Social Book Centre, 7th Road, Rajawadi D.2. Road, 22, Seva Sadan, Vile Parle (West), * Mumbai - 400 056 Mumbai - 400 077 Shri Balaji Book Stores, Shop No. 38, Balaji Aangan, Opp. Kharghar Rly. Station, Sector-3, KHARGHAR, Navi Mumbai 56100037 / 9819051913, Bhavans Book Stall, Inside Bhavans College, Andheri (West), ‘Mumbai - 400 053 Phone : 26243410 Laxmi Book Depot, Saloni Sadan, Shivaji Path, Jagdish Book Depot, Student Book Store, Shop No. 13, Bldg. F-1, Sector - 9, Jui Nagat, Vashi Milan Book Deopt, Shop No. 2, Bldg. F-4 Sector - 9, Vashi Phone : 27662002 Bhavik Book Centre, 12, KT. Road, Station Road, Jayesh Book Agency, 18, Shivalaya Shopping Centre, Station Road, Chembur (East), Mumbai - 400 071 ‘Phone : 95250-34280 “Ganesh Book Centre, Sector 15/16 Market, J.P. Road, Andheri (West) ‘Mumbai - 400 053 Phone : 27656084 Gaurav Agency, 1954, Rama Lane, 11, Rabhaji Niwas, Road, Bhandup (West) Z - TRANSFORMS BSS SSS 1. Introduction We have already studied Lapace Transforms and Fourier Transforms. Both these transforms are continuous functions. These transforms are not Useful or studying discrete systems. Linear systems in which the input signals are in the form of discrete pulses of short duration are called ‘Linear Time Invariant (LT) systems. For the analysis of such systems we need Z-transiorms. In this chapter we shall first get acquainted with: sequences, then study Z- transforms and then inverse Z-trans‘orms, After studying Laplace Transforms {and Z-ransforms, you will find that Z-transform is the discrete analogue of Lapiacs Transform. For every operational rule and application of Laplace transform there corresponds an opesational rule or application of Z-transform. For example, you will find Linearity Property, Shifting Theorem, Convolution ‘Theorem etc. in both Laplace Trans'orms and Z-transforms. 2, Sequences objects are arranged accorcing to a certain rule, this arrangement is called 2 sequence. We are particularly interested in sequences whose members are real or complex numbers. So we define a sequence as follows. Definition : An ordered set of real or complex numbers is called a ‘sequence, We shall denote a sequence by {/(k)) and k-th term of the sequence by 1(K). For example, we have a sequence £29, 29,22, 2, 2K woud For k= 0, f(k) f(A) =2" .... Thus, in a sequence we have to take into account, the order of a term k, he term of k-th order (Kk) and the Set of all such ordered torms { £(0),f(1), .-- F(R), .--} called the sequence, 1. The most olomentary way to denote a sequence is to list all the ‘members of the sequence. For example, {1 = 02,16 8,5,3,6,9) ‘The elements and to the right ‘The arrow 7 indicates the elerrent corresponding to fon the left of the arrow correspond to k = -1, -2, -3, corresrond to k= 1, 2,3, Downloaded from FaaDo0Engineers.comWOI"S Jaau|buygogeey HOY PePeqjUMog ‘Applied Mathematics - mt (1-2) (Computer and E.T.) 2 Transforms 2. Anther way of donating a sequence I to give the gene! em n ‘terms of kwhich varies from ~ 2 to = taking integral values. * For example {f(K)} = 2* (where kis an integer). This sequence is (vn 2328, 2, 29, 2829, Asillustrations we can have the following sequences and can have many (1282-27328 ke DK Ly {1-0!,2-0%,3+ 08, kak, 3. Basic Operations On Sequences We shall soe below some properties of sequences through examples. 1. Addition : The sum (or aiference) o uonces is o acting (or acing the coespondng tonne ot noe sateen Forexample, if (f(K)} = 1°, 2°, 39, 43, {g(W} = 1?, 22, 38, 42, then (F(A) + (99) = ((19 + 19), (2 4 28), 89499), 4) aad 11262, 283,94, BEN) sac) {19 ~ 44), 29-29), (89-37), PR ad 120,271,970, KAT cad 2. Scalar Multiplication : If « isa scalar then ftom a given sequence {we cana author Sequence} 6) Moog ae enn Of the sequence {F(k)} by a. {adoring each term (8) For example, it ((k)) (F09)~ {9 (00) Applied Mathematics - I (3) (Computer and ET) 2-Transtorms Hh) = VA, VB, WB, nese soo then 2-{((h)} = 21, 2N2, 23, ....01 20K, , 3. Linearity : If and B are two scalars then from two sequences {f(K)) and (g (K), we can obtain another sequence by multiplying the terms of the two sequences by «and Bas above and adding the corresponding terms. je. a {F(W) +B (gia) = {a 11K) +B 9(H) For example, i {F(k)= 1.2.3, he. 