You are on page 1of 29

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

INTRODUCING THE Z-TRANSFORM


After reading this section, you may want to look at Chapter 1, "Signal Processing Basics," in the User's Guide for the Matlab Signal Processing Toolbox. There are a few things that we have not covered, and will not cover -- for instance, the state space and the partial fraction expansion ways of representing linear systems. Some other topics, such as lattice form representations, will be covered later. However, you should now be able to follow much of the exposition, and benet from seeing the range of available signal processing functions. Note that the User's Guide is a rather large (~6 MB) .pdf le, so you will probably prefer to read it via a fast network connection. Although the whole Guide is 720 pages long, the cited chapter is only about 45 pages, so it is plausible to print it out.

Background
In this segment, we will be dealing with the properties of sequences made up of integer powers of some complex number: x[n] = z^n for n from -infinity to infinity, z some complex number

You should start with a clear graphical intuition about what such sequences are like. If the number z happens to be one or zero, we will get a sequence of constant values. If z is a positive real number, we will get a sampled exponential ramp, that is either rising or falling depending on whether z is less than 1 or greater than 1: n = -50:50; z = .97; x = z.^n; plot(n,x,'go'); title('z = .97');

1 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

z = 1.03; x = z.^n; plot(n,x,'go'); title('z = 1.03');

If the number z is a negative real number, we will get a sequence that alternates
2 of 29 07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

between positive and negative values. Depending on whether z is less than, equal to, or greater than -1, these values will increase exponentially, remain constant, or decrease exponentially in magnitude with increasing n. z = -1.03; x = z.^n; plot(n,x,'go'); title('z = -1.03');

z = -1; x = z.^n; plot(n,x,'go'); title('z = -1');

3 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

z = -.97; x = z.^n; plot(n,x,'go'); title('z = -.97');

If z is a complex number that happens to lie on the unit circle (in the complex plane, with the x-axis representing the real part of z and the y-axis representing the imaginary part), then z^n will be a sinusoid sampled at intervals of angle(z) radians.
4 of 29 07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

This can easily be shown by considering that in this case z = e^(i*w) for some real number w, which is equivalent to cos(w) + i*sin(w), so that z^n will be e^(i*n*w), or cos(n*w) + i*sin(n*w). z = exp(i*pi/10); x = z.^n; plot3(n, real(x), imag(x), 'o'); hold on; plot3(n, real(x), imag(x), '-'); title('z = exp(i*pi/10)'); hold off; view(-15,15);

z = exp(i*pi/20); x = z.^n; plot3(n, real(x), imag(x), 'o'); hold on; plot3(n, real(x), imag(x), '-'); title('z = exp(i*pi/20)'); hold off; view(-30,30);

5 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

If z is a complex number (with a non-zero imaginary part) whose magnitude is slightly less than or greater than 1, then z^n will be a sinusoidal spiral like those we have just seen, whose magnitude is exponentially decreasing or increasing depending on whether z has a magnitude less than or greater than 1. z = .97*exp(i*pi/10); x = z.^n; plot3(n, real(x), imag(x), 'o'); hold on; plot3(n, real(x), imag(x), '-'); title('z = .97*exp(i*pi/10)'); hold off; view(-15,15);

6 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

z = 1.03*exp(i*pi/10); x = z.^n; plot3(n, real(x), imag(x), 'o'); hold on; plot3(n, real(x), imag(x), '-'); title('z = 1.03*exp(i*pi/10)'); hold off; view(-15,15);

7 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

Now suppose a linear time-invariant (LTI) system with impulse response h(n) has as its input one of these exponential sequences x[n] = z^n for some (arbitrarily chosen) complex number z. The output will be the convolution sum h # x, or y[n] = \sum_{k} h[k] x[n-k] = \sum_{k} h[k] z^{n-k} = z^n \sum_{k} h[k] z^[-k] Thus the input was z^n, and the output is z^n multiplied by a constant that depends on the value of z and on the impulse response h. If we write that constant as H(z) = \sum_{k} h[k] z^[-k] then we can rewrite the system equation as (switching back to MATLAB) y[n] = H(z) * z^n We can see another way to say this if we express the LTI system with impulse response h in the more general form of the "convolution matrix" M_h -- that is, a matrix with a set of shifted time-reversed copies of the impulse response h in its rows, as discussed in an earlier lecture. Now since y[n] = M_h z^n = H(z) z^n,

