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The z-transform
Part 1
Dr. Ali Hussein Muqaibel

Dr. Ali Muqaibel

The material to be covered in this lecture is

as follows:

Introduction to the z-transform

Definition of the z-transform
Derivation of the z-transform
Region of convergence for the transform
Examples.

Dr. Ali Muqaibel

After finishing this lecture you should be

able to:

Find the z-transform for a given signal utilizing the ztransform definition
Calculate the region of convergence for the transform

Dr. Ali Muqaibel

Derivation of the z-Transform

The z-transform is the basic tool for the analysis and synthesis
of discrete-time systems.
The z-transform is defined as follows:

X z

x nT z n

The coefficient
denote the sample value and
denotes that the sample occurs sample periods after
the
0 reference.
Note that the lower limit of the summation can start from
zero if the signal is causal (Unilateral z-transform)
Rather than starting form the given definition for the ztransform, we may start from the continuous-time function
and derive the z-transform. This is done in the next slide.
Dr. Ali Muqaibel

Derivation of the z-transform

The sampled signal may be written as x s t x t t nT

n
Since
0 for all t except
at
,
can be replaced by

.
xs t x nTs t nTs

And Assuming

0 for

n0

0. Then,

Taking Laplace transform yields

Rearranging
By sifting property of the delta
function

X s s

x nt t nT e

st

dt

n0

X s s x nT
n 0

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0 t nT e st dt

Continue Derivation

Defining the complex variable z as the Laplace time-shift

operator

becomes,
We could have started from the last expression but it is good
to relate to the s-domain
In the -domain the left-half plane corresponds to 0 is
mapped to | | 1 in the z-plane which is the region inside
the unit circle.
Im[z]

z-plane

S-plane

Re[z]

Left-half
Unit
circle

Dr. Ali Muqaibel

Region of Convergence (ROC)

z-plane

S-plane

Im[z]

1
Re[z]

Left-half
Unit
circle

is converged for 0 (left-half of s-plane). This corresponds

to 1. This is the region inside the unit circle.
is NOT converged for 0 (right-half of s-plane). This
corresponds to 1 which is the region outside the unit circle
The mapping of the Laplace variable into the z-plane through
is illustrated in the figure.

The Z-Transform in Summary

Where

and

The coefficient
denotes the sampled value
The square bracket is used to indicate discrete times.
denotes that the sample occurs sample periods after
the
0 reference.
is simply the -second time shift
The parameter is simply shorthand notation for the Laplace
time shift operator
For instance, 30
denotes a sample, having value 30, which
occurs 40 sample periods after the t=0 reference
Matlab has special tools for z-transform: ztrans, iztrans , pretty
Dr. Ali Muqaibel

Example 1:

Determine the z-transform for the

following signal

Solution:
We know that
hence

X z

X z x n z n x 1 z
1

n 1
1,
2,
n0

x n 1, n 1
1,
n2

otherwise
0,

x n z n

x 0 z

x 1 z

X z z 2 z 1 z 2
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x 2 z

Example 2: Sampled Step Function

(Important Functions)

Consider a unit step sample sequence

defined by

Find the z-transform.

u(t)
1
t

Solution
U (z ) X z 1 z

3T

2 T

........... z n

The sum converges absolutely to

outside the unit circle

n 0

4 T

1
,
1
1 z

5T

z 1

X z z n
n 0

Dr. Ali Muqaibel

Sampled Dirac Delta Function (an other

important function)

The Dirac Delta Function is defined to be [n] 1

0
For a delayed version of delta is defined as
Applying the definition of the z-transform [n k ] 1

n0
n0
nk

0 n k

Dirac
function

(t )

X (z ) (t )z s T (0) 1
k 0

X (z ) 1
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The Unit Exponential Sequence

The unit exponential sequence is defined to be

e k
x[k ]
0

k , 0
k 0

Apply z-transform definition

we get
k k

X ( z) e

k 0

X ( z)

if k e

then

( e z 1 ) k
k 0

1
z

1 e z 1 z e
X (z )

where | z | e
X [k ]

1
z

1 kz 1 z k
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1
z

1 e z 1 z e

Example 3 with Poles and Zeros

Determine the z-transform of the signal

0.5

Depict the ROC and the locations of poles and zeros of X(z) in the z-plane
Solution:
1
1
1
X z z z
2
2
2
Substituting is the definition of the z-transform
1 1
X z 1
...
0

0.5

1
0.5

,
X z

1
1 0.5z
n 0 z
z

,
z 0.5
z 0.5

0.5

2z

4z
2

This is a geometric series of infinite length in the ratio 0.5/z; the sum
.
converges, provided that 1 or 0.5. Hence the z-transform is

Pole at
, zero at
. ,
ROC is the light blue region

Im[z]

z 0.5

0
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0.5

z 2 ...

Self Test 1:
Find the z- transform of the following signal:
Hint :
Answer:

1
X (z )
1 a 2 z 2

z a

Dr. Ali Muqaibel

Self Test 2:
Determine the z-transform of the signal

1 0.5

Depict the ROC and the locations of poles and zeros of
plane
Answer:
the sum converges, provided that

0.5 and

1
0.5
n
X z
z
n 0 z
n

in the z-

1.

Poles at z=0.5, 1, zeros at z=0, 0.75.

ROC is the region in between

0.5
k

1 z
n 0 z
k 0

1
1
1
,
0.5 z 1

1 0.5z 1
1 z
z 2z 1.5
,
0.5 z 1

z 0.5 z 1

X z

Dr. Ali Muqaibel

Continue Self-test
1
1
1
,
0.5 z 1

1 0.5z 1
1 z
z 2z 1.5
,
0.5 z 1

z 0.5 z 1

X z

Poles at z=0.5, 1, zeros at z=0, 0.75. ROC is the region in between

Dr. Ali Muqaibel