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

1

Example

Z-transform Definition

Obtain the z-transform of the sequence

Definition 2.2 Laplace transform the impulse train

representation of sampled signal

Solution Definition 2.1 gives

2

Identities Used Repeatedly

Unit Impulse
1

1 a n1
a
,

a
k 0
n

a 1
-1

1
a
,

a
k 0
k

Definition 2.1:
Impulse-sampled version:

, Laplace transform
z-transform obtained using Definition 2.2
same as Definition 2.1

a 1

Sampled Unit Step

Sampled Exponential
1

a
2

......

......

-1

-1

z-transform Definition 2.1

z-transform Definition 2.1

Z-transform Properties

Time Delay

Linearity: Use Definition 2.2 and the linearity

of the Laplace transform.
Z

Use the time delay property of the Laplace

transform
Z

Example

Example
Z
Z

10

Time Advance: Proof

Time Advance

Apply Defn. 2.1 to

Z

Z
Using proof by induction, generalize
Z

Change index of summation to

Z
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12

Example

Discrete-Time Convolution

Use the time advance property to find the ztransform of the causal sequence

Solution

Proof: Let the convolution give

Easier solution:
Write the sequence as
Use the linearity of the z-transform.

Causal Sequence
13

DT Convolution Proof (cont.)

14

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.

15

16

Multiplication by Exponential

Example
Find the z-transform of the exponential
sequence

Z
Proof

z-transform of a sampled step

Z

(same as earlier example

17

18

Proof (Cont.)

Complex Differentiation

For any

, define

Assume

Proof (Induction)
(i) Establish validity for

(ii) Assume validity for any

and prove it for

For

Z
.

, we have

Substitute for
Z
19

Z
20

Example
Find the z-transform of the sampled ramp sequence

1. Long division: gives as many terms of

series as desired.
2. Partial fraction expansion and table
look-up: similar to Laplace transform
inversion.

Solution: z-transform of a sampled step

Write
as:
Apply the complex differentiation property
Z

Note: For the transform of

Inversion of the z-Transform

multiply by .
21

Example

Long Division
(i) Using long division, expand
series

22

Inverse z-transform
Solution:
(i) Long Division

as a

(ii) Write the inverse transform as the

sequence
(ii) Inverse Transformation
23

24

Partial Fraction Expansion

I: Simple Real Roots

(i) Find the partial fraction expansion of

.
(ii) Obtain the inverse transform
using the
z-transform tables.
Three types of z-domain functions F(z):
with simple (non-repeated) real poles.
with complex conjugate & real poles.
with repeated poles.

Residue of a complex function

simple pole

at a

Residue = partial fraction coefficient of the

term of the expansion

25

Example

26

Example (cont.)

Obtain the inverse z-transform of the

function
.

Solution: Solve using two different methods.

(i) Partial Fraction Expansion (dividing by z)

Partial fraction expansion then multiply by

27

28

Example (cont.)

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

(ii) Table Lookup

Note:
The time sequence can be rewritten as

Partial fraction coefficients

.
.
29

30

II: Complex Conjugate & Simple

Real Roots

Example (cont.)
Partial Fraction Expansion

Use the following z-transforms (

rad.)

Z
Z
(ii) Table Lookup (use the delay theorem)

Same denominator with complex conjugate

roots:
,

(Verify: same answer as before)

31

32

Residues With Complex

Conjugate Poles

Combined Form

Combine the complex conjugate terms

Use
= angle of pole

( partial fraction coefficient )

Use:

33

34

Example
Find the inverse z-transform of

Example (cont.)

Multiply by the denominator & equate coefficients

Solution (i) Partial Fraction Expansion

Dividing by z gives

19.689 (known), solve for

and

Check calculations
= 0.9(20)+19.6890.1(1.311) 1.557 0
Partial fraction expansion (multiply eqn. by )
.
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Example (cont.)

Example (Cont.)

