Sinyaller ve Sistemler

“Z-Dönüşümü”
Dr. Cahit Karakuş, 2020
 İçindekiler
• Z-Dönüşüm
• Z-Dönüşüm Özellikleri
• Region of Convergence (ROC)
• Block Diagram Manipulation
• Inverse Z-Transform
• Solving Difference Equations
• Transfer Function
 Z-DÖNÜŞÜM
• Sürekli zamanlı sinyallerin zaman alanından frekans alanına geçişi Fourier ve
Laplace dönüşümleri ile mümkün olmaktadır.
• Laplace, Fourier dönüşümünün genel bir şeklidir.
• Ayrık zamanlı sinyaller için de ayrık zamanlı Fourier dönüşümleri
kullanılmaktadır.
• z dönüşüm de ayrık zamanlı Fourier dönüşümünün genel bir şeklidir.
• Ayrık zamanlı f(n) sinyalinin (veya dizinin) z dönüşümü aşağıdaki gibi ifade edilir.
 Basic Concepts
• Consider a sequence of values: {xk : k = 0,1,2,... }
• These may be samples of a function x(t), sampled at instants t = kT; thus xk =
x(kT).
• The Z transform is simply a polynomial in z having the xk as coefficients:


X ( z )  Z xk    k
x z k

k 0
 Z-Transform

 Fourier Transform

    xne

jw  jwn
X e
n  

 z-transform

X z    xn z  n
n  
 Bilateral - Unilateral

 Two sided or bilateral z-transform


X z    xnz n

n  

 Unilateral z-transform

   
X z  x n z n

n 0
 Example of z-transform

n n1 0 1 2 3 4 5 N>5

x[n] 0 2 4 6 4 2 1 0

X z   2  4 z 1
 6z 2
 4z 3
 2z 4
z 5
 Unit Step Signal - continued
A little bit of math …
(1  a)(1  a  a 2  ...  a n )
1  a  a 2  ...  a n 
1 a
n 1
1 a

1 a
n  , assuming |a| 1,
(1  a)(1  a  a 2  ...  a n )
1  a  a  ...  lim
2
n  1 a
1  a n 1
 lim
n  1 a
1

1 a

1 2 3 1
Ustep(z)  1 z z z  ... 
1- z -1
Z-Dönüşüm Özellikleri
 What does “Linear” mean exactly?

• Scaling u(k) A y(k)

λu(k) A λy(k)

u1(k) A y1(k)
• Superposition
u2(k) A y2(k)

u1(k)+u2(k) A y1(k)+y2(k)
 Time Invariance
u(k) A y(k)

u’(k)=u(k-n) A y’(k)=y(k-n)

Idiom:
u(k-n) is u(k) delayed
by n time units!
Properties of the Z-Transform
• Linearity: ax1 [n]  bx 2 [n]  aX 1 [ z ]  bX 2 [ z ]

Proof:   
Zax1 [ n]  bx 2 [ n]   (ax [n]  bx1 2 [ n]) z n
  ax [n]z 1
n
  bx 2 [ n] z  n  X 1 [ z ]  X 2 [ z ]
n   n   n  

x[n  n0 ]  z  n0 X [ z ]
• Time-shift:
Proof:  
Zx[ n  n0 ]   x[n  n 0 ]z n
  x[m]z  ( m  n0 )

n   m  
 
  x[m]z
m  
m
z  n0
 z  n0
 x[m]z
m  
m
 z  n0 X [ z ]

What was the analog for CT signals and the Laplace transform?
• Multiplication by n: dX [ z ]
nx[n]  z
dz
Proof: 
X(z)   x[n]z
n  
n

 
 n  x[ n] z  n  Znx[ n]
dX ( z ) dX ( z )
  n  x[ n] z  n 1  z
dz n   dz n  
Zamanda Kaydırma
 Convolution

Time Domain u(k) * v(k) = y(k)

(convolution)

Z Z-1 Z Z-1 Z Z-1

Z Domain U(z) · V(z) = Y(z)

