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Transformada Z Resumen
Transformada Z Resumen
1
Definición y propiedades. Causalidad y estabilidad
Definición: Definición
La Transformada
Definición y propiedades. y uso
Causalidad
Z yde en unaPDS. Juega elx(n)
señal discreta
estabilidad
mismose papel en procesado digital
efine como la serie de potencias: de señales que la Transformada de Laplace
Dada una Zsecuencia
efinición: La Transformada discreta
de una señal discretax(n)
x(n)se se en el análisis de sistemas continuos.
∞ Z-3
fine como la serie de potencias: !
define su transformada Z como
−n Z - 3
sform of a General X(z)
∞ =
Signal x(n)z Usos más comunes.
−n x[n]:
! donde z es una
X(z) = x(n)z
nsform of a General Signal n=−∞
n=−∞
x[n]:
variable compleja.
Obtención de expresiones entrada-salida.
nde z esz una
onde es variable
una variable compleja
compleja (z ∈ C). (z ∈ C).
omenclaturas: También se denota como X(z) ≡ Z{x(n)} y
Nomenclaturas: También se denota como X(z) ≡ Z{x(n)} y
Simplificación de estructuras.
relación entre x(n) y X(z) se indica con:
relación entre x(n) zy X(z) se indica
Representaciones con:
más usuales
x(n) ←→ X(z)
z Implementación de estructuras.
onvergencia: Como la TZ esx(n) ←→
una serie X(z)
infinita de potencias,
lo existe cuando se da la convergencia de la serie de potencias →
Convergencia:
egión de convergencia Como la TZ
(“Region es una serieROC).
of Convergence”, infinita de potencias,
Resolucion de ecuaciones en diferencias
efinida por el conjunto de valores de z que hacen X(z) finita.
ólo existe cuando se da la convergencia de la serie de potencias →
∞
!
−n
|x(n)z | < ∞
Región deX(z) =
convergencia
n=−∞
(“Region of Convergence”, ROC).
Puente entre el diseño analógico y digital
efinida por el conjunto de valores de z que hacen X(z) finita.
onsecuencia: Siempre que hablemos de una TZ hay que dar su (transformación bilineal e impulso-invariante)
Procesado Digital de Señales.4º Ingeniería Electrónica.
SignalsUniversitat
& Systems de València. Profesor Emilio Soria. NTU-EE
OC. Signals & Systems ∞
! NTU-EE 2
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x(n) = a n !
" u(n) !
n= #$
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! # R.O.C)1 $ r
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X (z) = 1 " a # z "1
! X (z) = 11" a # z "1
! 1 " a # z "1
! R.O.C
!
Procesado Digital de Señales.4º Ingeniería Electrónica.
Universitat de València. Profesor Emilio Soria.
3
! !
! k= #$ k= #$
elec3600
Scaling in z z0n x[n] X(z/z0 ) |z0 |Rx
dX(z) †
Differentiation nx[n] −z Rx
dz
in z
Time-reversal x[−n] X(1/z) 1/Rx
∗ ∗ ∗
Conjugation x [n] X (z ) Rx
∗ ∗
Symmetry Im{x[n]} = 0 X(z) = X (z )
(real)
Symmetry Re{x[n]} = 0 X(z) = −X ∗(z∗) !
(imag) "
Convolution x1 [n] ∗ x2 [n] X1 (z)X2 (z) ⊇ Rx1 ∩ Rx2#
Initial value x[n] = 0, n < 0 ⇒ x[0] = lim X(z)
z→∞ $
%
Aquí el superíndice !indica que z=0 ò z=! pueden añadirse/eliminarse. 1/Rx hace referencia a
&
los puntos en los que 1/z pertenece a Rx
'
Procesado Digital de Señales.4º Ingeniería Electrónica.
Universitat de València. Profesor Emilio Soria.
