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Inverse Z Transform
Since transfer functions and common signals have transforms which are rational, it is logical to apply
the same technique developed for Laplace transform. One would have a table of basic transform
pairs and use partial fraction expansion to decompose a rational function as a sum of entries from
the table. There is only one minor problem illustrated by the following example. Let
2z
X (z) = z22,z 1 = (z , 1)(
z + 1)
Using partial fraction expansion one would have
X (z ) = A1 z ,1 1 + A2 z +1 1
One can compute the coecients A1 ; A2 , but the rational functions 1=(z , 1) and 1=(z + 1) do not
appear as entries in the table of basic transforms.
The basic way around this minor problem will be to perform the partial fraction on the function
X (z)=z. Thus
2
1
1
X (z ) =
z
(z , 1)(z + 1) = B1 z , 1 + B2 z + 1
Once the partial fraction has been determined and the coecients computed, one can multiply
both sides by z . Hence
X (z ) = z Xz(z ) = B1 z ,z 1 + B2 z +z 1
The two entries are now in the table of basic transform pairs and one can proceed to the inversion
by inspection.
Form
bk q[k] ! z ,z b
X (z ) = (z , r )(z ,Nr(z)): : : (z , r ) ; ri 6= rj ; i 6= j
1
2
n
X (z ) =
N (z )
z
z (z , r1)(z , r2 ) : : : (z , rn)
Write the partial fraction expansion for X (z)=z as
X (z ) = A0 + A 1 + : : : + A 1
1z , r
nz , r
z
z
1
n
The method just described expands X (z )=z and then multiplies by z in order to get terms of the
form z=(z , b), that are directly in the basic table. The reason being that the ordinary expansion
of X (z ) will create terms of the form 1=z , b which are not in the table. The alternative method
is based on the identity
X1 (z ) = z ,1 b = z,1 z ,z b
One can nd the inverse transform for X1 (z ) with the help of the shifting property of the transform.
Thus
x1[k] = Z ,1 z ,1 b = bk,1 q[k , 1]
Consider again the example
2z
X (z) = z22,z 1 = (z , 1)(
z + 1)
This is the next simplest case. It uses the same pair as before plus the pair
[k , p] ! z ,p
which is derived using the shifting property of the transform.
Consider a rational function
X (z) = z m (z , r )(zN,(zr) ) : : : (z , r ) ; ri 6= rj ; i 6= j
1
2
n
i.e., it has n simple poles and a pole of multiplicity m at the origin.
The inversion proceeds in the same manner as before
Form
X (z ) =
N (z )
m
+1
z
z (z , r )(z , r ) : : : (z , r )
1
Write the partial fraction expansion for X (z)=z. Here is a little dierent.Because of the
multiple pole one has
X (z) = A00 + A01 + : : : A0m + A 1 + : : : + A 1
nz , r
z
z
z2
zm+1 1 z , r1
n
Compute the residues A00 ; A01 ; : : : ; A0m ; A1 ; : : : ; An using any of the techniques seen in Laplace.
Form the modied partial fraction expansion for X (z)
X (z) = z Xz(z ) = A00 + A0z,1 + : : : A0m z,m + A1 z ,z r + : : : + An z ,z r
1
Since the terms of the form z,p have an immediate transform, the inversion of the previous
expression is also immediate.
Form
X (z ) =
z2 + 1
z
z(z , 0:5)2 (z , 2)
Perform the partial fraction for X (z)=z. Use the necessary two terms for the double pole
1
1
X (z ) = A 0 + A 1 + A
11 z , 0:5
12 (z , 0:5)2 + A2 z , 2
z
z
One can see that every term, except the third appear directly in the basic list of transform
pairs. The table entry that is closest to this third term is bz=(z , b)2 , for b = 0:5. Rewriting
the term as
A12 (z ,z0:5)2 = A0:125 (z ,0:50z:5)2
one ts it to the entry.