2, 15, 1:93, 125, INis easy to see that as the number of terms becorre infinite the sequence {goes on decreasing and ultimately takes the value 1, Such a sequence {f(K)} iscalled a convergent sequence. Definition : if (F(K)) is a given sequence and if f(A) tends to a (finite) real number Las ktends to ininity then {f(K)}s called aconvergent sequence. ‘The following sequences are convergent. (I) 8 8, sereey By cerns By soeee CONVETGES TO aT 144 WEES snes eonverges to 0 tt at 1 G4 eM A ee Hee eeee conv 1 (i 14 Sys Te Se ty. ¥ converges to Definition : A sequence which is not convergent i.e. which does not tend to a (inte) raal numbe is called a divergent sacuence. The following are divergent sequences, 4,2,8, ors diverges to = ()A2,-8, sors hones vORGES 10 ~ = (il) 1,2,1,2,1,2,.. escilates between 1 and 2 ()0,1,0, 1,0,1, oscillates between 0 and 1 prepa‘Applied Mathematics (Computer and E.1.) oa) 2-Transtorms 1. White down the term corresponding to k= 3 of the following sequence {-6,-3,-1,0, 2, 4, 6,8, 10} [Ans. :8] 2 : 2. Write down the term corresponding to k=. Sof the following sequence. (12, ~10, -9, -7, 5, -9, 1, 4, 6, 10) T [Ans. :— 10] 8. Write down the sequence if kth termis 3*tor—2< ks 4, 4.4.3.9, 27,81) hi [Ans. . a3 ‘4. Write down the sequence where k-th torm 2M for —w < k< =, (ans. : {. a 16 4. Z- transforms We shall now define Z-transform of a sequence. Dentin Lat) =. f9) 2) Ko 10), be a soqunceoftems whos vats tom sage FO wed Let zm x ibe a complex nantes fen Z(F(K) FACED A+R) 241) z14 10) 2 +A (2) 27 4403) 794... = Smet $Me (ores | is called the Z-transform of the sequence {f(W)}. tus, [Zen Sarr te ‘Applied Mathematics - i 8) (Computer and ET.) Z-Transtorms Notation : Unfortunately there is no unanimity in the rotations used in the case of Ztransform. Some use XY... tO denote sequences and Xp, X, 1 Yor Vie ~~~ tO denote the terms of the sequences, We shall denote the sequences by {f(K)}, (9 (K)},... the torms of the sequences by f(1), (2), un. 9(1).9 2), .. and Ztransforms by Z(f(K)}, Z{g(H)}, nm oF by F(z), G(2), ote, Notes 1. tis necessary to know which is the zeroth term, first term, second term minus first term, minus second term... .e. we must know the order of each term. To obtain Z-ransform of a sequence we multiply each term by negative power of z of the order of that term and take the sum, 2. —_Z{F(W)} is function of a complex variable zZ and is defined only if the sum is finite ie. if the infinite series ¥ f(k) 2° is absolutely convergent. We shall denote the Z-transform of the sequence (f ()), by Z{f(K)} or by F (2). 3. Wherever necessary we shall denote the sequences by {f(), (9 (K)) ote. 4. fZtransfonm of {f(K)} is F(z) we call (f(K)} the inverse Z transform of F (2) and denote it by Z~"[F(2)). Extsit (/(K}=(-6,-3, 0,2, 4), + find Z(f() where T denotes the element corresponding to A= Sok: ZtHtk) = EKyz™* = H2)2? + KZ whore, -2)=—6, f(-1) = -3, 10} =0, £1) =2, £2) Zuey= 3 siz +1(0)29 + (21+ £(2)2* 4a 6)27 +(-9)2 40.2 +2244 42"? 2,4 wneztv924002 44 Ex.2:H {f(K)}={9, 6, 3, 0, -3, -6, -9}, find Z(F(K)). tT ince 3 is the term corresponding to k= 0. We have #-2)=9, F(-1)=6, f(0)=3, 1(1) =0, f2)=-3, 1(8)=-6, (4) =-9. Zh) a Hwyz* Downloaded from FaaDodkngineer's.com‘Applied Mathematics - i (Computer and E:7) = 92746214329 +024~32%-629_97 WOI"S Jaau|Buypogeey HOY PePeqjUMog (1-8) ZUlk))=922 +02+9+0--5- 5-5, Ex, 3: IF (f(H)} = (2°, 24, 2%, 2°, Sol. : Ztransform of the Sequence is Zay= Ez bee = P29 421244282? 4 2873, 2 E-G) 1 Zz "Tem" z-2 " (- ssasarvars Be. 4:1 (49) -{f he soquence is 0) fork <0 at, fora 0! AZ UH). And Ztransform of f(K) is ZF = et Ase Peat Peery +P Peat eter ery crety ls thre ) 49, 47, 4-4, 99, 31, 3, 39, We wite positive powers of z in reverse order. Z-Transforms “= 22-3) #3 ais the set of points outside the circle with radius a and centre at the origin. Izl4. Since, for the Ztransform to exist the corresponding serios must be convergent. The above Z-transform is detined only if| z| > 4. [Note : Note that @ GP. ay.ar, an. ar” sum is convergent if| r| < 1 and its a S= 75, where | rl< 1.) 