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Digital Signal Processing

( EACT 537)
Year –I ; Semester –I
(M.Sc. –Automation Control &
Communication)

By
Dr. Petchinathan Govindan
Assistant professor

Chapter 3
Z- Transform and its implementation
- Z-transforms- Definition
- Properties of the region of convergence for
the Z-transforms
- Basic properties of Z-transforms

- Inverse of Z-transforms

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THE Z-TRANSFORM

The Z-Transform
• Counterpart of the Laplace transform for discrete-time
signals

• Definition:
X (z ) =  xn z
−n

n = −

• Compare to (Discrete Time Fourier Transform) DTFT

definition:

( )  xn e

X e j = − jn

n = −

• z is a complex variable that can be represented as z=r ej

• Substituting z=ej will reduce the z-transform to DTFT
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The Z-Transform

 z = re j
xn =  xnz −n
= X ( z) = r cos  + jr sin 
n = −

xn
⎯→z
X ( z)

X ( z ) =  xnz − n
n =0

z = re j

The z-transform

• Convenient to describe on the complex z-plane

• If we plot z=ej for =0 to 2 we get the unit circle
Im ( )
X e j

Unit Circle

r=1
 0
Re
2 0 2

complex z-plane 5

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The Z-Transform- Example

• Finite length Sequence

1 2 − 1 3 ⎯
Z
⎯ → 1 + 2 z −1 − 1 z −2 + 3 z −3

n=0

• Impulse signal  (n ) ⎯
Z
⎯ →   (n )z −n = z −0 = 1
n = −

xn =  xnz −n
= X ( z)
n = −

xn
⎯→z
X ( z)

X ( z ) =  xnz − n
n =0
j
z = re

Region of Convergence (ROC)

• The z-transform does not converge for all sequences or for all
values of z.
• The set of values of z for which the z-transform converges is
called the region of convergence (ROC), |X(z)|< , is called
the region of convergence.
• The region of convergence is made of circles
• ROC is centered on origin and consists of a set of rings.
Im

Condition

 
| X ( z ) |=  x ( n) z
n = −
−n
=  | x(n) || z |
n = −
−n
 Re

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Geometric Series- Formula

N2
a N1 − a N2 +1
a n =
1 −a
n =N1

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Example 1: Right-Sided Exponential Sequence

Example 1: Right-Sided Exponential Sequence

 (az )
 
xn = anun  X(z) =  a unz
n −n
= −1 n
Im
n = − n=0

• For Convergence we require

 n
 az −1

n=0 a 1
o x Re
• Hence the ROC is defined as
n
az−1  1  z  a

• Inside the ROC series converges to

• Region outside the circle of
 (az )

1 z
X(z) = −1 n
= = radius a is the ROC
n=0 1 − az−1 z − a
• Right-sided sequence ROCs
extend outside a circle
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Example 1: Right-Sided Exponential Sequence

12

Example 2: Left-Sided Exponential Sequence

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Example 2: Left-Sided Exponential Sequence

xn = −a nu− n −1

• Region inside the circle of
radius a is the ROC

X (z ) = −n = − a n u− n − 1z − n = − n = − a n z − n

 −1

Im
= −n =1 a z

( −1
)
n 
(
= 1 − n = 0 a z−1
)
n

ROC :

 a 1
 n
n =0
a −1 z    a −1 z  1  z  a x

X (z ) = 1 −
1 1 z
−1
= −1
=
1 − a z 1 − az z−a

Example 2: Left-Sided Exponential Sequence

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Example 3: Two-Sided Exponential Sequence

n n 1 −1
 1 1 ROC : − z 1
xn =  −  un -   u- n - 1 3
 3 2
1
 z
0  3
 1 −1   1 −1 
 n − z  − − z 
 1 −1   3   3  = 1 1 −1
 
n =0 
− z
3 
 =
1 −1 1 −1
ROC :
2
z 1
1+ z 1+ z
3 3 1
 z
− 0 2
 1 −1   1 −1 
n  z  − z  Im
−1
 1 −1   2  2  = −1
  z  =
n = − 2 1 −1 1
1− z 1 − z −1
2 2 1 1
−
3x 2
 1  oo x
2z z −  1
1 1  12 
X(z) = + = 12
1 −1 1  1  1
1+ z 1 − z −1  z +  z − 
3 2  3  2

ROC: 1/3<|z|<1/2 16

Example 3: Two-Sided Exponential Sequence

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Example 3 a: Two-Sided Exponential Sequence

