LECTURE OBJECTIVES

 introduce the z-transform

 give mathematical definition
 show how the H(z) polynomial simplifies
analysis
 convolution is SIMPLIFIED!
 z-transform can be applied to
 FIR filter: hh[n]
[n ] 
-->HH(z)
( z)
 sequences: xx[n] [n ] 
-->XX(z)
( z)
H ( z )   h[n ]z  n
n

THREE DOMAINS---FIR
z-TRANSFORM-DOMAIN
POLYNOMIALS: H(z)

{bk }
TIME-DOMAIN FREQ-DOMAIN
M M
y[n ]   bk x[n  k ] H ( e )   bk e  jˆ k
jˆ

k 0 k 0

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 TRANSFORM CONCEPT

 move to a new domain where

 operations are easier & familiar
 use polynomials

 can transform both ways:

x[n ]--->
 x[n]  XX(z)
( z ) (into the z domain)
 X(z)
X ( z )--->
 xx[n]
[n ] (back to the time domain)

“TRANSFORM” EXAMPLE

 equivalent representations
x[n] y[n]
h[n ]   [n ]   [n  1]
H ( e jˆ )   h[n ]e  jˆ n
n
x[n] jˆ  jˆ y[n]
H (e )  1  e

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 z-transform IDEA

 polynomial representation
x[n] y[n]
h[n ]
H ( z )   h[n ]z  n
n
x[n] y[n]
H (z )

z-transform DEFINITION
 POLYNOMIAL representation of LTI
system: H ( z )  h[n ]z  n

n
 EXAMPLE: APPLIES to
{h[n ]}  { 2, 0,  3, 0, 2 } any SIGNAL

H ( z )  2 z 0  0 z 1  3 z  2  0 z 3  2 z  4
 2  3 z  2  2 z 4
POLYNOMIAL in z -1
1 2 1 4
 2  3( z )  2( z )

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 USEFUL ANALYSIS TOOL
 z-transform POLYNOMIALS are EASY !
 ROOTS, FACTORS, etc.

 ZEROS and POLES: where is H(z) = 0 ?

 The z-domain is COMPLEX

 H(z) is a COMPLEX-valued function of a
COMPLEX variable z.

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 z-transform EXAMPLE
 z-transform of the sequence x[n]:
X ( z )   x[n ]z  n
n

X ( z)  ? X ( z )  2  4 z 1  6 z 2  4 z 3  2 z 4

X ( z )  1  2 z 1  3 z 3  z 5

EXPONENT GIVES
TIME LOCATION

x[n ]  ?

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 z-transform of impulse
response for the FIR filter
 called the SYSTEM FUNCTION
 h[n] is same as {bk}
M M
SYSTEM
FUNCTION H ( z )   bk z k   h[k ]z k
k 0 k 0
M M
y[n ]   bk x[n  k ]   h[k ] x[n  k ]
k 0 k 0
CONVOLUTION
FIR DIFFERENCE EQUATION

SYSTEM FUNCTION of FIR Filter

 Get H(z) DIRECTLY from the {bk}

 Example 7.3 in the book:
y[n ]  6 x[n ]  5 x[n  1]  x[n  2]

{bk }  { 6,  5,1}

H ( z )   bk z 1  6  5z 1  z 2

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 Ex: IDEAL DELAY SYSTEM
 UNIT DELAY: find h[n] and H(z)
x[n] y[n] = x[n-1]
 [n  1]

H ( z )    [n  1]z  n  z 1

x[n]
z 1 y[n]

DELAY Example
 UNIT DELAY: find y[n] via polynomials
 x[n] = {3,1,4,1,5,9,0,0,0,...}
Y ( z )  z 1 X ( z )
Y ( z )  z 1 (3  z 1  4 z 2  z 3  5z 4  9 z 5 )
Y ( z )  0 z 0  3z 1  z 2  4 z 3  z 4  5z 5  9 z 6

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DELAY PROPERTY

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 GENERAL I/O PROBLEM
 input is x[n], find y[n] (for FIR, h[n])
 how to combine X(z) and H(z)?

CONVOLUTION PROPERTY
 convolution in the n-domain
 equivalent to
 multiplication in the z-domain

y[n ]  h[n ]  x[n ]  Y ( z )  H ( z ) X ( z )

y[n ]  x[n ]  h[n ] MULTIPLY

M z-TRANSFORMS
  h[k ] x[n  k ]
k 0 FIR Filter

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 CONVOLUTION EXAMPLE
 MULTIPLY the z-transforms:

MULTIPLY H(z)X(z)

CONVOLUTION EXAMPLE
 finite-length input x[n]
 FIR filter (L=4) MULTIPLY
z-TRANSFORMS

y[n] = ?

