Digital Signal Processing and

Machine Vision
Lecture 04 – Z-Transform
R . A . P R A B H AT H B U D D H I K A
D E PA R T M E N T O F E L E C T R I C A L , E L E C T R O N I C A N D S Y S T E M S E N G I N E E R I N G
FA C U LT Y O F E N G I N E E R I N G
NSBM GREEN UNIVERSITY
Z Transform
Z-transform 𝑋(𝑧) of a sequence 𝑥[𝑛] is defined as:

+∞

𝑿 𝒛 = ෍ 𝒙[𝒏]𝒛−𝒏
𝒏= −∞
Where 𝑧 ∈ ℂ
Region of Convergence (RoC):
The region of the Z plane where 𝑋(𝑧) is finite is called the RoC of 𝑋(𝑧).
RoCs consist of the rings of the z-plane centered about the origin.

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What is Z plane?
Z is a complex number and Z plane is the complex plane with real and imaginary axes.
Imaginary (j)

Unit Circle where 𝑧 = 1

0 Real

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Example
Find the Z Transform of the following sequence.
5
𝑥 𝑛 = 3,2,1,0, −1, −2, −3, −4, −5 𝑛=−3

What is the region of convergence?

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Inverse Z-Transform
Given 𝑋(𝑧) the time domain sequence 𝑥[𝑛] can be obtained by the inverse Z-Transform.

−1
1
𝒵 𝑋(𝑧) = 𝑥 𝑛 = ර 𝑋(𝑧)𝑧 𝑛−1 𝑑𝑧
2𝜋𝑗 𝐶
Where C is a closed contour in RoC of 𝑋(𝑧).

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Z-Transform Pairs
Unit Impulse
+∞

𝒵 𝛿𝑛 = ෍ 𝛿 𝑛 𝑧 −𝑛
𝑛=−∞

𝒵 𝛿𝑛 = 1 for all z

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Z-Transform Pairs
Unit Step
+∞

𝒵 𝑢𝑛 = ෍ 𝑢 𝑛 𝑧 −𝑛
𝑛=−∞

1
𝒵 𝑢𝑛 =
1 − 𝑧 −1
Where RoC is 𝑧 −1 < 1 ֜ 𝑧 > 1

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Z-Transform Pairs
Geometric sequence
+∞

𝒵 𝑎𝑛 𝑢 𝑛 = ෍ 𝑎𝑛 𝑢 𝑛 𝑧 −𝑛
𝑛=−∞

1
𝒵 𝑎𝑛 𝑢 𝑛 =
1−𝑎𝑧 −1

Where RoC is 𝑎𝑧 −1 < 1 ֜ 𝑧 > 𝑎

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Z-Transform Pairs
Cosine sequence
+∞

𝒵 cos[𝜃0 𝑛]𝑢 𝑛 = ෍ cos[𝜃0 𝑛]𝑢 𝑛 𝑧 −𝑛

𝑛=−∞
1 −cos[𝜃0 ]𝑧 −1
𝒵 cos[𝜃0 𝑛]𝑢 𝑛 =
1−2 cos 𝜃0 𝑧 −1 + 𝑧 −2

Where RoC is 𝑧 −1 < 1 ֜ 𝑧 > 1

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Z-Transform Pairs
Sine Sequence
+∞

𝒵 sin[𝜃0 𝑛]𝑢 𝑛 = ෍ sin[𝜃0 𝑛]𝑢 𝑛 𝑧 −𝑛

𝑛=−∞
𝑠𝑖𝑛[𝜃0 ]𝑧 −1
𝒵 sin[𝜃0 𝑛]𝑢 𝑛 =
1−2 cos 𝜃0 𝑧 −1 + 𝑧 −2

Where RoC is 𝑧 −1 < 1 ֜ 𝑧 > 1

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Z-Transform Pairs
Scaled Cosine sequence
+∞

𝒵 𝑟 𝑛 cos[𝜃0 𝑛]𝑢 𝑛 = ෍ 𝑟 𝑛 cos[𝜃0 𝑛]𝑢 𝑛 𝑧 −𝑛

𝑛=−∞
1 −rcos[𝜃0 ]𝑧 −1
𝒵 𝑟 𝑛 cos[𝜃0 𝑛]𝑢 𝑛 =
1−2 rcos 𝜃0 𝑧 −1 + 𝑟 2 𝑧 −2

Where RoC is 𝑧 −1 < 𝑟 ֜ 𝑧 > 𝑟

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Z-Transform Pairs
Scaled Sine Sequence
+∞

𝒵 𝑟 𝑛 sin[𝜃0 𝑛]𝑢 𝑛 = ෍ 𝑟 𝑛 sin[𝜃0 𝑛]𝑢 𝑛 𝑧 −𝑛

𝑛=−∞
𝑟𝑠𝑖𝑛[𝜃0 ]𝑧 −1
𝒵 𝑟 𝑛 sin[𝜃0 𝑛]𝑢 𝑛 =
1−2 rcos 𝜃0 𝑧 −1 + 𝑟 𝑛 𝑧 −2

Where RoC is 𝑧 −1 < 𝑟 ֜ 𝑧 > 𝑟

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RoC for typical sequences
Finite Length Right Sided Sequences.