9) Z-Transtorms Applied Mathernat (Computer and E:T.) But | z|=4 is a circle with centre at y the origin and radius = 4. Hence, the above Ziranstorm is defined if z> 4 i. if zis on the exte‘ior of the circle | 2] = 4. ‘The region for which 5 (k) 2*is convergent is called the region of convergence denoted in short by F.0.C. Ex. : Find the Z-transform and the region ef convergence of 1K) =8* fork<0 “23 for k20. E toz re Sol. : By definition Z (1) 4 Este ZiHh) Putting k= — nin the first series, we get Zhan) = Esr2 + E ater z Ber? 2.2 28 3,8 ruwy-[EsBodrfi fe bee -| 2 3,8 Zh 2eZa/sfae . ded] [ ae | 5 wae-3 2 iy) te he sum ef two Geomete Progressions withthe conta {MS (912) espe. The sofas wil bo convergent javeretand[g/elc%. fo. [2le5and Belz le 3121<6 ut 2| =e acl wih conto at tne oign and rads © and [2] 25 8 Groeten atthe ong ard ad 6. Hnca 2 (a) fe convergent 2 Tes Sotagn ho ennui shown ie ue “alsin region of eonvergence ot 200) wet is shown by shad ro. ROC is 8<|z1<6. Downloaded from FaaDo0Engineers.comWOI"S Jaau|buygogeey HOY PePeqjUMog Applied Mathematics - It (1) (Computer and ET.) ‘Applied Mathematics - Il (1-10) (Compuner ang #1.) 8. Z-Transforms of Some Standard Functions Ex. 1: Find the Z:transform of Unit impulse function 8 (K) = 1 fork=0 O otherwise Sol: Z(60N)=, E_ a2" <0 4040+1927+04040.. for allz This is convergent for all z -. ROC is whole of z-plane. The graph of unit impulse function is, 4-3 2 4 Ex. 2: Find the Ztransform of Discrete Unit Step function U(K =1 fork20 =O for k<0 Sol: ZUR)= EF Miyz" -4 3 2 This is convergent if|1/z1<1 ie.1<|zlie|z|>1 POCis | z|>1. Since, Z (Ut) = = 714] where Z~* denotes inverse Ztransform. Z-Transtorms Keo convergent a/z]<1 ‘Sol, : Put i) e=2 in the above example and (i) «= 2, Sol. : We have Ex. 3: Find the Ztransform of f(k) = kak, k= 0. Sol. : Assuming f(k) = 0 for k< 0, Zonk + E kate Keo kate Zuy= Enz" 2 a 5.08 2041 S42 Sas Se roe (1) O41 S425 Applying D’Alembert's radio test to (1), we find that the series is Jal<| 2}. 2 ROCis|z1>]a] sect ptt ett 2a CF [ee “ Particular Cases : (I) Find the Ztransform of f(K) = KS, k2 0. (i) Find the z-transform of f(k) = k2* + k36. az 2z @-2F (ans. slzl>2, i) e ¢ Ex. 4 Find the ztransform of f(k) = at, o.> 0, K2 1 ziftky)= 3 oz bx §: Find the transom h)= 2k ‘Assuming f(K)= 0 for ks 0, zioy=,£ onet eS aApplied Mathematics - Ill (1-12) Z+Transforms (Computer sna 7) tog(1-2) Zi(h) Applying D’Alember'’s Ratio Test to (1), we find that the series is convergent | 2/a|> 1 2. ROCis|2|> |<} Particular cases :() Find Zranstorm of k)= 2, k=. sal:ruactinnesbowoane, ames -ta(s-2} ef 3 (i Find the Ztranstorm of k)= 2, 21 Sol, : Puta =2in the above example. tAns.: —teg(1~2) j2i>21 Ex. 6: Find the Ztransform of (K)= Bol. : Assuming that f(K) = 0 when k <0 ‘The series being GP. is convergentif 1>|a/2| te.|z1>Lal ROC is |z]>J al. Since, Z{a*) = —2 z'[F]-a neo Ex. 7 : Find the Z:transtorm of f(k) = bk, k< 0. Sol. : Assuming that f(K) = 0 when k2 0. ZuiK= E mye k= Yoke k= F wee" where Bs (Note the substitution n =~ X) ieee “bo bi-eIH bz The series boing GP. is convergentif >] 2/B| Le. |b|>|z/ . ROCis|z|<|b|. See, 2104 = 525, z"[ 525] 0h <0 Applied Mathomaties- 19) 2-Transtorme (Computer ant") OK, k<0 Ex. 8: Find Ztransform of f{k) at k20 Sol. By example 7 and 6, we get Ze) =o +E WO= St = 20-0) as talao “(@=2(@-b)" tl 7 [Note : In general the Z-transform of {f(K)} = bf, for k < 0 and {f(A)} = a for (o-a)z @-Ae-a) k20is and a<| z| 1. « Bx. 12: Find the Ztransform of (k) = =, k= 0. sou: Zumy= 8 #2 =e"! ROC is all of zplane, + You are advised to memorise the Z:transforms of these standard Find the Ztransform and its ROC of each of the following sequences. K k20 3. £(K)=(1/6)%, k20 6. 1(K)=5, k20 9.1K)= (1/3), k <0 12. f(K) = ak k<0 oko (a, b>0, a> 6) T4.(Q= KS K20 —18.1(K)= kal k20 (a>0) 7. 1)=2% <0 K wt) = 2 a> 18. 11k) = ©, k>1,a>0 / 2), for all k (17 491, for all k for all k (0 +t lz, oer 4a ile © S-saay ile 7 ze ilated, FE em l2l<2, @ 3 serie @ 32575 2% __ —— is |< 4, (19) wae 2clzl<3. 1) Goyary '8 | az and 1>| 4] co. > at and | z|> a. | The ROG is (1/a)>|z1>a Sol. 3 one ts Sch cosake"* E ot iso jak = | 27 A Downloaded from FaaDo0Engineers.com df =F ke. ioWOI"S Jaau|buypogeey HOY PePeqjUMog Applied Mathematics - i (1-18) (Computer and E.7,) 2 Transforms 2} _ 22~20(6'* +e/)/2 2| Pace 24 =, 22- e008) F = azec0sa+ ~~ @) From (1), we find thet the series being G.P. are convergent z|>|ce!"] and [21> 100°!) 