The z-Transform and Its Properties

The z-Transform and Its Properties

The z-Transform and Its Properties Reference:

Professor Deepa Kundur Sections 3.1 and 3.2 of

University of Toronto John G. Proakis and Dimitris G. Manolakis, Digital Signal Processing:
Principles, Algorithms, and Applications, 4th edition, 2007.

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The z-Transform and Its Properties 3.1 The z-Transform The z-Transform and Its Properties 3.1 The z-Transform

The Direct z-Transform Region of Convergence

I Direct z-Transform:
∞
X I the region of convergence (ROC) of X (z) is the set of all values
X (z) = x(n)z −n
of z for which X (z) attains a finite value
n=−∞

I Notation: I The z-Transform is, therefore, uniquely characterized by:

1. expression for X (z)
X (z) ≡ Z{x(n)} 2. ROC of X (z)

Z
x(n) ←→ X (z)

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 The z-Transform and Its Properties 3.1 The z-Transform The z-Transform and Its Properties 3.1 The z-Transform

ROC Families: Finite Duration Signals ROC Families: Infinite Duration Signals

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The z-Transform and Its Properties 3.2 Properties of the z-Transform The z-Transform and Its Properties 3.2 Properties of the z-Transform

z-Transform Properties Linearity Property

Property Time Domain z-Domain ROC

Notation: x(n) X (z) ROC: r2 < |z| < r1
x1 (n) X1 (z) ROC1
x2 (n) X2 (z) ROC2 Z
Linearity: a1 x1 (n) + a2 x2 (n) a1 X1 (z) + a2 X2 (z) At least ROC1 ∩ ROC2 x1 (n) ←→ X1 (z), ROC1
Time shifting: x(n − k) z −k X (z) At least ROC, except Z
z = 0 (if k > 0) x2 (n) ←→ X2 (z), ROC2
and z = ∞ (if k < 0)
z-Scaling: an x(n) X (a−1 z) |a|r2 < |z| < |a|r1
Time reversal x(−n) X (z −1 ) 1
< |z| < r1 Z
Conjugation: x ∗ (n) X ∗ (z ∗ )
r1
ROC
2 a1 x1 (n) + a2 x2 (n) ←→ a1 X1 (z) + a2 X2 (z),
z-Differentiation: n x(n)
dX (z)
−z dz r2 < |z| < r1 At least ROC1 ∩ ROC2
Convolution: x1 (n) ∗ x2 (n) X1 (z)X2 (z) At least ROC1 ∩ ROC2

among others . . .

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 The z-Transform and Its Properties 3.2 Properties of the z-Transform The z-Transform and Its Properties 3.2 Properties of the z-Transform

Linearity Property Time Shifting Property

Let x(n) = a1 x1 (n) + a2 x2 (n)
∞
X
X (z) = x(n)z −n x(n) ←→ X (z),
Z
ROC
n=−∞
X∞
= (a1 x1 (n) + a2 x2 (n))z −n
Z
n=−∞ x(n − k) ←→ z −k X (z), At least ROC
∞ ∞
= a1
X
x1 (n)z −n + a2
X
x2 (n)z −n except z = 0 (k > 0) or
n=−∞ n=−∞ z = ∞ (k < 0)
= a1 X1 (z) + a2 X2 (z)

ROC: At least ROC1 ∩ ROC2

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The z-Transform and Its Properties 3.2 Properties of the z-Transform The z-Transform and Its Properties 3.2 Properties of the z-Transform

Time Shifting Property Time Shifting Property: ROC

Let y (n) = x(n − k).
Z
x(n) = δ(n) ←→ X (z) = 1, ROC: entire z-plane
∞
X
Y (z) = y (n)z −n I Example: For k = −1
n=−∞
∞
y (n) = x(n − (−1)) = x(n + 1) = δ(n + 1)
X
−n
= (x(n − k))z
n=−∞ Z
y (n) = δ(n + 1) ←→ Y (z) = z, ROC: entire z-plane
except z = ∞
Let m = n − k
∞ ∞
X
−(m+k)
X I Example: For k = 1
= x(m)z = x(m)z −m z −k
m=−∞ m=−∞ y (n) = x(n − (1)) = x(n − 1) = δ(n − 1)
" ∞
#
X
= z −k x(m)z −m = z −k X (z) Z
y (n) = δ(n − 1) ←→ Y (z) = z −1 , ROC: entire z-plane
m=−∞
except z = 0

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 The z-Transform and Its Properties 3.2 Properties of the z-Transform The z-Transform and Its Properties 3.2 Properties of the z-Transform

