Z-Transform Digital Control System EE652

The z-Transform and Discrete Functions

The z-transform of a time function x(t), t > 0 or a sequence of values x(kT), k > 0, is defined by
the equation:

X ( z )  [ x(t )]  [ x(kT )]   x(kT ) z k 1.1
k 0

For a sequence of numbers x(k), the z-transform is defined by,


X ( z )  [ x(k )]   x(k ) z k 1.2
k 0

The z-transform defined by above equation 1.1 or 1.2 is referred to as the one sided z transform.

The z-transform of x(t), -∞ < t < ∞, or of x(k) where k = 0, ±1, ±2, ±3, ±4…., is defined by

X ( z )  [ x(t )]  [ x(kT )]   x(kT ) z
k 
k
1.3

Or,

X ( z )  [ x(k )]   x(k ) z
k  
k
1.4

The z-transform defined by above equation 1.3 or 142 is referred to as the two sided z transform.
In two sided z-transform, the time function x(t) is assumed to be non-zero for t < 0 and the sequence
x(k) is considered to have non-zero values for k < 0. Both one sided and two sided z transforms
are series in powers of z-1.

For most engineering applications, the one-sided z transform will

have a convenient closed form solution in its region of convergence.
Z-Transform Digital Control System EE652

Tutorial#1
1. Find the z-transform of:
a. 1 j. sin ωt
b. t k. cos ωt
c. t2 l. e-atsin ωt
d. t3 m. e-atcos ωt
e. e-at n. k2
f. 1- e-at o. k3
g. te-at p. kak-1
h. e-at - e-bt q. (1-e-at)/a
i. t2 e-at r. akcoskπ

2. Find z-transform of the following x(k);

i) x(k) = 9k(2k-1) – 2k +3, k = 0, 1, 2…… ,
assuming x(k) = 0, for k<0.
ii) x(k) = k(k-1)ak-1
iii) x(k) = (k(k-1))/2!
iv) 𝑥 (𝑘) = ∑𝑘0 𝑎ℎ , where a is constant

3. Obtain the z-transform of curve shown in figures using sampling

period T is 1 sec.
Z-Transform Digital Control System EE652

Important properties and theorems of the z-transform

1. Multiplication by constant
2. Linearity Property
3. Multiplication by ak
4. Shifting Theorem
5. Complex translation theorem
6. Initial Value theorem
7. Final value Theorem
8. Convolution Theorem

Q. State and prove all the theorems above.

Z-Transform Digital Control System EE652

Inverse z-transform
The methods for finding inverse z-transform are:
1. Direct Division method
2. Partial Fraction Method
3. Inversion Integral Method

Poles and Zeros in z Plane

X(z) may have the form
𝑏0 𝑧 𝑚 + 𝑏1 𝑧 𝑚−1 + 𝑏2 𝑧 𝑚−2 + ⋯ + 𝑏𝑚
𝑋(𝑧) = (𝑚 ≤ 𝑛)
𝑧 𝑛 + 𝑎1 𝑧 𝑛−1 + 𝑎2 𝑧 𝑛−2 + ⋯ + 𝑎𝑛
or,
𝑏0 (𝑧 − 𝑧1 )(𝑧 − 𝑧2 ) … (𝑧 − 𝑧𝑚 )
𝑋 (𝑧 ) =
(𝑧 − 𝑝1 )(𝑧 − 𝑝2 ) … (𝑧 − 𝑝𝑛 )
Where, pi’s (i=1, 2, 3, 4….., n) are poles and zj’s (j=1, 2, 3, 4….., m)
are zeros of X(z).
The locations of poles and zeros of X(z) determine the characteristics of
x(z).

1. Direct Division Method

In this method, the z transform is obtained by expanding X(z) into
an infinite series in z-1. This method is 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 x(k).
2. Partial Fraction Method
The method requires that all the terms in a partial fraction expansion
be easily recognizable in the z transform pairs. The function X(z) is
such that the partial fraction is possible.
Z-Transform Digital Control System EE652

3. Inversion Integral Method