1e, | z|>|¢(c08 a isin o)|Le.if| 2] > | Ex. 5: Find the Ztranstorm of (0 f(K) = c08 ak, k> 0 where cris real, kr i) (k) = cos KE. 0 AK) = cos XZ Sol, : Put ¢= 1 in he above example. Zt) = ZE= e080) 222008081 Purtng a= 5, 2 feos} = 22-12) 1, 3 3 wa z41 ileb4 Ex. 6: Find the Ztransform of 1(k)= sin ak, k> 0. Sol. : Following tho above lines we find that Zk) = S78 > ~Pezeosaso? l#Ilel Ex. 7: Find the Ztransform of ilzl>4 esink® (1 1) = sin. Sol. : Put c= 1 in the above example. er Puting «=, 2{sin st ‘Applied Mathematics - it (1-19) Z- Transforms (Computer and €:7) Ex. 8 : Find the Zransform of f(k) = c¥ cos hak, k 2 0 Sai ZulKY= FE iz’ = 5 ck coshakz* 0 ” [By note '3), page 1-8] ] 4 zac +2-cet | 2|F zee +04 =2[_2z-20cosha_]___z(z-ccosha) 2 ze cosha+ co? |” Z— 2z6cesha +o" From (1), we see that the series are convergent if |2| > |ce"| and |2|> [ce"*| respectively ie.| z| > max. of Jee"| and |ce™*}. Ex. 8: Find the Ziraneform of 1k) = 0" sinhak, k20 Sol. : Following the above lines, we find that czsinha 8) and Jen Zh) = pS 2ORE |» mane] and fom" | Ex. 10: Find the Ziransform of (sin (ak + b)), KO. Sol.: We have sin (ak+ b)= sin akcos b+cos ak sin b + Z{sin (ak + b)) = 608 b Z{sin ak) + sin b- Z (0s ak) a cosb.—-Z8IN@__ giny,_2(2~c088) 2 2zcosati 2-2z008a+1 _ Z[sinacos b ~ cos asin + zsinb} 2 —2zcosa+1 _ Z{sin(a—b) + zsinb} 2 -2ecosa+t Ex. 11 : Find the Ztransform of (cos (ak + 6)), k2 0. Sol: We have cos (ak + bj = cos ak cos b— sin ak sin b Z (008 (ak + b)} = cos b+ Z {cos ak}— sin b+ Z{sin ak} + . z(z-cosa) zsina F—2zc0sa+t =2zcosa+t =cosb. sind.‘Applied Mathematics - I (1-20) Z-Transforms (Computer and E:T) _ z[zc0sb - (cosacosb + sinasinb)} ° 2zcosatt __ Z1z6086 ~ 60s (a b)) “Fa ezcosa+t Ex. 12: Find the Ztransform of {ove (B+ ah kz0. Sol: We have z= 2 em(*E +a) = font conan} scons 2 eon} sna 2n 8} Fle) = cose. 22808891 _ ging, _z8in(n/9) 1? — 22.003 (n/3) +1 27 = 22 cos (n/3)+1 = 212608 a ~ [608(n/3) cos «+ sin(x/9)sing]} 2 = 2005(n/3)-2+1 = 212008 « = cos (n/3) — al} “= 2e08(n/3)-2 +1 Find the Ztransforms of the following (k= 0). " 12k 2( 3.008 k 4.008 2k 5. sin k 6. sin 2k 7. cos hk 8. cos h2k Qsinhk 1.sinh2k At sin(k+1) 12,2 eos k raancaksy weos kes) s8.se(oke$) 18 on(ets az az 2(z~c0s1) Tay © eager’ © tees (ans) Taam’ © Baez’ © F—azc0st-1 2(z~ 0052) zsin1 zsin2__ O Pa azcse+i' |) F=2e08t01 | FZ acosa41" 2z~coshi) gy _z2(2~cosh2)_(g)__—_sinht P= 2zcoshie4 = 2zc0sn21’ © 2 —azcoshiet sinh2 2 sint ao 2 —pzcosh2+1" om 2 = 2200811" =2c0s1-2 2(sini+zsin2) 12) + (43) Z{entszsin2) i 40081244 V2 —2zc0s3+1 Applied Mathematics - It (1-21) Z-Transforms (Computer and €:7) 2(z- cosa) 2zcosa +1 (ay 2120082 ~cos1) 2 —2zc083+1" ~z0080 16) ap neo i 3 —2zc0sa+1 1 (5) @) change of Scale Theorem ; If Z{f(k)} = F (2), then Z {a (k)) = F (z/ a) and if ROC of Z(fik)} is Ry <| 2] < Fe, then ROC of Z(a f(K)}is | a] Ry <|z]<|a| Rp Proof :8y definition, Fa)=Zu)= E Koz Replacing z by 2/ a, we get, a x ‘o(2) But by definition again, Zeattany= Eada” 2) Z {e109} = Further, if ROC of Z(f(X)} is A <|2| < Ap, then ROC of Z(a* f(K)} from (2)willbe F<] z/a|

orollary 1: Z{k) er lz|>1 Zi(k—m} = Corollary 1 : Since for one sided sequence (k= 0), we have Zn) = ME(a)* 3 fone Z= Eek eter tezr eee. Since for causal sequence f(- 1) = f(-2) = wn. f(-n) = 0, the second term is zero, 1 tes Zif{k=n)}= 27 F(z). > Corollary 2 : Since for one sided sequence (2 0), we have Zeist nes zi Zk += 2" F(2)— Emp Now, by the above theorem, Putting n= 1, Zuo zte-n=(-2Z)2 09 2 ZUlk+M=z2'Fe)— % Aoz-? -(-22)( z Je (@=1)t-z Oe a =2ZF(z)-z1(0) Puting n= 2, . |-cae lal. 2Uhber 2) = 22 F(a)~ temp” Corolary2: ZK?) = 2249 = 27 F(2)-[fo)2?-* + 27] “ e-w Prost : We have proved above that 21) = 27 F(z)~ 27 0)-z 11). (4) Multiplication by k Theorem : If Z{f(k)) = F(2), then Z {k Kk) ‘By the above theorem, 2 20) 2202 9-22) 2 Proof : We have, by definition, S\-22)(45) Ziti = FE kAQ2” BEAK) d\f_z - | cS )iety] tsar Downloaded from FaaDo0Engineers.comWOI"S Jaau|buypogeey HOY PePeqjUMog ‘Applied Mathematics - It (1-28) 2-Transtorms (Computer and E:T) . iP = Z+2(z-1)-1 ee w-o[ecneze @-1 2(2+1) (6) Initia! Value Theorem :1Z{F(H} = F (2), K2 0, thon 1(0)= fim F (2) Proof : By definition znoy= E102 =F(2) H0)29 +1(1) 274 + 2) 2°? +....