8 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

we can see that the complex exponential z^n is an eigenvector of M_h, with H(z) as the eigenvalue, since M_h times z^n equals the constant H(z) times z^n. Because of the superposition property of linear systems, this "eigenrelationship" makes it convenient to express a signal as a linear combination of complex exponentials. If x[n] = \sum_{k} a_k z_k^n then the system output for an LTI system with impulse response h will be y[n] = \sum_{k} a_k H(z_k) z_k^n That is, the output is also a linear combination of the same set of complex exponential sequences, with each coecient being the product of the input coecient a_k and the system's eigenvalue H(z_k) for the eigenfunction z_k^n. The expression for the system eigenvalues in terms of z H(z) = \sum_{n} h[n] z^{-n} is known as the "z transform" of h (for n from -innity to innity). In nicer notation:

This equation is closely related to that for the DFT. Recall that the DFT is X(k) = \sum_{n} x[n] e^{-i(2pi/N)kn} If we rewrite the exponential on the right hand side slightly as (e^{ik(2pi/N)})^{-n} each value of k can be seen as just picking a dierent complex number z = exp(i*k*2*pi/N) to serve as the basis for a complex exponential series. However, the correct analogy is with the DTFT, not the DFT. Remember that the DFT relates x[n], a periodic function of a discrete variable x in the time domain, to X[k], a periodic function of a discrete variable k in the frequency domain. The "discrete time fourier transform" (DTFT) relates x[n], a nonperiodic function of a discrete variable x in the time domain, to X(w), a periodic function of a continuous variable w in the frequency domain.

9 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

As a result, the DTFT shares with the z-transform the fact that the transform equation denes a function of a continuous (complex) variable, and that the input side of the equation sums over all n rather than a nite set: DTFT: X(w) = \sum_{n=-\inf}^{\inf} x[n] e^{-iwn} = = \sum_{n=-\inf}^{\inf} x[n] (e^{iw})^{-n} Thus the DTFT is exactly the z transform for z = e^{iw}. Since e^(ix) = cos(x) + i*xin(x), restricting z to imaginary powers of e is the same as requiring that abs(z) = 1, i.e. that (in the complex plane) z must fall on a circle with radius one. We can look at this another way. Let's express the complex number z in polar form as r*e^(iw). Then the z-transform of x[n] X(z) = \sum_n x[n] z^{-n} becomes X(re^{iw}) = \sum_n x[n] (re^{iw})^{-n} or X(re^{iw}) = \sum_n x[n] r^{-n} e^{-iwn} The right-hand side of this equation is just the DTFT of the sequence x[n] multiplied by a real exponential r^{-n}. Thus X(re^{iw}) = X(z) = DTFT(x[n]r^{-n}) where r is the magnitude of z. Where r = 1, X(z) = DTFT(x).

History of the z transform


The z transform is unusual, in being named after a letter of the alphabet rather than a famous mathematician. The Fourier transform is named after Baron Jean Baptiste Joseph Fourier (1768-1830); the Walsh-Hadamard transform is named after J.L. Walsh (?) and Jacques Salomon Hadamard (1865-1963); we haven't discussed the Laplace and Hilbert transforms yet, but we will (at least briey), and they are named after Pierre-Simon de Laplace (1749-1827) and David Hilbert (1862-1943) respectively. Laplace transforms have long been used in solving (continuous-time) linear constant-coecient dierential equations. According to p 420 of Contemporary Linear Systems (Strum and Kirk 1994), A method for solving linear, constant-coecient dierence equations by Laplace transforms was introduced to graduate engineering students by Gardner and Barnes in the early 1940s. They applied their procedure, which was based on jump functions, to ladder networks, transmission lines, and applications involving Bessel functions. This approach is quite
10 of 29 07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

complicated and in a separate attempt to simplify matters, a transform of a sampled signal or sequence was dened in 1947 by W. Hurewicz as

which was later denoted in 1952 as a "z transform" by a sampled-data control group at Columbia University led by professor John R. Raggazini and including L.A. Zadeh, E.I. jury, R.E. Kalman, J.E. Bertram, B. Friedland, and G.F. Franklin. The Hurewicz equation is not expressed in the same way as the z transform we have introduced -- it is one-sided, and it is expressed as a function of the sampled data sequence f rather than the complex number z -- but the relationship is clear, and the applications were similar from the beginning. So perhaps the z transform should really be called the "Hurewicz transform" -- but it is too late to change. In any case, it is presumably not an accident that the z transform was invented at about the same time as digital computers.

