Chapter 4 & 5

T RA N S F O R M - D O M A I N R E P R ES E N T A T IO N
A N D A N A L Y S I S O F D I S C R ET E- T I M E
S I G N A L S A N D S Y S T EM S

KENNEDY MUTAI
Syllabus
Z-Transform
Definitions and Properties of z-transform
Rational z-transforms
Region of convergence
Z-transform of common sequences
Properties and Theorems
Inverse z-transform
Analysis of LTI systems in z-domain
Applications and MATLAB implementation
Discrete Time Fourier Transform (DTFT)
Discrete Fourier Transform (DFT)
Fast Fourier Transform (FFT)
3.1 THE Z- TRANSFORM
Z-Transform definition
Z-transform is mainly used
The z-transform of a sequence x(n) is given by for analysis of discrete signal
and discrete LTI system.
where z is a complex variable

z= rejw
From the above definition of Z.T. it is clear that ZT is power series & it exist for only
for those values of z for which X(z) attains finite value ( convergence) ,which is
defined by Region of convergence. (ROC)

Comment:
The complex variable z is called the complex frequency given by
z = rejw, where r is the attenuation and w is the real
frequency.

The function r = 1 (or z = ejw) is a circle of unit radius in the z-

plane and is called the unit circle.
Region of Convergence: (ROC)
Region of Convergence is set of those values of z for which power series x(z)
converges. OR for which power series, x (z) attains finite value.
APPLICATION
If you can describe your plant and your controller using linear difference
equations, and if the coefficients of the equations don't change from sample to
sample, then your controller and plant are linear and shift-invariant, and you can
use the z transform.

Suppose xn=output of the plant at sample time n

un=command to the DAC at sample time n
a and b=constants set by the design of the plant
You can solve the behavior equation of the plant over time.
Furthermore you can also investigate what happens when you add
feedback to the system.
The z transform allows you to do both of these things.
EXAMPLE
Here the difference equation that describes the plant might look like

We can take the z transform of the behavior equation without knowing what xn or un
are and get,

 Notice a cool thing: We've turned the difference equation into an

algebraic equation!
 This one of the many things that makes the z transform so useful because
we can now easily solve the algebraic equation.

 The function H(Z) is called the “Transfer Function" of the system – it

shows how the input signal is transformed into the output signal.
H(Z)=Y(Z)/X(Z)
 In Z domain, the Transfer Function of a system isn't affected by the
nature of the input signal, nor does it vary with time.
We can predict the behavior of the motor using H(Z).
Let's say we want to see what the motor will do if x goes
from 0 to 1 at time n = 0, and stays there forever. This is
called the ‘unit step function’ and the Z-Transform of the
unit step response is H(Z)=1/(Z2+10z+20).
Thus we can know everything about the system behavior and
avoid undesirable situations.
SOFTWARE
 You can write software from the Z-Transform with utter
ease.
Like, if you have a Transfer Function of a system, then the
software turns it into a Z-domain equation which can then
be converted into a difference equation which in turn can be
turned into a software very quickly.
 This saves the manual work and a software for a plant can
be produced within seconds.
Z-Transform of Finite duration signal
1. Find the Z - Transform and mention the Region of Convergence (ROC)
for the following discrete time sequences.

causal signal(right sided)

anti-causal signal(left sided)

non-causal signal(both sided)

ROC: entire z-plane
Z-Transform of infinite duration signal
Find the z-transform for following discrete time sequences. Also mention
ROC for all the cases.
Problems
Determine the Z-Transform and ROC of the following discrete time
signals.
a. x (n)=δ(n); unit impulse sequence
b. x (n)=u(n) ;unit step sequence
c. x (n)=δ(n-1);
d. x (n)=δ(n+1);
Inverse z-transform
•Synthetic Division Method
•Partial Fraction Method
•Cauchy’s Integration Method
SYSTEM REPRESENTATION IN THE Z-DOMAIN
we can define the z-domain function, H(z), called the system function.
The System function
The system junction H(z) is given by