5
Transformadas Z comunes. z TABLE 3.1 SOME COMMON -TRANSFORM PAIRS
Sequence Transform ROC
1. δ[n] 1 All z
1
2. u[n] |z| > 1
1 − z−1
1
3. −u[−n − 1] |z| < 1
1 − z−1
4. δ[n − m] z−m All z except 0 (if m > 0)
or ∞ (if m < 0)
1
5. a n u[n] |z| > |a|
1 − az−1
1
6. −a n u[−n − 1] |z| < |a|
1 − az−1
az−1
7. na n u[n] |z| > |a|
(1 − az−1 )2
az−1
8. −na n u[−n − 1] |z| < |a|
(1 − az−1 )2
1 − [cos ω 0 ]z−1
9. [cos ω 0 n]u[n] |z| > 1
1 − [2 cos ω 0 ]z−1 + z−2
[sin ω 0 ]z−1
10. [sin ω 0 n]u[n] |z| > 1
1 − [2 cos ω 0 ]z−1 + z−2
1 − [r cos ω 0 ]z−1
11. [r n cos ω 0 n]u[n] |z| > r
1 − [2r cos ω 0 ]z−1 + r 2 z−2
[r sin ω 0 ]z−1
12. [r n sin ω 0 n]u[n] |z| > r
1 − [2r cos ω 0 ]z−1 + r 2 z−2
!
a n , 0 ≤ n ≤ N − 1, 1 − a N z−N
13. |z| > 0
0, otherwise 1 − az−1
6
From Discrete-Time Signal Processing, 2e
by Oppenheim, Schafer, and Buck
Polos de la Transformada Z-Tipo de señal.
entre{ ( )}los
) ( polos
) de la
ZI I u nT =
n=0
u nT z ! n =
1
=
z
1 ! z !1 z ! 1
z >1
transformada
{ ( )} ) ( Z y ) el tipo de
ZI I !u !nT ! T =!
!1
n = !(
u !nT ! T z ! n
señal que da )
lugar a dicha " 0
= !$
%
z ! n ! 1'
$# n = !( '&
transformada. (
1 z
) =1! zn =1! =
1! z z !1
z <1
FIGURE 6.4.3
APLICACIÓN DIRECTA EN n=0 FIGURE 6.4.3
Example
Although their Z-transform is identical their ROC is different. Therefore, to find the inverse Z-transform
(continued)
EL DISEÑO DE SISTEMAS
the region of convergence must also be given. The Z-transform of the functions of u(nT) and –u(–nT – T) are
Therefore, F ( z ) se puede z
( ) = A1 A+ A2 A + ! + AN
3
Expansion n
Esta integración =
+
z
calcular de forma más
z=! p1 1 z+! p2 2 z ! pN
# : z (> de pk )Variable
(causal) signal
Lian 2004 Z $
# 1
!1 %
Signals & =
Systems
( ) ( ) (
'% % pk u nT sencilla
where all
zA
+ usando
3
are
if ROC
z !
unknown
z
Teoría
)( )
2 z ! 2
NTU-EE
z ! 1 ( z
( ) )(
2
Compleja
!
z +
z
3
! 1 usando
z(6.!7.5)
1 )
( $ residuos;
AnT z
veamos estez
constants to
cálculo be determined.
de forma mas práctica.
or5 term
,f A n " 0 = !4
n n
=F!inverse = == 5signal
( ) ( (( )) ( ( ) ( ( ) ))(( )
n i
pN of a proper function F(z)%&1 !are z !1different,
pk all %) %– p thenu we expand
1The zT =it5 Z-transform
in
if the
ROC!form
4: zof the p nT
anticausal
2(6.7.4) 2 given! 4by1
Expansión en fracciones & k
!
) ( ) <
z ! 2z( z!+z23!) (1z !z 2!)1 k
A =
kth
z=2
= 5 n, A2 =
of is
(z +z3)!(z2! 1)z ! 1
z =1
)= !4
1
If the signal ()
F z is causal,
A1 the (b)
AROC
2
If is !z!
F(z) =
>Az(z
pmax
N
+
, 3)/(z
where 2 – 3z + z2)
pmax = !#%with
max{!p
1
( )( )
2 z11!!,11!p<'%2 !,!z!#%…, !puthen
z = 2 ( k ) N(
>p 2, !}. )
nT In z ! 2case,
following
this z !ROC
if exactly(
1all terms
: z the
z =1
)( )
(
> pksame signal)
causalprocedure
= + + ! + !