Z-TRANSFORM OF SOME SIMPLE SIGNALS


Consider x[n] = a^n u[n]. Its z-transform is X(z) = \sum_{n=-\inf}^{\inf} a^n u[n] z^{-n} % = \sum_{n=0}^{\inf} (a z^{-1})^n This will converge (the sum will be nite) just in case abs(z) > abs(a). Since for any geometric series \sum_{n=0}^{\inf} c r^n = c/(1-r)

the z-transform sum above will be X(z) = 1/(1-a/z) = z/(z-a) |z| > |a|

This equation for the z-transform of x[n] = a^n u[n] X(z) = z/(z-a) is a "rational function", that is, a ratio of polynomials. We can characterize it by its zeros (the roots of the numerator) and its poles (the roots of the denominator). In this case there is one zero (z = 0) and one pole (z=a). We also need to know the "region of convergence" (ROC) for the z-transform (here |z| < |a|). For the next section of exposition, we will neglect the ROC. This is not a good idea in general.

11 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

Properties of the z transform


It follows directly from the denition X(z) = \sum_{n} x[n] z^{-n} that the z-transform is LINEAR: that is, if x[n] = c x1[n] then X(z) = \sum_n c x1[n] z^{-n} = c \sum_n x1[n] z^}-n} = c X1(z) and if x[n] = x1[n] + x2[n] then X(z) = \sum_n (x1[n] + x2[n]) z^{-n} = \sum_n x1[n] z^{-n} X1(z) + X2(z) Thus if x[n] = a^n u[n] then X(z) = z/(z-a) + z/(z-b) = z(z-b) + z(z-a) _________________ (z-a)(z-b) + b^n u[n] + \sum_n x2[n] z^{-n} ==

z(2z-(b+a)) ______________ (z-a)(z-b) In addition to linearity, z-transforms have a number of other properties that make them a useful tool in analyzing LTI systems:

The convolution property of z-transforms


As with the special case of the Fourier transform, convolution in the time domain is multiplication in the z domain:

12 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

If x[n] = x1[n] # x2[n] then X(z) = X1(z) X2(z)

The shift property of z-transforms:


If x[n] = x1[n-k] then X(z) = z^{-k} X1(z)

The time reversal property of z-transforms:


If x[n] = x1[-n] then X(z) = X1(1/z)

Z-TRANSFORM OF ARBITRARY LINEAR CONSTANT-COEFFICIENT DIFFERENCE EQUATIONS


The convolution property of the z-transform means that for an arbitrary LTI system with impulse response h[n], the system equation y[n] = h[n] # x[n] implies that Y(z) = H(z) X(z) and therefore H(z) = Y(z)/X(z) We can also express the same LTI system as a linear constant-coecient dierence equation, if the system is causal: a_0 y[n] + a_1 y[n-1] + ... + a_M y[n-M] =

b_0 x[n] + b_1 x[n-1] + ... + b_N x[n-N] If this concept is not entirely clear to you, you may want to review the lecture notes

13 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

on Digital Filters as Linear Constant-Coecient Dierence Equations. We can take the z-transform of both sides of the above equation, representing the z-transform by the notation Z{...}. Z{ a_0 y[n] + a_1 y[n-1] + ... + a_M y[n-M] } =

Z{ b_0 x[n] + b_1 x[n-1] + ... + b_N x[n-N] } Since the z-transform is linear, we can take it term-wise: Z{ a_0 y[n] } + Z{ a_1 y[n-1] } + ... + Z{ a_M y[n-M] } =

Z{ b_0 x[n] } + Z{ b_1 x[n-1] } + ... + Z{ b_N x[n-N] } Likewise we can pull the b and a constants outside each transformed term: a_0 Z{ y[n] } + a_1 Z{ y[n-1] } + ... + a_M Z{ y[n-M] } =

b_0 Z{ x[n] } + b_1 Z{ x[n-1] } + ... + b_N Z{ x[n-N] } Now the shift property of the z-transform lets us replace (for all k) Z{x[n-k]} with z^(-k) Z{x[n]} and Z{y[n-k]} with z^(-k) Z{y[n]} : a_0 Z{ y[n] } + a_1 z^(-1) Z{ y[n] } + ... + a_M z^(-M) Z{ y[n] } =

b_0 Z{ x[n] } + b_1 z^(-1) Z{ x[n] } + ... + b_N z^(-N) Z{ x[n] } Now all the Z{...} expressions are either Z{x[n]} Z{[y]} and so we can replace them all with X(z) or Y(z): a_0 Y(z) + a_1 z^(-1) Y(z) + ... + a_M z^(-M) Y(z) =

b_0 X(z) + b_1 z^(-1) X(z) + ... + b_N z^(-N) X(z) Factoring out Y(z) and X(z): Y(z) ( a_0 + a_1 z^(-1) + ... + a_M z^(-M) ) =

