Chapter Four

Z-Transform
Lecture #7

Rediet Million

AAiT, School Of Electrical and Computer Engineering

rediet.million@aait.edu.et

February, 2020

(Rediet Million) DSP-Lecture #7 February, 2020 1 / 26

4.1 Limitation of Discrete-Time Fourier Transform

The Fourier transform doesn’t converge for all sequences and it is

useful to have a generalization of the FT that encompasses a broader
class of signal.
∞
X
x(e jw ) = x(n)e −jwn
n=−∞

I The condition for the convergence of the infinity sum

∞
X ∞
X ∞
X
jw −jwn −jwn
|x(e )| = | x(n)e |≤ |x(n)||e |≤ |x(n)| ≤ ∞
n=−∞ n=−∞ n=−∞

I If x(n) is absolutely summable, its Fourier transform exists i.e

∞
x(e jw ) exits if
P
|x(n)| ≤ ∞
n=−∞

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Limitation of Discrete-Time Fourier Transform

Example:
1 n
a. Let x(n) = ( ) u(n)
2
P∞ ∞
P 1 n P∞ 1 n 1
|x(n)| = |( ) u(n)| = ( ) = =2<∞
n=−∞ n=−∞ 2 n=0 2 1 − 1/2
⇒ The FT of x(n) exist or converges.
b. Let x(n) = (2)n u(n)
∞ ∞ ∞
|(2)n u(n)| = (2)n → ∞
P P P
|x(n)| =
n=−∞ n=−∞ n=0

⇒ The FT of x(n) doesn’t exist or converges.

I So how can we make the FT exist intentionally?

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4.2 Definition of Z-Transform

The Z-transform is a useful tool in the analysis of discrete time

signals & systems and is the discrete time counterpart of the Laplace
transform for continuous -time signals & systems.
The Z-transform of a sequence x(n) is defined as an infinite sum or
infinite power series
∞
x(n)z −n
P
x(z) = x(n)←
→z x(z) , z is a complex variable.
n=−∞
The z-transform may be viewed as the discrete-time Fourier transform
of an exponentially weighted sequence as z = re jω and the
z-transform becomes
∞ ∞
x(z) = x(re jω ) = x(n)(re jω )−n = [x(n)r −n ]e −jωn
P P
n=−∞ n=−∞
|z| = r = 1 ⇒ x(z) = x(e jω )
I Since the z-transform is an infinite power series, it exists only for those
values of z for which this series converges.
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Z-Transform

The region of convergence (ROC) of x(z) is the set of all values of

z for which x(z) attains a finite value. Thus, the z-transform together
with its ROC gives a unique representation of a sequence.
I Uniform convergence of the z-transform requires that the sequence
be absolutely summable i.e
∞
X
|x(n)r −n | < ∞
n=−∞

Z-plane
Because the z-transform is a function of complex variable, its is
convenient to describe it using the complex z-plane with
z = Re{z} + Im{z} = re jω

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Z-Transform

I The contour corresponding to |z| = 1 is a circle of unit radius referred

to as the unit circle.
IThe z-transform evaluated on the unit circle corresponds to DTFT.
I Evaluating x(z) at points around the unit circle, beginning at z = 1
(ω = 0), through z = j (ω = π/2), to z = −1 (ω = π), we obtain the
values of x(e jω ) for 0 ≤ ω ≤ π.
I Note that in order for the DTFT of a signal to exist, the unit circle
must be within the ROC of x(z).