(ii) Table Lookup (1st two terms already known)

1.311
1.311
1.557
cos
2 0.05
0.5
2
cos

Substitute for the coefficients

sin

19.689z
z 0 .1
1.311z[ z (0.707) cos(3 4)] 4.426 z (0.707) sin(3 4)

z 2 2(0.707) cos(3 4) z 0.5

F ( z ) 20

Equate denominator coefficients

0.5

0.707
0.5

cos

0.5

3 /4, angle in 2nd quadrant, sin

Equate
coefficients in the numerator
cos
sin
0.5
1.311

4.426

0.707

Z e

0.707
1.311

1.557

Z e

e sin(d ) z
sin( kd ) 2
z 2e cos(d ) z e 2
z[ z e cos(d )]
cos(kd ) 2
z 2e cos(d ) z e 2

37

Example (cont.)

38

Example (cont.)
Residue Approach
(i)
Partial Fraction Expansion
Dividing by z gives

z-transform tables give

f (k ) 20 (k ) 19.689(0.1) k
(0.707) k [1.311cos(3 k 4) 4.426 sin(3 k 4)], k 0

1.3112 4.4262 sin 1 1.311 4.616 0.288

cos 1 1.311 4.616 1.283 / 2 0.288 1.283
4.616

Use Trig. Identities:

sin A B sin A cos B sin B cos A

Obtain partial fraction expansion as in 1st approach

f (k ) 20 (k ) 19.689(0.1) k 4.616(0.707) k sin(3 k 4 0.288)]

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)]

.
39

.
40

Pole-Zero Map

Example (cont.)

1.5

20

Imaginary Axis

Convert

0.5

19.689
0.1

0.656
2.213
0.5
0.5

0.656
2.213
0.5
0.5

from Cartesian to polar form

.

-0.5
-1
-1.5
-3

Inverse z-transform to obtain

20

-2

-1

0
Real Axis

19.689 0.1

4.616 0.707

cos

1.283

as obtained earlier.

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42

MATLAB

MATLAB Example

numerator 5
3 , denominator
0.1
0.4
>> num = 5*[1, 3]
>> den = [1, 0.1, 0.4, 0]
>> denp =conv(den1, den 2) % Multiply polynomials
Partial Fraction Coefficients
>> [r, p, k] = residue( num, den)
p = poles, r = residues , k = coefficients of the
polynomial resulting from dividing the numerator by
the denominator.

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

0.6557 + 2.2131i
0.6557 - 2.2131i
19.6885
-20.0000
p=
-0.5000 + 0.5000i
-0.5000 - 0.5000i
0.1000
0

44

Other Form

III: Repeated Roots

>> A=2*real(r(1))
A=
1.3115
>> B=2*real(r(1)*p(2))
B=
1.5574

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Example

46

Partial Fraction Coefficients

Obtain the inverse z-transform of the function

Solution
(i)

Partial Fraction Expansion (Dividing by z)

.
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48

Example (cont.)

Example (cont.)

Partial Fraction Expansion

Evaluating

at

yields

(ii) Table Lookup

z-transform tables and Definition 2.1 yield
Using the delay theorem gives the same answer

49

The Final Value Theorem

50

Limitations of Final Value

Theorem 2.1 The Final Value Theorem

If a sequence approaches a constant limit
as tends to infinity, then the limit is given
by
Lim

Lim

51

Limit must exist for final value

theorem to apply.
Does not apply to:
(i) An unbounded sequence.
(ii) An oscillatory sequence.

52

Proof of Final Value Thm.

Let

have a constant limit as

Example 2.17

tends to infinity

= sequence that decays to zero as

Lim

Verify the final value theorem using the ztransform of a decaying exponential sequence
and its limit as tends to infinity.
Z
Solution: z-transform pair
Limit with a > 0
Lim

Partial fraction coefficient

Final value theorem

Lim

Lim

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Z-transform Solution of
Difference Equations

Example 2.18
Obtain the final value for the sequence whose ztransform is

Example 2.19: Solve the linear difference equation

with the initial conditions

What can you conclude concerning the constants

and if it is known that the limit exist?
Solution: Conditions for the validity of the final
value theorem
Apply the final value theorem

Solution
(i) z-transform

Lim

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(ii) Solve for X(z)

(iii) Partial fraction expansion

The partial fraction of

is

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Equating Coefficients

Plot of the Solution x(k)

x(k)

Multiply by the denominator

15
14

Equate coefficient of z2

12
10
8
6
4

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

2
0

59

k
60