Scaling in the z-Domain Scaling in the z-Domain

Let y (n) = an x(n)
∞
X
Y (z) = y (n)z −n
Z n=−∞
x(n) ←→ X (z), ROC: r1 < |z| < r2 ∞
X
= an x(n)z −n
n=−∞
Z ∞
an x(n) ←→ X (a−1 z), ROC: |a|r1 < |z| < |a|r2 X
= x(n)(a−1 z)−n
n=−∞
−1
= X (a z)
|z|
ROC: r1 < |a−1 z| = |a|
< r2 ≡ |a|r1 < |z| < |a|r2

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The z-Transform and Its Properties 3.2 Properties of the z-Transform The z-Transform and Its Properties 3.2 Properties of the z-Transform

z-Transform Properties Convolution Property

Property Time Domain z-Domain ROC

Notation: x(n) X (z) ROC: r2 < |z| < r1
x1 (n) X1 (z) ROC1
x2 (n) X1 (z) ROC2
Linearity: a1 x1 (n) + a2 x2 (n) a1 X1 (z) + a2 X2 (z) At least ROC1 ∩ ROC2
Time shifting: x(n − k) z −k X (z) ROC, except
z = 0 (if k > 0)
and z = ∞ (if k < 0) x(n) = x1 (n) ∗ x2 (n) ⇐⇒ X (z) = X1 (z) · X2 (z)
z-Scaling: an x(n) X (a−1 z) |a|r2 < |z| < |a|r1
1
Time reversal x(−n) X (z −1 ) r1
< |z| < r1
2
Conjugation: x ∗ (n) X ∗ (z ∗ ) ROC
dX (z)
z-Differentiation: n x(n) −z dz r2 < |z| < r1
Convolution: x1 (n) ∗ x2 (n) X1 (z)X2 (z) At least ROC1 ∩ ROC2

among others . . .

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 The z-Transform and Its Properties 3.2 Properties of the z-Transform The z-Transform and Its Properties 3.2 Properties of the z-Transform

Convolution using the z-Transform Common Transform Pairs

Basic Steps:
1. Compute z-Transform of each of the signals to convolve (time Signal, x(n) z-Transform, X (z) ROC
domain → z-domain): 1 δ(n) 1 All z
1
2 u(n) 1−z −1
|z| > 1
1
X1 (z) = Z{x1 (n)} 3 an u(n) 1−az −1
|z| > |a|
az −1
X2 (z) = Z{x2 (n)} 4 nan u(n) (1−az −1 )2
|z| > |a|
1
5 −an u(−n − 1) 1−az −1
|z| < |a|
az −1
2. Multiply the two z-Transforms (in z-domain): 6 −nan u(−n − 1) (1−az −1 )2
|z| < |a|
1−z −1 cos ω0
7 cos(ω0 n)u(n) 1−2z −1 cos ω0 +z −2
|z| > 1
X (z) = X1 (z)X2 (z) z −1 sin ω0
8 sin(ω0 n)u(n) 1−2z −1 cos ω0 +z −2
|z| > 1
1−az −1 cos ω0
3. Find the inverse z-Transformof the product (z-domain → time 9 an cos(ω0 n)u(n) 1−2az −1 cos ω0 +a2 z −2
|z| > |a|
1−az −1 sin ω0
domain): 10 an sin(ω0 n)u(n) 1−2az −1 cos ω0 +a2 z −2
|z| > |a|
x(n) = Z −1 {X (z)}

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The z-Transform and Its Properties 3.2 Properties of the z-Transform The z-Transform and Its Properties 3.2 Properties of the z-Transform

Common Transform Pairs Common Transform Pairs

Signal, x(n) z-Transform, X (z) ROC

1 δ(n) 1 All z
2 u(n) 1
1−z −1
|z| > 1 I z-Transform expressions that are a fraction of polynomials in
3 an u(n) 1
1−az −1
|z| > |a| z −1 (or z) are called rational.
az −1
4 nan u(n) (1−az −1 )2
|z| > |a|
1
5 −an u(−n − 1) 1−az −1
|z| < |a|
az −1
6 −nan u(−n − 1) (1−az −1 )2
|z| < |a|
1−z −1 cos ω0
I z-Transforms that are rational represent an important class of
7 cos(ω0 n)u(n) 1−2z −1 cos ω0 +z −2
|z| > 1 signals and systems.
z −1 sin ω0
8 sin(ω0 n)u(n) 1−2z −1 cos ω0 +z −2
|z| > 1
1−az −1 cos ω0 
9 an cos(ω0 n)u(n) 1−2az −1 cos ω0 +a2 z −2
|z| > |a|
1−az −1 sin ω0
10 an sin(ω0 n)u(n) 1−2az −1 cos ω0 +a2 z −2
|z| > |a|

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