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AGNEL INSTITUTE OF TECHNOLOGY AND DESIGN

AGNEL TECHNICAL EDUCATIONAL COMPLEX


ASSAGAO, BARDEZ-GOA. 403 507
(Approved by AICTE, Affiliated to Goa University)
DEPARTMENT OF ECE
ECE 4.2 SIGNALS AND SYSTEMS
Module 4- COURSE MATERIALS

Z transform is a very important set of tool for Discrete system analysis, the Laplace
and Z transform can be applied to the analysis of many unstable system to find the stability
and instability of the system.

The Z transform of x[n] Z(x[n]) = X(z)=  x[n]z  n
n 

n-is an integer time index z=re is a complex number, ω=angular frequency
when the magnitude r=1, z=ejω so the relationship between Z and Fourier transform is
X(e j )  X(z) when z=e j i.e Fourier transform is a Z transform evaluated at unit circle.
The pole –zero of the Laplace transform is plotted on Z-plane. By knowing the location of
the pole and ROC we can find the stability and causality of the system.
ROC:
The Region of convergence (ROC) is the set of points z in the complex plane, for which the
summation is bounded (converges) i.e. range of values of z over which X(z) converges.
Properties of ROC
1. The ROC of X(z) depends only on |z| = r and therefore consists of a ring in the z-plane
centered at the origin.
2. ROC does not contain any poles.
3. If x[n] is of finite duration, then the ROC is the entire z-plane except possibly z = 0
and/or z = ∞.
4. If x[n] is a right-sided sequence, and if the circle |z|=r in the ROC, then the ROC |z|>r
then the ROC is the outside of a circle centered at the origin. Example x[n]=anu[n]
gives X(z)=z/z-a with roc |z|>a
5. If x[n] is a left-sided sequence and if the circle |z|=r in the ROC, then the ROC 0<|z|<r
is the inside of a circle centered at the origin. Example x[n]= -anu[-n-1] gives X(z)=z/z-
a with roc |z|<a
6. If x[n] is a two-sided sequence, and if the circle |z|=r in the ROC then the ROC
consists of a ring includes the circle |z|=r. Example x[n]=a|n| has z transform
z z
X ( z)   with ROC a<|z|<1/a
z  a z  1/ a
Three types of ROC

Page | 1
Find the Z transform and sketch the ROC x[n] = a n u[n] a <1
n
Given x[n] = a u[n]
n 
Z Transform of the signal x[n], X(z )   x[n]z
n 
n

1  n  n 
n  n  n  n

X(z) =  a u[n]z n n
 a z n n
  az   1
1  
 a  (1  a ) 1 
n  n0 n0 1  az  n  0 
z
X(z) = , with ROC z  a
z a

for 0<a<1

n
Find the Z transform and sketch the ROC. x[n] =a a <1
n
Given x[n] = a
For the Given signal x[n] = a n n  0
a  n n<0
n 
Z Transform of the signal x[n], X(z )   x[n]z
n 
n

n  n 1 n  n 1 n 
X(z ) =  a n z  n   a  n z  n    az     az  1  n 1
1 n
    az 
n
1
n 0 n  n 0 n  1  az n 1
n  n 
z 1 z 1
    az   1  1     az   1   1
n n
 j
z  a n 1 1  ae n0 z  a 1  az
z az z z z z a2 z
    =  or 2 with ROC a< z  1/ a
z  a 1  az z  a 1/ a  z z  a z  1/ a a  1 ( z  a)( z  a 1 )

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Find the Z transform and ROC

x[n]=1 n=-2,-1,0,1,2
Given x[n] = 1 n=-2,-1,0,1,2
n 
Z Transform of the signal x[n], X(z )   x[n]z
n 
n

n2
X(z ) =  z  n  z 2  z  1  z 1  z 2 , with ROC entire z-plane except z=0 and (two sided signal)
n 2

Find the Z transform and ROC


n 
Given x[n] = -a nu[ n  1], Z Transform of the signal x[n], X(z )   x[n]z
n 
n

n  n 1 n n  n n  n
a a z
X(z ) =  -a nu[ n  1]z  n               
n  n   z  n 1  z  n 1  a 

 n   z  n  n 
z
n
1 a z z
       1  1       1  1   1   with ROC z  a
 n 1  a   n 0  a 
1
z az az za
a

