Digital Control Systems

Chapter 2: inverse of z-transformation

Instructor: Dr. Ahmad Al-Balasie

First Semester - 2022/2023

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The inverse of z-transformation
• The z transformation serves the same role for discrete-time
control systems that the Laplace transformation serves for
continuous-time control systems.

• The notation for the inverse z transform is Z - 1 or The inverse z

transform of E(z) yields the corresponding discrete sequence
e(k).

• An obvious method for finding the inverse z transform is to

refer to a z transform table. However, unless we refer to an
extensive z transform table, we may not be able to find the
inverse z transform of a complicated function of z.
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Method for finding the inverse z transform
• The z-transform is a mapping from a sequence to a complex function . This
mapping is useful only if it is invertible, i.e. from a given it is possible to
find, in a unique way, the sequence such that .

• The sequence is referred to as the inverse z-transform of , and we use the

notation:
=
• The inverse z-transform of a complex function can be computed by means
of tables or of the following methods.
a. The direct division method
b. The computational method
c. The partial fraction expansion method

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• In obtaining the inverse z transform, we
assume, as usual, that the time sequence
e(kT) or e(k) is zero for k < 0.
• Before we present the three methods,
however, a few comments on poles and
zeros of the pulse transfer function are in
order.

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Poles and Zeros in the z Plane.
In engineering applications of the z transform
method, G(z) may have the form
b z m  b zm1  ....
G (z)  b0z n  a 1zn1  ... m (m  n) (2.28)
1 n

or a
b0 (z  z1 )(z  z2 )...(z  zm ) (m  n)
G (z)  (z  p )(z  p )...(z  p )
1 2 n

where the pi’s (i = 1,2, ... ,n) are the poles of G(z)
and the zj’s (j = 1,2, ... ,m) the zeros of G(z).
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Note that in control engineering and signal processing
G(z) is frequently expressed as a ratio of polynomials
in z -1, as follows:

0z (nm)  b 1z (nm1) .... b

G (z)  b mz
(2.29)
n 1 a1 z  a2 z ... an z
1 2

n

where z-1 is interpreted as the unit delay

operator.

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• In finding the poles and zeros of X(z), it is
convenient to express G(z) as a ratio of
polynomials in z. For example,
z  0.5z
2
z(z  0.5)
G (z)  
z 2  3z  2
(z  1)(z  2)
• Clearly, G(z) has poles at z = -1 and z = -2
and zeros at z = 0 and z = -0.5.
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• If G(z) is written as a ratio of polynomials in z-1,
however, the preceding X(z) can be written as

G (z)  1  0.5z 1
 1
1 0.5z
1
3z  2z 
1
(1  z1 )(1 
Although poles at z = -l and z = -2 )and a zero at
2z
2 1
•
z = -0.5 are clearly seen from the expression,
a zero at z = 0 is not explicitly shown, and so
the beginner may fail to see the existence of a
zero at z = 0.
• Therefore, in dealing with the poles and zeros of
G(z), it is preferable to express G(z) as a ratio
of polynomials in z, rather than polynomials in
z-1

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I. Direct Division Method.

• Obtain the inverse z transform by expanding

E(z) into an infinite power series in z-1.

• Useful when it is difficult to obtain the closed-form

expression for the inverse z transform or it is
desired to find only the first several terms of e(k).

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I. Direct Division Method.
• The direct division method stems from the fact that if E(z) is
expanded into a power series in z-1, that is, if

E(z)  e(kT ) 
k
 k 0
z
 e(0)  e(T )z  1  e(2T )z  2 ... e(kT )z  k
or ...

E(z)   e(k ) k
k 0
z
 e(0)  e(1)z1  e(2)z  2  ... e(k )z  k
...
• Then e(kT) or e(k) is the coefficient of the z term. Hence, the
-k

values of e(kT) or e(k) for k = 0, 1,2, . . . can be determined by

inspection.
I. Direct Division Method.
• If E(z) is given in the form of a rational function, the
expansion into an infinite power series in increasing powers
of z-1 can be accomplished by simply dividing the numerator
by the denominator, where both the numerator and
denominator of E(z) are written in increasing powers of z-1. If
the resulting series is convergent, the coefficients of the z-k
term in the series are the values e(kT) of the time sequence
or the values of e(k) of the number sequence.

• Although the present method gives the values of e(0), e(T),

e(2T), ... or the values of e(0), e(1), e(2),... in a sequential
manner, it is usually difficult to obtain an expression for the
general term from a set of values of e(kT) or e(k).
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I. Direct Division Method.

