I t d ti

Introduction

Z Transform Laplace transform

• Continuous time signal
Z transform
• Discrete time signal
f(t) f[n], fn

บริเวณ t ติดลบไม
ไ คิด บริเวณ n ติดลบไมคิด
• Forward Z transform
t n
• Inverse
I Z transform
t f • Forward transform • Forward transform
∞
F ( z ) = Ζf [ n ] = ∑ f [ n ] z − n
∞
F ( s ) = Lf (t ) = ∫ f (t )e − st dt
0
n =0

• Basis: es • Basis: z ≈ees

Note: z = continuous number
Z transform 1 Z transform 2

Ζf [ n] = F ( z ), Ζg[n] = G ( z )
α, β คือคาคงตัวใดๆ
ZT
Transform
f P
Properties
ti (1)
• Forward transform • Linearity
i i
∞
F ( z ) = Ζf [ n ] = ∑ f [ n ] z − n αf [n] + βg[n] ←⎯→
Ζ
αF ( z ) + β G ( z )
n =0

• Region of convergence (R O C ): คา
(R.O.C.): คา z ททาให
ที่ทําให • Scaling ไมแนะนําใหจํา ไปพิสูจนเองงายกวา
Infinite series ขางบนนี้ ลูเขา (ไมเปนอนันต)
• จํา ∞
1
e −αn f [n] ←⎯→
Ζ
→ F eα z ( )
∑
n =0
rn =
1 − r
; r <1
Z transform 3 Z transform 4
 P
Properties
ti (2) P
Properties
ti (3)
• Time d i i (เปน Discrete
Ti derivative Di variable)
i bl
• Time shifting: (α > 0) z-1 = delay, z = fast forward
⎛ −1
⎞
f [n − α ] ←⎯→ z ⎜ F ( z ) + ∑ f [n]z − n ⎟
Ζ −α

⎝ n = −α ⎠ • Frequency derivative มี z โผลมา

α −1
⎛ ⎞
f [n + α ] ←⎯→
Ζ
z +α ⎜ F ( z ) − ∑ f [n]z − n ⎟ (− n ) f [n] ←⎯→
Ζ
z
dF ( z )
⎝ n =0 ⎠ dz
• Frequency shifting: **คูณ n (≈t) คือ Derivative อีกฝง หนึ่ง**

Z transform 5 Z transform

P
Properties
ti (4) P
Properties
ti (5)
(ใส Filter g[n] ใหกบสญญาณ
Convolution (ใส ใหกับสัญญาณ f[n]):
• Time integration summation
∞ ∞
n f ∗ g[n] = ∑ f [τ ]g[n − τ ] = ∑ f [n − τ ]g[τ ]
z
∑
k =0
f [k ] ←⎯→Ζ

z −1
F ( z) n =0 n =0

• Time convolution
Ζ
**คนละเรื่องกับ Integration ของคนอื่นเลย ดันนั้นจําแยก** f ∗ g[n] ←⎯→ F ( z )G ( z )

Z transform 7 Z transform 8
 D lt Function
Delta F ti ZT
Z-Transform:
f δ[n],
[ ] u[n]
[ ]
• Delta function ควรจํา
Discrete time variable Continuous time variable
• Kronecker’s delta function • Dirac’s delta function

⎧1 ; n = 0 ⎧∞ ; t = 0
δ [n] ←⎯→
Ζ
1
δ [ n] = ⎨ δ (t ) = ⎨
⎩0 ; n ≠ 0 ⎩0 ; t ≠ 0 ⎧1 ; n ≥ 0
p function u[n] = ⎨
• Unit step
• Properties • Properties ⎩0 ; n < 0
∞ ∞
∑ δ [k ] = 1 ∫ δ [t ]dt = 1 Ζ 1 z
k = −∞
−∞
u[n] ←⎯→ −1
= ; z >1
1− z z −1
∞
∞

∑ δ [k − a] f [k ] = f [a] ∫
−∞
δ (t − a) f [t ]dt = f (a)
k = −∞ Z transform 9 Z transform 10

Z transform:
t f αn,n Z transform:
t f Si
Sinusoidal
id l Functions
F ti
• αn ตองจํา • Sine

α ←⎯→ n Ζ 1
=
z
;z >α z sin α
ssin[[αn] ←⎯→
Ζ
→ ; z >1
1 − αz −1
z −α z − 2 z cos α + 1
2

d i i ฝง z) จําํ ได

• n, n2 (ใชสมบัติคูณ n = derivative ไ ก ็ดี • Cosine
C i
z ( z − cos α )
Ζ z
nu[n] ←⎯→ ; z >1
( z − 1) 2 cos[αn] ←⎯→
Ζ
; z >1
Ζ
n 2u[n] ←⎯→
z ( z + 1)
; z >1
z − 2 z cos α + 1
2

( z − 1) 3 11 Z transform 12
 E 1:
Ex. 1 Forward
F d Transform
T f E 2 Forward
Ex.2: F d Transform
T f
• Find the Z transform of n3u[n]. • Find the Z transform of ne−2n.

Z transform 13 Z transform 14

E 3 Forward
Ex.3: F d Transform
T f E 4 Forward
Ex.4: F d Transform
T f
∞

• Find the Z transform of nu[n-2]. • Find ∑e

n =0
− an
sin[bn] .