Find the Z transform and ROC


n n n 
1 1
x[n] =   u(n)+   u(n), Z Transform of the signal x[n], X(z )   x[ n] z  n
3 2 n 

n   n n
   1   1  
n n
1 1 n
X(z ) =    u(n)+   u(n)  z  n     +    z  n
 3 
n   2  n0  3   2  
n  n  n
1 1 z z
    z  n +   z  n   , z  1/ 3 and z  1/ 2 so ROC z  1/ 2
n 0   n0  
3 2 1 1
z z
3 2

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Find the Z transform and ROC
n n n 
1 1
x[n] =   u(n)-   u(-n-1) , Z Transform of the signal x[n], X(z )   x[ n] z  n
3 2 n 

n   n n

1 1
X(z ) =    u(n)-   u(-n-1)  z  n
 3 
n   2 
 z z 
 WKT z transform of a u (n)  z  a and -a u (  n  1)  z  a 
n n

n  n  n
1 1 z z
    z n     z n   , z  1/ 3 and z  1/ 2 and ROC 1/3< z  1/ 2
n 0   n 1  
3 2 1 1
z z
3 2

Find the Z transform and plot pole, zero and ROC


n n
  1  1 j 4  1  1  j 4 
n
1
x[n] =   sin   u(n) =  e  u ( n )   e  u ( n)
3 4 2j3  2j3 
1 n   1 j 4   1  j 4    n 1 n   1 j 4 1   1  j 4 1  
n n n n

X(z ) =   e  -  e   z    e z  -  3 e z  
2 j n  0  3   3   2 j n  0  3    
  
  1
z
1  1 1  3 2 1 1
  
   . So z  with angle   /4 and ROC z 
2 j  1 4 1  1 j  
1 j 
1  e 4 z 1   z  e 4   z  e 4 
j 1  j 3 3
1 e z
 3 3 
  3  3 

Page | 4
Relationship between Z transform and Fourier Transform

We know that Z transform of a signal x[n] is X(z)=  x[n]z  n , to find the relationship
n 
between Z and Fourier transform let the complex variable z in the polar form z=rejω, wher
‘r’ is the magnitude of ‘z’ and ‘ω’ is the angle of ‘z’
 
X(z)=  x[n]z  n  X(re j )=  x[n]r n e  j n
n  n 

when r=1 , X(e  j )=  x[ n]e  j n =FT
n 
i.e. when |z|=1 the Z transform is reduces to Fourier Transform(evaluating z at unit circle
gives fourier transform)
X(z)|z=ejω=X(ejω)

Properties of Z Transform
1) Linearity
Let x[n] and y[n] are signals with Z transform of X(z) and Y(z)
x[n] z X(z) with ROC R1
y[n] z Y(z) with ROC R2

Z.T(a x[n]+by[n]) = a X(z) +b Y(z) with ROC R1 ∩ R2

Proof

ZT  ax[n] + by[n]    ax[n] + by[n]z  n
n 0
 
  ax[n]z  n   by[n]z  n = aX(z)+bY(z)
n 0 n0
2-Time shifting
-n
X(z) is the Z transform of x[n] , z o X(z) is the Z transform of x[n-no]

x[n] Z.T X(z) with ROC R


-no
x[n-no) Z.T z X(z) with ROC R with possible deletion or addition of
origin and infinity

Page | 5
Proof

ZT  x[n-n o ]    x[n-n o ]z  n
n 0

let p =n-n o ,n=p+n o



  x[p]z
p 0
 ( p  no )
=z  no X(z)

3- Scaling in the z-domain


 z 
X(z) is the Z transform of x[n] , zon x[n] Z transform is X  
 zo 
x[n] Z.T X(z) with ROC R
 z 
zon x[n] Z.T X   with ROC =|zo|R
 zo 
Proof
n
 
 z   z 
FT  z x[n]  
n
o z n
o x[n]z n
  x[n]    X 
n  n   zo   zo 
4. Time Reversal

X(z) is the Z transform of x[n] , X(-z) is the Z transform of x[-n].