= F(z) “Taking the limit as 2 -» = of both sides of | (0) + @ £2) = F(z) . f(0)= tim F(z). (©) Final Value Theorem: im fk) = lim, (2—1)F(2) Proof : By definition, ZAthe+9)~ Hh) = Fhe 9) 10912" i 2 enies = Z(H) = fim Ek +1) K0g12* ZF (2)~21(0)-F(@)= fm $k + 1)—10012-* { By coroliary (2), page 1-24 = = AVF (z)= 2110)+ lm Elk +1)—10K)12-* fin, (2-1)F(2)=A(0)+ fim, im EM + 1)—Mag]2-* ‘Changing the order of limits, sien =F (2) = 100) e-em, +1) 1401-2" = H0)+ im SNK +1) =H) faye 4 = im [F(0) + £€1)— (0) + (2) = (1) +0000 fr 1) ~ Aa] = im fos 1)= fim fn) = in (8. Applied Mathematics - It : Transforms Computer and E.T.) . (ran 2-Transto (7) Convolution 1 (F (4) and (g (Ki) are two sequences then their convolution AF(4)} * (9(K)} is defined by h (4) = {F(4) » (9 (Ki) whore, (h(k)) = Em) g(k—m) = E_gomik—m) = (94H) = (H(K)) ‘Theorem : If {h(k)) isthe tonvolution of two sequences (f( thon Z(h() = 2178) Z{9(H) Len HG) FQ) OG) me camh Proof : By definition, H(2)=Z(h(h) |, ‘Since the power series coverges absolutely, it com it at it converges uniformly also within ROC. Hence, we can interchange the order of summation. =Z [ten toe] fim) g(k — m| E_Amak- mes He2)= E_ fm ok—mz* 92% where, p= k—m. (When k=—=, p) ~ H(2)=F(2) G| Ex. 1 IFF(H) = U(K) and g(K) = 2* U(A), find Ztranstorm of F(A) « 9(k). We know that (0 (4)} = U(K) ZU = Ete ate ty dy, (Hh) =¥ Woe and when k=, p==) Fe ig By the change of scale property, = <1.‘Applied Mathematics - I (1-28) Z-Transforms (Computer and 7) . 212 Zig(k= ZUR) = wa z 2 oa-35 2 <1 By convolution theorem, Z (Hk) +9(h0} = F (2) G(2) = Ex. f+ 9(W. = t.-2, \z <1 1-6/2) z-5' |z _ By convolufon theorem ZAMk) + 9(k)}= F(z)-G(2) z __2 @-4 @ a E-aa8) Ex.3 ind Z(F(H)} where MK) = e+ = EB eet ate grote 0 Fey 1 2z ihe” 2-7" sity af Sol.: |2z|>4 he. lal> 3. Downloaded from FaaDo0Engineers.com Applied thomatios I (1-29) Z-Transforms (Computer and E:T.) Sol: Sol.: By convolution theorem, 1 lz> 2. 2000) -(EE)ES) teh 3 Theorem : If Z(/(K)} = F(2, thon Z{o"** Kk)) = F(e%2)- Proof : By definition, Fe zitiy= 3 yz* Fez). x. 1: Find the Ztransform of (ke™®*), k 20. i ‘We know that if U(k) = 1, for k> 0, then Z({U(k)} = ! By the above theorem, Ze U(ky] = = Now, by (4, page 1-26 ~ d{_ez Zike™) | heer") 7$(£5) =a zet,| (62: 2-11- 2(07) 78 (2-1) =-z.88 wi aed zee Ex.2: vn Ze nabh) We have already obtained Z cos bk) = 2 = <8 b) F—2ecasb +1 Now, by he above result, - etz(o"z -cosb) i 2 (27 cos bk} = C2 (0°'Z— cosh) _ i te °F zF-2(e2)c0sb 41 | Multiply in the numerator and denominator by e”*#, | Z(67** cos bk) 2(z-e"* cosb) | 2° 2678 zcosb +e" , Ex. ‘ind Z{ €** sin bk}. Sol. : We have already proved that Z(sinbk) = 202WOI"S Jaau|buypogeey HOY PePeqjUMog “Transforms ‘Applied Mathematics - It (31) Z-Transtorms Applied Mathematics (1-30) Z-Trans polled a | eietersnce Cine anae) | :. By the above property, Miscellaneous Examples | nok (etz)sinb Ex. 1: Find Ztransfom of ( a cos ka.+ bsin ka), k20. Zo ™ sindh) = aE aietz)eoeb Ft Sol: Z(acoska+ bsin ka} #2.sinb = aZ{cos ka}+bZ'sinka) —_[ By ineatity property } ! Fa2e*-zcosb+e™ aa, ZZ= 280) yp, zsine yyy Peazeosart Fa azc0s041 mare Tazcesa+ | ‘Table of Ztransforms ae a ‘2zcosx +1 4. Z15(1=1 for all z =az! +2(bsina - acos) . ‘ B= 2zcosa+1 jzl>t kx exerted z(t a) vets sol: since s(*E +a) sin KE cosa + cos “Fina lzl>4 4 ‘ 4 ke kx ke zee Eea lak (f ) { 4 4 ko, [zletal =cosaz.{on{x)} +sinaz-[oo$-x)} = cos a—p_—Z SiN!) sina 212 c08(r/4)] | 7. Zikay= ke0, lzl>lal = 0088 ez cos wlayri 2 2zcos(nlA) +t | eal _vosas(zii2)_, sinaz-tz- (2) a.zeoa=(14) osksn [2170 Pa@eiei eee i oe toed __Zfoosa+ sina (V2 z~1)) i els “Peat 9. 20Cq)= es - kx 3 Find Z{1(k) where Nik) = cos XE + 7 {ea seowien. Ex. 8: Find Z(F(K) whore Mi) = o0s( ME +a), #0, . 2) . Ke) coe KE 1 Sol. :Wehave cos(KE+'a) = cos K®c0s a~ si My = 82 al tel 2 2 {o0e(E +.