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Introduction
z-Transform
Zeros and Poles
Region of Convergence
I
Important
t t z-Transform
T f Pairs
P i
Inverse z-Transform
z-Transform Theorems and Properties
System Function
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Why z-Transform?
A generalization of Fourier transform
Why generalize it?
– FT does not converge on all sequence
– Notation good for analysis
– Bring the power of complex variable theory deal with
the discrete-time signals and systems
Definition
The z-transform of sequence x(n) is defined by
X ( z) x ( n) z
n
n
Fourier
f
Transform
Let z = ej.
j
X (e ) x ( n)e
n
j n
2
z-Plane
x ( n) z
Im
n
X ( z)
z = ej
n
Re
j
X (e ) x ( n)e
n
j n
z-Plane
Im
X(z)
z = ej
Re
Im
Re
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Periodic Property of FT
X(ej)
X(z)
Im
Definition
Give a sequence, the set of values of z for which the
z-transform converges, i.e., |X(z)|<, is called the
region of convergence.
| X ( z ) | x ( n) z
n
n
| x(n) || z |
n
n
4
Stable Systems
A stable system requires that its Fourier transform is
uniformly convergent.
Im Fact: Fourier transform is to
evaluate z-transform on a unit
circle
circle.
1
A stable system requires the
Re ROC of z-transform to include
the unit circle.
5
Example: A right sided Sequence
x( n) a n u (n)
x(n)
... n
-8 -7 -6 -5 -4 -3 -2 -1 1 2 3 4 5 6 7 8 9 10
| az
1
| | az 1 | 1
X ( z) a nu (n)z n
n
n 0
| z || a |
a z n n
1 z
n 0 X ( z ) (az 1 ) n 1
n 0 1 az za
( az 1 ) n
| z || a |
n 0
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Example: A right sided Sequence
ROC for x(n)=anu(n)
z
X ( z)
za
, | z || a | Which one is stable?
Im Im
1 1
a a a a
Re Re
x(n) a n u (n 1)
-8 -7 -6 -5 -4 -3 -2 -1 1 2 3 4 5 6 7 8 9 10
... n
x(n)
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Example: A left sided Sequence
z
X ( z)
za
, | z || a | Which one is stable?
Im Im
1 1
a a a a
Re Re
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Represent z-transform as a
Rational Function
z
x( n) a n u (n) X ( z) , | z || a |
za
Im
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Example: A left sided Sequence
z
x(n) a n u (n 1) X ( z) , | z || a |
za
Im
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Example: A Two Sided Sequence
x(n) ( 13 ) n u (n) ( 12 ) n u ( n 1)
z z 2 z ( z 121 )
X ( z)
z 13 z 12 ( z 13 )( z 12 )
Im
ROC iis bounded
b d d by
b poles
l
and is a ring.
1/12
1/3 1/2 Re
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Properties of ROC
A ring or disk in the z-plane centered at the origin.
The Fourier Transform of x(n) is converge absolutely iff the ROC
includes the unit circle.
The ROC cannot include any poles
Finite Duration Sequences: The ROC is the entire z-plane except
possibly z=0 or z=.
Ri h sided
Right id d sequences: The
Th ROC extendsd outward d ffrom the
h outermost
finite pole in X(z) to z=.
Left sided sequences: The ROC extends inward from the innermost
nonzero pole in X(z) to z=0.
