Signals and Systems (Z-Transform)

Z-Transform
Objectives

Upon completion of this chapter you will be able to:

 Evaluate the Z-Transform of a discrete time signal.

 Calculate the signal in time domain from its Z-Transform.
 Learn the properties of Z-Transform.
 Find Initial Value and Final Value of Signal.
 Characterize the system’s stability and causality from the Transfer Function of the
system.

Introduction
In the previous chapter, we saw that we moved from Fourier Transform to Laplace Transform
because Laplace Transform was applicable for a broader class of signals. In this chapter we
extend the same concept for Discrete Time Signals, so Z-Transform is discrete time
counterpart of Laplace Transform.

The z-Transform
The response of a LTI Discrete Time System with an impulse response h[n] to a complex
exponential input zn is given as

y[n]  H  z  zn
Where H(z) is z-Transform of impulse response h[n].


H z    h n z n
n

Let z  re j

  x n re j  x n re j  

 n  n
X re j    
n n



X re j    x n r ne jn
n

If r=1, which means |z| = 1

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 Signals and Systems (Z-Transform)

 

X e j  
n
x n e jn = Fourier Transform

 So, for all ‘z’ lying on the unit circle z-Transform converges to Fourier Transform.

Inverse z-Transform

To recover a discrete time signal from its Z-Transform the following Synthesis Equation must
be used which is also called as Inverse z-Transform.


Inverse ZT X  z   x n 
1
x n   X  z  zn1dz
2 C

Region of convergence (ROC)

ROC is range of values of ‘z’ for which z-Transform converges is known as region of
convergence.

Region of Convergence makes the z-Transform of a signal unique.

Solved Examples

Problem: Find Z-transform & ROC of x n  a u n

n

 
 az 1 
n
Solution: X  z    anz nu n  n
n 0

1
X z  ; az 1  1 => z  a
1 a
z

Problem: Find Z-transform & ROC of x n  a u  n  1

n

 1 1 
an z n     az 1   
n n
Solution: X  z    anu  n  1 z n     az 1
n n n n1


 
n
X  z    a1 z ; a1 z  1 => z  a
n1

z
a  z 
X z    
1 z  z a
a

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 Signals and Systems (Z-Transform)

Note: For the signals mentioned in above examples the z-Transform turs out to be same but
their ROCs are different. So, ROC makes a z-Transform unique.

Mapping of s-plane into z-plane

The relation between Laplace Transform and Z-Transform can be derived on the basis that
discrete time signal can be derived from Continuous Time Signal by means of Sampling.

x[n] = x(nT) where T is the sampling interval.


X s   
x t estdt

at t  nT
  n
X s    
x nT esnTdt   x nT   e 
sT
dt


Z-Transform of discrete time signal will be given by


X z   x n z n
n

(  j)T
Comparing above two equations z  esT  e

jT jT
z  eT .e  eT . e  eT

 The Right Half Plane in s-plane (σ>0) is mapped to exterior of unit circle (|z|>1) in z-plane
 The Left Half Plane in s-plane (σ<0) is mapped to interior of unit circle (|z|<1) in z-plane.
 The imaginary axis in s-plane (σ=0) is mapped to unit circle (|z|=1) in z-plane.

Solved Examples

Problem: Find z-transform of following signals & indicate the ROC?

1. x n  2 u n  3 u n

n n

1 1
Solution: X z   
1 2 1 1
z 3z

2 1 1
ROC; 1   1 => z  2  z  => z  2
z 3z 3

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 Signals and Systems (Z-Transform)

2. x n  2 u  n  1  3 u  n  1

n n

Solution: X  z   1 1

1  2z 1 1  3z 1  
1
ROC; 2z 1  1  3z 1  1 => z  2  z  3 => z 
3

3. x n  2 u  n  1  3 u n

n n

Solution: X  z   1 1

1  2z 1 1   3z 1
 
ROC; 2z 1  1   3z 
1
 1 => 1  z 2
3

4. x n  2 u n  3 u  n  1

n n

Solution: X  z   1 1

1  2z 1 1  3z 1  
ROC; 2z 1  1  3z 
1
1 z  2  z  1
3

Since no intersection, so z-Transform doesn’t exist.