}} = 2{c00# cona an sna} 12, Z(¢*cosak) = = E=Ee08,, 4 @ 4 . aoe asie one. 2 eos} ine2| ic! Bitaasase”’ 7 43, 24 sna = pe lzI>lel Z@-cc0sha) x9 = cosa. Zlz=c08(e/4)}_, _sina-zsin(/4) 14. Z(c* coshak) 2 =2zc0s(n/4)+1 Z* = 2zc08(n/4) +1 _cos.a-zlz—(V2))_sina-z-1V2 eae zst Paezti __z [oosa(V2z~1)-sina Bl Pea F=2ezcosha+ ce" |z| >max(|ce%), lee" 1) ezinha gs Za 2ezcosha +e |z|>max({co|, lee") 18. Z(c* sinhak‘Applied Mathematics - I (1-33) Z-Transforms (Computer and €:7) ed Mathematics (1-2 2-Transtorms (Computer sna) ° By change of sale property, Zeina Find Z(2* cos (Sk+2)), k20. Ex. 4: Find Z( 2" cos (3k+ 2}, 213 sinha = Sol.: We have cos (9K 2) = cos 3k cos 2—sin ksin2 | a + Z (008 (Sk+ 2}} = 6082+ Z(c08 34)~ sin2+Z (sn 3K | 2) -2{z)cosha+t . z(z-c0s3)___sin2-zsin3 sete oS? Pa pzeos8e1 722008341 * Prezcoshand’ = Zlz0082 ~ (608 3c082 ~ sind sin2)] Ex 7: Find 2(9Kcos hak, hoo, 2 22008341 ‘ez. c0sho) 2:12.08 ~ cost] | Sek: Werave Z(cosnak) = FE=soshe) “FP — pz 008341 z a By change o sale pr By change of sal propery, ae ope uy=F(Z §(§-cosna) HZ U(m)= F(a, thn Z a 149)=F (2) = ztttemane a 7 afz 3[5-coe2-coet] (3) <2{Z)eosnass Z(2* cos(3k +2)} = 242 2(z-3c0sha) (3) -2(g)-o+ arene _ Z1z0082 ~ 20081] Ex. 8: Find Z((k+1) aX}, K20. “"7? = azc0s3+4 Sol.:We have Z((k+1)a*}=ZkaX}+2Z(a*} Ex. 5: Find Z(2* sin (8k+2)), k20. But we know that Za) = —2 za jarave sn (+2) en Okeos 2 08 Skin 2 “ : > Now, by the property of multiplication of k, Z {sin (Bk-+ 2)} = cos 2 + Z{sin 3K) + sin 2 + Z (cos 3A} zsing___, sh2.z(z~cos3) . Ztkak 4 z } 82: pzcosssi* FF Bzc083+1 Bea 2 lena, Ga [sinse0s2- cos Sen? 78in2} ea WT Ba ezcosset Gia aa _zlsin(92)4 20a)» Psion + sna) aa Zk ney 2fsints zsin2) 2 Rzc0s8+1 = 22008341 Now, by change of scale property as abow, eee 2 fine Zein Gea? aaa 2| 1 2 2 Ex.9:FindzZ( Mo *%, k20. Z(2* sin(3k + 2) 3) ~2(J)cosa+1 fe have already obtained that, 2 (e-® [Ext page 1-29] | 212sint + z6n2) “ZF 4zc0s3+ 4" a 2(ken*) $(—5) Ex.6: Find Z(3sin hak, k20. sinha o74)-1- (2) Wehave 2 (sinhock) = —-—280h Prozceshavi 2 2zcosha+t Downloaded from FaaDo0Engineers.com‘Applied Mathematics - It (1-34) (Computer ard E:T.) ZUR) = Zk (keM)} lo Z-Transforms Ex. 10: Find Ztransform of (2 a"), k2 0, Sol. : We know that, Z{f(k= n)} =2""- F (2) Z{akly=2-1F(z) where F(2)= Z(a*} . Zak @-aP a” e ZUR aN = Zk (kal) Ex. tt: Find Z(2 at" U(k~1)) Sol. : We now that, Z{U(k)} = i By change of scale property, uae 2/8 ZU = BF Zthk—mp= 2-7-2106) Zia Uk == 27. Zak UW) WOI"S Jaau|buypogeey HOY PePeqjUMog Applied Mathematics - (1-35) 2-Transtorms (Computer and E.T.) . 21 umm (-2Z) (4, 2 zz+a) ap as above, Find the Ztransforms of the following, 1.188454), ko 2. (ak+ BY, ko 3. (9+ 5%), k20. 4. (a+ BY}, k20 5. {2+ 13K), k20 6. {he + KB), k2 0. oe oe rfEethee a [Blane 2. {a+ Sh exo tm {otf} aco tens 20 1 fn(!E oa) noe 12. {c0s 5k), k20 v4 f(a) a0 sea(ME ea} a20 rran(tra).r20—snon( "al z0 Kc0s( +), b> sin EN go 19. {ors ( gj} 20 20. {at an( wee 21. {cos 34), k2 0 22.(6°*sin 2k), k20 1) 82-227 B-a6-3" (a+p)2-22 © (a-20-3) 227 - az ® (2-3)(z-5) [Ans : lzi<3 + Lzl max. of Jal, © Boat” eape 2 mee Teh IPL (@) Direct Division o =f 2 (e- 2 kbs In this method, we divide the numerator by the denominator and obtain ° (2) . | apowor series ie.it F(2)= © ~=E=B} z[> niax of fal [BI . we actually divide P(z) by Q (2). However, (2) this method, now, is of academic interest only. eo gigr gles £1: Find the inverse Ztranstrm of poe tablet ey gettin Olzi>1al_ @Izllal|2 >1 ie. [2 |-<1, we consider | 2(z~cos5) 2 sina+zcosa . (02) Br ezc085 +1 09 Pt Fens | an) g[esesSesnsee—3] By actual division, we obtain a sores expansion of == ! on #[seaee- tana) on z[seacteanlae=f zat ( | 18) y[seage=s.8l-sne) 09 feeb 1 2+3z 2z(z-07* cos3) A248 tag zie Peo) 0 BF 9' 2) e200 + 6 10. Inverse of Z-transform ‘We shall now consider the reverse problem i.e. given the Zransform Z(f(k)} = F(z) of a sequence to find the original sequence denoted by {f(4)) ° 1 7° [F(z]. We shall consider Z-ransforms which are rational functions of zie. =f} crvwtom fa = IE an Pandas st eomiin 2 Le hwtene fet wet should be noted that to find the inverse Z-transformwe should knowits region of convergence i.e. ROC. We shall considar the following three methods. (it ziy forte. ZF N= f(s ah ket fx. 2 Findthe verse Zransorm of <2, |zina ZF =~}, ks0. (©) Binomial Expansion To apply Binomial Expansion method we take a suitable factor common depending pon ROC from the denominator 60 that the denominator is of the form 1 = rwhere | r|< 1 and then use Binomial Theorem Sol.: We have ‘2 . Ba 1 Fins mse Ztanom ot Fe = 2 Fool Olzi4ay Feo lziba Sol: ()If|z|5,|Z[>1 te. <1 hone, wo tke ut and wit @ 2[ A ]-co rete wee Oy Z| =a, kz0,lzi>a = oot 69 212 ]-cof wz o,tzie0 safe cag SF (J - bs: Frdtvinane Ziansomet 1 Q[zl8 eyfusse sense oes Sol: @Iflz1<2, ce este es, ] "Oa anae Fla 46575 + 100592 FH 1 245.2 Z |, OAD0+2) gn eons Begs Bt tnd. | yer Asm z z Costicent of 2-7-8 = * O25 (Pune d=K] Fe OE ot (1A DE hoe 2 1 . 