x[n] Z.T X(z) with ROC R


x[-n] Z.T X(1/z) with ROC 1/R

Proof


ZT  x[ n]    x[n]z -n
n 

let p =-n ,n=-p


 
1
  x[ p]z = X  z 1   X  
p -(-p)
 x[ p ]z 
p  p  z

6Convolution property
Convolution of the two signals in the time domain is equal to the multiplication of their
individual Z transform in the transform domain.
Proof
Let x[n] and y[n] are signals with Z transform X(z) and Y(z)

x[n] Z.T X(z) with ROC R1


y[n] Z.T Y(z) with ROC R2

x[n]*y[n] ZT X(z) Y(z) with ROC R1∩ R2

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ZT  x[n]* y[n]     x[n]* y[n]z -n
n 

wkt x[ n]* y[ n]   x[k ] y[n  k ]
k 

Substitute in the above Equation


 
   x[k ] y[n  k ]z -n
n  k 

let p =n-k ,n=p+k


   

  x[k ] y[ p]z  x[k ]z -k   X  z Y  z 


-(p+k) -p
 = y[ p ]z
k  p  k  p 

Differentiation property
dX  z 
Z transform of nx[n] is  z with ROC R
dz

X(z )   x[n]z
n 
n

differentiation wrt to z
 
dX(z) nx[n] 1
=   -nx[n]z   -
2
z
dz n  n  z
ZT dX(z)
 nx[n]  z
dz
Initial Value Theorem
This theorem is helps to find out the initial value of the signal,
lt
x[0]  z   X ( z )

wkt X(z )   x[n]z  n  x[0] z 0  x[1] z 1  x[2] z 2  x[3] z 3  .....
n 0

apply the limit z   on both side


lt lt
z   X ( z )  z  {x[0]z 0  x[1]z 1  x[2]z 2  ..}[all term vanishes due to inverse except x[0]]
lt
x[0]  z   X ( z )

Final Value Theorem


This theorem is helps to find out the final value of the signal,
lt
x[]  z  1 1  z 1  X ( z )

Page | 7
Take the first difference of x[n] i.e. x[n]  x[n  1]
Take z transform
  

  x[n]-x[n-1] z  n   x[n]z  n   x[n-1]z  n


n 0 n0 n0

  x[n]-x[n-1] z
n 0
n
 X ( z )   x[1]z 0  x[0] z 1  x[1]z 2  x[2] z 3 ..

  x[n]-x[n-1] z n
 X ( z )   x[1]  z 1  x[0]  x[1]z 1  x[2]z 2 .. 
n 0

  x[n]-x[n-1] z
n 0
n
 X ( z )   x[1]  z 1 X ( z )   X ( z )  x[1]  z 1 X ( z )  [1  z 1 ] X ( z )  x(1)

apply the limit z  1 on both sides


lt  lt
z  1   x[n]-x[n-1] z  n  z  1[1  z 1 ] X ( z )  x(1)
n 0
lt
x()  z  1[1  z 1 ] X ( z )

It is helpful to remember the following frequently used signal and z transform pairs:
u[n]=z/z-1
anu[n] ←→ z/ z − a , ROC : |z| > |a|
anu[−n − 1] ←→ z/ z − a , ROC : |z| < |a|
nanu(n)=az/(z-a)2
Inverse Z transform
It is used to find out the original signal x[n] from X(z). The following methods are used to
find the inverse Z transform,
1. Power series or Long division method 2. Using partial fraction3. Using residue
method
Find the Inverse Z transform using long division method
1  2 z 1
X ( z)  , if x[n] is causal and x[n] is anticausal
1  2 z 1  z 2
Case1: If x[n] is causal[|z|>a], arrange the z powers from higher to lower order

Page | 8
The quotient of the division is 1+4z-1+7z-2+10z-3+….
It is in the form of X(z)=x[0]z0+x[1]z-1+ x[2]z-2+x[3]z-3+……, from the comparison,
x[n]={1,4,7,10,……}
Case2: If x[n] is anticausal[|z|<a], arrange the z powers from higher to lower order

The quotient of the division is 2z+5z2+8z3+11z4+….