(multiplication)
Evrişim - Konvalizasyon
Region of Convergence
(ROC)
 Kutuplar ve Sıfırlar
• Bir z-dönüşümünün kutupları, o z-dönüşümünü
sonsuza götüren z değerleridir.
• Bir z-dönüşümünün sıfırları, o z-dönüşümünü
sıfıra götüren z değerleridir.
 Z-Transform
• Region of Convergence (ROC)
In general, the z-transform is an infinite sum! This means it
(the z-transform) may not exist for all values of z. More
specifically, it is the value of r = |z| that is important. If
x(n) = (0.5)nu(n), then 

X (z )  n
(0.5 ) z n

z-plane n 0
 only if |Z|>0.5 !
  (0.5 z 1
) n

n 0

0.5 1
 1
ROC 1  0.5 z

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 Z-Transform
• Region of Convergence

Here’s what the ROC can look like:

|z|<a b<|z| b<|z|<a all |z|

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Z-Transform
More on ROC
• Example: x[ n]   a n u[ n  1] (left  sided signal)

  a   a 
 1
n 1 n
X ( z)  n
u[ n  1] z  z
n   n  

1  ( a 1 z ) 
 1 ?
1  a 1 z

a 1 z  1, or, z  a
If:
1 1  a 1 z 1
X(z)  1   
1  a 1 z 1  a 1 z 1  a 1 z
 a 1 z

1  a 1 z
1

1  az 1
z

za

The z-Transform is the same, but the region of convergence is different.

Properties of the ROC (Cont.)
• If x[n] is a two-sided sequence, and if |z| = r0 is in the ROC, then the ROC consists of a ring in the z-plane
including |z| = r0.

right-sided left-sided two-sided

x[n]  b b0
n

• Example:
x[ n]  b n u[ n]  b  n u[  n]
1
b n u[ n]  z b
1  bz 1
1 1
b  n u[  n  1]  z 
1  b 1 z 1 b
1 1 1
X ( z)    z b
1  bz 1 1  b 1 z 1 b
Example: Determine the z-transform of the following signals
(a) x[n] = [1, 2, 5, 7, 0, 1]
Solution: X(z) = 1 + 2z-1+ 5z-2 + 7z-3 + z-5,
ROC: entire z plane except z = 0

(b) y[n] = [1, 2, 5, 7, 0, 1]

Solution: Y(z) = z2 + 2z + 5 + 7z-1 + z-3

ROC: entire z-plane except z = 0 and z = .

(c) z[n] = [0, 0, 1, 2, 5, 7, 0, 1]

Solution: z-2 + 2z-3 + 5z-4 + 7z-5 + z-7, ROC: all z except z=0 23
Block Diagram Manipulation
 Example 1: Running Average Algorithm
xk  xk 1  xk 2  xk 3
yk  (Non-Recursive)
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1  z 1  z 2  z 3 z3  z2  z  1
Y z   X z   X z  Z Transform
4 4z 4

Block Diagram Transfer Function

z3  z2  z  1
Y
z  
X 4z 4

Note: Each [Z-1] block can be thought of as a memory cell, storing the
previously applied value.
 Example 2: Trapezoidal Integrator
 xk  xk 1 
T
y k  yk 1 (Recursive)
2

 T2
Y  z   z 1Y  z   X  z   z 1 X  z  Z Transform

1  z 1  T  z  1 T
Y  z   X  z  1 
 X  z 
1  z  2  z  1
 2

Block Diagram
Transfer Function

Y z  T  z  1

X z  2 
 z  1

 Ex. 2 (cont) Block Diagram Manipulation
Intuitive Structure

Equivalent Structure Explicit representation of xk-1 and yk-1

has been lost, but memory element
usage has been reduced from two to
one.
 Ex. 2 (cont) More Block Diagram Manipulation

Y z  T  z  1
 Note that the final form is equivalent to a rectangular integrator with an additive

X z  2 
 z  1
forward path. In a PI compensator, this path can be absorbed by the
 proportional term, so there is no advantage to be gained by implementing a
trapezoidal integrator.
Inverse Z - Transform
Polinom Bölümü ve Genişletme Metodu
Inverse z Transform Example

