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The Laplace transform is the more general concept for the transformation of
Continuous-time processes.
Z-TRANFORMS
If the function un is defined for discrete values for all
n 0,1,2,3,.... and un 0 for n 0,
Then the z-transform of un denoted by zT un and it’s defined by
zT un un z n U z U z
n0
Where z is complex variables. Thus the z-Transform of U z or U z is a
complex valued function of a complex variable z and z-Transform is defined
through an infinite series.
PROPERTY:
Prove that zT n p z
d
dz
zT n p 1 , Where p be a positive integer
n p 1 n z z n 1
n0
n p z n
n0
zT n p LHS
zT n p z
d
dz
zT n p1
Z-Transform of standard Functions
1) zT 1
Solution: zT un un z n
n 0
zT 1 n01 z n
1
n
n 0 z
2
3 1
1 1 1 1 ..... 1 x x2 x3 .... By using Binomial
z z z 1 x
exp.
1
1 1
z
zT 1 z
z 1
2) zT a n
Solution:
zT a n
a n z n
n0
an
n
n0 z
a n
n0 z
a 2 a 3
1 .....
a
z z z
1
a
1
z
zT a n
z
za
Note: a) zT k k
z
z 1
b) zT 2n
z
z 2
c) zT
1n
z
z 1
3) zT n
Solution:
We know that
zT n p z
d
dz
zT n p 1
Put p=1
zT n z
d
Z n0
dz T
z
d
Z 1
dz T
d z
z
dz z 1
z 1 1 z 1
z
2
z 1
zT n
z
z 12
4) zT n 2
Solution:
We know that zT n p z d
dz
zT n p 1
Put p=2
zT n 2 z
d
dz
zT n1
d z
z
dz z 12
z 12 1 z 2 z 1
z
z 1
4
z 1 2 z
z z 1
3
z 1
4
z 1
z
zT n 2 z z3
2
3 Where
z 1 z 1
5) zT n3
Solution:
We know that zT n p z
d
dz
zT n p 1
Put p=3
zT n3 z
d
dz
zT n 2
d z z
2
z
dz z 13
z 13 2 z 1 z 2 z 3 z 12
z
z 16
z 1 2 z 13 z 2 z
z z 1
2
z 1
64
z 2 4z 1
z 4
z 1
zT n3 z 4 z z
3 2
z 1
4
Properties of Z-Transform
1. Linearity property:
(i) If zT un U z
z
Then zT a nun U zT un z
a z
a
(ii) zT un U z
Then
zT a nun U az zT un
z az
PROBLEMS:
i) zT e an
zT e a
n
z
Solution:
z e a
ii) zT e an n
zT e a n
n
Solution: zT n z z
e a
z
2
z 1
z z
e a
z
e a
2
z
a 1
e
z
e a
z e a
2
e a 2
z e a
z e a 2
iii) zT e an n 2
Solution:
zT e a n2
n
zT n 2 z z
e a
z2 z
3
z 1
z z
e a
z2 z
e e a
a 2
3
z
a 1
e
1
z 2 ze a
e
a 2
1 3
z e a
e a 3
e a z 2 ze a
3
z e a
1
2i
zT ei zT e i
n n
1 z z
2i z ei z e i
z z e i z ei
2i z ei z e i
z ei e i
2
2i z ze i zei ei e i
z
2i sin
2
2i
z z e i
e i
1
z sin
zT sin n
z 2 2 z cos 1
(ii) zT a n sin n
Solution: zT a n sin n = zT sin n z z
a
z sin
2
z 2 z cos 1 zaz
z
sin
2 a
z z
2 cos 1
a2 a
az sin
zT a n sin n
z 2 2az cos a 2
3) Find Z-Transforms of i) cosn ii) a n cos n
ein e in
Solution: zT cos n zT
2
ein e in
cos n
2
1
2
zT ei zT e i
n n
1 z z
2 z ei z e i
z z e i z ei
2 z ei z e i
2z e e
z
i i
2
2
z z e i
e i
1
z
2 z 2 cos
2
2
z z e i
e i
1
z 2 z cos
2
z 2 z cos 1
z 2 z cos
zT cos n 2
z 2 z cos 1
ii) a n cos n
z 2 z cos
2
z 2 z cos 1 zaz
z2 z
2
cos
2 a a
z z
2 cos 1
a2 a
un U(Z)=Z( un ) un z n
n 0
1 z
z 1
1
n z
z1
a az
z1
z
an za
1 an
n z
za
n z
z 12
n2 z2 z
z 1
3
n3 z3 4 z 2 z
z 1
4
n4
z z3 11z 2 11z 1
z 1
5
k z
z1
2n z
z 2
e an z
z e a
e an z
z ea
1 ean
n z
z e a
cosn z 2 z cos
z 2 2 z cos 1
sin n z sin
z 2 2 z cos 1
cosh n z 2 z cosh
z 2 2 z cosh 1
sinh n z sinh
z 2 2 z cosh 1
1
1 e z
n!