Z $ ( 6. 7.4)
( $=
in (6.7.4) result pTherefore,
zin!causal
z signal
! p components.
n
z 1 z!p 2 N
%&1 ! pk z !1 %) %– p u !nT ! T ( ) ( )
if ROC : z < p anticausal signal (
& k k
Therefore, z z
Example Ejemplo
own constants to be determined. () F z = 5
z!2
! 4
If the signal is causal, the ROC is !z! > pmax, where pmax = max{!p1 !, !p2 !, …, !pN !}. In this case
z !1
(a) If F(z) = z(z
sform of the kth term of (6.7.4) is given by + 3)/(z 2 – 3z + 2) with !z!in>(6.7.4) 2 then z
result in causal z
signal components. n n n
! n
!
!Y (z) = Y (z)
! 1 " 0.5 # z
#
"1 =1 " 1 0.5 # z "1=
# 1
11""( 0.5) ## zz"1 11"" 1
3
"1 "
( )#z
+="1
"1# z
z "1 11""( 1
0.5 # 3
1
0.5
3)"
#
# z
z (3 )
0.5
"1
"1
+# z 1 ""1 1 3
1" ( ) # z
1
3
(
"1% 1
h(n) = $ ' ( u(n) ) H (z) =
#2& 1 * 0.5 ( z *1 Y (z) = Y
3
(z) " 33
2 2 2
Y "1==
(z) " "
111""" (0.5
0.53)##z#zz"1 1 "1("1 )1# z "1# z "1
1
1 " 0.5 # z "1
" 1 %n
x(n) = $ ' ( u(n) ) X (z) =
1 !
! !
"1
( )
3 3
# 3& 1 * 1 3 ( z *1 ( ) * # 1 &n #* 1 &n - n
y(n) = , 3 " % ( ) 2 "*% (## /1"&&u(n)n # 1 &n - n -
! 2 'y(n) =,$, 3 '" % /.1( ) 2 " % #(1 /&" u(n)
,+ $ y(n)
! = ,+3 " %$ 2 '( ) 2$"3%' /.( / " u(n)
1 1 A ! B ,+ $ ' 2 $ '3 /.
YProcesado
(z) =Digital de Señales.4º"1Ingeniería
# Electrónica. = +
! 1 de"València.
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( )
0.5 # zProfesor Emilio 1 # z "1 1 " 0.5 # z
1 " Soria.
3
"1
( )
1 " 1 3 # z "1
10
!
3 2 !
Y (z) = "
1 " 0.5 # z "1 1 " 1 # z "1 !
P ( BP(|AA| B)) =" P(A) !
P(B)
H (z) = e P ( B | A) " P(A) k
P ( A | B) = !
P ( A | Es ) "!P(Es )
P ( )
A | B =
f (0) P(B)
# n
! !
PP(B)
( E s | A) = f (x) =H$(z) = e " x "z "1 n
P ( A | E ) " P(E ) ! n!
P( E | A) = # P ( Ek ) "!P( A | Ek ) s s n=0
s P ( A | E ) " P(E ) # n
! Z inversa. Métodos (II)
Transformada P( E | A) = f (0) f s(x) = $ " xn
s s
P ( E | A) =
La estrategia consiste en expandir la transformada
s
seguidamente igualar
H (z) = e"1
esta=expansión a la definición de Transformada
n=0
" x
%
$de Z para,
Z"1
( "1 )
n
n
! !!
H (z) e"z ! e
H (z) = en=0
= "z
n!
# x
Ejemplo
Se pide determinar la
El teorema
f f(x)
podemos
# de
k f
(x)= =descomponer
# P(E$)$" P( A | E )
# Taylor
(0)
n
n f (0)
nos asegura
n k
! que
x ! funcione"z =
" x "cualquier
n "1
$
(
#"1 )n
n
f (0) # z "1 n
n =
$
( "1 )
%
n
# ( ) % (
k
secuencia discreta que da f(x) usando n! n!
sus derivadas n-ésimas en el
n=0n=0
f (x) = $ n!
$
n!