It is in the form of X(z)=x[-4]z4+x[-3]z3+ x[-2]z2+x[-1]z1+x[0]z0…, from the comparison,
x[n]={…11,8,5,2,0}
Find the Inverse Z transform using long division method
z 1
X ( z)  2 , if x[n] is causal and x[n] is anticausal
z  3z  2
Step1 convert X(z) into z 1 , by mulipling higher order negative z power in this case z 2
z 1  z 2
X ( z) 
1  3 z 1  2 z 2
Case1: If x[n] is causal[|z|>a], arrange the z powers from higher to lower order

z 1  z 2
X ( z) 
1  3 z 1  2 z 2
Case2: If x[n] is anticausal[|z|<a], arrange the z powers from lower to higher order

Page | 9
The quotient of the division is ½+5/4z+13/8z2+29/16z3+….
It is in the form of X(z)=x[-4]z4+x[-3]z3+ x[-2]z2+x[-1]z1+x[0]z0…, from the comparison,
x[n]={…29/16,13/8,5/4,1/2}
Find the Inverse Z transform using PF method
1  2 z 1
X ( z)  ,
1  2 z 1  z 2
multiply NR and DR by z 2
z2  2 z z(z  2)
X ( z)  2 = , zeros z=0,-2 and poles z=1
z  2 z  1 ( z  1) 2
X ( z ) (z  2) A B
 = 
z ( z  1) 2
z  1 ( z  1) 2
X ( z ) A( z  1)  B (z  2)
 
z ( z  1) 2 ( z  1) 2
A( z  1)  B  z  2, by solving A=1, B=3
X ( z) 1 3
 
z z  1 ( z  1) 2
z 3z
X ( z)   , by using standard transforms
z  1 ( z  1) 2
 z za 
x[n]=1nu (n)  3n1nu (n)  (1  3n)u (n)  a nu (n)  , na nu ( n)  2
 za  z  a  

Page | 10
Find the Inverse Z transform using PF method

1  z 1  z 2
X ( z)  ,
1
(1  2 z 1 )(1  z 1 )(1  z 1 )
2
1) if |z|<1/2 2) if |z|>2 3) if 1<|z|<2
Answer:
1  z 1  z 2
X ( z)  , multiply NR and DR by z 3
1
(1  2 z 1 )(1  z 1 )(1  z 1 )
2
z z z
3 2
z ( z 2  z  1)
X ( z)  
1 1
( z  2)( z  )( z  1) ( z  2)( z  )( z  1)
2 2
X ( z) ( z  z  1)
2
A B C
 =  
( z  2)( z  )( z  1) ( z  2) ( z  1) ( z  )
z 1 1
2 2
X ( z) A B C z  z 1
2
   
z ( z  2) ( z  1) ( z  1 ) ( z  2)( z  1 )( z  1)
2 2
1 1
A( z  1)( z  )  B ( z  2)( z  )  C ( z  1)( z  2)  z 2  z  1,
2 2
by solving A=2, B=-2, C=1
X ( z) 2 2 1
  
z ( z  2) ( z  1) ( z  1 )
2
2z 2z z
X ( z)   
( z  2) ( z  1) ( z  1 )
2
Case1 if |z|<1/2 this case is possible if entire signal is anticausal i.e. all are negative side sequences
1  z 
x[n]=-2(2) nu ( n  1)  2(1) n u ( n  1)  ( ) nu ( n  1)   a nu ( n  1) 
2  z  a 
Case2 if |z|>2 this case is possible if entire signal is causal i.e. all are positive side sequences
1  z 
x[n]=2(2) nu (n)  2(1) n u (n)  ( ) nu (n)  a nu (n) 
2  z  a 
Case3 if 1<|z|<2 this case is possible if signal is non causal i.e.
ROC >1 so z=1/2 and z=1 are positive side sequences and z=2 is negative side sequence
1
x[n]=-2(2) nu ( n  1)  2(1) n u (n)  ( ) nu (n)
2

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Difference Equation of LTI system and solving of difference equation
The input and output relation of an LTI system is related by the Z-transform is
Y(z)=X(z)H(z)
Y(z) is the Z- transform of the output
X(z) is the Z- transform of the input
H(z) is the Z- transform of impulse response
H(z) is called transfer function or system function, H(jω) is called freq
response of the system.
The difference equation represents the relationship between the input and
output signals for a system that process data in a computer. The difference
equation represents discrete time system.

