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DIGITAL SIGNAL PROCESSING

DSP

Dr. Mahmoud Hanafy Saleh

MHS
 Z-transform

Definition 
Expression of the sampled signal: x * (t )   x(kT ) (t  kT )
k 0

Using the Laplace transform: x * ( s)   x ( kT )e  kTs

k 0
Define: ze Ts
Z-transform
We have the Z-transform:

X ( z )  Z  x ( t )  Z  x * ( t )   x(kT )z k
k 0
Z-transforms of some
common signals Table 1
x(t ) X ( s) X (z)
The Z-transforms of some  (t ) 1 1
z
common signals is shown in 1( t ) 1
s z 1
table 1. t 1 Tz
s2 ( z  1) 2
characteristics of Z-
e t
1 z
transform s  z  e T
 z sinT
The characteristics of Z- sint
s2   2 z 2  2 z cos T  1
transform is given in table 2. s z ( z  cos T )
cos t
s2   2 z 2  2 z cos T  1
 Table 2
x( t ) X (z)
k1 x1 ( t )  k 2 x2 ( t ) k1 X 1 ( z )  k 2 X 2 ( z )
m 1
x( t  mT ) z m
X (z)   x(iT  mT )z i
i 0
m 1
x ( t  kT ) z m X (z)   x(iT )z m i
i 0
dX ( z )
tx( t )  Tz
dz
e t x ( t ) X ( z ) z  ze T
a k x( t ) X ( z) z z
a
Initial value lim x ( t )  lim X ( z )
t 0 z 
Final value lim x ( t )  lim( z  1) X ( z )
t  z 1
k 
Z x1 ( t )  x 2 ( t )  Z   x1 ( iT ) x2 ( kT  iT )
Real convolutio n  i 0 
 X1(z) X 2 ( z)
characteristics of Z-transform
Using the characteristics of Z-transform we can conveniently
deduce the Z-transforms of some signals.
Such as the examples shown in table 3:
Table 8.3
x( t ) X (z)
z z (1  e T ) z
1  e t  
z 1 z  e  T ( z  1)( z  e T )
t Tz Tze T
te 
( z  1) 2 z  zeT ( z  e T ) 2
z z
ak 
z  1 z z z  a
a
d Tz T 2 z( z  1)
t2  Tz 
dz ( z  1) 2 ( z  1) 3
 ( t  mk ) z m
Z-transform
Z-transform methods
1. Partial-fraction expansion approaches
A(s) K1 K2 Kn
If : X(s)      
( s  a1 )( s  a 2 )    ( s  a n ) s  a1 s  a2 s  an
n
Ki z
then : X ( z )    aiT
i 1 z  e
Example 1
 5( s  4)   10 15 5  10 z 15 z 5z
Z   Z   
 s s  1 s  2 z 1  
 s ( s  1)( s  2 )    z  e T z  e  2T
2. Residues approaches
n
 z  n
X ( z )   res  X ( s )  Ts 
  Ri  Residues
i 1  z  e  s   a i 1
i

1  q 1  z 
Ri  lim ( s  a i ) X ( s )
q
Ts 
For q-order poles of X(s)
(q  1)！ ai  s q 1
s   z  e 
Z-transform methods
Example 2
 10  10 z 1   10 z 
Z 2
   

( 2  1)！s1 s  s z  e Ts 
lim
 s( s  1)  s( s  1) z  e Ts
2
s 0
T
10 z  z 2  ze (1  T )
 
z 1 ze T 2
 
Inverse Z-transform
x( kT )  Z 1 X ( z )  Inverse z-transform
1. Partial-fraction expansion approaches
A(z) K1 z K2z
If : X(z)  a1T  a2T  anT
  a1T
  a2T
 
(z  e )( z  e )  (s  e ) ze se
n
then : X ( kT )   K i e ai kT
i 1
Inverse Z-transform
Example 3
1
 z (1  e  2T
)  1  z z   2 kT
x( kT )  Z   2T   Z z 1   2T 
 1  e
 ( z  1)( z  e )   ze 
2. Power-series approaches
A(z)
If : X(z)   K 1 z 1  K 2 z  2  K 3 z  3    
B( z )
then : X ( kT )  K 1 ( t  T )  K 2 ( t  2T )  K 3 ( t  3T )    
Example 4
1
 z 3
 2 z 2
1 
x ( kT )  Z  3 
 z  1.5 z  0.5 z 
2


