0)

or (if m<0)
) (n u
1
1
1

z
1 | | > z
) 1 ( n u
1
1
1

z
1 | | < z
) (n u a
n
1
1
1

az
| | | | a z >
) 1 ( n u a
n
1
1
1

az
| | | | a z <
Z-Transform Pairs
Sequence z-Transform ROC
) ( ] [cos
0
n u n e
2 1
0
1
0
] cos 2 [ 1
] [cos 1

+ e
e
z z
z
1 | | > z
) ( ] [sin
0
n u n e
2 1
0
1
0
] cos 2 [ 1
] [sin

+ e
e
z z
z
1 | | > z
) ( ] cos [
0
n u n r
n
e
2 2 1
0
1
0
] cos 2 [ 1
] cos [ 1

+ e
e
z r z r
z r
r z > | |
) ( ] sin [
0
n u n r
n
e
2 2 1
0
1
0
] cos 2 [ 1
] sin [

+ e
e
z r z r
z r
r z > | |

s s
otherwise 0
1 0 N n a
n
1
1
1

az
z a
N N
0 | | > z
The z-Transform
Inverse z-Transform
The z-Transform
z-Transform Theorems
and Properties
Linearity
x
R z z X n x e = ), ( )] ( [ Z
y
R z z Y n y e = ), ( )] ( [ Z
y x
R R z z bY z aX n by n ax e + = + ), ( ) ( )] ( ) ( [ Z




Overlay of
the above two
ROCs
Shift
x
R z z X n x e = ), ( )] ( [ Z
x
n
R z z X z n n x e = + ) ( )] ( [
0
0
Z
Multiplication by an Exponential Sequence
+
< < =
x x-
R z R z X n x | | ), ( )] ( [ Z
x
n
R a z z a X n x a e =

| | ) ( )] ( [
1
Z
Differentiation of X(z)
x
R z z X n x e = ), ( )] ( [ Z
x
R z
dz
z dX
z n nx e =
) (
)] ( [ Z
Conjugation
x
R z z X n x e = ), ( )] ( [ Z
x
R z z X n x e = *) ( * )] ( * [ Z
Reversal
x
R z z X n x e = ), ( )] ( [ Z
x
R z z X n x / 1 ) ( )] ( [
1
e =

Z
Real and Imaginary Parts
x
R z z X n x e = ), ( )] ( [ Z
x
R z z X z X n x e e + = *)] ( * ) ( [ )] ( [
2
1
R
x
j
R z z X z X n x e = *)] ( * ) ( [ )] ( [
2
1
Im
Initial Value Theorem
0 for , 0 ) ( < = n n x
) ( lim ) 0 ( z X x
z
=
Convolution of Sequences
x
R z z X n x e = ), ( )] ( [ Z
y
R z z Y n y e = ), ( )] ( [ Z
y x
R R z z Y z X n y n x e = ) ( ) ( )] ( * ) ( [ Z
Convolution of Sequences

=
=
k
k n y k x n y n x ) ( ) ( ) ( * ) (

=
|
.
|

\
|
=
n
n
k
z k n y k x n y n x ) ( ) ( )] ( * ) ( [ Z

=
=
k
n
n
z k n y k x ) ( ) (

=
k
n
n
k
z n y z k x ) ( ) (
) ( ) ( z Y z X =
The z-Transform
System Function
Shift-Invariant System
h(n)


x(n)
y(n)=x(n)*h(n)
X(z) Y(z)=X(z)H(z)
H(z)
Shift-Invariant System
H(z)
X(z)
Y(z)
) (
) (
) (
z X
z Y
z H =
N
th
-Order Difference Equation

= =
=
M
r
r
N
k
k
r n x b k n y a
0 0
) ( ) (

=

=
M
r
r
r
N
k
k
k
z b z X z a z Y
0 0
) ( ) (

=
=

N
k
k
k
M
r
r
r
z a z b z H
0 0
) (
Representation in Factored Form
[
[
=

=
N
k
r
M
r
r
z d
z c A
z H
1
1
1
1
) 1 (
) 1 (
) (
Contributes poles at 0 and zeros at c
r
Contributes zeros at 0 and poles at d
r
Stable and Causal Systems
[
[
=

=
N
k
r
M
r
r
z d
z c A
z H
1
1
1
1
) 1 (
) 1 (
) (
Re
Im
Causal Systems : ROC extends outward from the outermost pole.
Stable and Causal Systems
[
[
=

=
N
k
r
M
r
r
z d
z c A
z H
1
1
1
1
) 1 (
) 1 (
) (
Re
Im
Stable Systems : ROC includes the unit circle.
1
Example
Consider the causal system characterized by
) ( ) 1 ( ) ( n x n ay n y + =
1
1
1
) (

=
az
z H
Re
Im
1
a
) ( ) ( n u a n h
n
=
Determination of Frequency Response
from pole-zero pattern
A LTI system is completely characterized by its
pole-zero pattern.
) )( (
) (
2 1
1
p z p z
z z
z H


=
Example:
) )( (
) (
2 1
1
0 0
0
0
p e p e
z e
e H
j j
j
j


=
e e
e
e
0
e j
e
Re
Im
z
1
p
1
p
2
Determination of Frequency Response
from pole-zero pattern
A LTI system is completely characterized by its
pole-zero pattern.
) )( (
) (
2 1
1
p z p z
z z
z H


=
Example:
) )( (
) (
2 1
1
0 0
0
0
p e p e
z e
e H
j j
j
j


=
e e
e
e
0
e j
e
Re
Im
z
1
p
1
p
2
|H(e
je
)|=? ZH(e
je
)=?
Determination of Frequency Response
from pole-zero pattern
A LTI system is completely characterized by its
pole-zero pattern.
Example:
0
e j
e
Re
Im
z
1
p
1
p
2
|H(e
je
)|=? ZH(e
je
)=?
|H(e
je
)| =
| |
| | | |
|
1
|
2
|
3
ZH(e
je
) = |
1
(|
2
+ |
3
)
Example
1
1
1
) (

=
az
z H
Re
Im
a
0 2 4 6 8
-10
0
10
20
0 2 4 6 8
-2
-1
0
1
2
d
B