EE-348 - The Z-Transform

Uf Tureli
mailto:utureli@stevens-tech.edu
Department of Electrical and Computer Engineering
Stevens Institute of Technology

June 21, 2002

Contents

1 Reading 4

2 Why Z-Transform? 5

3 Definitions 6

4 Properties of Z transform 8

5 Properties of Z transform 9

6 Example 10
6.1 Digital Filter Example . . . . . . . . . . . . 12
7 Unit Step Response 13

8 Inverse Z transform 15
8.1 Z transforms of Functions . . . . . . . . . . 17

8.2 Z transform Initial Value . . . . . . . . . . . 19

8.3 Z transform Final Value . . . . . . . . . . . 20

8.4 Convolution in Time . . . . . . . . . . . . . 21

8.5 Stability . . . . . . . . . . . . . . . . . . . 22

8.6 Example . . . . . . . . . . . . . . . . . . . 23

8.7 Stability . . . . . . . . . . . . . . . . . . . 23
1 Reading

• Hw #5 due Monday 6/24 5.10,5.25, 10.4, 10.14,10.23

• Sections 11.1-11.7 Z Transform

Reading material for Friday 6/21: Read through

11.1-11.7, Z Transforms
2 Why Z-Transform?

• Characteristics of model are easier to manipulate

2 Why Z-Transform?

• Characteristics of model are easier to manipulate

• Solve difference equations Systems Invertibility

2 Why Z-Transform?

• Characteristics of model are easier to manipulate

• Solve difference equations Systems Invertibility

• Chapter 10 includes information on Difference

Equations
2 Why Z-Transform?

• Characteristics of model are easier to manipulate

• Solve difference equations Systems Invertibility

• Chapter 10 includes information on Difference

Equations

• f (nT ) = f (t)|T =nT = f [n] obtained by sampling ever

T seconds from f (t).
3 Definitions

• Bilateral Z-Transform
∞
X
f [n]z −n
 
Z f [n] = Fb (z) =
n=−∞

where

Fb (z) = · · · + f [−2]z 2 + f [−1]x + f [0] + f [1]z −1 + f

P−1 −n
P∞
= n=−∞ f [n]z + n=0 f [n]z −n

• Inverse Z-Transform
1
I
Fb (z)xn−1 dz
 
Z Fb (z) = f [n] =
2πj Γ
• Unilateral Z transform, f [n] = 0, n < 0.
P∞ −n
F (z) = n=0 f [n]z

• Transform relationship
Z
f [n] ↔ F (z)
4 Properties of Z transform

• x[n] → y[n]
4 Properties of Z transform

• x[n] → y[n]

• Additivity
     
Z x[n] = Z x1 [n] + Z x2 [n]
Pn=∞   −n
= n=0 f1 [n] + f2 [n] z
Pn=∞ −n
Pn=∞
= n=0 f1 [n]z + n=0 f2 [n]z −n
= F1 (z) + F2 (z)
5 Properties of Z transform

• Homogeneity
  P∞  −n

Z ax[n] = n=0 af [n]z
P∞  −n

= a n=0 f [n]z = a F (z)

• Superposition
 
Z a1 f1 [n] + a2 f2 [n] = a1 F1 (z) + a2 F2 (z)

• Multiplication of functions g[n] and h[n] :

P∞
Z f [n]g[n] = n=0 f [n]g[n]z −n
 
P∞ −n
P∞ −n
6= n=0 f [n]z n=0 g[n]z
6 Example

• Z transform of unit step function

P∞
Z u[n] = n=0 u[n]z −n
 
P∞
= n=0 1z −n = 1 + z −1 + z −2 + · · ·
1
= 1−z −1
; |z −1 | < 1
6 Example

• Z transform of unit step function

P∞
Z u[n] = n=0 u[n]z −n
 
P∞
= n=0 1z −n = 1 + z −1 + z −2 + · · ·
1
= 1−z −1
; |z −1 | < 1

• Z transform of exponential function f [n] = an u[n]

h i P∞
Z a n] = n=0 an z −n
[

= 1 + az −1 + a2 z −2 + · · ·
1
= 1−az −1
; |az −1 | < 1
z
= z−a
; a < |z|
 n Z a
• a ↔ z−a
6.1 Digital Filter Example
• Z transform of Delayed Waveform:
  P∞
Z f [n − n0 ]u[n − n0 ] = n=0 f [n − n0 ]u[n − n0 ]z
P∞
= n=n0 f [n − n0 ]z −n
= f [0]z −1 + f [1]z −2 + · · ·
−n f [0] + f [1]z −1 + f [2

=z 0

= z n−n0 F (z)

• Difference Equation

y[n] − (1 − α)y[n − 1] = αx[n]

