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InverseZTransformsofComplexPoles
CosineMethod
SupposeIwanttofindtheinverseZtransformof
F z
2z2
.
z 2 3z 1
(5.4.1)
I start by rewriting
F z
2z
c
c*
2
*
z
z 3z 1 z p z p
(5.4.2)
3 3 4
3
1 230o
j
130o
2
2
2
2
p*
3
1
j 1 30o
2
2
{Remember: We follow the convention that p is always calculated using the plus sign on the
imaginary term.}
We find c by
2z
z p*
3
1
j
2
2
3
1
3
j
2
2
2
z p
1
j
2
3 j
430o
2 60o.
o
j
190
Not surprisingly, when we solve c * we get the complex conjugate:
c*
2z
z p
3
1
j
2
2
3
1
3
j
2
2
2
z p*
1
j
2
3 j
4 30o
260o.
o
j
1 90
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F z
c
c*
2e j 60
2e j 60
0
0 ,
z
z p z p* z e j 30 z e j 30
0
or
0
z 2e j 60
z 2e j 60
.
F z
0
0
z e j 30 z e j 30
The inverse Z transform gives
f k 2e j 60 e j 30
0
2e j 60 e j 30
u k
j k 300 600
j k 300 600
k
2 1 e
e
u k
Sine Method
In looking at inverse Laplace transforms with conjugate coefficients, we found a shortcut that
we referred to as the sine method. Lets see if we can find a similar shortcut here. First, look
back on the calculation of c
2z
c
z p*
z p
2p
3 j
430o
.
p p*
j
190o
The numerator is a pure imaginary number, because when we take the difference of a number
and its complex conjugate, we will always get two times the imaginary part of the original
number
p p* j j 2 j .
Knowing this, lets see if we can find a short-cut. First, write c as
c
2z
z p*
z p
d
2p
430o
.
2 j 2 j
2 j
Since we know the j2 will always be in the denominator, we could have just solved for
d 2 z z p 3 j 430o .
Similarly
c*
2z
z p
z p*
2 p*
3 j
430o
,
2 j
2 j
2 j
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2
e
2
e
2 j
1
2 2k sin k p 30o
f k
4 2k sin k p 30o .
We can compare this with our previous result by
1
k
d p sin k p d
The advantage of this sine method is that the calculation of d is slightly simpler than c.
Summary
To find the inverse of the complex conjugate component of a function like
F z
F z
F1 z
2 1
z
z bz c z p z p*
use one of the following two methods:
Sine method (preferred):
1.
2.
Calculate
d F1 z
3.
(5.4.3 a)
z p
d d ,
(5.4.3 b)
That part of the time domain function due to the complex conjugate pair is
f k
1
k
d p sin k p d .
(5.4.3 c)
Cosine method:
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1.
2.
Calculate
c1
3.
F1 z
z p
c c
z p
That part of the time domain function due to the complex conjugate pair is
f k 2 c p cos k p d
k
There is a very simple method to practice using these methods. Look at the decaying
sine and cosine functions in the table of Z transforms, put some numbers in them, and make
sure you can get back to the original time domain functions.
--------------------------------------------------------------------------------------------------------------Example
Let us start with a term from the table and see if the method really works.
Z a k sin T k
za sin T
.
z 2a cos T z a 2
2
Solution
Remember, T is an angle! Take a = 0.8, T 30o . That gives us
F z
za sin T
0.8(0.5) z
2
2
2
2
z 2a cos T a a
z 0.8 0.866 0.8
so we will solve
F z
0.4
2
2 .
z
z 1.385 z 0.8
Using the sine method:
1. Find the root with the positive imaginary part
p
1.385
1.385
4 0.64)
2
1.385 1.92 2.56
2.
d F1 z
z p
0.40o
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d k
p sin p k d u k
0.4
k
fs k
--------------------------------------------------------------------------------------------------------------Example
Repeat the above example using the cosine term
Z a cos T k
k
z 2 za cos T
2
.
z 2a cos T a a 2
Solution
F z
z 0.8(0.886)
2
2
z
z 0.8 0.866 0.8
Obviously the poles will be the same.
d F1 s
z p
z 0.693 z p
0.4
k
fs k
--------------------------------------------------------------------------------------------------------------Example
FindtheinverseZtransformof
z2 z
F z
.
z 0.5 z 2 2 z 5
Solution
F z
z 1
A
M
2
.