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Inverse z Transform Example

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 Inverse z Transform Example

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3/9/2022
 An Example – Complete Solution

3z 2  14z  14 c1 c2
U(z) U(z) c0  
z 2  6z  8 z 2 z 4

3z 2  14z  14
c0  lim U(z) lim 3
z  z  z 2  6z  8

3z 2  14z  14
U2(z)  (z  2)
z 2  6z  8 3  2 2  14  2  14
c1  U2(2)  1
3z 2  14z  14 2-4

z-4
3  4 2  14  4  14
3z  14z  14
2 c 2  U 3 (4)  3
U 3 (z)  (z  4) 4-2
z 2  6z  8
3z 2  14z  14

z-2

1 3 3, k0
U(z) 3   u(k)   k 1
z 2 z 4 2  3  4k 1, k0
Solving Difference Equations
 Solving Difference Equations
The unilateral z transform is well suited to solving difference
equations with initial conditions. For example,
3 1
y [ n + 2 ] - y [ n + 1] + y [ n ] = (1 / 4 )
n
, for n ³ 0
2 2
y [ 0 ] = 10 and y [1] = 4
z transforming both sides,
3 1 z
ë Y ( z ) - y [ 0 ] - z y [1] ù ë Y( z ) - y[ 0] ù
û + 2 Y( z ) = z - 1 / 4
-1
z é
2
û- 2 zé
the initial conditions are called for systematically.

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 Solving Difference Equations
Applying initial conditions and solving,
æ 16 / 3 4 2 / 3ö
Y( z) = z ç + + ÷
è z -1/ 4 z -1/ 2 z - 1ø
and
é 16 æ 1 ö n æ ö
1
n
2ù
y[n] = ê ç ÷ + 4 ç ÷ + ú u[n]
ë 3 è 4ø è 2ø 3û
This solution satisfies the difference equation and the initial
conditions.

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Transfer Function
 z-Transform Properties
An LTI system has a transfer function
Y( z ) z -1/ 2
H ( z) = = 2 , z >2/3
X( z) z -z+2/9
Using the time-shifting property of the z transform draw a
block diagram realization of the system.
( )
Y( z) z2 - z + 2 / 9 = X ( z)( z - 1 / 2)
z 2 Y ( z ) = z X ( z ) - (1 / 2 ) X ( z ) + z Y ( z ) - ( 2 / 9 ) Y ( z )
Y ( z ) = z -1 X ( z ) - (1 / 2 ) z -2 X ( z ) + z -1 Y ( z ) - ( 2 / 9 ) z -2 Y ( z )

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Matlab
 Matlab
• ztrans(f) finds the Z-Transform of f. By default, the
independent variable is n and the transformation variable is
z. If f does not contain n, ztrans uses symvar.
Mathematical
MATLAB Command
Operation
limx→0f(x) limit(f)
limx→af(x) limit(f, x, a) or
limit(f, a)
limx→a−f(x) limit(f, x, a, 'left')
limx→a+f(x) limit(f, x, a, 'right')
 Matlab - Örnekler
clc
clc clear all clc
clear all close all clear all
close all syms z k close all
f=0.5.^k; syms z k
x = [9 2 3 4 5]; a=ztrans(f) F=z/(z-0.5);
b=0; pretty (a) a=iztrans(F,k)
n=length(x); a = z/(z - 1/2) pretty(a)
y=sym('z');
for i=1:n a = (1/2)^k
z k
b=b+x(i)*y^(1-i); -------
end (1/2)
z - 1/2
display(b);

b = 2/z + 3/z^2 + 4/z^3 + 5/z^4 + 9

 Usage Notes
• These slides were gathered from the presentations published on the internet. I would like to thank
who prepared slides and documents.
• Also, these slides are made publicly available on the web for anyone to use
• If you choose to use them, I ask that you alert me of any mistakes which were made and allow me
the option of incorporating such changes (with an acknowledgment) in my set of slides.

Sincerely,
Dr. Cahit Karakuş
cahitkarakus@esenyurt.edu.tr

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