• transformed into Z transform:

Y (z) − (1 − α)z −1 Y (z) = αX(z)

7 Unit Step Response

• System Transfer Function

Y (z) αz
= H(z) =
X(z) z − (1 − α)

n Z z
• a ↔ z−a

αz
Y (z) = z−(1−α)
X(z)
αz z
= z−(1−α) z−1

• Partial Fractions with α = 0.1:

Y (z) 0.1z
z
= (z−0.9)(z−1)
k1 k2
= z−0.9
+ z−1
• Partial Fraction Expansion:
h i
0.1z
k1 = (z − 0.9) (z−0.9)(z−1) = 0.1z
z−1
|z=0.9 = −0.9
h iz=0.9
0.1z 0.1z
k1 = (z − 0.9) (z−0.9)(z−1) = z−0.9 |z=1 = −0.9
z=1
8 Inverse Z transform

• Use Closed Integral or rather MydarkblueTable 11.1 to

find inversion of:
Y (z) −0.9 1
= +
z z − 0.9 z−1
• Multiply denom. by colorMydarkredz :
−0.9z z
Y (z) = +
z − 0.9 z−1
• From Table 11.1:

y[n] = −0.9n+1 + 1, n ≥ 0

• MATLAB:
n=[0.1 0];
d=[1 1.9 .9]
[r,p,k]=residue(n,d)
r=1 -0.9
p= 1 0.9
k=0
8.1 Z transforms of Functions
• Sinusoids
ejbn + e−jbn
cos bn =
2
• Z-Transform
h i
1
Z[cos bn] = 2
Z[ejbn ] + Z[e−jbn ]
h i
1 z z
= 2 z−ejb
+ z−e−jb
h jb jb
i
z z−e +z−e
= 2 (z−e−jb )(z−ejb )
z(z−cos b)
= z 2 −2z cos b+1
8.1 Z transforms of Functions
• Sinusoids
ejbn + e−jbn
cos bn =
2
• Z-Transform
h i
1
Z[cos bn] = 2
Z[ejbn ] + Z[e−jbn ]
h i
1 z z
= 2 z−ejb
+ z−e−jb
h jb jb
i
z z−e +z−e
= 2 (z−e−jb )(z−ejb )
z(z−cos b)
= z 2 −2z cos b+1
• Z[ean cos bn]
h i
1
Z[e−an cos bn] = 2
Z[e−a+jbn ] + Z[e−a−jbn ]
h i
1 z z
= 2 z−e−a+jb
+ z−e−a−jb
h −a+jb jb
i
z z−e +z−e
= 2 (z−e−a−jb )(z−ejb )
z(z−e−a cos b)
= z 2 −2ze−a cos b+e−2a
8.2 Z transform Initial Value
• Z-Transform

F (z) = f [0] + f [1]x−1 + f [2]z −2 + · · ·

• Initial Value
" #
f [1] f [2]
lim F (z) = lim f [0] + + + ··· = f [0]
z→∞ z→∞ z z2

• Initial Property

f [0] = lim F (z)

z→∞
8.3 Z transform Final Value
• Final Value is steady state value
hP
  k −n −
Z f [n + 1] − f [n] = limk→∞ n=0 f [n + 1]z
= limk→∞ −f [0] + f [1](1 − z −1


• Final Property
  
lim Z f [n + 1] − f [n] = lim (z−1)F (z) = lim f [n +
z→1 z→1 n→∞
8.4 Convolution in Time
• Convolution summation x[k] = 0, k < 0
inf
Xty X
x[n]∗y[n] = x[k]y[n−k] = k = 0∞ x[k]y[n−k]
k=−∞

• Z Transform
  P∞ P∞  −n
Z x[n] ∗ y[n] = n=0 k=0 x[k]y[n − k] z
P∞ P∞ −n

= k=0 x[k] k=0 y[n − k]z

• Let m = (n − k) & n = m + k, y[n] = 0, m < 0

P∞ hP i
  ∞ −m−k
Z x[n] ∗ y[n] = k=0 x[k] m=−k y[m]z
P∞ −k
P∞ −m

= k=0 x[k]z m=0 y[m]z
= X(z)Y (z)
8.5 Stability
• BIBO if
Y (z)
H(z) =
X(z)
has all poles lie in the unit circle!








































































   z





























































  





























































  
Unit Circle





























































  





























































  





























































  

















































































   





























































  



























 

























8.6 Stability
• H(z)

2z 2 − 1.6z − 0.9
H(z) =
z 3 − 2.5z 2 + 1.96z − 0.48

• Characteristic eqn

z 3 −2.5z 2 +1.96z−0.4 = (z−0.5)(z−0.8)(z−1.2) = 0