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 CONVOLUTION EXAMPLE
x[n] y[n]
H(z)
x[n ]   [n  1]  2 [n  2] h[n ]   [n ]   [n  1]
y[n ]  x[n ]  h[n ]
X ( z )  z 1  2 z  2 H ( z )  1  z 1

Y ( z )  ( z 1  2 z 2 )(1  z 1 )  z 1  z 2  2 z 3
y[n ]   [n  1]   [n  2]  2 [n  3]

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 CASCADE SYSTEMS
 Does the order of S1 & S2 matter?
 No, LTI SYSTEMS can be rearranged !!!
 Remember: h1[n] * h2[n]
 How to combine H1(z) and H2(z) ?

S1 S2

CASCADE EQUIVALENT

 Find equivalent h[n] for a cascade:

S1 S2

S2 S1

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 CASCADE EQUIVALENT

 MULTIPLY the system functions

x[n] y[n]
H1 ( z ) H 2 ( z)
x[n] y[n]
H (z )
EQUIVALENT
SYSTEM H ( z )  H1 ( z ) H 2 ( z )

CASCADE EXAMPLE
x[n] w[n] y[n]
H1 ( z ) H 2 ( z)
w[n ]  x[n ]  x[n  1] y[n ]  w[n ]  w[n  1]
H 1 ( z )  1  z 1 H 2 ( z )  1  z 1
x[n] y[n]
H (z )
H ( z )  (1  z 1 )(1  z 1 )  1  z 2
y[n ]  x[n ]  x[n  2]

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 FREQUENCY RESPONSE ?
 same form:
j̂
ˆ  Domain ze
M
H ( e jˆ )   bk e  jˆ k z  Domain
k 0 M
M H ( z )   bk z  k
H ( e jˆ )   bk ( e jˆ ) k k 0
k 0 SAME COEFFICIENTS

OBJECTIVES
 find ZEROS and POLES
 relate H(z) to FREQUENCY RESPONSE
jˆ
H ( e )  H ( z ) z e jˆ
 THREE DOMAINS:
 show relationship for FIR:
j̂
h[n ]  H ( z )  H ( e )

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 ZEROS of H(z)
 Find z, where H(z)=0

H ( z )  1  12 z 1
1  12 z 1  0 ?
z  12  0
Zero at : z  1
2

ZEROS of H(z)
 Find z, where H(z)=0
 Interesting when z is ON the unit circle:
1 2 3
H ( z)  1  2 z  2 z z
H ( z )  (1  z 1 )(1  z 1  z 2 )
3  j / 3
Roots : z  1, 12  j 2 e

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 POLES of H(z)
 Find z, where H (z )  
 not very interesting for the FIR case

H ( z )  1  2 z 1  2 z  2  z  3
z3  2z2  2z  1
H ( z) 
z3
Three Poles at : z  0

Pole-Zero Diagram
UNIT
CIRCLE

3 ZEROS
H(z) = 0

3 POLES

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FREQ. RESPONSE from ZEROS
jˆ
H (e )  H ( z ) z e jˆ
 relate H(z) to FREQUENCY RESPONSE
 EVALUATE H(z) on the UNIT CIRCLE
 ANGLE is same as FREQUENCY

jˆ
ze (as ˆ varies)
defines a CIRCLE, radius  1

jˆ
H ( e )  H ( z ) z e jˆ

ANGLE is FREQUENCY

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FIR Frequency Response

Zeros of H ( e jˆ ) and H ( z )

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 NULLING PROPERTY of H(z)
 When H(z)=0 on the unit circle.
 Find inputs x[n] that give zero output

H ( z )  1  2 z 1  2 z  2  z  3
H ( e jˆ )  1  2e  jˆ  2e  j 2ˆ  e  j 3ˆ
x[n] y[n]
H (z ) H ( e j / 3 )  ?

x[n ]  e j ( / 3) n y [ n ]  H ( e j (  / 3) )  e j (  / 3) n

NULLING PROPERTY of H(z)

 Evaluate H(z) at the input “frequency”
H ( e jˆ )  1  2e  jˆ  2e  j 2ˆ  e  j 3ˆ
y[n ]  H ( e j / 3 )  e j ( / 3) n
y[n ]  (1  2e  j / 3  2e  j 2 / 3  e  j 3 / 3 )  e j ( / 3) n
3 3
(1  2( 12  j 2
)  2 (  1
2
j 2
)  ( 1))
y[n ]  (1  1  j 3  1  j 3  1)  e j ( / 3) n  0

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 3-Domains Movie: FIR
ZEROS MOVIE H (z )

h[n ] H ( e j̂ )

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