The Transfer function is characterized by a linear constant coefficient difference


Equation, Eg first order difference equation
y(n-1)+y(n)=x(n)
N M
Let us consider general form of difference equation y(n)=  a k y(n-k) + b k x(n-k)
k=1 k=0
M

b k z -k
b 0 +b1z -1 +b 2 z -2 +..+b M z -M
By taking Z transform H(z) = k=0
N

1+a1z -1 +a 2 z -2 +..+a N z -N
1   a k z -k
k=1
Find the impulse response of the system y(n)-5/6y(n-1)+1/6y(n-2)=x(n)
and find y(n) for the input 1) x(n)=δ(n)-1/3δ(n-1) 2)x(n)=u(n)
To find response of system apply Z tranasform
Z transform for y(n-1)=y(-1)+z -1Y(z) and Z transform for y(n-2)=y(-2)+z -1 y(-1)+z -2 Y(z)
5 1
y(n)- y(n-1)+ y(n-2)=x(n) ,apply z transform
6 6
Y(z)-  y(-1)+z -1Y(z)  +  y(-2)+z -1 y(-1)+z -2 Y(z)  =X(z)
5 1
6 6
the initial conditions are zero
5 1
Y(z)- z -1Y(z)+ z -2 Y(z)=X(z)
6 6
Y(z) 1 6z 2
H(z)= = = 2 ----(1)
X(z) 1- 5 z -1 + 1 z -2 6z -5z+1
6 6

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by taking inverse z transform we can find impulse response h(n)
6z 2 z2
H(z)= =
 1  1   1  1 
6  z-   z-   z-   z- 
 2  3   2  3 
H(z) z A B
= = +
z  1  1   1   1 
 z-   z-   z-   z- 
 2  3   2   3 
 1  1
A  z-  +B  z-  =z,B=-2 A=3
 3  2
n n
3z 2z 1 1
H(z)= - take inverse z transform,h(n)=3   u(n)-2   u(n)
 1  1 2  3
 z-   z- 
 2  3
to find response for case 1
take z transform and sub in equ 1
Y(z) 6z 2 1 3z-1
H(z)= = , X(z)=1- = ,
2
X(z) 6z -5z+1 3z 3z
1
2 6z(z- ) n
6z 3z-1 3 z 1
Y(z)= = = by inverse z transform,y(n)=   u(n)
6z 2 -5z+1 3z 6  z- 1   z- 1   z- 1  2
    
 2  3   2 

z 6z 2 z
for case 2 X(z)= , so Y(z)=
z-1 2
6z -5z+1 z-1
Y(z) z2 A B C
= = + +
z  1  1   1   1  z-1
 z-   z-  (z-1)  z-   z- 
 2  3   2  3
A=-3,B=2,C=3
-3z 2z 3z
Y(z)= + + ,
 1   1  z-1
 z-   z- 
 2  3
n n
1 1
y(n)=3u(n)+2   u(n)-3   u(n)
3 2

Find out the response of the system 2y(n-2)-3y(n-1)+y(n)=3n-2

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To find response take z transform
z
2  z -2 Y(z)  -3  z -1Y(z)  +Y(z)=
9(z-3)
3n z
3n-2  2
,z transform =
3 9(z-3)
z
2  z -2 Y(z)  -3  z -1Y(z)  +Y(z)=
9(z-3)
z
2z -2 Y(z)-3z -1Y(z)+Y(z)=
9(z-3)
z
Y ( z )  2z -2 -3z -1  1 
9(z-3)
2 3  z
Y ( z )  2 -  1 
 z z  9(z-3)
 2  3z  z 2  z
Y ( z)  2  
 z  9(z-3)
z z2 z3 / 9
Y ( z)  
9( z  3) z 2  3 z  2 ( z  3)( z  2)( z  1)
Y ( z) z2 / 9 A B C
   
z ( z  3)( z  2)( z  1) z  1 z  2 z  3
1 4 1
A( z  2)( z  3)  B ( z  1)( z  3)  C ( z  2)( z  1)  z 2 / 9, by solving we get A= , B   ,C 
18 9 2
Y ( z ) 1/18 4 / 9 1/ 2
  
z z 1 z  2 z  3
1 z 4 z 1 z
Y ( z)    by taking IZ transform
18 z  1 9 z  2 2 z  3
1 4 1
y(n)= 1n u (n)  2n u (n)  3n u (n)
18 9 2

Application of transfer function


1) poles and zeros can be find by using transfer function.
2) Used to find the stability of the system.
3) It is used to find the impulse response of the system h(t)=L-1(H(s))
4) It is used to find the response of the system y(t)=L-1(H(s)X(s))

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