Get from the basic table the inverses of each term
In this case the complete inverse is
x[k] = A0 [k] + A11 (0:5)k q[k] + A0:125 k(0:5)k q[k] + (2)k q[k]
For added eciency, one can force the terms in basic table as entries in the partial fraction
expansion. Thus, for a double pole (z , b)2 , one would use the terms
b :
1 ;
z , b (z , b)2
In the example, one could write the expansion as
0:5 + B 1
X (z ) = B0 + B 1 + B
11
12
2z , 2
z
z
z , 0:5
(z , 0:5)2
The procedure is just cosmetic and one should get A0 = B0 ; B11 = A11 ; B12 = A12 =(0:5); B2 =
A2 .
The previous techniques can be easily extended to triple poles and poles of higher multiplicity. For
a triple pole (z , b)3 , one would use the following three partial fractions
b
b(z + b)
1
z , b ; (z , b)2 ; (z , b)3
After the multiplication by z , one will get terms that appear directly in the basic table.
The inversion of rational functions with complex conjugate poles can be accomplished with the
previous techniques if one is willing to use complex algebra. As in the case of Laplace transform,
one can avoid using complex numbers at the expense of using quadratic factors in the partial
fraction expansion. In this case, one looks at the following two pairs:
b cos !0 T )
bk cos k!0Tq[k] ! z 2 ,z ((2z b,cos
!0 T )z + b2
sin !0 T )
bk sin k!0 Tq[k] ! z2 , (2zbb cos
!0 T )z + b2
Inverting a rational function with complex conjugate poles requires the following steps
from the quadratic expression of the complex conjugate poles determine the values of b and
!0 T .
determine the quadratic factors to be used in the expansion
determine the proper partial fraction expansion
determine the inverse of every term in the partial fraction
Consider for example the rational function
X (z) = z2 +z +2z3+ 9
The quadratic term, z 2 + 2z + 9, has negative discriminant.
from the quadratic expression of the complex conjugate poles determine the values of b and
!0 T
z 2 + 2z + 9 = z 2 , (2b cos !0 T )z + b2
b2 cos2 !0 T + b2 sin2 !0 T = b2
and using the positive sign as default option. For the example one has
The most straightforward way is to consider the expansion of X (z )=z , using partial fractions
F1 (z )=z and F2 (z)=z. In this case, this task can be divided in the following activities
{ write the partial fraction expansion for X (z)=z.
For case of the example one has
X (z ) =
z+3
A0
F1 (z )
F (z )
z
z(z2 + 2z + 9) = z + A1 z + A2 z
z +3
A0
z +1
8
z(z2 + 2z + 9) = z + A1 z2 + 2z + 9 + A2 z2 + 2z + 9
For this task one can use any of the techniques available. For example, using identication of coecients one has
z+3
A0 (z2 + 2z + 9) + A1 z(z + 1) + A2z
=
z(z2 + 2z + 9)
z 2 + 2z + 9
Hence
0 = A0 + A1
1 = 2A0 + A1 + A2
3 = 9A0
{ write the expansion for X (z)
8z
(z + 1) + A
X (z ) = z Xz(z ) = z2 +z +2z3+ 9 = A0 + A1 z2z+
2
2
2z + 9
z + 2z + 9
Every entry in the partial fraction expansion corresponds directly to an entry in the basic
table of transform pairs. Hence
x[k] = A0 [k] + A1(3)k cos k!0 Tq[k] + A2(3)k sin k!0 Tq[k]
with !0 T = , tan,1 8
Examples
The denominator has roots x1;2 = j 3. Hence one can use the quadractic factors.
1. determine b; b cos !0 T; b sin !0 T; !0 T
denominator = z2 + 9
z , b cos !0 T
2
z + (2b cos !0 T )z + b2 =
b sin !0T
2
z + (2b cos !0 T )z + b2 =
z2 + 9
3
z2 + 9
z+5
z(z2 + 9)
= Az0 + A1 z 2 z+ 9 + A2 z 2 3+ 9
A0 = 5=9
A1 = 1
A2 = 5=3
5. write the expansion fo X (z )
2