X(z) ( b_0 + b_1 z^(-1) + ... + b_N z^(-N) ) The convolution property of the z-transform told us that H(z), the z-transform of the system's impulse response, is equal to Y(z)/X(z), so let's solve for Y(z)/X(z) in our equation: Y(z)/X(z) = ( b_0 + b_1 z^(-1) + ... + b_N z^(-N) ) / ( a_0 + a_1 z^(-1) + ... + a_M z^(-M) ) By convention, a_0 is 1. We can multiply through by 1/b_0, replacing the b coecients with c coecients such that c_n = b_n/b_0: Y(z)/X(z) = (1/b_0) ( 1 + c_1 z^(-1) + ... + c_N z^(-N) ) /

14 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

( 1 + a_1 z^(-1) + ... + a_M z^(-M) ) If a_0 is already 1, then the c coecients are just the same as the b coecients. Thus the z-transform of the impulse response of such a system--- ANY system described by a linear constant-coecient dierence equation--- is a ratio of polynomials in z^(-1), where the coecients in the numerator come from the x (input) coecients in the dierence equation, and the coecients in the denominator come from the y (output) coecients in the dierence equation.

Z-TRANSFORM POLES AND ZEROS AS A CHARACTERIZATION OF A SYSTEM


Let's go back to our expression for H(z): Y(z)/X(z) = (1/b_0) ( 1 + c_1 z^(-1) + ... + c_N z^(-N) ) / ( 1 + a_1 z^(-1) + ... + a_M z^(-M) ) The fundamental theorem of algebra tells us that we can express the numerator and denominator polynomials uniquely as a product of rst order terms in z^(-1) = 1/z, with (complex) coecients q_1, ..., q_N and p_1, ..., p_M: H(z) = (1/b_0) ( (1 - q_1/z ) (1 - q_2/z) ... (1 - q_N/z) ) / ( (1 - p_1/z ) (1 - p_2/z) ... (1 - p_M/z) ) In this equation, each of the q_n and p_n is a complex number. If z equals one of the q_n, the numerator becomes zero, and so does the whole function H(z). These values are called "zeros" of the system. As z approaches one of the p_n, the denominator approaches zero, and the value of the function H(z) approaches innity. These values are called "poles" of the system; graphically, you can imagine putting the complex plane on the ground, so that a pole sticks up into the sky at the point where z = p_n. Starting with our original linear constant-coecient dierence equation a_0 y[n] + a_1 y[n-1] + ... + a_M y[n-M] =

b_0 x[n] + b_1 x[n-1] + ... + b_N x[n-N] we have given a mechanical procedure for deriving an expression for the (factored form of the) Z transform of the system impulse resonse h[n]: H(z) = (1/b_0) ( (1 - q_1/z ) (1 - q_2/z) ... (1 - q_N/z) ) / ( (1 - p_1/z ) (1 - p_2/z) ... (1 - p_M/z) ) If all of the "a" coecients are zero, then the output is just a moving weighted average of the input, and the denominator of our expression for H(z) will be 1. This is a lter with only zeros and no poles, an "all-zero" lter.

15 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

Conversely, if all of the "b" coecients are 0 (except of course for b_0 which must be 1, or the system would ignore the input!), then the current output sample is basically predicted as a weighted combination of the earlier output samples, and the numerator of our expression for H(z) will be 1. This is a lter with only poles and no zeros, an "all-pole" lter. If the dierence equation has both "a" and "b" coecients, then the lter has both poles and zeros. Some important properties of poles and zeros follow from this algebraic background. For example, if we are dealing with real-valued signals -- as we normally are -- than the coecients of the LCCDE must obviously also be real. It follows that the roots of the numerator and denominator polynomials in the z-transform will either be real, or will come in complex-conjugate pairs. Thus the zeros and poles will likewise either be real, or will come in complex-conjugate pairs, since they are just the roots of the numerator and denominator polynomials.