Solution: zT nein
zT ein n
n
zT ein zT e
i n
z
z ei
z z cos i sin
z cos i sin z cos i sin
z 2 z cos zi sin
z cos i 2 sin 2
2
z 2 z cos zi sin
zT e 2
in
i 2 1
z 2 z cos cos 2 sin 2
z 2 z cos z sin
zT cos n i sin n 2 i 2
z 2 z cos 1 z 2 z cos 1
z 2 z cos
zT cos n 2
z 2 z cos 1
z sin
zT sin n
z 2 2 z cos 1
5) Find the Z-Transform of
i) sinh n ii) a n sinh n iii) cosh n IV) a n cosh n
e e e e
Solution: sinh cosh
2 2
en e n
i) zT sinh n zT
2
1
2
zT e zT e
n n
1 z z
2 z e z e
z z e z e
2 z e z e
z e e
2
2 z ze ze e e
z 2 sinh
2
2 z z e
e
1
z sinh
zT sinh n
z 2 2 z cosh 1
en e n
iii) zT cosh n zT
2
1
2
zT e zT e
n n
1 z z
2 z e z e
z
z e z e
z e z e
2
z 2 z e e
2
2 z ze ze 1
z 2 z 2 cosh
2
2 z z e
e
1
z 2 z cosh
zT cosh n 2
z 2 z cosh 1
z 2 za cosh
2
z 2az cosh a 2
6) Find Z-Transform of i) 2n 1 ii) n 1
2 2
Solution: z
T
2n 1
2
z 4n 2 4n 1
T
4 zT n 2 4 zT n zT 1
z2 z z z
4 3 4 2
z 1
z 1
z 1
4 z 2 z 4 z z 1 z z 1
2
z 1
3
4z 2 4 z 4 z 2 4 z z z 2 2 z 1
z 1
3
z3 2z 2 9z
z 1
3
T
n 1
2
ii) z
z n 2 2n 1
T
n 1
2
Solution: z
T
z n 2 z 2n z 1
T T T
z z3 2 z 2 z
2
z 1 z 1 z 1
n n
7) Find the Z-Transform of:
1 1
2 3
n n n n
Solution: zT 1 1 zT 1 zT 1
2 3 2 3
z z
z 1 z 1
2 3
6z 2 2z 6z 3z
2 2
6z 2z 3z 1
122z 5z
2
6 z 5z 1
n n
8) Find the Z-Transform of 3 cos
4
z 2 z cos
4
z 2 2z cos 1
4
z 2 z 1
2 Multiply Nr. & Dr.by 2
z 2 2z 1 1
2
zT cos n 2z2 z
4 2 z2 2z 2
zT 3n cos n zT cos n z
4 4 z
3
2 z z
2
n 1
9. Find the Z-Transform of: 2n sin
4
2z 2 z z
z 1 2 z 2z 2 z 1
2
10 . Find the Z-Transform of: 3n 4sin
5a2
4
n
11. Find the Z-Transform of cosh 2
1
2
n n
e zT e 2 e zT e 2
1
e z e
n n
e zT e 2
T
2
1 z z
e e
2 z e 2
z e 2
e z e 2 e z e 2
z
2
z e 2 z e 2
z z e e e e 2
2
2 z 2 ze 2 ze 2 1
z 2cosh e e 2
z
2 2
z z e e 1
2 2
z
2
z 2cosh 2cosh
2 2
z z e e 1
2 2
2 z cosh 2cosh
z 2
2
z 2 z cosh 1
2
2
n
12. Find the Z-Transform of
n
2n n2 4cos n 4n 8
3
n
Solution: zT n zT 3 n n
3
zT nz3 z
z
2
z 1 z3 z
3z
2
3z 1
zT 2n n 2 zT n 2 z z
2
z2 z
3
z 1
z z
2
z2 z
4 2
3
1 z
2
1
z2 2z
4
3
z 2
2
8
2 z2 2z
z 2
3
2 n 4cos n 4n 8
n n 2
zT
3n
3z 2 z2 2z z 2 z cos z z
2 4 2 8
3z 1 z 2 z 2 z cos 1 z 4 z 1
3
n
13. Find zT sin
4
in in