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RoC for typical sequences
Finite Length Left Sided Sequences.

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RoC for typical sequences
Finite Length two Sided Sequences.

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RoC for typical sequences
Infinite Length Right Sided Sequences.

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RoC for typical sequences
Infinite Length Left Sided Sequences.

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RoC for typical sequences
Infinite Length two Sided Sequences.

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Properties of Z-Transform
Linearity
𝑍
𝑎𝑥 𝑛 + 𝑏𝑦 𝑛 ՞ 𝑎𝑋 𝑧 + 𝑏𝑌 𝑧

𝑅𝑥 ∩ 𝑅𝑦

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Properties of Z-Transform
Time Shifting
𝑍
𝑥 𝑛 − 𝑛0 ՞ 𝑧 −𝑛0 𝑋 𝑧

𝑅𝑥 except for possible addition or deletion of origin or ∞

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Properties of Z-Transform
Frequency shifting
𝑍
𝑛
𝑧0 𝑥[𝑛] ՞ 𝑋 𝑧/𝑧0 , 𝑧0 𝑅𝑥

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Properties of Z-Transform
Conjugation
𝑍
𝑥 ∗ 𝑛 ՞ 𝑋 ∗ 𝑧 ∗ , 𝑅𝑥

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Properties of Z-Transform
Time Reversal
𝑍
𝑥 −𝑛 ՞ 𝑋 𝑧 −1 , 1ൗ𝑅
𝑥

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Properties of Z-Transform
Convolution
𝑍
𝑥 𝑛 ∗ 𝑦 𝑛 ՞ 𝑋 𝑧 𝑌(𝑧)

Contains 𝑅𝑥 ∩ 𝑅𝑦

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Properties of Z-Transform
Multiplication
1 𝑍
𝑥𝑛𝑦𝑛 ՞ ර 𝑋 𝜉 𝑌(𝑧ൗ𝜉 ) 1ൗ𝜉 𝑑𝜉
2𝜋𝑗 𝐶

RoC Contains 𝑅𝑥 ∩ 𝑅𝑦 , Contour C is in RoC

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Linear Constant Coefficient Difference
Equations - LCCDEs
A special class of LTI systems can be represented by an equation of the form given below.

𝑁 𝑀

෍ 𝑎𝑘 𝑦[𝑛 − 𝑘] = ෍ 𝑏𝑚 𝑥[𝑛 − 𝑚]
𝑘=0 𝑚=0
Where 𝑎𝑘 , 𝑏𝑚 are constants and preferably 𝑎0 = 1
This is called an Nth order Linear Constant Coefficient difference Equation.
In short, an LCCDE.
As per our convention, 𝑥 𝑛 is our input and 𝑦[𝑛] is our output.

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Z-Transform of an LCCDE
Taking Z-Transform of either side of an LCCDE yields:
𝑁 𝑀

෍ 𝑎𝑛 𝑌(𝑧)𝑧 −𝑘 = ෍ 𝑏𝑚 𝑋(𝑧)𝑧 −𝑚
𝑘=0 𝑚=0
Hence,
σ𝑀 𝑏
𝑚=0 𝑚 𝑧 −𝑚
𝑌(𝑧) = 𝑋(𝑍) 𝑁
σ𝑘=0 𝑎𝑘 𝑧 −𝑘

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Transfer Function of an LCCDE System
σ𝑀 𝑏
𝑚=0 𝑚 𝑧 −𝑚
𝑌(𝑧) = 𝑋(𝑍) 𝑁
σ𝑘=0 𝑎𝑘 𝑧 −𝑘

𝑌(𝑧) σ𝑀𝑚=0 𝑏𝑚 𝑧
−𝑚
𝐻 𝑧 = = 𝑁
𝑋(𝑍) σ𝑘=0 𝑎𝑘 𝑧 −𝑘

𝑀 𝑏𝑚 −𝑚
σ𝑚=0 𝑧
𝑎0
𝐻 𝑧 =
σ 𝑁 𝑎𝑘 −𝑘
1 + 𝑘=1 𝑧
𝑎0

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 Zeros and Poles of a Transfer Function
σ𝑀
𝑚=0 𝑏𝑚 𝑧
−𝑚
𝐻 𝑧 =
σ𝑁
𝑘=0 𝑎𝑘 𝑧
−𝑘