2. Conttciont of 2-4 = = B+ MK= 842) gr-3 Coetficiant of 2”= 245, nz0 2 a _ (k= 2)(k 2 ~k20Lekso Pen BE ese ZF) she eo (ilzi>a eG: Fina tne Zirantorn of = 5 tlz1<5. Sol. Since | z| < § we take out 5 end write 3 1 z | (O° Sia (} a 14 Fla)=q—t pA = Sinalar at Typo. eAfretes. 2 z° 2 nt | 1 oe 4 og. av? =de2-Sea-%4 ewes 2 1 aig 20 [Putn=-k] Cootticiont of = (k~ 1) a? Z FEN =(k—Hal?, k22, Downloaded from FaaDodEngineer's.comWOI"S Jaau|buypogeey HOY PePeqjUMog ‘Applied Mathematics - I (1-42) (Computer ane) Z-Transtorms 5 Coafficient of 2 ZF) (©) Method of Partial Fractions 11 F(2) canbe factorised into partial fractions, near, quadratic or repeated we express Fiz) = ae as the sum such factors, find the constants and then use the method of Binomial Expansion. This is illustrated in the following problems. If the degree of P (2) is greater than that of Q(z) we write Fz) _ p(2) Zz az) separately. (i) Linear non-repeated factors : Let the linear non-repeated factor be )-="Fetal -2h-( lz1> Lal -2[nte(J-(3)- . | =Z rears ate? aed + as in Ex. 3, page 1-48. We now discuss the three cases Then cat ak Omk 4, Apolled Mathematics - i (1-43) Z-Transtorms (Computer and E.) =-r{gh ae saz frk et}, ko =-zfat ar), 50 z()--{0"}, «<0 x. 1 Find the inverse Ziransfom of 1 na) 3)(z-2) #ROC IS (| 21<2, G23. Sol. : We have 1 14 F2)= Gragg 2-3 2-2 <1 MW] 2] <2 clearly l2l<3 Ble and Hence, we takeout 3 nd 2 from the fractions and wate. 4 B[e/a-] 2fe72)- 7] 1 1 Bera] * Bi-e/2] Fa= tothe) (teatro? 4,Applied Mathematics - i (1-44) (Computer and.) From the fist series we find that the coetticient of Aes Z-Transforms kz0 + The coefficient of = *=—3"", ks 0, From the second series, we find that the coefficient of Heel ko9 [2/2z|1and| 2/2|>1 he. (i) | z| > 9, clearly | z|>2 Le] 2/3] Ja/zhet andl 2/e|. 1 Hence, we take out 2 om both rations 1 1 i= @7a] z= 7A] ey Fi)= Cootfcient of 2° ZF@l=3t 1-2 0.k50, Ex. 2: Find inverse Ztrarsform of 2 ise, Fa=Gaieay Sal: We have 1 Fa) Goya-a 2-2 2-1 Since | 2|> 2cleary | 21> 1 [2/2|>1and|z|>4 [2/2|4 ZF y= 2-4 ka, Ex. 3: Find the inverse ztransfom of 327 ~182+26 (2-2)(2-3)(z=4)" Sol. : We have (by partial fractions) FQ) F2)= Bez 0, From the second series the coefficient of 2-* From the third series the coetticient of 2 . The coefficient of 2” 4" ko ft g ght LD eye 243", ke0 (F(2) { aah peg (i) Linear repeated factor use the above technique and expand ‘When the linear factors are repeated, we 1 1 =: 1 by Binomial Theorem a (e—ap 4s illustrated in the following examples, Ex. 1: Find the inverse Ztransform of z+2 OF oeai' HP Applied Mathematics - Ill (1-47) Z-Transtorms: {Computer and E) Sol: We have geo e238 at Braet @-0 = et 1 ince, J2l>t, het. Since, abet, Fy 3 1 FO) ica awa J sees) Coefficient of z-* =3k-2, k24 ZF) =9k- 2, k21. Ex. 2 : Find the inverse Ztransform of 222-102 +13 2102 #18. 9 cizics. (e-9F (2-2) Sol: We have 22 ~ 102413 1 4 4 Fa\=Jaahe-2) 2-2 2-3 GaP Since. 2<| z1.12/z1<1 andsince | z|<3,]z/3| <1.‘Applied Mathematics - I (1-48) Z-Transforms (Computer and E:T.) «From the first series we find that the coefficient of 2” Kis 2*-", from the socond seis he coetisent of ts ~—, and tom th the seis the zi cootcent of ais At = From the first series, coefficient of z-* From second end third series, Coefficient of 2* = > — + Coefficient of 2-* Hence, Z-*[Fiz)} = 2-1 kat nk-2 =? eso. . a Ex. 3 Find the inverse Z-transform of 2 Fiz)= [z — (1/4)] [2 — (175)] 1 1 1 ogy, lel, Sol. : () Since, the degree of the numerator is equal to the degree of the ‘humerator, we write, Fiz) z “2” R= 7a]e-075] 5 4 2-74)” 2078) 1 1 Now Elz] 1 Be Fiz) __ 5:4 4 “z 4z=1” Zi (762 1 Vi laled 2 fazles lal< Zp 142} ‘Applied Mathematics - I (1-49) 2-Transforms: (Computer and ET.) 20 4 1-42" Zf\- (sa) so -ter 2 = 20(1+ 42 +(42)? +. 