e 4 e 4
in in
e
sin n
n
e 4 4
Solution:
zT sin
4
zT 4
2i
2i
1
z e
n n
i i
zT e 4 T
4
2i
1 z z
2i z ei 4 z e i 4
i i
z z e 4 z e 4
2i z ei 4 z e i 4
z
i i
e 4 e 4
z ze ze e e
i i i i
2i 2 4 4 4 4
2i sin
z 4
2
2i z z 2cos 1
4
1
2
z Multiply Nr. & Dr.by 2
z 2 z 1 1
2
2
zT sin n
z
4 2 z2 2z 2
14) Find the Z-Transform of sin 3n 5
n
Solution: zT cos zT cos n cos sin n sin
2 4 2 4 2 4
cos zT cos n sin zT sin n
4 2 4 2
1
zT cos n zT sin n
2 2 2
2
1 z z cos z sin
2 2
2 z 2 2 z cos 1 z 2 2 z cos 1
2 2
1 z2 z
2 2
2 z 1 z 1
1 z z
2
2
2 z 1
zT nz z
ei
z
2
z 1 z z
i e
z
ei
2
z 1
ei
z
ei
z e
i 2
e i 2
zei
z ei
2
z e i 2
zei
z ei z e
2 i 2
z 3ei 2 z 2 ze i
2
z z ei e i 1
z 3ei 2 z 2 ze i
2
z z 2cos 1
z 3 cos i sin 2 z 2 z cos i sin
z 2 z 2cos 1
z 3 cos z cos 2 z 2 z 3 sin z sin
zT n cos n i sin n i 2
z 2 2 z cos 1 z 2 z cos 1
z n cos n
z 3
z cos 2 z 2
z 2 2 z cos 1
T
zT n sin n
z 3
z sin
z 2 2 z cos 1
1
17. Find the Z-Transform of
n!
Solution: zT un un z n
n 0
n
1 z
zT
n ! n 0 n !
z
n
1
n 0 n!
2 3
1 1 1
2 3
x x x x
z z
1
z
..... e 1 .... By using Maclaurins
1! 2! 3! 1! 2! 3!
series exp.
1 1z
zT e
n !
a n e a
18. Find the zT
n!
a n e a
an
Solution: zT e zT
a
n!
n!
1
e a zT
n! z az
e a e 1
z
z
z
a
e a e 1
z a
e a e a
z
e a a z
1
a 1
e z
1
19. Find the Z-Transform of
n 1
1n1 z
n
Solution: zT 1
n 1 n 0
1 1 1 2
1 z z .......
2 3
1 1
1 2 .......
2z 3z
Multiply Nr. & Dr. by z
1 1
2 3 ....... 1
1
z
z 2 z 3z
3 4
log 1 x x x x x .... by using Maclaurins series exp.
2
We have
2 3 4
2 3 4
log 1 x x x x x ....
2 3 4
2 3 4
log 1 x x x x x ....
2 3 4
Put x 1z
log z 1 1 12 1 3 ....
z z 2z 3z
log z 1 12 1 3 ....
z 1 z 2 z 3z
zT a z z a n
z 1T
z
z a
a
n
zT an z z a z 1T z z a an
zT n z
z 1T
n
z
z 12 2
z 1
zT an n az
z an1 n
z a
2
z 1
T 2
z a
z
zT n2 z
2
z 2 z n2
1
z 13 z T 3
z 1
2 a2 z
zT an n2 az z 1
az 2 a 2 z
z a 3
a n n2
3
T
z a
zT n3 z 4z2 z
3
z3 4 z 2 z
z 1 4
z 1
T n
3
4
z 1
zT an n3 az
3
4a2 z 2 a3 z
3
az 4a 2 z 2 a3 z
z 1
4
z a n
n 3
T
4
z 1
zT n1! e 1 z
1z
T e
1
z 1
n!
Problems:
A. Find the inverse Z-Transform of the following:
1. log z
Z
1
1
log z 1 log z
log 1 1z
Z 1 Z 1
1
z z
2 3
log(1 x) x x x ... ...