"
n
x $ n! n
!! ! !
n=0
"1
e"z n=0 =%
( "1 ) n=0
n
# ( z "1 ) =%
( "1 )
lugar a la siguiente origen de la siguiente forma.
n=0
n! n=0
n!
transformada Z. $ n $
(
$ "1 ) n $
( )
n
!"z
"1 e "x
e " =
x
=
"1 # x n
# x n %% ( )
H (z)
e " x =
= %
"1
x(n) "# xz n
#n
% ( )
H (z) = e ! n=0
n=0
n!
n!
! !
!
H (z)
$
n!
n=0 = % x(n) " ( z )
n=#$ #n
f (x) = $ !
aplicar lo visto "1 "1
e " =x% $
"z
$ !( ) = ( ) % n!
%= n! # u(n) "n "z
#
anteriormente
! ( ) # z "1 = ( ) # z "n
n! "1 "1 n n! "1
n=0 n! e "z
= % n! ( ) % n! ( )n=0 n=0 n=0 n=0
! n=#$ $
n=#$
$ n
H (z) = x(n) " z #n
H (z) =
"1 2
(1" p # z ) 1 1
Properties of the z-Transform
= = "1 21 2
Z - 39
H (z) =
H (z)
H (z)
1"(1" (
p # z1"
! Differentiation p
( the
#
inz
p ) )
# )z z-Domain:
"1 "1 2
dG(z) "1
(1"
1
p # z ) 12
! "z # = z # p# 2
! !
dz 1 "1
1
! Time
z
"1
"1
# p # 1
Shifting: $ n # g(n) = n # pn n # u(n)
z # p # 1" p # z "1 2 $ n # g(n) = n # p # u(n)
2
( p # z "1 ))
(1"
!!
"1
1 1 n"1
Análisis de sistemas L.T.I usandoz la z"1
# # Transformada $ n #
"1 2 $ n # p
2 n"1 Z.
p # u(n)
# u(n)
( (1"pp#la#zz"1Transformada
Por el momento no hemos aplicado al análisis de sistemas discretos
! 1" ) ) Z. La manera de
!
enlazar el análisis de los sistemas discretos con la transformada Z va a venir dado por dos propiedades
"#$%&$'($)*$%!!"" +&%*,--,)./%0$1$00$2%3,%4&%+-5(.&$% 11 $ ( n +1) # p n
n # u(n +1)
0$&5,)&$ ,1%3#$%6"7%&/&3$-8 "1 2 $ ( n +1) # p # u(n +1)
2
( p#z )
(1"
1" p # z
"1
)
δ[n] LTI h[n]
!! Una forma usual de describir un sistema discreto
1 system es mediante una ecuación en diferencias.
N P
N P
n n
y(n)== $aak" "yy(n(n##kk) )++$bbs" "xx(n(n##s)s)
!!
y(n) $k $s
y(n)=x(n)!h(n)
9)%+-5,034)3%50,5$03/%,1%*,):,.(3+,); k=1
k=1
s=o
s=o
Aplicando la propiedad se tiene (condiciones
© Feng-Li Lian 2004 Signals & Systems NTU-EE
iniciales=0)
%% N (
N P
#k( P
! 3#$%!"#$" +)%<#+*#%3<,%&$'($)*$&%40$%*,):,.:$2%+&% Y (z) " '1# $ a " #k * = X(z) " $ b " z
z
Y (z) " '1# $ ak k" z * = X(z) " $ bs s" z
#s
#s
()+-5,034)3=
Y(z)=H(z)$X(z) !! !
H (z) = = s=oN
!!
que nos va a servir para analizar los X(z) % (
'1# $ ak " z *
#k
sistemas L.T.I discretos.
Procesado Digital de Señales.4º Ingeniería Electrónica. & k=1 )
Universitat de València. Profesor Emilio Soria.
13
Análisis de sistemas L.T.I usando la Transformada Z.
Causalidad. P
La transformada Z de una señal estrictamente causal, vale
#s 0 para
P
De X(z) no me preocupo (¿?) si me fijo en la parte de H(z) y aplico g(n) = p n " u(n)
Transformadas Z inversa (recordando que según los polos sean simples no no
se tiene )
g(n) =!p " u(n) g(n) = n s#1 " p n " u(n)
!
g(n) = n s#1
" p n
" u(n)
Así pues si se busca una salida acotada la única forma es que |p|<1 (¿y si |p|=1 que pasaría?).