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Z-Transform

Zeros and Poles

Many of the signals of interest in digital signal processing have
z-transforms that are rational functions of z :
M
bk z −k
P
P(z) k=−∞
X (z) = = N
Q(z)
ak z −k
P
k=−∞
I Factoring the numerator and denominator polynomials, a rational
z-transform may be expressed as follows:
b0 M (1 − ck z −1 )
Q
X (z) = QNk=1
a0 k=1 (1 − dk z −1 )
I The roots of the numerator polynomial,ck , are referred to as the
zeros of X(z), evaluated for which X (z) = 0.
I The roots of the denominator polynomial, dk , are referred to as the
poles of X(z), evaluated for which X (z) = ∞
.
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 Z-Transform

Example-1:Right-sided exponential sequence

Consider the exponential sequence x(n) = an u(n)
-The z-transform is given by
∞ ∞ ∞
x(n)z −n = an u(n)z −n = (az −1 )n
P P P
x(z) =
n=−∞ n=−∞ n=0
∞
|az −1 |n < ∞
P
-Convergence of x(z) imposes the requirement
n=0
-The above sum will converge for values of z for which |az −1 | < 1 i.e
|z| > |a|. Thus, for this ROC x(z) converges to
∞ 1 z
(az −1 )n =
P
x(z) = −1
= , for |z| > |a|
n=0 1 − az z −a

- x(z) has a pole at z = a and a zeros at

z = 0 and together with ROC |z| > |a| we
can plot x(z) in z-plane.
- The Fourier transform, however, converges
only if |a| < 1.
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 Z-Transform

Example-2:Left-sided exponential sequence

Consider the sequence x(n) = −an u(−n − 1)
-This exponential sequence exists for negative n only, i.e −∞ < n < −1,
and the exponential sequence is inverted. The z-transform is
∞ ∞ −1
x(n)z −n = − an u(−n − 1)z −n = − (an z −n )
P P P
x(z) =
n=−∞ n=−∞ n=−∞
∞ ∞
(a−n z n ) = 1 − (a−1 z)n
P P
=−
n=1 n=0
-If |a−1 z| < 1, or equivalently, |z| < |a|, the above sum converges to
1 1 z
x(z) = 1 − = = , for |z| < |a|
1 − a−1 z 1 − az −1 z −a
- x(z) has a pole at z = a and a zeros at
z = 0 and together with ROC |z| < |a| we
can plot x(z) in z-plane.
- The Fourier transform, however,
converges only if |a| > 1.
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 Z-Transform

Example-2:Two-sided exponential sequence

Consider the sequence x(n) given by
1 1
x(n) = (− )n u(n) − ( )n u(−n − 1)
3 2
- The z-transform is
∞ 1 1
{(− )n u(n) − ( )n u(−n − 1)}z −n
P
x(z) =
n=−∞ 3 2
∞ 1 n ∞ 1
(− ) u(n)z −n + −( )n u(−n − 1)z −n
P P
=
n=−∞ 3 n=−∞ 2
1 1
= +
1 + 1/3z −1 1 − 1/2z −1

-Convergence of x(z) requires that

1 1
|z| > and |z| <
3 2
2(1 − 1/12z −1 ) 1 1
x(z) = −1 −1
, < |z| <
(1 + 1/3z )(1 − 1/2z ) 3 2
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Z-Transform
Properties of Region of Convergence

Listed below are properties of the region of convergence

1. A region of convergence has the geometric shape of a disk in the
z-plane centered at the origin, i.e 0 ≤ ri ≤ ro ≤ ∞, where ri is the inner
radius of the disk which may be zero and ro is the outer radius of the disk
which may extend to infinity.
2. The Fourier transform of x(n) converges absolutely if and only if the
ROC of the z-transform of x(n) includes the unit circle.
3. A ROC cannot contain any poles.
4. If x(n) is a finite-duration sequence, then the ROC is the entire z-plane
except possibly z = 0 or z = ∞.

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Z-Transform
Properties of Region of Convergence

5. If x(n) is a right-sided sequence, i.e., a sequence that is zero for

−∞ < n < N1 , then the ROC extends outwards from the outermost finite
pole in x(z) to ( and possibly including) z = ∞.
6. If x(n) is a left-sided sequence, i.e., a sequence that is zero for
n > N1 > −∞, the ROC extends inward from the innermost nonzero pole
of x(z) to (and possibly including) z = 0.
7. If x(n) is a two-sided infinite-duration sequence, then the ROC will
consist of a ring in the z-plane, bounded on the interior and exterior by a
pole.