Example 2-10
Find e(k) for k = 0,1,2,3,4 when E(z) is given by
10z 
E (z)
 (z 51)(z 
0.2)
• First, rewrite E(z) as a ratio of polynomials in z-1,
as follows:
E (z)  10z 1
 5z 2

1  1.2z1  0.2z 
2

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I. Direct Division Method.
• Dividing the numerator by the denominator, we
have
10z1  17z 2  18.4z3  18.68z4  ...
1  1.2z1  0.2z 10z1  5z  2
2
10z1  12z  2  2z  3
17z  2  2z  3
17z  2  20.4z3  3.4z 4
18.4z3  3.4z 4
18.4z3  22.08z 4  3.68z5
18.68z 4  3.68z5
18.68z 4  22.416z5  3.736z6

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I. Direct Division Method.

Thus,
E (z)  10z1  17z2  18.4z3  18.68z4 ...
By comparing this infinite series expansion of

E(z) with E(z) =  e(k )z ,we obtain

k
k 0

e(0) = 0
e(1) = 10
e(2) = 17
e(3) = 18.4
e(4) = 18.68
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I. Direct Division Method.

• As seen from this example, the direct division

method may be carried out by hand calculations
if only the first several terms of the sequence are
desired. In general, the method does not yield a
closed-form expression for e(k)

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I. Direct Division Method. 𝑧
−1
−𝑧
−2
+𝑧
−3

−1 −2
+𝑧 +𝑧
Example 2-11
−2
Find e(k) when E(z) is given by −𝑧
−2 −3
−𝑧 −𝑧
E(z)  1 1
 z
1 𝑧
−3

z1 −3 −4
𝑧 +𝑧
1z −𝑧
−4

𝑒 (𝑘 )={0 , 1 , − 1 ,1 , … .. }
Solution

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MECHATRONICS SYSTEM DESIGN - CHAPTER 1 17
I. Direct Division Method.
Example 2-12
Obtain the inverse z transform of
E(z) = 1 + 2z-1 + 3z-2 + 4z-3

The transform E(z) is already in the form of a

power series in z-1. Since E(z) has a finite
number of terms, it corresponds to a signal of
finite length. By inspection, we find
e(0) = 1
e(1) = 2
e(2) = 3
e(3) = 4
All other e(k) values are zero.
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II. Computational Method
• Two computational approaches to obtain the
inverse z transform. Note: x(k) is the
– MATLAB approach (not required) Kronecker delta input.
– Difference equation approach • x(0) = 1

• x(k) = 0 for k ≠ 0
• Consider a system G(z) defined by
• y(k) = 0 for k < 0.
0.4673z 1
 0.3393z
G(z) 2 (2.30)
1-1.5327z 1  0.6607z2

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II. Computational Method
Difference Equation Approach
• Noting that Equation (2. 30) can be written as

(z2 - 1.5327z + 0.6607) Y(z) = (0.4673z -0.3393) X(z)

• Convert this equation into the difference equation as follows:

y(k + 2) - 1.5327y(k + 1) + 0.6607y(k) = 0.4673x(k +1)- 0.3393x(k)

(2. 32)

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II. Computational Method
The initial data y(0) and y(1) can be determined as follows: By
substituting k = -2 into Equation (2.32), we find
y(0) - 1.5327y(-l) + 0.6607y(-2) = 0.4673x(-1) - 0.3393x(-2)
from which we get
y(0) = 0
Next, by substituting k = -1 into Equation (2. 32), we obtain
y(1) - 1.5327y(0) + 0.6607y(-1) = 0.4673x(0) - 0.3393x(-1)
from which we get: y(1) = 0.4673

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II. Computational Method

• To find the inverse z transform of Y(z) - solve the following difference

equation for y(k)
y(k + 2) - 1.5327y(k + 1) + 0.6607y(k) = 0.4673x(k+1) +0.3393x(k)…. (2.33)

• with the initial data y(0) = 0, y(1) = 0.4673, x(0) = 1, and x(k) = 0 for k ≠ 0.
Equation (2. 33) can be solved easily by hand, or by use of BASIC,
FORTRAN, or C++.

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II. Computational Method
• Consider a system G(z) defined by
• where e(k)=

• Find the z-inverse for G(z) by using the computational method

if m(k)=0 for k<0

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II. Computational Method

• For k= 0

• For k=1

• For k=2

MECHATRONICS SYSTEM DESIGN - CHAPTER 1 24

C. Partial-Fraction-Expansion Method

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C. Partial-Fraction-Expansion Method

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C. Partial-Fraction-Expansion Method

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Solving the Difference Equations

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I. Sequential approach

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I. Sequential approach

MECHATRONICS SYSTEM DESIGN - CHAPTER 1 39

I. Sequential approach

MECHATRONICS SYSTEM DESIGN - CHAPTER 1 40

II. Z- transform

Then take the

inverse of z
transform
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