Un sistema es estable si la Transformada Z de la respuesta
! impulsional tiene
todos los polos dentro de la circunferencia de radio unidad (cualquiera que sea
su orden de!multiplicidad).
Procesado Digital de Señales.4º Ingeniería Electrónica.
Universitat de València. Profesor Emilio Soria.
14
From Transfer Function to Difference Equation
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−1 + · · ·
−1+−1 · · · + aM
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system with a rational H(z)transfer = b0b+ b1b
+ z1 z + ·+· ·· ·+· b+MbzM
−N z ,
,
already know that diferentes formas Direct
we can represent a difference equation Form YY(z)
we (z) I==H(z)X(z),
can H(z)X(z),
write this in the time H(z) H(z) ==
domain a 0 + 0
asaa1 zdifference
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!
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N
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+elements: %$ # #
Sumador ••We
We cancan then
then write
1a write
0 this as a recursive
this as a recursive equation, so
equation, so that that
TI system with a rational transfer function.
elec3600
k back to the difference xequation. • The Direct y[n] Form
= (b
I 0 x[n] + · · · +
construction bM1is:
x[n −
y[n − 1] M]−!· · · − aN y[n − N]). &% $
2 [n] 1 1a0
−a $
t we can represent a difference " equation
x [n]
y[n]
y[n] == (b(b 0 x[n]x[n] ++ · ····+ −abMb x[n
y[nx[n −−1] M] − "· · 0· − aN y[n − N]).
M]
'& %
mplement a difference equation, 1 ! we need a three ! a0elements: 0 b 0 ·
!!"$
+
#+% &'(
1 M !!!"$#+%
−
&'( 1/a %
st as an LTI system with a rational
x1 [n]
!"! #
$+&
%'(
transfer
+x2 [n] x[n]
!
ax[n]
a0x[n] •" ! z−1 ! x[n − 1] #
! • ! ' &
x[n] −a1 y[n − 1] − · · · − aN y[n
# # " y[n]
− N]). &
−a1 y[n ! − 1]$ − · ·z·−1− aN y[n − N]).
x2 [n] Addition Multiplication z−1 Delay ' '
s, we " first derive the Multiplicador
transfer function (cte)and b! 1 !!"$
z-transform #+% & "
'( these !"$
#+% &'($ −a %$ 1 •
rence
!"! #
$
x
equation.
1 [n] • The a offers insight into possible arrangements
• of
+&%'( !
elements.
! ! !
z−1
" ! # #
&
"
+x2 [n]
ence equation, we need x[n] three elements: ax[n] x[n] x[n z−1 − 1] # z−1
'
Addition Multiplication ! Delay $
Retardo.
" bM−1 &'( % !"$ &'($ −aN−1
z-transform
a! ! offers ! insight z−1 into possible
! arrangements •
" of these
! !!"$
#+% #+% $ •
"
n] ax[n] x[n] x[n − 1] # # #
ments. z−1 & z−1
Multiplication Delay $
Procesado Digital de Señales.4º Ingeniería Electrónica. bM ! ' −a$ N
s insight into possible arrangements of these
Universitat de València. Profesor Emilio Soria. %
• However,
& this not the only possible realisation. 15
'
requires additional
Integrated ‘realeach
Circuit) then estate’ in the
adder, design.
multiplier and delay element
Ak in the design.
requires additional ‘real estate’
• In implementing
Y (z) = $
a digital filter+ in software on, say, a DSP, each
O(X(z))
elec3600
In implementing
• element a digital filter s software on, say, a DSP, each
"1 in
! requires(1"Akpk # z )execution time or memory.
additional
Y (z)requires
element
k
= $
additional + O(X(z))
"1 sexecution time or memory.
k (1"ofpkthe
! • An examination # z number
) of elements provides some mea-
• An examination of the number of elements provides some mea-
sure of the
sure of the‘cost’
‘cost’
n ofof
thethe system.
system.
g(n) =lanpTransformada
" u(n)
Direct Form II Análisis de sistemas L.T.I usando
•• Given
Given aa rational
rationaltransfer
transfer Z. Estructuras.
function
function g(n) = p "s#1
u(n)
La siguiente es la que se!