Problem: The z-transform and its ROC of a discrete time sequence

  1 n
   ,n  0
x[n]    2 

0, n  0
Will be

Solution: The z-transform is

n
 1
 1  n
X(z)  
n
x[n] z n     z
n  2
n
1
 1 1  1
 2z 
n
 
n  2
z   z 
 n

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 Signals and Systems (Z-Transform)

1
 z   2z 
m
let –n=m
n

1
So, the above series converges is |2z|<1 or |z|<
2

2z 2z 1
X(z)    ,| z |
1  2z 2z  1 2

Problem: Match List I (discrete time sequence) with List II (z-transform)

List-I (Discrete Time Sequence) List-II (z-transform)
1
P. u[n-2] 1. 2 , z 1

z 1  z 1 
z 1
Q. –u[-n-3] 2. , z 1
1  z 1
1
R. u[n+4] 3. 4 , z 1

z 1  z 1 
z 2
S. u[-n] 4. , z 1
1  z 1
Solution: (P  4) x1 [n]  u[n 2]
 
z 2
X1 (z)   u[n 2] z n   z n 
n n 2 1  z 1
,| z | 1

(Q  1) x2 [n]   u[  n 3]

X2 (z)   u[ n 3]z
n
n

3 
 z
n
n
   zm
m3
Let n=-m

z3 1
  ,| z | 1
1  z z 2 (1  z 1 )

(R  3) x3[n]  (1)n u[n 4]

 
X 3 (z)   u[n 4] z n 
n
z
n4
n

z 4
1
  4 ,| z | 1
1z 1
z (1  z 1 )

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 Signals and Systems (Z-Transform)

(S  2) x 4 [n]  (1)n u[  n]

  u[ n] z
n
n

0 
1 z 1
 
n
z n   z m 
m 0

1  z 1  z 1
,| z | 1

Problem: Common Data Question for 1-3

Consider the following signal x[n] and its Z-Transform X(z) is given as

z2  5z
X(z) 
z2  2z  3

1. If ROC of X(z) is z  1 , then what would be signal x[n]?

z2  5z
Solution: X(z) 
z2  2z  3
z(z  5)

(z  3)(z  1)
X(z) z 5
 
z (z  3)(z  1)

2 1
  By partial fraction
z 3 z 1
2z z
Thus X(z)  
z 3 z 1
Poles are at z=3 and z=-1
ROC: |z|<1, which is not exterior of circle outside the outermost pole z=3
So , x[n] is anti-casual given as

x[n]   2(3)n  ( 1)n  u[  n 1]

2. If ROC of X(z) is z >3, then what would be signal x[n]?

2z z
Solution: X(z)  
z 3 z 1
If |z|>3, ROC is exterior of a circle outside the outer most pole, x[n] is casual
x[n]  2(3)n  ( 1)n  u[n]

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 Signals and Systems (Z-Transform)

3. If ROC of X(z)is 1<|z|<3, then what would be signal x[n]?

2z z
Solution: X(z)  
z 3 z 1

2z
If ROC 1<|z|<3, x[n] is two sided with anti-casual part ,| z | 3 and casual part
z 3
z
,| z | 1
z 1

Some Common Z-Transform Pairs

Signal z-Transform ROC

Unit Impulse,  n 1 Entire z-plane

Unit step, u n z z 1

z 1
u  n  1 z z 1
z 1
nu n z z 1
 z  1
2

nu  n  1 z z 1
 z  1
2

anu n z z a
z a
anu  n  1 z z a
z a
nanu n az z a
 z  a
2

nanu  n  1 az z a
 z  a
2

an , 0  n  N  1 1  aNz N z 0
1  az 1
cos 0nu n 
z z  cos 0  z 1
z  2z cos 0  1
2

sin 0nu n z sin 0 z 1

z  2z cos 0  1
2

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 Signals and Systems (Z-Transform)

Properties of Z-transform

1. Linearity
Z.T.
x1 n   X1  z  ; ROC : R1
Z.T.
x2 n   X2  z  ; ROC : R2
Z.T.
ax1 n  bx2 n   aX1  z   bX 2  z 

ROC, R1  R 2

2. Accumulation
If x n 
X z Z.T.
 ; ROC : R
n X z
Then  x k  
k 
Z.T.

1z 1

n
1
u n    k  
k 
Z.T.