Z transform 15 Z transform 16
 E 5 Forward
Ex.5: F d Transform
T f S
Sampling
li Rate
R t
• Find the Z transform of n sin( 0.5πn)u[ n − 2]. • Assume f(t) = e−t and f(t) is sampling with the
rate of 10Hz.
10Hz
f [0] = f (0) = e −0
f [1] = f (0.1) = e −0.1
n
f [ 2 ] = f ( 0 . 2 ) = e −0 .2 f [ n] = e
−
10
−0 .3
f [3] = f (0.3) = e Sampling rate
n

...
−
F [ z ] = Ζ (e 10
)
f [ n] = f (0.1n) = e −0.1n 1
= − 0.1 −1
; e −0.181 < z
Z transform 17 Z transform
1− e z

E
Exercise:
i Forward
F d Z Transform
T f (1) E
Exercise:
i Forward
F d Z Transform
T f (2)
• Find the Z transform of − 4) f 4 [n] = (n + 2)u[n]

− 1) f1[ n] = 2 n cos(0.5πn)
− 5) f 5 [n] = n 2 cos(πn)

− 2) f 2 [n] = (n − 2)u[n − 3]
− 6) f 6 [ n] = sin( 0.25πn)u[ n − 2]

− 3)) f 3 [n] = (n − 3) 2 u[n − 3]

− 7) f 7 [n] = 2 n (n + 2)u[n + 2]
Z transform 19 Z transform 20
S l ti
Solution: Forward
F d Z Transform
T f (1) S l ti
Solution: Forward
F d Z Transform
T f (2)
∞
z2 2z 2 − z
− 1) F1[ z ] = Re ∑ (2 z e −1 j 0.5π
) = 2
n
; z <2 − 4) F4 ( z ) = ; z >1
0 z +4 ( z − 1) 2
cos(πn) = ( −1) n
z −1 z (1 − z )
− 2) F2 ( z ) = Ζ(( n − 3)u[ n − 3] + u[ n − 3]) = − 5) F5 ( z ) = Ζ( n 2 ( −1) n ) =
( z − 1) 2 ( z + 1) 3 −1
z −1 ( z − 2 )
− 6) F6 ( z ) = Ζ(cos(0.25π (n − 2))u[n − 2]) = 2 ; z >1
−3 z −2 (1 + z ) z − 2z +1
− 3) F3 ( z ) = z Ζ( n u[ n]) = ; z >1
2

( z − 1) 3
2 z ( z − 1)
− 7) F7 ( z ) = Ζ( n 2 n u[ n]) + 2 Ζ( 2 n u[n]) = ;z >2
( z − 2) 2
(z
Z transform 21 Z transform 22

I
Inverse ZT
Transform
f E 6 Inverse
Ex.6: I ZT
Transform
f
• ใชหลักการเดียวกับ Laplace transform คือจัดใหอยูในรูป • Find the inverse Z transform of F(z) given
ของการแปลงที่เรารอยูยแลลวว
ของการแปลงทเรารู that
ใส u[n] เขามาเพราะตอน Inverse เห็นแตดานบวก (แถมทําให Delay, fast forward งายดวย)
1 − 2 z −1
α u[n] ←⎯→
n Ζ 1
=
z
;z >α F ( z) = .
1 − αz −1 z −α 5 −1 − 2
1+ z + z
2
• มีกี ารจัดสองแบบ (ใช
ใ แ บบไหนก็
ไ ไ็ ดแ ลว แตศรัทธา)
⎡ c c ⎤
F ( z ) = zG ( z ) = z ⎢ 1 + 2 + L⎥
⎣ z − α1 z − α 2 ⎦
−1 c1 c2
F (z ) = + +L
1 − α1 z −1 1 − α 2 z −1 23 Z transform 24
 E 7 Inverse
Ex.7: I ZT
Transform
f E 8 Inverse
Ex.8: I ZT
Transform
f
• Find the inverse Z transform of F(z) given • Find the inverse Z transform of F(z) given
that that
3 6
F ( z) = . F ( z) = .
z+
1 1 −1
− z z + 6 z + 12
2

4 8

Z transform 25 Z transform 26

Ex. 9: Solution of Difference

E 10:
Ex. 10 Inverse
I ZT
Transform
f
Equation
• Use Z transform to find the solution of • Find the inverse Z transform of the following
n functions.
functions
10 ⎛1⎞
yn −1 − yn + yn +1 = ⎜ ⎟ u[n]; y−1 = 0, y0 = 2.
3 ⎝2⎠ az
−1 F ( z) =
( z − b) 4

a
− 2 G( z) =
( z − b) 4

Z transform 27 Z transform 28
 Ex. 12: Solution of Difference
E 11 Inverse
Ex.11 I ZT
Transform
f
Equation
1
• Find the inverse Z transform of F ( z ) = . • Use Z transform to find the solution of
(1 − az −1 ) 2
⎛ 1 ⎞⎛ 2 1 ⎞ −t
⎜ E − ⎟⎜ E + ⎟ y (t ) = 2 ; y (0) = y (T ) = y (2T ) = 0, T = 1.
⎝ 2 ⎠⎝ 4⎠

Z transform 29 Z transform 30