To see another possible realisation, write ! conoce g(n) = n " p n
" u(n) b0 +bb01 z
+−1b+ −1 + b z −M
1 z· · · + · · + bM z−M
·M
Yg(n) = nH(z)X(z),
(z) = " p " u(n) 5/7H(z)a= Y (z) = H(z)X(z),
s#1 n
,H(z) = ,
ealisation, como forma directa II o canónica +aa z
+ a z
−1 + ·−1
· · +
+ a
· · z
· −N
+ a z −N
! write " X(z)
0 01 1 N N
Y (z) −M we can
can write
5/7 this
1 in thethe
time domain as a difference equation: !
" = bDirect + bM zII W (z), W (z) = we
0 + · · · Form
X(z)
write1this. in time domain as a difference equation:
a0 + · ·w(n)
· + aN=z " x(n) # a " w(n #1) + ...# a " w(n # N ) ( ( )
−N
elec3600
z−M W (z), W (z) = a0w(n)
y[n] = .
+ · · ·"+x(n)
a aN y[n# a−1 "N]
w(n1 = #1) + ...#
b0 x[n] + ·a·N· +
" w(n # N−) M].
bMNx[n " )
To see a0an
another + ·· + a Nz
·intermediate
possible realisation,
step,write
a0 y[n] +−N · · · +
a0 0save N a y[n − N] = b 0 x[n] + · · · + b M x[n − M].
elec3600
• By calculating w[n] as we can actually #
onintermediate
the number of delay
! weelements "!
!
required.
• We can then write this as a recursive equation,
5/7 so that
s an step, can actually −M save• We can then write X(z) this as a recursive equation, so that $
ay• elements
Y (z) = b0 + · · · + bM z W (z), W (z) y(n)
= =1=
y(n) b
a0(b
b " " w(n)
w(n) +
aN
+
...+ ...+
· ·z·−N
b . "bw(n" w(n
# M )# M )
This leadsrequired.
to the Direct Form II realisation (here, y[n]N= = M): 0·x[n]
0+ 0 · · ++ +M bM x[n
M − M] %
elec3600
1
a0
y[n] = (b0 x[n] + · · · + bM x[n − M] &
ct Form II realisation (here, w[n]
• By calculating N =w[n]as an intermediate step,awe
M): ! 0 can
Estaactually save
−a
estructura 1 y[n
se − 1] −
basa en · − aN y[n − N]).
· ·utilizar
on the number &'( 1/a of
! 0 delay b! 0! !"! #
elements &'( required.
!"! $
#+% • $+% ! −a y[n − 1] − · · · − a y[n − N]).'
los retardos de
1 la variable N
w[n] x[n] $ " $ y[n]
$
#+% &(' 1/a
! 0 • This
b! 0 leads
!"! #$+% &'( to the Direct ! z −1 Form ! II realisation (here, N = M):
intermedia, w(n) a la hora de
$
•
" $ y[n]
−a b
!
!"$
#+% &'(# # 1 • !1 w[n]
!"! #
$
+% &'( calcular la salida
! del sistema y(n).
−1
z $
!!"$
"
#% &'( 1/a 0 $ b 0 !!"#
$+% &'(
−1+
! • !
Este !
hecho se
" traduce en un ahorro
−a 1 b 1 x[n] z " y[n]
$
#+% &'(# # • ! !"! #
$+% &'( $ ! $
$ " $ z −1
en el número
# de retardos
z−1 −a# 1 b! 1 "
!"$
#+% &'(# −aN−1
#
!"$
• $
&'(b
#+% # N−1
! "!! #
$+% &•"'(
!!"#
$+%
$
&'( necesarios para
$ la implementación
!
$ " $
z−1
# del sistema% discreto "de tal forma
bN−1 z−1
$
#+% &'(# −aN−1 • "!! #
$+%
&'( $ que esta estructura es #la que menos
# !
−a# N bN &
$ " $ • !
!"$
#+&
%'(# −a N−1 bN−1
! % !!"#
$+% &'( retardos necesita.