1  z 1

3. First Difference
If x n 
Z.T.
X z  ; ROC : R
Z.T.
Then x n  x n  1  (1  z 1)X  z  ; ROC: At least intersection of R and |z|>0

4. Time reversal
If x n 
Z.T.
X z  ; ROC : R
Z.T.
Then x  n   X z 1   : ROC: z 1  R

5. Conjugate property
If x n 
Z.T.
X z   ; ROC : R
Then x *  n  X  z  ; ROC: z
* 1 1
R

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 Signals and Systems (Z-Transform)

6. Multiplication with an exponential

Z.T.
If x n 
 X  z 

Z.T. z
Then a x n 
n
 X a1 z   X  
a  
 z 

 X  e jn  z   X  jn 
1
e jnx n 
Z.T.
  e 
ROC : z R; z  aR
a

7. Time shifting
If x n 
Z.T.

 X z ; ROC : R

X  z  ; ROC : R except deletion or addition of origin

Z.T. n0
Then x n  n0   z

8. Differentiation in z-domain
Z.T.

If x n  X z ; ROC : R
d
Z.T.
Then nx n   z X  z  ; ROC : R
dz

Solved Examples

n
1
Problem: Find z-Transform of the signal x n    cos  0n u n
2
z  z  cos 0 
Solution: cos 0nu n  z 1
z2  2z cos 0  1

2z  2z  cos 0 
n
1 1
  u n cos 0n  z 
2  2z   4z cos 0  1 2
2

Problem: Find Z transform of  n  1  ?  


Solution:  n  1 
z  Z.T. 1

 
1
  n  1 
Z.T.
 z 1 z

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 Signals and Systems (Z-Transform)

Problem: If X  z   z , z  9, then find x n

9

z9

 z 

Solution: X z  z 
8

z 9

z Z.T.
  9n u n
z 9

 z  Z.T.  n 8 
z8    9 u n  8 
z 9

Problem: Find Z transform of x n  na u n

n

Z.T. z
Solution: anu n  
za

Z.T.
nanu n   z
d z 
   z 
 
 z  a 1  z 
 az

dz  z  a  
  
2
 z  a
2
z  a 

9. Convolution
Z.T.
x1 n   X1  z 
Z.T.
x2 n   X2  z 
Z.T.
x1 n * x2 n   X1  z  X 2  z 

Solved Examples
Problem: Consider the transfer function of a system

2z(z  1)
H(z) 
z  4z  4
2

For an input x[n]  2[n]  [n 1] , the system output is?

Solution: Input, x[n]  2[n]  [n 1]
X(z)=2+z
y[n] = x[n]*h[n]

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 Signals and Systems (Z-Transform)

Y(z)  H(z) X(z) ........Convolution Theorem

2z(z  1) 2z(z  1) 6z
 (z  2)   2z 
(z  2)2
(z  2) z2

Taking inverse z-transform

y[n]  2[n 1]  6( 2)n u[n]

z2
Problem: Given the z-transform pair x[n] 
Z
 ,z 4
z 2  16
The z-transform of signal x[-n]*x[n] is?

z2
Solution: x[n] 
Z
 ,ROC | z | 4
z2  16
2
1
 
Z
x[  n]   2 (Time reversal property)
2
1
   16
2

  1 2 
   
 2  z 
2
x[  n] * x[n]  
Z
2   z 2  16  (Time convolution property)
  1   16   
  2  

Z z2
 
257z2  16z 4  16
z2
Problem: Given the z-transform pair x[n] 
Z
 ,z 4
z 2  16
The z-transform of signal nx[n] is?

z2
Solution: x[n] 
Z
 ,ROC | z | 4
z2  16
d z2
nx[n] 
Z
 z (Differentiation in z-domain)
dz z2  16
Z 32z 2
nx[n]  
z 
2
2
 16

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 Signals and Systems (Z-Transform)

Initial and Final Value Theorem

x  0   lim X  z  ---- Initial Value Theorem

z

x     lim  z  1 X  z  ---- Final Value Theorem

z 1

Note:

1. The z-transform X(z) must be a proper order i.e. order of numerator less than or equal to
order of denominator.

2. For system response H(z) to be stable all the poles must lie inside unit circle & a simple
pole is acceptable on unit circle, then final value theorem can be applied.

