z-TRANSFORM

DEFINITION
In continuous domain, use Laplace Transformation (LT) to code the function y(t)
by using an exponential decaying function e-st as a weighting function as:

Y ( s )  L  y (t )    y (t )e  st dt
0

In discrete time domain, we are dealing with an infinite sequence y(kT),

k=0,1,2,… (i.e., the values of y(t) at sampling instants 0, T, 2T, …). Intuitively,
we should be able to code the sequence by using the values of the LT weighting
function e-st at the sampling instants 0, T, 2T,... as weights. This leads to the
following transformation for a sequence

Y (s )   y (kT )e  skT
*

k 0

Such a coding method is called z-transform if one use the shorthand notation z=esT
, and is formally defined as


Y ( z )    y ( kT )    y ( kT ) z  k
k 0

 y (0)  y (1) z 1  y (2) z 2    y ( k ) z  k  

Ex: z-Transform of a Unit Step Input Sequence:
Unit Step Input:

u (t )  1, t  0  u ( kT )  1, k  0, 1, 2, 

z-Transform:
 
U (z )   u (kT )    u (kT ) z k
  zk
k 0 k 0
= 1 + z-1 + z-2 + z-3 + 
1 z
 
1  z 1 z  1
Ex: z-Transform of Step Input With One Sampling Period Delay:
Unit Step Input with One Sampling Period Delay:

udelay (kT )
 0 k 0

u (( k  1)T ) k  1

z-Transform:
 udelay ( kT )   0  u ((1  1)T ) z 1  u ((2  1)T ) z 2  
 u (0) z 1  u (1) z 2  
 z 1 u (0)  u (1) z 1  
 z 1U ( z )
Note:

  u ( k  1)   z U ( z
1
Ex: z-Transform of a Sequence (of non-zero ICs) With One Sampling Period
Delay:
Sequence:

 y ( T ) k 0
ydelay (kT )  
 y (( k  1)T ) k  1

z-Transform:
 y delay  1 2
( kT )  y ( T )  y ((1  1)T ) z  y ((2  1)T ) z  
1 2
 y ( 1)  y (0) z  y (1) z  
 y ( 1)  z  y (0)  y (1) z  
1 1

 y ( 1)  z Y ( z )
1

Note:
  y ( k  2)   z Y ( z )  y ( 2)  z y ( 1)
2 1
z-Transform of a Sequence via Shifting Forward by One Sampling Period:
Sequence:

uf(kT) = u((k + 1) T)

z-Transform:
 
 u f ( kT )    u f ( kT ) z  k   u ( k  1) z  k
k 0 k 0

 u (0  1) z 0  u (1  1) z 1  u (2  1) z 2  
 u (1) z 0  u (2) z 1  u (3) z 2  
 z u (1) z 1  u (2) z 2  u (3) z 3  

 z u (0)  u (1) z 1  u (2) z 2  u (3) z 3    z u (0)

 z U ( z )  zu (0)
IMPORTANT PROPERTIES OF z-Transform
Linearity (P1)
 two sequences x1(k) and x2(k), k = 0, 1, 2, . Let X1(z) and X2(z) represent
the z-transform of x1(k) and x2(k) respectively. If x(k) =c1x1(k) + c2x2(k),  k
= 0, 1, 2,  , then,
X(z) = Z[x(k)] = c1 X1(z) + c2 X2(z)

Forward Shift (P2) (corresponding to differentiation property of LT):

Z[u(k+1)] = z U(z) – z u(0) where U(z)Z[u(k)]
Z[u(k+m)] = zm U(z) – zm u (0) – zm-1 u (1) -  - z u(m – 1)

Backward Shift (P3) (or Delay Operation):

Z[u(k–1)] = z-1 U(z)

Note:
Forward shift  z Differentiation  s
similar to:
Backward shift  z-1 Integration  1
s
 Table of Laplace and z-Transforms

( F ( s ) is the Laplace transform of f (t ) , and F ( z ) the z-transform of f ( kT ) )

f (t ), t  0 &
f (kT ) F (s) F ( z)
f (t )  0, t  0
 1, 0  t  1
f (t )   1, k  0 1
0, t  0 & t  1  1  e Ts  1
0, k  0 s
(unit pulse)
1 z
1 (unit step) 1, k  0
s z 1
1 Tz
t (unit ramp) kT , k  0
 z  1
2
s2
1 2 1 1 T 2 z  z  1
t  kT 2
2 2 s3 2  z  13
1 z
e  t ,  =e  T k
s  z 
e  t cos  N t  , s  z
    k

 s     N 2
2
 =e  T
, N  z 
T
 1 T z
te  t
T k k

s    z  
2 2

 z sin T 
sin t  sin  kT 
s2   2 z 2  2 z cos T   1
s z  z  cos T  
cos t  cos  kT 
s2   2 z 2  2 z cos T   1
 z sin T 
e  t
sin t   sin  kT 
k

s     2 z 2  2 z cos T    2
2

s  z  z   cos T  
e  t cos t   k cos  kT 
   2 z 2  2 z cos T    2
2
s  
f (t  T ) f  (k  1)T  e Ts F ( s ) z 1 F ( z )
 z 1 
Final Value Theorem f ()  lim s 0 sF ( s ) lim f (kT )  lim  F ( z)
k  z 1
 z 
Initial Value Theorem f (0 )  lim s sF ( s ) f (0)  lim F ( z )
z 