1 log 1
z
1
2 3
bymaclaurin ' s series
2 3
1 1 1
zz
1 2
z
3
...
n
(1) n 1
n 1 n z
(1)n n
U Z z
n 1 n
1
n
ZT1 log z
z 1 n
2. 1
zT1 z
a
Solution: U Z z 1 a
1 1 1 1 x x2 ....
z 1 a 1 x
z
1
1 1 a
z z
2 3
1 1 a a a ...
z z z z
n1
1 a
z z
n1
n1
z 1 a Z n 1
n1
n1
a Z n zT1 1 an1
z a
n1
Solution: Let
U z z
z 1 z 2
U z 1
Using partial fraction
z z 1 z 2
1 1
U z z 2 z 1 z 1 z 2
z z 1 z 2
1 1
U z 3
3
z z 1 z 2
U z 1 z z
3 z 1 z 2
zT1 U z 1 1 2
n
3
z2
2. zT1
z 1 z 3
Solution: Let
U z z2
z 1 z 3
U z z
Using partial fraction
z z 1 z 3
z z
U z
z 3 z 1 z 1 z 3
z z 1 z 3
1 3
U z 4 4
z z 1 z 3
U z 1 z 3 z
4 z 1 4 z 3
zT1 U z 1 1 3 3
n
4 4
3.
zT1 20 z 2 z
z 2 z 3
Solution: Let
z 20 z 1
U z
z 2 z 3
U z 20z 1
Using partial fraction
z z 2 z 3
20 z 1 20 z 1
U z z 3
z 2
z 2
z 3
z z 2 z 3
U z 41 61
z z 2 z 3
U z 41 z 61 z
z 2
z 3
zT1 U z 41 2 613
n n
zT1 2 z 3z
2
4.
z 2 z 4
Solution: Let
z 2 z 3
U z
z 2 z 4
U z 2z 3
Using partial fraction
z z 2 z 4
2z 3 2z 3
U z z 4 z2
z 2 z 4
z z 2 z 4
1 11
U z
6 6
z z 2 z 4
U z 1 z 11 z
6 z 2 6 z 4
zT1 U z 1 2 11 4
n n
6 6
5.
zT1 8z 2
2 z 1 4 z 1
Solution: Let
U z 8z 2
2 z 1 4 z 1
U z 8z
Using partial fraction
z 2z 1 4z 1
8z 8z
4 z 1 2 z 1
U z z 1 z 1
2 4
z 2z 1 4 z 1
U z 4 4
z 2 z 1 4 z 1
U z 4 4
2 z 1 4 z 1
2 4
U z 2 1
1 1
z z
2 4
U z 2 z z
z 1 z 1
2 4
n n
1
zT U z 2
1 1
2 4
6. zT1 z
z 1 z 1
2
Solution: Let
U z z
z 1 z 1
2
U z 1
Using partial fraction
z 1 z 1
z 2
1 A B C
2 z 1 2 z 1
z 1
z 1
z 1
2
1 A z 1
z 1 B z 1 C z 1
z 1, 1 4C C 1
4
z 1, 1 2B B 1
2
z 0, 1 A B C
A 1 1 1
2 4
A 1
4
U z 1 1 1
4 2 4
z 1
z 1 z 1
z 2
1 z
U z 1 z 1 z
2 4 z 1
4 z 1 2
z 1
n1
zT1 U z 1 1 1 1 n 1 1
n
4 2
4
n1 n1
1
n 1
1
4 2 4
7.
zT1 z3 20 z
z 2 z 4
3
Solution: Let
z z 2 20
U z
z 2 z 4
3
U z z 2 20
Using partial fraction
z 2 z 4
z 3
z 2 20 A B C D
z 2 z 4
3
z 2 z 22 z 23 z 4
z 2 20 A z 2 z 4 B z 2 z 4 C z 4 D z 2
2 3
z 4, 4 D(8) D 1
2
3
Compare co-efficient of z
0 A D A D
1
A
2
Equating constant terms.
20 16 A 8B 4C 8D
20 16 1 8B 4 8 8 1
2 2
20 8 8B 32 4
20 8B 36
8B 16 B 2
U z 1 2 8 1
2 2
z z 2 z 2 4
z 2 2 3 z
U z 1 z 2 z 2 8z 3 1 z
z 2 z 2 z 4
2 z 2
2
z 2 z z 2 8z 1 z
1
U z
2 z 2 3 2 z 4
z 2
U z 1 z 2 z 43z 1 z
2
z 2 z 4
2 z 2
2
zT1 U z U z 1 2n 2n n2 1 4n
2 2
Practice Problems:
1. zT1 5z
2 z 3z 1
2. 1
zT
3z 2 2 z
5z 15z 2
3.
zT1 8 z z 3
3
4 z
zT1 3 4 z 2 2 z
2
4.
z 5z 8z 4