5(4+ 424 -S{u den -8(24 PE 42 Fiz) 1 -a{t4 te ( a 5+ E ake k 4s E wes oF ‘Since, we want the coefficient of 2-*we change k to— kin the first term. ayer ae E (ystyezt Fi ZF(2)) = ~5 (1/4) - 4-1/5") ko k20 (i Since, | z|< 1/5, clearly |z]<1/4 F@)__§ ___4_ “Zz > 2-074) 2-078) 20 20 2 [Szl4 zi< 4 fzl>1 alc fel @-P" jon me lzl<8,|z>3 9, 22222 » Paazs8 sAelz|<2 z ? aae-5" 1 4 8 Eoanale=c7ay © 9 3 sg lela lel 4.2 lalaa>o 1 6. age lalcSilzb-s lzl< 4 z[>1 10. vlzl>2 1 23242 z toed “ poarayesavay 5 7g lzl<2, 23 1 Fw dete zZ gaasae 8 [Ans.: (1) (a)~1, k0;(0) 1, k2 1, 2) (2)- 31, k<05; (0) 3, ka, @) (e) ke ) 1, KB, (4) (2) ~ a k< 0; (b) ak k20, (8) (@) ~k# 1, kS0; (b) k= 1, k22, Applied Mathematics - I (51) Z-Transtorms (Computer and E:T) (0) (0) DEEP, W505 (0) (k= 1) SEF, kaa, +D(K+2) 1 2 (a) - (kk ) EEK p0; (k= 2)(k~ oe (9) -5-8 (2), (k20) (k<0), (10) 241-4, k= 4, ay (3) (af. (k<0), (k20), (12) 23", k<0, (1)- 24 (k> 0), ~ (k= 0}, (iy 3*§-2%, k20, (13) (a) f(K) 14 1K) = oat -gal ket Fa). 1, 4 (14) Hint: Write 2) = 1g Fant eS Hk) = 14k, 20 (18) Hint s Wait Zz (2-3) (2-2) (@-2F 2-737 K3_ kek k20]‘Applied Mathematics - it (1-82) (Computer and E.T) Z-Transtorms: Non-repeated Quadratic Factor : Let the non-repeated quadratic Mz? + Ne *) Fapere We know that, Zc cosaek (2) and Z(o shak)= een ® TBezeosa re Toting — 2-1{ Mer + Ne | 4 Pepe+g We shall use s{_2?-czeosa zal z= czcosa_| {eiatatte J zee | 6 an Free cosa re? ° In View of this, we write Mz? = Mz? — czeosa)+ Mezcosa and Nz = NeZ8iNG «5. _pecosa, q=.?. sina ‘Then (5) and (6) can be used to find (4). This means we write Mz? +N __M(z2.- czcosa) Pspe-q. 2—20rc0sa+c (Mezc0s0 +N) 2. sing os (AY + ~2ezc08a +e ‘Since we are putting p = - 2c cos a and q= ¢, we have p PB a (Pl et Fag = Se lg Hence, we can use (A) if 2 lz Pp Ble S| > 1, reasoning as above, we write ‘Applied Mathematics - it (1-53) Z-Transtorms (Computer and E.7.) Mz? +Nz___M(z?~czcosha) Frpetq F-2ezcshare (Mecosha+N) 2. sinng sinha 2ezcoshate Ex.1: Find Z-"| 2 |, Pat Sol: Sine p=0, e=1, | Comparing 2 + 1 with cosa=0 2 a=% 2 Now, we write 2ec086) oo 2. etaczconsy (Sizer) oe Fai Pa pezcosa+e P—2ezcsare Puting c= 1, a= 1.0, cos! =0 Inthe bracketed quantty of the 2ecosa, sina second term, we find that 2 2 ~czcosa P41 P-2ezcosa+e 2 ~czcosa 2ezcosa +c Puting c= 1, a 2 af 2 (F)-f= (ae 492 Ex.2: Find Z GE i lz[>1. sot :sieepes.ens,|2|<|2 <1. Comparing 2+ 2+ 1 with 2-2 czcos a+ C2, we see that ¢= 1 and =2eosa=1 + cosa=-1/2. 4, 2, Downloaded from “FaaDooEngineers. comWOI"S Jaau|buypogeey HOY PePeqjUMog ‘Applied Mathematics - Il (1-54) Z-Transtorms (Computer and E- Now we write 222492 __ 2(z?~czcosa) Parsi 2-Rezcsarc a) Putting = 1, a=2% ie, cose the bracketed | quantity ofthe second term, we find that | 2ecosa+3 _ 2(iy(-1/2)+3_ 2 4 a 1.812)” Wai2” Js" Hence, from (A) we get 22? +32 __ 2(2” ~ czcosa) Fez Pe tereaae ezsina e Fa Rezcosas Taking inverse Ztransforms of both sides, | ze 227 +3: Zz 2? ~czcosa 2 +98). 9, 2-[_H mores | Fuze Fa perconare | | A g(___ezsina | B czeosaee 4 {eteosat] + 4." sink} Puttig o=1, a= 25, wo get (see + Ffen(2 4}. Iziet -s( az? +42 Ex. 8 Find Z #). lzl>t. Sol. : Since tent Pls. 2e Comparing 2-241 with 2~2 ezoos a+ , we see that ¢= 1, 2eosa=t ie, cosa Now, we write Applied Mathematics - It 18 2 (Computer and E.7.) (1-85) Transforms a2tsaz __9(@?-czcosa) Po Feces Some (© 3bne“‘)econe —2ezcosa+c* “ Putting ¢= 1, a ‘quantity of the second term, we find that Secos a + (3/2) 44 11 esing (Wala) JB Hence, from (A), we get, 322 +4z 4 _(2*—cecosa) Te+i teas ezsing ze Pa 2ezcosat Taking inverse Ztransforms of both sides, 21( Et) 0. fet coal) +H fotoned] ZH x Putting o= 1, a=, ting e= 1, a= 7 -1( 327 +4z z (#5) +, we get Bx. 4: Find (tna): eto 2 +z4(19), sot: shen ett, po |Z] -3on Els Hence, secogae24(2) with 2-2 ezeos has 2‘Applied Mathematics - i (1-58) 2-Transforms (Computer and ET) Hence, we write az244 ___3(z*-czcosha) Fzs(o) F=Bezcosharc™ [feebest -czsinha eainho " ~2agcoshare® Putting cos ha= inthe bracketed quantity of the second term of (A), we get, Sccosha+4 _ 3-(-1/3)-(9/2)44 esinha~ (=1/3)-(V5/2) 18 E az?+4 __3(2* -ezcosha) P4270) F—2ezcosha+e 18 ezsinno 5 = Rezeeshar ‘Taking inverse Ztransform of both sides, a SE (___ezsinha oP aoe, = fo cosha} - fF fet sinnak} 3 coonas} -fE(2) sine, eva Find the inverse Z-transforms of the following. zee 2 492 1 21> 2, PEt asae pag let Fazeane’ ZIP? a aeteoe 14 22492 Vis Paz) 3 rrat - 2) {esin2tk tans.: (9 {Fest 3 Downloaded from FaaDo0Engineers.com ‘Applied Mathematics - I (Computer and eT) Bee