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More on Rational z-Transform
Find
Fi d th
the possible
ibl a b c
ROC’s Re
a b c
Re
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More on Rational z-Transform
a b c
Re
a b c
Re
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More on Rational z-Transform
a b c
Re
Z-Transform Pairs
Sequence z-Transform ROC
(n) 1 All z
All z except 0 (if m>0)
( n m ) z m
or (if m<0)
1
u (n) | z | 1
1 z 1
1
u ( n 1) | z | 1
1 z 1
1
a nu (n) | z || a |
1 az 1
1
a nu ( n 1) | z || a |
1 az 1
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Z-Transform Pairs
Sequence z-Transform ROC
1
1 [cos 0 ]z
[cos 0 n]u (n) | z | 1
1 [2 cos 0 ]z 1 z 2
[sin 0 ]z 1
[sin 0 n]u ( n) | z | 1
1 [2 cos 0 ]z 1 z 2
1 [r cos 0 ]z 1
[r n cos 0 n]u (n) | z | r
1 [2r cos 0 ]z 1 r 2 z 2
[r sin 0 ]z 1
[r n sin 0 n]u (n) | z | r
1 [2r cos 0 ]z 1 r 2 z 2
a n 0 n N 1 1 a N zN
| z | 0
0 otherwise 1 az 1
The z-Transform
z-Transform Theorems
and Properties
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Linearity
Z [ x(n)] X ( z ), z Rx
Z [ y (n)] Y ( z ), z Ry
Z [ax(n) by (n)] aX ( z ) bY ( z ), z Rx R y
Overlay of
the above two
ROC’s
Shift
Z [ x(n)] X ( z ), z Rx
Z [ x(n n0 )] z n0 X ( z ) z Rx
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Multiplication by an Exponential Sequence
Z [ x(n)] X ( z ), Rx- | z | Rx
Z [a n x(n)] X (a 1 z ) z | a | Rx
Differentiation of X(z)
Z [ x(n)] X ( z ), z Rx
dX ( z )
Z [nx(n)] z z Rx
dz
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Conjugation
Z [ x(n)] X ( z ), z Rx
Z [ x * (n)] X * ( z*) z Rx
Reversal
Z [ x(n)] X ( z ), z Rx
Z [ x(n)] X ( z 1 ) z 1 / Rx
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Real and Imaginary Parts
Z [ x(n)] X ( z ), z Rx
x(0) lim X ( z )
z
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Convolution of Sequences
Z [ x(n)] X ( z ), z Rx
Z [ y (n)] Y ( z ), z Ry
Z [ x(n) * y ( n)] X ( z )Y ( z ) z Rx R y
Convolution of Sequences
x ( n) * y ( n) x(k ) y (n k )
k
Z [ x(n) * y (n)] x(k ) y (n k ) z n
n k
x(k ) y(n k )z n
x(k ) z y(n)z
k
k
n
n
k n
X ( z )Y ( z )
21
The z-Transform
System Function
Shift-Invariant System
x(n) y(n)=x(n)*h(n)
h(n)
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Shift-Invariant System
X(z) Y(z)
H(z)
Y ( z)
H ( z)
X ( z)
a
k 0
k y (n k ) br x(n r )
r 0
N M
Y ( z ) ak z k
X ( z ) br z r
k 0 r 0
M N
r k
H ( z ) br z ak z
r 0 k 0
23
Representation in Factored Form
M
A (1 cr z 1 )
H ( z) N
r 1
(1 d z
k 1
r
1
)
24
Stable and Causal Systems
Stable Systems : ROC includes the unit circle.
Im
M
A (1 cr z 1 ) 1
H ( z) N
r 1
R
Re
(1 d z
k 1
r
1
)
Example
Consider the causal system characterized by
y (n) ay (n 1) x(n) Im
1 1
H ( z)
1 az 1 a Re
h( n) a n u ( n)
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Determination of Frequency Response
from pole-zero pattern
j 0 e j0 z1 p2
H (e ) j0
(e p1 )(e j0 p2 )
A LTIj
|H(e )|=?
pole-zero pattern.
H(e j)=?
system is completely characterized by its
Im
Example: p1
z z1 e j 0
H ( z)
( z p1 )( z p2 ) z1
Re
e j0 z1 p2
H ( e j 0 ) j0
(e p1 )(e j0 p2 )
26
Determination of Frequency Response
from pole-zero pattern
A LTIj
|H(e )|=?
pole-zero pattern.
H(e j)=?
system is completely characterized by its
Im
Example: p1
| | 2
|H(ej)| =
|H( e j 0
| || | z1
1 3 Re
H(ej) = 1(2+ 3 ) p2
Example
1 20
H ( z)
1 az 1 10
dB
0
Im
-10
0 2 4 6 8
a Re 0
-1
-2
0 2 4 6 8
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