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4.3 Z-Transform Properties

Just as with the DTFT, there are a number of important and useful
z-transform properties. A few of these properties are described below.
1. Linearity: The linearity property states that if

x1 (n) Z−→
←−− X1 (z)
and
x2 (n) Z−→
←−− X2 (z)
then
ax1 (n) + bx2 (n) Z−→
←−− aX1 (z) + bX2 (z)

ROC : Rx1 ∩ Rx2

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Z-Transform Properties

Example:
Determine the z-transform of x(n) = cos(ω0 n)u(n)
-Using Eulers identity, x(n) may be expressed as
1 1
x(n) = cos(ω0 n)u(n) = e jω0 n u(n) + e −jω0 n u(n)
|2 {z } |2 {z }
x1 (n) x2 (n)
and using the linearity property of the z-transform
∞ 1 ∞ 1
e jω0 n z −n + e −jω0 n z −n
P P
x(z) =
n=0 2 n=0 2
1 1 1 1
x(z) = −1
+
jω
21−e z 0 2 1 − e 0 z −1
−jω

1 − z −1 cos(ω0 )
x(z) = ROC : Rx1 ∩ Rx2 ⇒ |z| > 1
1 − 2z −1 cos(ω0 ) + z −2
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Z-Transform Properties

2. Time Shifting:
If
x(n) Z−→
←−− X (z)
then
Z−→ z −n0 X (z)
x(n − n0 )
←−−
where n0 is assumed to be an integer.
- ROC is the same as x(n), except at z = 0 if n0 > 0 and z = ∞ if n0 < 0
Proof
∞
x(n − n0 )z −n
P
y (z) =
n=−∞
Making change of variables m = n − n0
∞ ∞
x(m)z −(m+n0 ) = z −n0 x(m)z −m
P P
y (z) =
m=−∞ m=−∞

y (z) = z −n0 x(z)

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Z-Transform Properties

Example:
1
Determine the z-transform of x(n) = ( )n−1 u(n − 1)
2
1
- Take the sequence x0 (n) = ( )n u(n)
2
x0 (n) ←−− Z−→ X0 (z)
1 1 1
( )n u(n) ←−− Z−→ , |z| >
2 1 −1 2
1− z
2
- We know that x(n) = x0 (n − 1) where n0 = 1
using time shifting properties the z-transform will be
1 z −1 1
X (z) = z −n0 X0 (z) = z −1 ( )= =
1 1 z − 1/2
1 − z −1 1 − z −1
2 2
1
ROC: |z| >
2
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Z-Transform Properties

3. Multiplication by exponential sequence (Scaling in the Z-domain)

If x(n) Z−→
←−− X (z), r1 < |z| < r2
then
an x(n) Z−→
←−− X (a−1 z)

r1 < |a−1 z| < r2 ⇒ ROC: |a|r1 < |z| < |a|r2

Proof
∞ ∞
Z {an x(n)} = an x(n)z −n = x(n)(a−1 z)−n = X (a−1 z)
P P
n=−∞ n=−∞

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Z-Transform Properties

Example:
1
Determine the z-transform of x(n) = ( )n cos(nω)u(n)
3
1
- Take x(n) = ( )n x0 (n)
3
1 − z −1 cos(ω)
x0 (n) = cos(nω)u(n) ←−− Z−→ X0 (z) = ,|z| > 1
1 − 2z −1 cos(ω) + z −2
using properties of multiplication by exponential
1
X (z) = X0 (a−1 z) where a =
3
1
1 − (3z)−1 cos(ω) 1 − z −1 cos(ω)
X (z) = = 3
1 − 2(3z)−1 cos(ω) + (3z)−2 2 −1 1
1 − z cos(ω) + z −2
3 9
1
with ROC: |z| >
3