Using the convolution property of the z-transform, the output transform

Y(z) is given by
Y ( z ) = H(z) X ( Z ) : ROCy = ROCh n ROCx
Therefore a linear and time invariant system can be represented in the z-
domain by
 -- time (n), waveform
x[n] Time-Domain y[n] -- Difference Equation
h[n] -- Impulse Response (h[n])
-- Convolution Sum

-- complex frequency (z)

Z-Domain Y(z) -- Transfer function, (H(z))
X(z) H(z) -- Z-plane
-- Poles and Zeros (pole-zero plot)

Frequency- -- frequency (w=2πf), spectrum

X(w) Domain Y(w) -- Transfer function, (H(w))
H(w) -- Frequency Response
(Magnitude and phase response)
Time – Domain view
Difference equation
y[n] = x[n] + 1.3y[n-1] – 0.7y[n-2]

Y[n] – 1.3y[n-1] + 0.7y[n-2]=x[n]

b =[1];
a=[1, -1.3,0.7];
n=[-10:40];
n1=[-10:-1];
n2=[0];
n3=[1:40];
x1=zeros(1,length(n1));
Convolution Sum x2=ones(1,length(n2));
x3=zeros(1,length(n3));
x=[x1,x2,x3];
h=filter(b,a,x);
stem(n,h);
title('Impulse response');xlabel('n');
ylabel('h(n)')
Z – Domain view Z – Transform properties

y[n] – 1.3y[n-1] + 0.7y[n-2]=x[n]

Y(z) – 1.3z-1 Y(z) + 0.7z-2 Y(z) = X(z)

(1 - 1.3z-1 + 0.7z-2 ) Y(z) = X(z)

H(z) = ---Transfer function

Example
Find out convolution of two sequences given below using Z-transform method
THE DISCRETE TIME FOURIER ANALYSIS
If x (n) is absolutely summable, that is,

, then its discrete-time Fourier transform is given by

MATLAB IMPLEMENTATION
Ex-1 Given a DT system
y[n]=0.9y[n-1]+x[n]

a. Determine the frequency response of the system manually.

b. Plot the magnitude and phase response of the system using MATLAB.
MATLAB Program
b=[1]
a=[1,-0.9]
[zer,pol] = tf2zp(b,a)
fvtool(b,a)
Class work 2.5 marks
Given a DT system
y[n]-2y[n-1]+3y[n-2]=x[n]-0.5x[n-1]

a. Determine the frequency response of the system manually.

b. Plot the magnitude and phase response of the system using MATLAB.
MATLAB Program
b=[1,-0.5]
a=[1,-2,3]
[zer,pol] = tf2zp(b,a)
fvtool(b,a)
zplane(b,a)
Assignment
Consider the following DT systems
1. y[n]=0.9y[n-1]+x[n] –low pass system 1MARK
2. y[n]-2y[n-1]+3y[n-2]=x[n]-0.5x[n-1] band pass system 1 Mark
3. High pass system 1 Mark

a. Determine the frequency response of the system manually.

b. Plot the magnitude and phase response of the system using MATLAB.
Problems
1. Consider a discrete-time system represented in the following
difference equation:
2y[n]-5y[n-1]+y[n-2] = x[n]-7x[n-1]-2x[n-2]
a. Determine the frequency response H(w).

b. Find the Transfer function H(z) of the system.

2. Consider the following difference equation of causal system:

y[n]-3y[n-1]+2y[n-2]=3x[n]
a. Find the Transfer function H(z) of the system.
b. Determine and plot the zeros and poles

3. Determine the discrete time Fourier Transform of sequence

x[n]=[1,0,-1].
4. Two DT signals are as follows
x1(n)=δ(n)+δ(n-1)-δ(n-3)
x2(n)= 2δ(n-1)+2δ(n-2)+δ(n-3)
a. Convolve the two signals to form a third signal x3(n)
b. Find the Z-Transforms X1(z) and X2(z)
c. Show that X3(z) = X1(z) X2(z)