From LCCDE coecients to poles and zeros and back


This part is easy -- given a computer program to do the calculations -- because it is just a matter of factoring or expanding polynomials. In Matlab, the function roots() will take us from polynomial coecients to the roots of the polynomial, while poly() will take us from the roots back to the polynomial coecients. The a or b coecients (such as are used in lter()) are polynomial coecients. Thus if p is a vector containing the z-values of the poles of a system (the roots of the denominator polynomial in its z-transform), then the a coecients will be a = poly(p), while we can go the other way with p = roots(a). Likewise for the zeros (the roots of the numerator polynomial). See the next section for a concrete example.

From the poles and zeros of the z-transform to the spectrum


Since we know that the z-transform reduces to the DTFT for z = e^{iw}, and we know how to calculate the z-transform of any causal LTI (i.e. the z-transform of its impulse response) from the coecients of the dierence equation, we can write down an expression for its spectrum (i.e. the ratio of the spectrum of the output to the spectrum of the input) by simply setting z = e^{iw} in the z-transform. This expression will be a periodic, continuous function of the variable w, which is frequency in radians. The period is obviously 2pi. We can get N evenly-spaced samples of one period of the spectrum (which is also what the DFT gives us) by setting (in Matlab-ish) w to (n/N)*2*pi for n = 0 to N-1, i.e. z = e^{i*(n/N)*2*pi} for n = 0 to N-1. This is quite easy to calculate. It is also especially easy to think about graphically, if we represent the system in pole-zero form:

16 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

>> >> >> >> >> >>

circle = exp(i*(0:63)*2*pi/64); # 64 points around the unit circle plot(real(circle),imag(circle),'o'); r = .95*exp(i*.5*pi); # complex root at frequency .5, amplitude .95 axis([-2 2 -2 2]); axis('equal'); hold on plot(real(r),imag(r),'bx', real(r'),imag(r'),'bx'); # plot complex conjugate p plot(0,0,'bo'); # plot zero

Now we just evaluate the factored form of the z-transform of a system with these poles (and the single, necessary, degenerate zero). This is the product of the dierences between the z-values (here the points on the unit circle) and the roots r and r'. The sampled spectrum is just the inverse of this product of distances: >> >> >> >> distances = (abs(circle-r) .* abs(circle-r')); plot(distances); plot(1:64,log(1./distances),'bx:'); axis([0 32 -1 4]);

17 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

Of course, an alternative method of calculation -- generally simpler in practice -- is simply to take the DFT of the impulse response of the lter. >> A=poly([r r'])

18 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

A = >> >> >> >> 1.0000 -0.0000 0.9025 impulse=zeros(256,1); impulse(15)=1; impresp = filter([1 0 0],A,impulse); plot(impresp); lspecplot(fft(impresp),1);

19 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

Relationship between pole amplitude and damping Stability of recursive lters


[TK]

From a recorded signal to estimated AR lter coecients: LPC analysis


We've mentioned that the recursive part of the LCCDE lter -- the output side, which contributes the a coecients -- is sometimes called an autoregressive lter. It expresses each sample as a linear combination of N_a previous samples, and we can think of this as being like predicting each sample in the sequence by linear regression on the previous N_a samples. Suppose we are given a signal that was actually generated by such an autoregressive lter -- one in which all the b coecients except for b_0 are 0. Will each sample actually be exactly the inner product of the lter's a coecients with the N_a previous samples? No, not exactly, because the input to the system will still have an eect, being fed in through the b_0 coecient. However, for many combinations of inputs and system values, we will still be able to estimate the a coecients in a useful way. One ubiquitous method of speech analysis -- linear predictive coding, or LPC -- is based on this assumption. Assume that within some (fairly short) region of speech, M samples long, we are predicting each sample as a linear combination of N previous samples, i.e.