For detailed steps

Refer next slide

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Example 4: Finite Length Sequence

xn = a n (un − un − N ) a n

xn = 
0  n  N −1
0 otherwise

N −1 N −1
X ( z ) =  a n z − n = az −1 ( )
n
=
(
1 − az −1 ) N
ROC: Entire Z Plane
n =0 n =0 1 − az −1 except z=0
1 zN − aN
= 
z N −1 z−a
z=0

ROC :
N −1

 az
n =0
−1 n
   az −1    z  0

Z Plane
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Z-Transform and ROC - Example

– unit step function

 
1
Z
u (n ) ⎯
⎯ → u (n )z −n =  z −n =
1 − z −1
ROC |Z|>1
n = − n =0

– reversed step function

−1

1
Z
− u ( −n − 1 ) ⎯
⎯ →− u (−n − 1 )z −n =−  z −n =
1 − z −1
ROC |Z|<1
n = − n = −

Different functions have the same z-transform

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ROC of Finite Duration signal

ROC of infinite duration signal

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Some common Z-transform pairs

Chapter 3: The Z-Transform 24

Some common Z-transform pairs

SEQUENCE TRANSFORM ROC

 n  1 ALL z

un  1 z 1
1 − z −1
1
− u− n − 1 z 1
1 − z −1
All z except 0 (if m  0)
 n − m z −m or (if m  0)

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Some common Z-transform pairs

a n un
1
⎯→
Z
ROC : z a
1 − az −1
a n u− n − 1
1
⎯→
Z
ROC : z a
1 − az −1
az −1
na n un ⎯→
Z
ROC : z a
(1 − az ) −1 2

az −1
− na n u− n − 1 ⎯→
Z
ROC : z a
(1 − az ) −1 2

1 − cos  0 z −1
cos 0 nun ⎯→
Z
ROC : z 1
1 − 2 cos  0 z −1 + z − 2

Some common Z-transform pairs

sin 0 nun ⎯→

Z sin 0 z −1 ROC : z 1
1 − 2 cos  0 z −1 + z −2

1 − r cos  0 z −1
r n

cos  0 n un ⎯→
Z

1 − 2r cos  0 z −1 + r 2 z − 2
ROC : z r

r n

sin  0 n un ⎯→
Z r sin 0 z −1 ROC : z r
1 − 2r cos  0 z −1 + r 2 z − 2

a n 0  n  N −1 1 − a N z −N
 ⎯→
Z
ROC : z 0
0 otherwise 1 − az −1

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Some common Z-transform pairs

Properties of The ROC of Z-Transform

• A ring or disk in the z-plane centered at the origin.

• The Fourier Transform of x(n) is converge absolutely if the
ROC includes the unit circle.
• The ROC cannot include any poles
• Finite Duration Sequences: The ROC is the entire z-plane
except possibly z=0 or z=.
• Right sided sequences: The ROC extends outward from the
outermost finite pole in X(z) to z=.
• Left sided sequences: The ROC extends inward from the
innermost nonzero pole in X(z) to z=0.

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Find the Possible ROC…

Consider the rational z-transform

with the pole pattern:
Im

Find the possible a b c

ROC’s Re

Find the Possible ROC…

Consider the rational z-transform

with the pole pattern:
Im
Case 1: A right sided Sequence.

a b c
Re

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Find the Possible ROC…

Consider the rational z-transform

with the pole pattern:
Im
Case 2: A left sided Sequence.

a b c
Re

Find the Possible ROC…

Consider the rational z-transform

with the pole pattern:
Im
Case 3: A two sided Sequence.

a b c
Re

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Find the Possible ROC…

Consider the rational z-transform

with the pole pattern:
Im
Case 4: Another two sided Sequence.

a b c
Re

Z-Transform Properties: Linearity

• Notation
xn ⎯
⎯Z
→ X(z) ROC = R x
• Linearity
ax1 n + bx2 n ⎯
⎯Z
→ aX1 (z) + bX2 (z) ROC = R x1  R x2

– Note that the ROC of combined sequence may be larger than either ROC
– This would happen if some pole/zero cancellation occurs
– Example: xn = anun - anun - N

•Both sequences are right-sided

•Both sequences have a pole z=a
•Both have a ROC defined as |z|>|a|
•In the combined sequence the pole at z=a cancels with a zero at z=a
•The combined ROC is the entire z plane except z=0

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Z-Transform Properties: Linearity - Example