$
z−1
# • '
$ " $
b
Procesado Digital de Señales.4º Ingeniería Electrónica.
−a# N N & %
• Universitat
! de València. Profesor Emilio Soria. z−1
−a# N bN ! ' & 16
•
'
Ak
Y (z) = $ "1 A
s
+ O(X(z))
Cascade !
Form
Cascade Form k Y(1"
(z) =p$
k #z )
k
"1 s
+ O(X(z))
! k (1" pk # z )
Yet
Yetanother
anotherrealisation ispossible
realisation is possiblewhen
when H(z)
H(z) is factorised
is factorised as (again
as (again
Cascade Form M 6/7
Análisis de sistemas assuming
L.T.I usando
assuming M= = N):
la Transformada
N): n Z. Estructuras. 6/7
elec3600
assuming M = N): H(z)
H(z)= = H11(z) ·····HH
(z)·! NN (z),
(z), 6/7
HknH
(z)(z)
= =n
ks#1 . .
cascada; si la función de a
a0 s#1
g(n) = n " 1
p −"1d−!
k zdk z
u(n)−1 −1
g(n) = n " p " u(n)
b0 1 − ck z−1
elec3600
H(z) = H(z)H1 (z)se · HN (z),
· ·puede ThisH
• •This k (z) =
leads
leads to a
to a cascade. form:
transferencia a0 1 − cascade
dk z−1 form: Aplicando una estructura
H1 (z)
1 HN (z)
factorizar detolaasiguiente
• This leads forma
cascade form:
b0 /a
H1 (z) 1 !"$#%&'( a "a( x(n)
w(n) =
canonica cada a1 " w(nse
#bloque
HN (z) #1) + ...# a N " w(n
H1 (z) b0 /a
x[n] !
! 0
0
!!"$
!!"$
#+%
#+% &'(
&$ (' HN (z)
• w(n) +
•" !
! "
!$
#= &
%
!!"$#
(
'
$+%&'( (
" x(n)
+!"$
#+% &'( 0# a
• " w(n #1)
tiene
1
" •
"
!
! $
# &
% (
'
+ !"! #+
$+ '( ...# a N! " w(n
&y[n]
%
!
$ a
$ $
b0 /a
! 0 !!"$
#+% &'(
x[n]
!!"#
$%&'( !"$
#%&'(
$ "
z−1 !"! #
$+%&'( ! 0
$ z−1
" $ y[n]
• + + •
x[n] $ " $ $
! d
"
#1
z −1
$ −c1 y[n] wk (n) =dx#Nk (n)• +zd−ck ! N" wk (n #1)
−1
Parallel Form
Parallel Form z −1
zParallel
d
−1
#1
•
Form
−c! 1
!
dN −cN
y (n) w (n) c −cN•
• " w ! (n #1)
#
y (n) x (n) = c x # (n k + adrational
k # yk (n !"1)
d# 1 d#N
UnderUnder certain
certain conditions,
conditions, we have
•
we have found
found that
• We
that we wecancan
combine
•
write
!
complex
write a
−c! 1
Under certain
arational
rational
kzeros
!
= k
and poles with
"
conditions,kwe have found k #
k their that "1)
k wekcomplex
can write
con- 7/7
transfer function in a partial fraction expansion:
transfer
transfer function
function
• Wein
Estructuraa inena partial
partial
combine fraction
fraction
complex
paralelo; zeros • We
expansion:
ahoraand combine
expansion:
jugate
poles
H(z) pairs
sewith
puede complex
tofactorizar
their avoid
complex zeros
implementing
con- and 7/7poles
7/7 ! complex
de la siguiente with
forma their complex
arithmetic in hard- con- " !
Ak
jugate
ware. pairsarithmetic
toAkavoid implementing HNcomplex arithmetic (n.in#1)
hard- #
elec3600
H(z)in H1 (z) + · ·y = Ak " xHkk(z)
k"(n) (n)
jugate pairs to avoid implementing complex =hard- ·+ (z), =+ d " y −1 "
! A 1 −k dk zk
elec3600
H(z) = H (z) + · · · + H (z), H (z) = k . ypairs
k (n) Ak "#parallel
=zeros, xck+1
k (n) c+k∗ ,d " ypoles,
k (n #1)
elec3600
H(z) = ware.