2
z
z 0.5 z 2 z 5 z .5 z 2 z 5
WefindAintheusualmanner:
A
z 1
z 2 z 5
2
z 1/ 2
1/ 2
1 4
2
0.08 .
1/ 4 1 5 2 25
25
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Wefindthesecondtermusingthesinemethod.(Note:theMinthenumeratorofthe
secondtermhasnosignificantmeaning.Itisjustaplaceholder.
p
2 22 4 5
1 1 5 1 j 2 5117o .
2
Notethat 2 .
z 1
d
z 0.5
p 1 j 2
2 j 2
2 2135o
1.138o
o
1.5 j 2 2.5127
Sineterm
1.13
k
f k 0.08 0.5
2
sin 117 o k 8o
u k .
Example(problem5.12c)
FindtheinverseZtransform
F3 ( z )
1
z 2z 2
2
Solution
LookingbacktoEq.(5.4.1)andEq.(5.4.2),weseethatimplicittothesineorcosine
methodisazterminthenumerator.Similartowhatwedidinsection5.3,wemultiplytheZ
domaintermby z 1 z toprovideuswiththeneededz.Thenthe z 1 resultsinanapplication
oftherightshifttheoremattheend.Sowestartbywriting:
F3 ( z )
1
z 1 2
.
z
z 2 z 2
Nowweusethesinemethod,Eq.(5.4.3):
i.
2 2 2 4 2
p
1 j 2135o
2
ii.
d 1
f3 ' k
iii.
1
1
sin 135k u k .
Nowweapplytherightshifttheorem,whichresultsinadelayofone:
f3 k
k 1
sin 135 k 1 u k 1 .
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Example(problem5.12bfromGazijc)
FindtheinverseZtransformof
F2 ( z )
z2
1/ 4 z 2 1/ 9
Solution
Wewillstartbyassuming z 2 istheparameterofinterest.Beginbywriting
F2 ( z )
1
A
B
2
2
2
2
2
z
z 1/ 4 z 1/ 9 z 1/ 4 z 1/ 9
A
1
z 1/ 9
z 2 1/ 4
1
1
36
1/ 4 1/ 9 9 4 / 36 5
1
z 2 1/ 4
z 2 1/ 9
36
.
5
Check:
36 2 1
36
4 9
2 1
z z 1
5
9
5
5 5
4
Lookatthetransformpair
z 2 az cos T
z 2 2az cos T a 2
a k cos Tk u k
If T 90o ,thenthetransformpairbecomes
a k cos 90o k u k
z2
z2 a2
Sowitha=the
k
z2
1
o
cos 90 k u k .
2
2
z 1/ 4
Z1
Andifa=1/3
k
z2
1
cos 90o k u k
Z 2
9
z 1/ 9
1
So
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f k
36
1
36
1
o
o
cos 90 k u k cos 90 k u k
3
5 2
Example(Problem5.19)
DerivetheformulafortheZtransformofaperiodicdiscretetimesignaldefinedby
f k f k N
Solution
F z f k z
k 0
F1 z
n 0
n 0
zN
N 1
f k z
z nN
k 0
F1 z
zN
zN 1
Example
Find the inverse Z transform of
F3 z
Solution
z2 2z 2
z2 2z 4
7.2 k 1
2 sin 60o k 1 74o u k 1 .
3
Problems
5.4.1. Find the inverse Z transforms of the following:
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z
z 2z 5
1
b). F2 z 2
z z 0.5
a). F1 z
c). F3 z
z 2 2z 2
z 2 2z 4
5
.
z .4 z 0.08
1
F5 z
2
z z 2 z 3
d). F1 z
e).
5.4.2 Solve for y[k]. Assume all initial conditions are zero.
1
1
y k 2 y k 1 y k u k
2
8
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