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The z-Transform

Department of Engineering Physics

Gadjah Mada University

Penggunaan Transformasi-Z
• Pada sistem dan sinyal digital

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Definition
• The two-sided or bilateral forward z-transform:

Z { x [ n ]}   x [n]z

n
 X (z)
• The one-sided or unilateral forward z-transform:

Z { x [ n ]}   x [n]z
0
n
 X (z)

• The inverse z-transform:

1
x [ n] 
2 j 
C
X ( z ) z n 1 dz

• X(z) is continuous function in z-variable.

• z is the complex variable which can be expressed in polar
form: z = rej
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Relationship Between z-Transform and

Fourier Transform
• The z-transform X(z) of a sequence x[n] is :
 
X (z)  
n
x [ n ] z  n   { x [ n ]}
• If z = rej , Thus:
  
X ( z )  X ( re j )   x [ n ] z n   x [ n ]( re j ) n   ( x [ n ] r n ) e  jn
  

• The Fourier transform of a sequence x[n] is


X ( e j )   x [ n ] e  jn

• There is a close relationship between the Fourier transform
and the z-transform , for r = 1.

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Unit Circle

• Obviously, for r = 1, the z-transform reduces to

the Fourier transform.
• The z-transform is a function of a complex
variable, thus it is convenient to describe and
interpret it using the complex z-plane.
• In the z-plane, the contour corresponding to |z| = 1
is a circle of unit radius called the unit circle.
• The z-transform evaluated on the unit circle
corresponds to the Fourier transform.
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Unit Circle in the Complex z-plane

Im
z = ej

Unit Circle


Re
1

z-plane

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Region of Convergence
• For any given sequence, the set of value of z for which the z-transform
converges is called the region of convergence, ROC.
• The criterion for convergence of the z-transform is absolutely
summable:  

  x [n] z
n
x [n ]r n
  or 
 

• Because of the multiplication of the sequence by the real exponential

r-n , it is possible for the z-transform to converge even if the Fourier
transform does not.
• If some value of z, say, z = z1, is in the ROC, then all values of z on
the circle defined by |z| = |z1| will also be in the ROC.
• So, the ROC will consist of a ring in the z-plane centered about the
origin. Its outer boundary will be a circle (or the ROC may extend
outward to infinity), and its inner boundary will be a circle (or it may
extend inward to include the origin).

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The ROC as a Ring in the z-plane

Im

r1
r2

Re

z-plane

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ROC

• The z-transform and all its derivatives must be

continuous functions of z within the ROC (follow
a Laurent series).
• X(z) can be represented in a Laurent (one type of
power) series and a rational function of
polynomial in z.
• The ROC of a causal signal is the exterior of a
circle of some radius r2 while the ROC of an anti-
causal is the interior of a circle of some radius r1.

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Signal Type ROC

Finite-Duration Signals
Causal
Entire z-plane
Except z = 0

Anticausal
Entire z-plane
Except z = infinity
Two-sided Entire z-plane
Except z = 0
And z = infinity
Causal Infinite-Duration Signals

|z| > r2
Anticausal

|z| < r1
Two-sided

r2 < |z| < r1

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Properties of ROC
• The ROC is a ring or disk in the z-plane centered at the origin; i.e.,
0  rR  z  rL  
• The Fourier transform of x[n] converges absolutely if the ROC of the
z-transform of x[n] includes the unit circle.
• The ROC cannot contain any poles.
• If x[n] is a finite duration, then the ROC is the entire z-plane, except
possibly z = 0 or z = infinity.
• If x[n] is a right-sided sequence (causal), the ROC extends outward
from the outermost finite pole in X(z) to (and possibly including) z =
infinity.
• If x[n] is a left-sided sequence (anticausal), the ROC extends inward
from the innermost nonzero pole in X(z) to (and possibly including) z
= 0.
• If x[n] is a two-sided sequence, the ROC will consist of a ring in the z-
plane, bounded on the interior and exterior by a pole and consistent
with property 3, not containing any poles.
• The ROC must be a connected region.
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Z-transform with the same pole-zero

locations illustrating the different
possibilities for the ROC and each
ROC corresponds to a different
sequence.

b) A right-sided sequence

c) A left-sided sequence

d) A two-sided sequence

e) A two-sided sequence

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Example of z-Transform

• For rational z-transform : X(z) = P(z)/Q(z)

• The values of z for which X(z) = 0 are called the zeros of X(z).
• The values of z for which X(z) = infinity are called the poles of X(z).
• There is a number of important relationships exist between the location
of poles of X(z) and the ROC of the z-transform.

