Z-Transform

• Z-transform, like the Laplace transform, is a mathematical

tool for the design, analysis and monitoring of systems.

• The z-transform is the discrete-time part of the Laplace

transform and a generalization of the Fourier transform of
a sampled signal.

• A working knowledge of the z-transform is essential to the

study of digital filters and systems.
 Z-Transform
• Like Laplace transform, the z-transform allows insight into
the behavior and the stability of discrete-time systems.

• Z-transform enables us to obtain a broader

characterization of discrete time LTI systems and their
interaction with signals than is possible with the DTFT. For
example:

- DTFT can be applied to stable LTI systems since it

exists only if the sum of the impulse response is finite.
In contrast z-transform of the impulse response exists
for unstable LTI systems.
 Z-Transform
• Z-transform simplify the analysis of the LTIS as follows:

- It is easier to test stability and causality using z-transform (Like

Laplace transform in Continuous time signals).

- Convolution of two time domain signals is equivalent to

multiplication of their z-transforms.

- Finding the output of a LTIS using z-transform.

Derivation of Z-transform
Definition of Z-transform
 Geometric Representation of Z-transform
The variable z in z-transform is complex and can be represented as a circle with
radius r where r represents magnitude of z.

Bz 
X z  
Az 

B(z) is the numerator polynomial A(z) is the denominator polynomial

The roots of B(z) is called the zeros of X(z) The roots of A(z) is called the poles of X(z)
Geometric Representation of Z-transform
 Remember: Discrete –Time Fourier Transform (DTFT)
The discrete-time Fourier Transform is given by:


  

 xn  
n  
x e j   x n e  j n

n  
Where:
j
• x(e ) is a complex valued continuous function
• w = 2π f [rad/sec]
• f is the digital frequency measured in [ C/S]
Relation between Z-Transform and DTFT:

since z  re j r 1
 
x( z )   x ( n) z n
ze j
j
x (e )   x ( n) e  j n

n  n  

Z-transform DTFT
 Region of Convergence (ROC)

Properties of ROC:
 Examples

2
 3

1 z
4  1

1 z z 1

ROC consists of

Remember:
when a  1
5

6
7

a<1
Properties of Z-transform
Examples: Properties of Z-transform
List of Properties of Z -transform (from book)
Important Z-transform transformation
Rational Z Transform
Z -Transform for Linear Time Invariant System

M N
y n    bi xn  i    ai yn  i 
M N i 0 i 1
y n    bi xn  i    ai yn  i 
i 0 i 1

M N
Y ( z )   bi X ( z ) z  i   ai Y ( z ) z i
i 0 i 1
 M

Y z  i
b z i Transfer
Function
 H ( z)  i 0
N
X ( z) ………………(1)
1   ai z i
i 1

if ai  0, we have Finite Impulse Response (FIR) System :

M
H(z)   bi z i ( h(n)  0 for n  K )
i 0

if bi  0, the system is called Infinite Impulse Response (IIR) System :

M

i
b z i

H(z)  i 0
N
( h(n) extends for    n  )
1   ai z i
i 1
 Relationship Between Frequency Response and Difference
Equation for LTIS
When a LTIS is represented by the Difference Equation (DE) :
M N
yn    bi xn  i    ak y n  k 
i 0 k 1
Take the DTFT for both sides :

    b X e  e  
M N
j j  j i
Ye i   ak Y e j e  j k
i 0 k 1

   N  j k 
  b  e
M
j j  j i
Ye   k
1  a e   X e i
 k 1  i 0
M

Y e j  i
b e  j i

He j

X e

 
j
i 0
N
.......... .......... .....( 2)
1   ak e  j k
k 1
Compare equations (1) and (2), we find also that:
j
25
H ( z ) z Lecture H (e )
e j # 5
• Relationships:
Example 1:
• Find the difference equation description of an LTI system with
transfer function:
5z  2
H ( z)  2
z  3z  2
Solution: 5 z 1  2 z 2
Rewrite H ( z ) as : H ( z )  1 2
1  3z  2 z
Y ( z) 5 z 1  2 z  2
 1 2
X ( z) 1  3z  2 z
1 2 1 2
Then : Y ( z )  3Y ( z ) z  2Y ( z ) z  5 X ( z) z  2 X ( z) z
Take the inverse z  transform :

y (n)  3 y (n  1)  2 y (n  2)  5 x(n  1)  2 x(n  2)

Another solution:
• By comparing the transfer function:
5 z 1  2 z 2
M
H ( z) 
b z i
i
1  3z 1  2 z 2
With: H ( z)  i 0
N
1   ai z  i
i 1
We find that:

M  2, N  2, b0  0, b1  5, b2  2
a0  1, a1  3, and a2  2 :
Then the difference equation is :
M N
yn    bi xn  i    ai y n  i 
i 0 i 1

y (n)  3 y (n  1)  2 y (n  2)  5 x(n  1)  2 x(n  2)

Example 2:
hn  0.5 n  0
n
For the system described by its impulse response
a- Determine the frequency response
b- Plot the magnitude and phase responses
c- Find the transfer function H(z)
d-Find the difference equation
e-Find the output of the system due to x(n)= U(n) (assume the system is causal)
Solution

a- Using DTFT we find :

    hne
 
  0.5 e  jwn
jw  jwn n
He
1 n  n0
 

1
  0.5e  jw n
 
n 0 1  0.5e  jw
1  0.5cos w  j 0.5sin w

Hence He 
jw 1
1  0.5 cosw  0.5 sin w
2 2
  
H e jw 
1

1
1  0.5 cosw2  0.5 sin w2 
1  2  0.5 cos w  0.5  cosw  sin w
2 2 2

 
H e jw 
1
1.25  cos w
and
 0.5 sin w 
 
H e jw   arctan  
1  0.5 cos w 
b- The magnitude and phase plots
C-The Transfer function H(z) is given by :

1 z
H ( z)  1

1  0.5 z z  0.5
d-The difference equation is given by:

Y ( z) 1
 1
X ( z ) 1  0.5 z
1
Y ( z )(1  0.5 z )  X ( z )
y (n)  0.5 y (n  1)  x(n)

y (n)  0.5 y (n  1)  x(n)

• e- Y ( z) 1

X ( z ) 1  0.5 z 1
1
Y ( z)  1
X ( z)
1  0.5 z
1
x(n)  u (n), then X ( z ) 
1  z 1
Y ( z )(1  0.5 z 1 )(1  z 1 )  1
1 2
Y ( z )  1.5Y ( z ) z  0.5Y ( z ) z  1
take the inverse z  transform :

y (n)  1.5 y (n  1)  0.5 y (n  2)   (n)

Use the recursive method to obtain the output and Check the output
sequence of the two methods.
Example 3: H.W
• Determine the transfer function, frequency response and the
difference equation representation of a LTI system described by the
impulse response:
n 2
h(n)  (1 / 3) u(n)  (1 / 2)
n
u(n  1)

H.W 1 2
1  (3 / 2) z  (2 / 3) z
H ( z)  1 2
1  (5 / 6) z  (1/ 6) z
 j 2 j
1  (3 / 2) e  ( 2 / 3)e
H ( e j ) 
1  (5 / 6)e j  (1 / 6)e 2 j