H1 (z) + · · · + HN (z), •ware.
H (z) = . leads
1 N k
kThat is, for
1− d•zkThis
z−1
conjugate ! of
directly to the =form and
of dk+1 =
k implementation: #
1− d
∗ k
−1 $
• This leads directly to the parallel •formd∗
• That is, for conjugate pairs of zeros,
That , cwe
kof is, = ck , andH
k+1 combine
for poles,
conjugate
implementation:
dk+1 H
k (z) pairs
and =k+1 (z)$to Hobtain
of zeros, c
1 (z) = c ∗
, and poles, dk+1 =
En estas dos estructuras, en el caso de tener
• This leads directly
∗
to the parallel
dk , we combine Hk (z) andform
Hk+1of !
∗ implementation:
(z) to obtain
k+1 k
A" 1
% $
H (z)
d k , we combine Hk (z) and
x[n] 1 • H !"" #
− 2 k+1
Re
$+%
! {c(z)
&'( %
k }z to• obtain
−1 2
# + |c | z −2
k
"!"$
#+% &'(
y[n]
"
&
polos complejosH1se 1asocian por
(z)1 − 2Re{ck }z−1 + |ckHpares 2
| z −2 (z) !
k,k+1 = & −1 z−1 2 −2
.
!
%
H k,k+1
"!"#
$
+%&'( (z) = A 1 "!"$
#+%&2'( −2 . 1 − 2Re
1 − 2Re{c {d k }z
d$ 1 }z +
−1|d | z
+k|ck | z−22 '
conjugados
x[n]
•
•
"!"#
$+%
para
&'( !
dar •
estructuras
1•− 2A
# Re
" 1
"
{d kde
}z orden
−1 +"!"$|d
#+% &'(Hk |2. z
! k,k+1y[n](z)
"
"
= ' k
.
&
x[n] ! #
z −1 ! ! y[n] 1 − 2Re{dk }z + |dk | z −1 2 −2 ! '
De forma “encubierta”
d$ 1z−1
estamos aplicando HN (z) "
propiedades dedla$ 1 convolución (asociativa y "!" $
#+%
!
&'( •
#
A" N
#
distributiva para ser exactos). ! z −1 $
HN (z) !" d$ N %
Procesado Digital de Señales.4º Ingeniería Electrónica.
Universitat de València. Profesor Emilio H N (z)
Soria. A" N "# &
"!" $
#+% &'( • • Again, complex conjugate poles should be combined.
"!"$
#+% &'(
! #
A" N 17 '
•
# z −1 #$
!
d$N −1 $%
z
x(n) = $ ' ( u(n) ) X (z) = 1" 3 # z ( ) ( )
1 * x(n)(=z 1
3 ( )
$ "' (3u(n) # z ) X (z) =
# 3&
3 3
1* 1 ( ( )
z *1
2 Y (z) =
# 33&
"
2 1*(
Y (z) = 3 "1 " 2
! 1
Y (z) = 1 " 0.5Y#(z) z "1 ( ( ))
"1 " 1 1 #!z "1 1
1 " 0.5 # z = A 1 " 13"1 ## z "1B1 =
1 "A0.5 # z "1 1 "B 1 # z "1
+
( ) 3
Y (z) = ! #
! 1
= 1 " 0.5 # z 3 1 "
+ ( ) 3
#z "1 "1
1 " 0.5 # z 1 1 "
1 # z "1 Y (z)* = # 1 &n
( )
1
3
# z "11
!
( )
1 " 0.5 # z "1 1 " 1 * # z "1 n 1 " 0.5 # z "1 n - 1" ! ( ) # 1# &n - 1 =
y(n) =
3 * #1& n
, 3," % #Y1( (z) =
# &
& ) 2 " % #11(3&n/-" u(n)
"
3 , 1 " 0.5 # z "1
1
2 y(n) = 3 " %$ 2 (' ) 2 " %$ 3 (' " u(n)
,
" ( )
/ 3
/.
# z "1
18