20 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

p(i) = sum_over_j a(j) * s(i-j), 1 <= j <= N, In matrix notation, p = S a

N <= i < M

where p is an M X 1 matrix (column vector) of predicted values, S is an M X N matrix whose ith row contains speech samples s(i) to s(i+N-1), and a is an N X 1 matrix (column vector) of prediction weights. Thus for a third-order predictor, with input samples s1 ... sM and predictor coecients [a(1) a(2) a(3)], p = S a means p(4) p(5) p(6) p(7) . . . p(M) = s(1) s(2) s(3) X s(2) s(3) s(4) s(3) s(4) s(5) s(4) s(5) s(6) . . . . . . . . . s(M-3) s(M-2) s(M-1) a(1) a(2) a(3)

Notice that this is closely related to the previously-discussed concept of a recursive lter, and exemplies why such lters are commonly called "autoregressive". In this case, the a(i) are just the coecients of the left-hand (output) side of a linear constant-coecient dierence equation--- ignoring the a(0) coecient in of an LDCE, which is 1 by convention. We know "S" in "p = S a," but not "a" or "p". What should we do? Suppose that we want to choose the weights "a" so as to minimize the prediction error norm(S*a - s) This is what is called a "least squares" problem: nd a vector x providing the "best" solution to an overdetermined system of equations Ax = b, where "best" means "minimizing norm(Ax-b)". There are a variety of methods of solving such problems, depending on the properties of A and b. MATLAB oers us two solutions, x = A\b and x = pinv(A)*b. We've seen the "backslash" A\b solution before; we'll discuss the pseudoinverse solution pinv(A)*b at greater length later. For now, we'll just observe that if A has more rows than columns and is not of full rank, then "choose x to minimize norm(A*x - b )" does not have a unique solution. The solution x = pinv(A)*b give us the smallest x (x minimizing norm(x)) while the solution x = A\b gives the x with the fewest possible nonzero components. We'll examine the this question as we come to it in practice, but if there is a dierence, the pseudo-inverse solution is probably the one that we want. Let's get a chunk of speech to work with: >> load('audio1');

21 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

>> S1 = S(2246:2347); >> plot(S1); >> length(S1) ans = 102 This is just a convenient piece of the middle of a vowel from the audio le we have used before. It represents as close to 3 pitch periods as we can get in this sampled signal:

Now let's get things set up as specied. If we had a vector of input samples [1 2 3 4 5 6 7 8 10], and we were going to construct a third-order predictor, and we wanted to avoid making hypotheses about samples outside the range of input samples we would need A x = b to come out as A 1 2 3 4 5 6 7 2 3 4 5 6 7 8 3 4 5 6 7 8 9 * x x1 x2 x3 = b 4 5 6 7 8 9 10

In this situation, A is pretty close to what is called a "Hankel" matrix (see "help hankel" in Matlab), and so we can get A set up by

22 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

function A = makeA(S,N) % % Set up matrix for linear prediction calculation % S is a vector of length M whose ith sample will be predicted % as a linear combination of the N previous samples. % Thus we want to set up a matrix A, % with M-N rows and N columns, % whose jth row consists of the samples from S(j) to S(j+N-1). % Obviously M must be greater than N. AA = hankel(S,S(1:N)); A = AA(1:(length(S)-N),:); Thus we get >> makeA(1:10,3) ans = 1 2 2 3 3 4 4 5 5 6 6 7 7 8

3 4 5 6 7 8 9

The role of b in our equation Ax=b will be played by the input samples from S(N+1) to S(M). >> A = makeA(S1, 14); >> b = S1(15:length(S1)); A is full rank >> rank(A) ans = 14 and so it doesn't matter much what method we use to get x: >> norm(A\b - pinv(A)*b) ans = 5.0799e-15 >> x = pinv(A)*b; >> x' ans = Columns 1 through 7 -0.1660 0.3545 -0.4917 Columns 8 through 14 1.1888 -1.5503 1.4317

0.5188 -1.0071

-0.7772 0.8159

1.0481 -1.2254

-1.3567 1.4033

How much of the variance of the input have we accounted for? >> sum((A*x-mean(A*x)).^2) / sum((b-mean(b)).^2)

23 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

ans = 0.9294 Let's look at the (windowed version of the) original signal, and its DFT spectrum: >> >> >> >> >> S2 = hamming(length(S1)).*S1; plot(S2); q = zeros(512,1); q(1:length(S2)) = S2; lspecplot(fft(q), 8000);

24 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

Now let's look at the impulse response of the recursive lter whose coecients are x --- well, OK, whose coecients are 1 followed by -1 times x backwards... we have to obey the conventions derived from the LCDE formulation: >> impulse = zeros(256,1); impulse(15)=1; >> fcoef = [1 -x(14:-1:1)'] fcoef = Columns 1 through 7 1.0000 -1.4033 1.2254 -0.8159 1.0071 -1.4317 1.5503 Columns 8 through 14 -1.1888 1.3567 -1.0481 0.7772 -0.5188 0.4917 -0.3545 Column 15 0.1660 >> impresp = filter([1 0 0 0 0 0 0 0 0 0 0 0 0 0 0], fcoef, impulse); >> plot(impresp);

