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Z Transform
1
Concept Map: Discrete-Time Systems
Delay → R
Block Diagram System Functional
X + + Y Y 1
= H(R) =
Delay Delay X 1 − R − R2
Unit-Sample Response
index shift h[n] : 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, . . .
Delay → R
Block Diagram System Functional
X + + Y Y 1
= H(R) =
Delay Delay X 1 − R − R2
Unit-Sample Response
index shift h[n] : 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, . . .
Delay → R
Block Diagram System Functional
X + + Y Y 1
= H(R) =
Delay Delay X 1 − R − R2
Unit-Sample Response
index shift h[n] : 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, . . .
Delay → R
Block Diagram System Functional
X + + Y Y 1
= H(R) =
Delay Delay X 1 − R − R2
Unit-Sample Response
index shift h[n] : 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, . . . R → z1
Delay → R
Block Diagram System Functional
X + + Y Y 1
= H(R) =
Delay Delay X 1 − R − R2
Unit-Sample Response
index shift h[n] : 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, . . .
Y 1
= H(R) =
X 1 − R − R2
1
H(R) = = 1 + R + 2R2 + 3R3 + 5R4 + 8R5 + 13R6 + · · ·
1 − R − R2
7
Check Yourself
8
Check Yourself
Delay → R
Block Diagram System Functional
X + + Y Y 1
= H(R) =
Delay Delay X 1 − R − R2
h[n]Rn
P
H(R) =
Unit-Sample Response
index shift h[n] : 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, . . .
Delay → R
Block Diagram System Functional
X + + Y Y 1
= H(R) =
Delay Delay X 1 − R − R2
h[n]Rn
P
H(R) =
Unit-Sample Response
index shift h[n] : 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, . . .
�
X
H(R) = h[n]Rn
n
1
Substitute R → :
z
h[n]z −n
�
X
H(z) =
n
11
Check Yourself
Delay → R
Block Diagram System Functional
X + + Y Y 1
= H(R) =
Delay Delay X 1 − R − R2
h[n]Rn
P
H(R) =
Unit-Sample Response
index shift h[n] : 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, . . .
h[n]z −n
P
H(z) =
1
Substitute R → :
z
h[n]z −n
�
X
H(z) =
n
13
Z Transform
h[n]z −n
X
�
H(z) =
n
14
Simple Z transforms
δ[n]
x[n] = δ[n]
∞
x[n]z −n = x[0]z 0 = 1
�
X
X(z) =
n=−∞
15
Simple Z transforms
x[n]
x[n] = δ[n − 1]
∞
x[n]z −n = x[1]z −1 = z −1
�
X
X(z) =
n=−∞
16
Check Yourself
n
x[n] = 78 u[n]
n
−4−3−2−1 0 1 2 3 4
1 1 z z −1
1. 2. 3. 4. 5. none
1 − 78 z 1 − 78 z −1 1 − 78 z 1 − 78 z −1
17
Check Yourself
n
−4−3−2−1 0 1 2 3 4
∞ ∞
�
X 7 n −n X
� 7 n −n 1
X(z) = z u[n] = z =
n=−∞
8
n=0
8 1 − 78 z −1
18
Check Yourself
n
x[n] = 78 u[n]
n
−4−3−2−1 0 1 2 3 4
1 1 z z −1
1. 2. 3. 4. 5. none
1 − 78 z 1 − 78 z −1 1 − 78 z 1 − 78 z −1
19
Z Transform Pairs
The Z transform is only defined for values of z for which the defining
sum converges.
∞ n ∞ n
7 −n 7 1
z −n =
X
� �
X
X(z) = z u[n] =
n=−∞
8
n=0
8 1 − 78 z −1
7
7
Therefore
z
−1
< 1, i.e., |z| >
.
8 8
20
Regions of Convergence
7
ROC: |z| >
8
21
Z Transform Mathematics
Linearity:
if x1 [n] ↔ X1 (z) for z in ROC1
and x2 [n] ↔ X2 (z) for z in ROC2
then x1 [n] + x2 [n] ↔ X1 (z) + X2 (z) for z in (ROC1 ∩ ROC2 ).