Z-Transform Properties: Linearity - Example

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Z-Transform Properties: Time Shifting

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Z-Transform Properties: Time Shifting -

Example

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Z-Transform Properties: Time Shifting -

Example

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Z-Transform Properties:
Multiplication by Constant

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Z-Transform Properties: Multiplication by

Exponential
znoxn ⎯
⎯Z
→ X(z / zo ) ROC = zo R x

• ROC is scaled by |zo|

• All pole/zero locations are scaled
• If zo is a positive real number: z-plane shrinks or expands
• If zo is a complex number with unit magnitude it rotates
• Example: We know the z-transform pair
1
un ⎯
⎯Z
→ ROC : z  1
1 - z-1
• Let’s find the z-transform of
xn = r n cos(on)un =
1
2
( ) 1
( )
re jo un + re − jo un
n

2
n

1/2 1/2
X(z) = + z r
1 − rejo z−1 1 − re− jo z−1

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Z-Transform Properties: Differentiation

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Z-Transform Properties: Conjugation

x* n ⎯
⎯Z
→ X* z* ( ) ROC = R x


X (z ) =  x n  z
n =−
−n


 
 
X ( z ) =   x n  z −n  =  x  n  z n


 n =−  n =−
 
( z ) =  x n  ( z ) =  x n  z  

X    n  −n
= Z x  n 
n =− n =−

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Z-Transform Properties: Conjugation

Example

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Z-Transform Properties: Time Reversal

xn ⎯
⎯Z
→ X(z) ROC = R x

1
x− n ⎯
⎯Z
→ X(1 / z ) ROC =
Rx
• ROC is inverted
• Example: xn = a−nu− n

• Time reversed version of anun

1 - a-1z −1
X(z) = = z  a−1
1 − az 1 - a-1z−1

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Z-Transform Properties: Convolution

x1 n  x2 n ⎯
⎯Z
→ X1 (z)X2 (z) ROC : R x1  R x2

• Convolution in time domain is multiplication in z-domain

• Example: Let’s calculate the convolution of
x1 n = anun and x2 n = un
1 1
X1 (z ) = ROC : z  a X2 (z ) = ROC : z  1
1 − az −1 1 − z −1

• Multiplications of z-transforms is
1
Y (z) = X1 (z)X2 (z) =
(1 − az )(1 − z )
−1 −1

• ROC: if |a|<1 ROC is |z|>1 if |a|>1 ROC is |z|>|a|

• Partial fractional expansion of Y(z)
Y (z ) =
1  1
 −
a 
 assume ROC : z  1 yn =
1
1−a
( )
un − an+1un
1 − a  1 − z −1 1 − az −1 

Chapter 3: The Z-Transform 47

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Z-Transform Properties: Convolution -

Example

Z-Transform Properties: Initial value theorem

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Z-Transform Properties: Initial value theorem

Z-Transform Properties: Final value theorem

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Some Z-transform properties

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Z- Transform -Examples

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Inverse Z- Transform

Inverse Z- Transform

• Let X(Z) be Z- Transform of the DT signal x(n).

• The inverse Z-transform is the process of recovering the
DT signal from its Z- Transform X(z).
• The signal x(n) can be uniquely determined from X(z) and
its ROC

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Inverse Z- Transform –Example 1:

Inverse Z- Transform –Example 2:

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Inverse Z- Transform –Example 3:

Inverse Z- Transform- Methods

• The inverse Z- Transform can be

determined by:
– Residue Method ( Direct Evaluation by Contour
Integration)
– Partial Fraction Expansion Method
– Power series expansion method.

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Inverse Z- Transform by
Partial Fraction Expansion Method

Inverse Z- Transform by
Partial Fraction Expansion Method

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Inverse Z- Transform by
Partial Fraction Expansion Method

Example

Inverse Z- Transform by
Partial Fraction Expansion Method

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Inverse Z- Transform by
Partial Fraction Expansion Method

Inverse Z- Transform by
Partial Fraction Expansion Method

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Inverse Z- Transform by
Partial Fraction Expansion Method

Inverse Z- Transform by
Partial Fraction Expansion Method

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Inverse Z- Transform by
Partial Fraction Expansion Method

Inverse Z- Transform by
Partial Fraction Expansion Method

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Inverse Z- Transform by
Partial Fraction Expansion Method

Inverse Z- Transform by
Partial Fraction Expansion Method

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Inverse Z- Transform by
Partial Fraction Expansion Method

Inverse Z- Transform by
Partial Fraction Expansion Method

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