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Z-Transform Properties

4. Time reversal
If x(n) Z−→
←−− X (z), r1 < |z| < r2
then
x(−n) Z−→
←−− X (z −1 )
1 1
r1 < |z −1 | < r2 ⇒ ROC: < |z| <
r2 r1
Proof
∞
x(−n)z −n
P
Z {x(−n)} =
n=−∞
making change of variable k = −n
∞
x(k)(z −1 )−k = X (z −1 )
P
Z {x(−n)} =
k=−∞

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Z-Transform Properties

Example:
1
Determine the z-transform of x(n) = ( )−n u(−n)
4
- Take x(n) = x0 (−n)
1 1 1
x0 (n) = ( )n u(n) ←−−Z−→ X0 (z) = , |z| >
4 1 4
1 − z −1
4
using the properties of time reversal
X (z) = X0 (z −1 )
1
X (z) =
1
1− z
4
with ROC: |z| < 4

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Z-Transform Properties

5. Differential in z- domain
If x(n) Z−→
←−− X (z)
then
dX (z)
nx(n)←−−Z−→ − z( )
dz
- The ROC is the same as that of x(n) except possibly z = 0 or z = ∞
Proof
∞
x(−n)z −n
P
X (z) =
n=−∞
differentiate both side
dX (z) d P ∞ ∞ d
x(n)z −n ) = x(n) (z −n )
P
= (
dz dz n=−∞ n=−∞ dz
∞ ∞
x(n)(−n)z −n−1 = −z −1 nx(n)z −n = −z −1 Z {nx(n)}
P P
=
n=−∞ n=−∞
dX (z)
⇒ Z {nx(n)} = −z
dz
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Z-Transform Properties

Example:
1
Determine the z-transform of x(n) = n( )n u(n)
2
- Take x(n) = nx0 (n)
1 1 1
x0 (n) = ( )n u(n) ←−−Z−→ X0 (z) = , |z| >
2 1 2
1 − z −1
2
Using the differentiation property
dX0 (z) d 1
X (z) = −z = −z ( )
dz dz 1
1 − z −1
2
1/2z −1
X (z) =
(1/2 − 1/2z −1 )2
1
ROC: |z| >
2
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Z-Transform Properties

6. Convolution property:
If
x1 (n) Z−→
←−− X1 (z)
and
x2 (n) Z−→
←−− X2 (z)
then
x(n) = x1 (n) ∗ x2 (n)
←−− Z−→ X (z) = X1 (z)X2 (z)
ROC: Rx1 ∩ Rx2 Show the proof !
7. Initial value theorem
- If x(n) is causal then
x(0) = lim X (z)
z→∞
- If x(n) is non-causal then
x(0) = lim X (z)
z→0

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Z-Transform Properties

Example:
Use the z-transform to perform the convolution of the following two
sequence
1
x(n) = 3n u(−n) and h(n) = ( )n u(n)
2
1 n 1 1
h(n) = ( ) u(n) ←−− Z−→ H(z) = , |z| >
2 1 −1 2
1− z
2
−3z −1
x(n) = 3n u(−n) Z
←−−−→ X (z) = , |z| < 3
1 − 3z −1
Using the convolution property
1 −3z −1
y (n) = x(n) ∗ h(n) ←−Z−→Y (z) = H(z)X (z) = ( ).( )
1 − 0.5z −1 1 − 3z −1
1
ROC: < |z| < 3
2

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Z-Transform Properties | summary of z-transform

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 (#1 ) Class exercises & Assignment
Determine the z-transform of each of the following sequences. Include
with your answer the region of convergence in the z-plane and a sketch of
the pole-zero diagram.
πn
a.x(n) = 2(0.8)n cos( )u(n)
2
1 |n|
b.x(n) = |n|( )
2
c. x(n) = δ(n − 5)
d.x(n) = (0.25)n u(n) + 4n u(n)
1 −1
e.x(n) = ( )−n u(−n − 1)
n 2

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