y[n]z −n
X
�
Y (z) =
n=−∞
�
X
=
n=−∞
∞ ∞
−n
x2 [n]z
−n
�
X �
X
= x1 [n]z +
n=−∞ n=−∞
= X1 (z) + X2 (z)
22
Delay Property
More generally,
∞
x[n]z −n
�
X
X(z) =
n=−∞
Let y[n] = x[n − 1] then
∞ ∞
−n
x[n − 1]z −n
X
� �
Y (z) = y[n]z =
n=−∞ n=−∞
Substitute m = n − 1
∞
X
�
Y (z) =
m=−∞
23
Rational Polynomials
Taking the Z transform of both sides, and applying the delay property
Y (z) a0 + a1 z −1 + a2 z −2 + · · ·
H(z) = =
X(z) b0 + b1 z −1 + b2 z −2 + · · ·
a0 z k + a1 z k−1 + a2 z k−2 + · · ·
=
b0 z k + b1 z k−1 + b2 z k−2 + · · ·
24
Rational Polynomials
a0 z k + a1 z k−1 + a2 z k−2 + · · ·
H(z) =
b0 z k + b1 z k−1 + b2 z k−2 + · · ·
(z − z0 ) (z − z1 ) · · · (z − zk )
=
(z − p0 ) (z − p1 ) · · · (z − pk )
25
Rational Polynomials
∞ ∞
αn u[n]z −n = αn z
−n
�
X �
X
X(z) =
n=−∞ n=0
1
−1
= ; αz <1
1 − αz −1
z
= ; |z| > |α|
z−α
ROC z -plane
x[n] = αn u[n]
z
z−α α
n
−4−3−2−1 0 1 2 3 4
26
Check Yourself
z -plane
z 7 ROC
7 ; |z| <
z−8 8 7
8
27
Check Yourself
outer region.
ROC z -plane
7 n
x[n] = 8 u[n]
z
z − 78 7
8
n
−4−3−2−1 0 1 2 3 4
Y (z) z
H(z) = = .
X(z) z −
78
8
y[n] = (y[n + 1] − x[n + 1])
7
29
Check Yourself
−1 0 −
87
2
−2 0 −
87
3
−3 0 −
87
··· · · ·
−n
n −
87
−n n
8 7
y[n] = − ; n<0=− u[−1 − n]
7 8
30
Check Yourself
Plot
n
y[n] = − 87 u[−1 − n] z -plane
n z
−4 −3 −2 −1 0 1 2 ROC
z − 87 7
8
31
Check Yourself
z 7 ROC
7 ; |z| <
z−8 8 7
8
n
y[n] = − 87 u[−1 − n]
n
−4 −3 −2 −1 0 1 2
32
Check Yourself
ROC z -plane
7 n
x[n] = 8 u[n]
z
z − 78 7
8
n
−4−3−2−1 0 1 2 3 4
n
y[n] = − 87 u[−1 − n] z -plane
n z
−4 −3 −2 −1 0 1 2 ROC
z − 87 7
8
33
Check Yourself
34
Check Yourself
35
Check Yourself
Standard forms:
ROC z -plane
7 n
x[n] = 8 u[n]
z
z − 78 7
8
n
−4−3−2−1 0 1 2 3 4
n
y[n] = − 87 u[−1 − n] z -plane
n z
−4 −3 −2 −1 0 1 2 ROC
z − 87 7
8
36
Check Yourself
37
Check Yourself
Ratio of polynomials in z:
−3z z z
X(z) =
2 =
1 −
2z
− 5z + 2 z−2 z − 2
– a pole at
12 and a pole at 2.
z -plane
ROC
1 2
2
n
1
x[n] = u[n] + 2n u[−1 − n]
2
38
Check Yourself
Plot. n
1
x[n]
39
Check Yourself
n
40
Check Yourself
41
Check Yourself
x[n]
42
Solving Difference Equations with Z Transforms
43
Inverse Z transform
Formally,
1
x[n] = X(z)z n−1 dz
2πj C
where C represents a closed contour that circles the origin by running
in a counterclockwise direction through the region of convergence.
This integral is not generally easy to compute.
44
Properties of Z Transforms
45
Check Yourself
2
z
Find the inverse transform of Y (z) = ; |z| > 1.
z−1
46
Check Yourself
2
z
Find the inverse transform of Y (z) = ; |z| > 1.
z−1
y[n] corresponds to unit-sample response of the right-sided system
2 2 2
Y z 1 1
= = =
X z−1 1 − z −1 1−R
= 1 + R + R2 + R3 + · · · × 1 + R + R2 + R3 + · · ·
1 R R2 R3 ···
1 1 R2 R3
R ···
R R R2
R3 R4 ···
R2 R2 R3
R4 R5 ···
R3 R3 R4
R5 R6 ···
··· ··· ···
··· ··· ···
∞
Y X
�
= 1 + 2R + 3R2 + 4R3 + · · · = (n + 1)Rn
X
n=0
47
Check Yourself
48
Properties of Z Transforms
49
Check Yourself
50
Concept Map: Discrete-Time Systems
Delay → R
Block Diagram System Functional
X + + Y Y 1
= H(R) =
Delay Delay X 1 − R − R2
Unit-Sample Response
index shift h[n] : 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, . . .
Z transform
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