• Example 1: x[n] = a n u[n] then X(z) = z/(z-a), ROC : |z|>|a|

• Example 2: x[n] = - a n u[-n-1] then X(z) = z/(z-a), ROC : |z|<|a|
• Example 3: x[n] = (1/2) n u[n] + (-1/3) n u[n] then
X(z) = 2z(z-1/12)/(z-1/2)(z+1/3), ROC : |z|>1/2
{ Remark: (1/2) n u[n] give ROC |z| > 1/2 and (-1/3) n u[n] give ROC |z| > 1/3 }
• Example 4: x[n] = (-1/3) n u[n] - (1/2) n u[-n-1] then
X(z) = 2z(z-1/12)/(z+1/3)(z-1/2), ROC : 1/3<|z|<1/2
• Example 5: x[n] = a n for 0ฃnฃN-1 and 0 for otherwise, then
X(z) = (z N - a N)/ z N-1 (z-a), ROC : zน0 and |a| is finite

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Some Common z-Transform Pairs

Sequence Transform ROC
1. [n] 1 all z
2. u[n] z/(z-1) |z|>1
3. -u[-n-1] z/(z-1) |z|<1
4. [n-m] z-m all z except 0 if m>0 or ฅ if m<0
5. anu[n] z/(z-a) |z|>|a|
6. -anu[-n-1] z/(z-a) |z|<|a|
7. nanu[n] az/(z-a)2 |z|>|a|
8. -nanu[-n-1] az/(z-a)2 |z|<|a|
9. [cos0n]u[n] (z2-[cos0]z)/(z2-[2cos0]z+1) |z|>1
10. [sin0n]u[n] [sin0]z)/(z2-[2cos0]z+1) |z|>1
11. [rncos0n]u[n] (z2-[rcos0]z)/(z2-[2rcos0]z+r2) |z|>r
12. [rnsin0n]u[n] [rsin0]z)/(z2-[2rcos0]z+r2) |z|>r
13. anu[n] - anu[n-N] (zN-aN)/zN-1(z-a) |z|>0

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z-transform properties Given ROC of x[n] is R x

ROC of x1[n] is Rx1
ROC of x2[n] is Rx2

• Linearity : ax1[n] + bx2[n]  aX1(z) + bX2(z) ; ROC: Contains 

Rx1 Rx2
• Time Shifting : x[n-n0]  z-n X(z) ; ROC: Rx except for the possible addition or
0

deletion of the origin or infinity.

• Multiplication by an Exponential Sequence : z0nx[n]  X(z/z0) ; ROC: |z0|Rx
• Differentiation of X(z) : nx[n]  -z{dX(z)/dz} ; ROC: Rx except for the possible
addition or deletion of the origin or infinity
• Conjugation of a Complex Sequence : x*[n]  X*(z*) ; ROC: Rx
• Time Reversal : x[-n]  X(1/z) ; ROC: 1/Rx
• Convolution of Sequence : x1[n]x2[n]  X1(z)X2(z) ; ROC: Contains Rx1  Rx2
• Initial Value Theorem : x[n] = 0, n<0  limz∞ X(z) = x[0]
• Complex Convolution Theorem :
x1[n]x2[n]  1 ; ROC: Contains Rx1Rx2
 X (v ) X ( z / v )v dv
1

2 j c 1 2

• Parseval’s Relation : 
1

n  
x 1 [ n ] x 2* [ n ] 
2 j X
c
1 ( v ) X 2* (1 / v * ) v  1 dv

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The Inverse z-transform

• Inspection Method
by using the tables of z-transform pairs
• Partial Fraction Expansion
M M

 b k z  k
b  (1  c k z  1
)
X(z)  k  0
N
 0 k
N
 1

 
 k a  1
a k z 0
(1  d k z )
k  0 k  1

• Power Series Expansion

X(z) = ... + x[-2]z2 + x[-1]z + x[0] + x[1]z-1 + x[2]z-2 + ...
= x[n]z-n ,

• Contour Integration (using the Cauchy integral theorem)

where C is a counterclockwise contour that encircles the origin
1
2  j c
x [n ]  X ( z ) z n  1 dz
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The inverse z-transform using contour

integration
• It is convenient to evaluate contour integrals by using Cauchy’s residue
theorem 1
X ( z ) z n 1dz   [ residues of X(z)z n-1at the poles inside C]
2j C
x[ n ] 

1  d s 1 ( z ) 
Res[X(z)z n- 1
at z = d 0 ]   
( s  1 )!  dz s 1  z d
0

where X(z)zn-1 has s poles at z=d0 and (z) has no poles at z=d0 :
( z)
X ( z ) z n1 
( z  d0 )s
• Example : X(z) = 1/(1-az-1), |z|>|a|
1 z n 1 1 z n dz
x [n] 
2 j C 1  az 1
dz 
2 j  C z a
 zn 
for n  0, x[n] = Res  at z = a   a n
z - a 

for n<0 the variable z will be substitued by p-1

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The complex convolution theorem &

Parseval’s relation
• The complex convolution theorem
w[n] = x1[n]x2[n]

1
W [z]  x [n ]x 2 [n ]z n
  X 1 (v ) X z / v v 1
dv
2 j
1 2
C
n  

where C is a closed contour in the overlap of the regions of X1(v) and X2(z/v)

• Parseval’s relation

1
x
n  
1 [ n ] x 2* [ n ] 
2 j 
C
X 1 (v ) X 2* ( 1 / v * )v 1 dv

If X(z) and X(z) both converge on the unit circle, then

 
1

n  
x 1 [ n ] x 2* [ n ] 
2 X 1 (e j
) X 2* ( e j
) d ,.... v  e j


If x[n] = x[n] = x[n] is a real sequence, so

1
x
n  
2
[n] 
2 j 
C
X (v ) X ( 1 / v )v 1 dv
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