𝑧 𝑁 σ𝑀 𝑏
𝑚=0 𝑚 𝑧 𝑀−𝑚 𝑧 𝑁 σ𝑀 𝑏
𝑞=0 𝑀−𝑞 𝑧 𝑞
𝐻 𝑧 = =
𝑧𝑀 σ𝑁
𝑘=0 𝑎𝑘 𝑧𝑁−𝑘 𝑧 𝑀 σ𝑁
𝑝=0 𝑎𝑁−𝑝 𝑧
𝑝

Zeros ֜ roots of the numerator polynomial

Poles ֜ roots of the denominator polynomial

𝐻 𝑧 is usually expressed in terms of 𝑧 −1 . However, to find zeros and poles, 𝐻 𝑧 must be expressed in terms of 𝑧.

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Example
Find the transfer function of the system described by the following LCCDE.

𝑦 𝑛 − 2 + 2𝑦 𝑛 = 3𝑥 𝑛 − 1 + 0.5𝑥[𝑛]

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Example
Find the zeros and poles of the following transfer function.

1
𝐻 𝑧 =
1 − 𝑎𝑧 −1

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Zeros and Poles of a Transfer Function
Number of zeros of a transfer function is equal to number of poles of a transfer function.
If N > M H(z) has N-M zeros at z= 0.
If M > N H(z) has M-N poles at z= 0.

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 Exercise
Suppose an LTI system is given an input as follows.
1
𝑥 𝑛 = ( )𝑛 𝑢 𝑛 + 2𝑛 𝑢[−𝑛 − 1]
2
An output is produced as follows.
1 3
𝑦 𝑛 = 6( )𝑛 𝑢 𝑛 − 6( )𝑛 𝑢[𝑛]
2 4
1. Find the transfer function of this system.
2. What are the poles and zeros of this system?
3. What are the possible ROCs?
4. Find the impulse response of this system.
5. Write the LCCDE that can define this system.
6. Is the system stable?
7. Is the system causal?

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Impulse Response and Transfer Function
The output of an LTI system is given in terms of its impulse response and input as follows.
𝑦 𝑛 = ℎ 𝑛 ∗ 𝑥[𝑛]
Taking the Z-Transform of this equation yields;

𝑌 𝑧 = 𝐻 𝑧 𝑋(𝑧)

The transfer function is the Z-Transform of the Impulse Response.

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Stability of an LTI System
Again;
𝑦 𝑛 = ℎ 𝑛 ∗ 𝑥[𝑛]

Therefore
+∞ +∞

𝑦 𝑛 = ℎ 𝑛 ∗ 𝑥 𝑛 = ෍ ℎ 𝑘 𝑥[𝑛 − 𝑘] ≤ ෍ ℎ[𝑘] |𝑥 𝑛 − 𝑘 |
𝑘=−∞ 𝑘=−∞

Given that 𝑥 𝑛 ≤ 𝐵𝑥 < ∞

σ+∞
𝑘=−∞ ℎ[𝑘] |𝑥 𝑛 − 𝑘 | ≤ σ+∞
𝑘=−∞ ℎ[𝑘] 𝐵𝑥 < ∞
is possible if and only if

+∞

෍ ℎ[𝑘] < ∞
𝑘=−∞
See the page 31-32 of the textbook for more on this.

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Stability of an LTI System
Hence, an LTI system is stable if and only if
+∞

෍ ℎ[𝑛] < ∞
𝑛=−∞
But,
+∞ +∞

෍ ℎ[𝑛] = ෍ ℎ[𝑛]𝑧 −𝑛 ቚ
𝑧 =1
𝑛=−∞ 𝑛=−∞
Therefore, a stable 𝐻 𝑧 must include unit circle in its RoC.

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Transfer function and Frequency
Response of a System
𝑗𝛺
𝐻 𝑒 = 𝐻(𝑧)ቚ
𝑧= 𝑒 𝑗𝛺

Z-Transform generalizes DTFT.

In other words, DTFT is a special case of Z-Transform.

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 Z-Transform and DTFT of a System
Imaginary (j) Unit Circle is where 𝑧 = 1
And
Z Transform or the transfer DTFT or Frequency
function exists on the ROC on the Response exists on this unit
Z plane that may or may not circle.
include unit circle which depends
𝐻 𝑧 on the stability of the system.
𝐻 𝑒 𝑗Ω
𝑌(𝑧) 0 Real

= 𝑌(𝑒 𝑗Ω )
𝑋(𝑍) =
𝑋(𝑒 𝑗Ω )
= 𝓏{ℎ[𝑛]}
= 𝐷𝑇𝐹𝑇{ℎ[𝑛]}

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