3. x(0)  initial value for causal ROC: z  0

x     final value for causal ROC: z  0

x     initial value for anti-causal ROC: z  0

x(0)  final value for anti-causal ROC: z  0

Solved Examples
Problem: Let X(z) be the z-transform of a DT signal x[n] given as

0.5z 2
X(z) 
(z  1)(z  0.5)
The initial value of x[n] is ______________

Solution: From initial value theorem

x[0]  lim X(z)

z 

0.5z 2
 lim
z  (z  1)(z  0.5)

0.5
 lim  0.5
z   1  0.5 
1   1  
 z  z 

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 Signals and Systems (Z-Transform)

Inverse Z-transform by Partial Function Method

To find inverse z-Transform by Partial Fraction Method we first break the term in terms of
Partial Fraction and then find Inverse z-Transform of each term. This can be seen in the
example below:

5
3  z 1
6 2 1
x n   
 1 1   1 1   1 1   1 1 
1  z   1  z  1  3 z  1  4 z 
 3   4     

n n
1 1 1
Solution: x n  2   u n    u n ; z 
3 4 3

n n
1 1 1 1
x n  2   u  n  1    u n ;  z 
3
  4
  4 3

n n
1 1 1
x n  2   u  n  1    u  n  1 ; z 
3
  4
  4

Inverse Z-Transform by Cauchy Residue Method

1
X  z  zn1dz
2j C
X n 

x n   residue 

For a pole at z   of order ‘m’

1 dm1 
Residue of X  z       
m
lim X z z n1
z  
m  1 ! z  dz m1 
 

Solved Examples

Problem: Find inverse transform of X  z   z

 z  2
3

Solution: Pole at z=2, order=3

1 d2 1
lim 2  zn   limn n  1  zn2  n n  1  2 u n
 n 3 
x n  ; z 2
3  1 ! dz
z 2 2! z 2

If z  2 ; x n  n n  1  2 u  n  1 
 n 3 

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 Signals and Systems (Z-Transform)

System characterization using Z-transform

Causality

N z 
H z   ; order of N  z   order of D  z 
D z

 For system response to be causal, order of numerator must be less than order of
denominator.
 For system response H(z), to be causal ROC must be outside the outer most pole.

Stability

For system to be stable, ROC must include unit circle.

Note: For causal system to be stable, it must satisfy the following condition.

1. All poles must lie inside unit circle

2. ROC must include unit circle.

For Different ROC of the following signals, determine stability and causality

3 1
1 z
H  z   4
3 1
1  z 1  z 2
4 8

1
 In H(z), z  , system is stable & causal.
2
1 1
  z  , system is causal but not stable
4 2
1
 z  , system is neither causal nor stable.
4

Solved Examples

Problem: A casual system with input x[n] and output y[n] has the following relationship
y[n]  3 y[n 1]  2 y[n 2]  2 x[n]  3 x[n 1]

The system is
(a) Stable (b) unstable
(c) Marginally Stable (d) none of these

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 Signals and Systems (Z-Transform)

Solution: By taking z-transform

1  3z 1
  
 2z 2 Y(z)  2  3z 1 X(z)

So, transfer function H(z) 

Y(z)

2  3z 1  

X(z) 1  3z 1  2z 2 
2z 2  3z

z2  3z  2
H(z) 2z  3 1 1
Or,  2   By partial fraction
z z  3z  2 z  2 z  1
z z
Thus H(z)  
z  2 z 1
Both the poles lie outside the unit circle, so the system is unstable.

Problem: Match List-I (system transfer function) with List-II (property of system) and choose
the correct answer using the codes given below

List-I(System transfer function) List-II(Property of system)

z
3
P. H(z)  ,ROC : z  1.2 1. Non casual but stable
(z  1.2)3
z2
Q. H(z)  ,ROC : z  1.2 2. Neither casual nor stable
(z  1.2)3
z4
R. H(z)  ,ROC : z  0.8 3. Casual but not stable
(z  0.8)3
z3
S. H(z)  ,ROC : z  0.8 4. Both casual and stable
(z  0.8)3
Solution: (P  3) ROC is exterior to the circle passing through outer most pole at z=1.2
So it is casual. ROC does not include unit circle, therefore it is unstable.
(Q  1) ROC is not exterior to the circle passing through outer most pole at z=1.2, so it is
non casual. But ROC includes unit circle. So it is stable.
(R  2) , ROC is not exterior to circle passing through outer most pole z=0.8,
So it is not casual. ROC does not include the unit circle, so it is unstable also.
(S  4) , ROC contains unit circle and is exterior to circle passing through outer most pole,
so it is both casual and stable.

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