25 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

and the (log) amplitude spectrum of this impulse response: >> lspecplot(fft(impresp),8000);

Now let's gure out what the pole frequencies and amplitudes are:
26 of 29 07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

>> angle(roots(fcoef))*4000/pi ans = 1.0e+03 * 3.2923 -3.2923 2.9825 -2.9825 2.3412 -2.3412 1.4361 -1.4361 1.4294 -1.4294 0.4731 -0.4731 0.6518 -0.6518 >> abs(roots(fcoef)) ans = 0.9653 0.9653 0.8436 0.8436 0.8628 0.8628 0.9703 0.9703 0.8048 0.8048 0.9803 0.9803 0.7576 0.7576 In tabular form, the seven complex poles, corresponding to the seven complexconjugate roots of the predictor polynomial, have frequencies and amplitudes of

Frequency in Hz. Amplitude (0-1) 473.1 651.8 1,429.4 1,436.1 2,341.2 2,982.5 3,292.3 .9803 .7576 .8048 .9703 .8628 .8436 .9653

27 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

Note that by performing a 14-th order analysis, we've guaranteed that we will get seven complex poles (well, we might have substituted a couple of real poles for one of them). If we want to use this method to nd the vowel formants, we have to decide which poles correspond to formats and which do not. Here, it is clear (because of the amplitude) that F1 is 473 Hz., and F2 is 1,436 Hz. (though of course the apparent estimation accuracy is spurious). It is less clear what F3 should be.

Inverse ltering
Suppose we have a causal LTI system S1, with impulse response h, whose z transform, H(z), is a ratio of polynomials B_poly/A_poly. Now suppose we have another causal LTI system S2, with impulse response g, whose z transform, G(z), happens to be exactly the inverse, namely A_poly/B_poly. If we convolve some input x with h, and then convolve the result with g -- x # h # g -- this is equivalent to convolving x with the convolution of h with g -- x # ( h # g ). By the convolution rule for the z-transform, the z-transform of ( h # g ) will be the product H(z)G(z). Given the way we constructed the two systems, this product will be 1 for all values. Therefore the combined system (h # g) will do nothing to its input. More interestingly, if we already have the output S1(x) = x # h, we can apply the second system to the result to get the original input back: S2(S1(x)) = x. This process is called inverse ltering. Let's try this with a simple one-pole recursive lter with a center frequency half the sampling rate, excited by an impulse: r = .95*exp(i*.5*pi); A= poly([r r']); impulse=zeros(256,1); impulse(15)=1; out1 = filter([1 0 0],A,impulse); out1(1:30)' ans = Columns 1 through 7 0 0 0 0 Columns 8 through 14 0 0 0 0 Columns 15 through 21 1.0000 0.0000 -0.9025 -0.0000 Columns 22 through 28 -0.0000 0.6634 0.0000 -0.5987 Columns 29 through 30 -0.4877 -0.0000 out2 = filter(A,[1 0 0],out1); out2(1:30)' ans = Columns 1 through 12

0 0 0.8145 -0.0000

0 0 0.0000 0.5404

0 0 -0.7351 0.0000

28 of 29

07/18/2011 09:53 PM

Introduction to the z transform

http://www.ling.upenn.edu/courses/ling525/z.html

0 0 0 0 Columns 13 through 24 0 0 1 0 Columns 25 through 30 0 0 0 0 Success! we got the impulse back

0 0 0

0 0 0

0 0

0 0

0 0

0 0

0 0

0 0

Now let's try the recusive lter estimated by the LPC modeling in the previous section. Here we have seven poles -- because we used a 14th-order model. If we apply this lter to a known input -- say an impulse -- and then inverse lter, we'll get our known input back: [TK] But it's more interesting to inverse lter the original speech. here we don't actually know what the excitation was, since we are starting from a real-world signal. In fact, the input wasn't really generated by this type of lter at all, but rather by a physical process that is something like -- can be usefully modeled as -- such a lter. So the result of inverse ltering in this case will be a hypothetical signal -- what the input would have been if the output really were created by our modeled lter. [TK]

29 of 29

07/18/2011 09:53 PM