Z Transform Pairs and Properties

Z Transform Pairs
Z Domain
Time Domain *
z z-1
[k] (unit impulse) 1 1
z 1
γ[k] † (unit step) (z)  (z) 
z 1 1  z 1
z 1
ak
za 1  z 1a
z 1
e-bTk
z  e bT 1  z 1e bT
z z 1
k
 z  12 1  z 1 2
z sin(b) z 1 sin(b)
sin(bk)
z  2z cos(b)  1
2
1  2z 1 cos(b)  z 2
z  z  cos(b)  1  z 1 cos(b)
cos(bk)
z  2z cos(b)  1
2
1  2z 1 cos(b)  z 2
az sin(b) az 1 sin(b)
aksin(bk)
z  2az cos(b)  a 2
2
1  2az 1 cos(b)  a 2 z 2
z  z  a cos(b)  1  az 1 cos(b)
akcos(bk)
z  2az cos(b)  a 2
2
1  2az 1 cos(b)  a 2 z 2

*All time domain functions are implicitly=0 for k<0 (i.e. they are multiplied by unit step, γ[k]).
†u[k] is more commonly used for the step, but is also used for other things. γ[k] is chosen to avoid confusion
(and because in the Z domain it looks a little like a step function, Γ(z)).
 Z Transform Properties
Property Name Illustration
Z
Linearity af1[k]  bf 2 [k]   aF1 (z)  bF2 (z)
Z
Left Shift by 1 f[k  1]  zF(z)  zf[0]
Z
Left Shift by 2 f[k  2]  z 2 F(z)  z 2 f[0]  zf[1]
n 1
Z
f[k  n]  z n F(z)  z n  f[k]z  k
k 0
Left Shift by n
 n 1

 z n  F(z)   f[k]z  k 
 k 0 
Z n
Right Shift by n f[k  n]   z F(z)
Z dF(z)
Multiplication by time kf[k]  z
dz
Z z
Scale in z a k f[k]   F 
a

f   
k Z n is an integer
Scale in time  F  zn  ;
n  n 1
Z
Convolution f1[k]  f 2 [k]  F1 (z)F2 (z)
Initial Value Theorem f[0]  lim F(z)
z 

Final Value Theorem lim f[k]  lim(z  1)F(z)

(if final value exists) k  z 1