 Z 1 1  3.5 z 1  4.75 z  2  6.375 z  3     
 1  3.5 ( t  T )  4.75 ( t  2T )  6.375 ( t  3T )    
Inverse Z-transform
3. Residues approaches

    R  Residues
n n
x( kT )   res X ( z )  z k 1
i
i 1 i 1

Ri 
1
lim
 q 1
(q  1)！z  ai  z q 1
( z  ai ) q
X ( z ) z k 1
 For q-order poles of X(z)

Example 5

  2 k 1
z z 2  z k 1
2
1 z z
Z   ( z  1)  ( z  0 .5 )
 ( z  1)( z  0 . 5 )  ( z  1 )( z  0 . 5 ) ( z  1)( z  0.5)
z 1 z  0 .5
kT
 2  ( 0. 5 ) T
Mathematical modeling of the sampling systems
Difference equation
For a nth-order differential equation:
dn d n1 d n 2 d
n
c( t )  a1 n1 c( t )  a 2 n 2 c( t )      a n1 c( t )  an c( t )
dt dt dt dt
dm d m 1 d
 b0 r ( t )  b1 m 1 r ( t )      bm 1 r ( t )  bm r ( t )
dt m dt dt
Make:
d c( k  1)T   c( kT )  c( k  1)  c( k )  c( k )
c( t )   
dt T T T
 1th-order Forward difference
Difference equation
d 2c( t ) d  dc( t )  2c( k ) c( k )
   
dt 2 dt  dt  T 2
T2
c(k  1 )-c(k) c(k  2 )-2c(k  1 )  c(k)
 2

T T2
…  2th-order Forward difference

Or :
dc( t ) c( k )  c( k  1)  c ( k )
   1th-order backward difference
dt T T
d 2c( t )  2c( k ) c( k )
 
dt 2 T2 T2
c(k)-c(k  1 ) c(k)-2c(k  1 )  c(k  2 )
 2

T T2
 2th-order backward difference
 Difference equation
A nth-order differential equation can be transformed into a
nth-order difference equation by the backward or forward
difference:
c( k )   1c( k  1)   2c( k  2)       n1c( k  n  1)   n c( k  n)
  0 r ( k )   1r ( k  1)   2 r ( k  2)       m 1r ( k  m  1)   m r ( k  m )
To get the solution of the difference equation is very simple by
the recursive algorithm.
 T c(mT )
Example 6 e e
r K (5 s  1)
For the sampling system
shown in Fig.8.12, Assume:
 T s( 2 s  1)
c

K = 10, T = 0.5s, r(t) = 1(t) Fig.8.12

Determine the output c*(mT).
 Difference equation Solution
C ( s) K (5 s  1) d 2c( t ) dc( t ) de  ( t ) 

  2   5 K  Ke (t )
e ( s ) s( 2 s  1) dt 2 dt dt
d 2c( t ) c( k )  2c( k  1)  c( k  2) dc( t ) c( k )  c( k  1)
 2 2
2 2
; 
dt T dt T
de  ( t ) e  ( k )  e  ( k  1)
5K  5K ; Ke  ( t )  Ke  ( k )
dt T
 The difference equation :
2T 4T 2 5 K  KT  5K 
c( k )  c( k  1)  c ( k  2)  e (k )  e ( k  1)
T2 T2 T 2 T T
4T 2 5 KT  KT 2  5 KT 
c( k )  c( k  1)  c ( k  2)  e (k )  e ( k  1)
2T 2T 2T 2T
5 KT  KT 2  5 KT  4T 2
c( k )  e (k )  e ( k  1)  c( k  1)  c ( k  2)
2T 2T 2T 2T
Difference equation
For K = 10, T = 0.5s, we have:
c( k )  11e  ( k )  10e  ( k  1)  1.8c( k  1)  0.8c( k  2)
Consider e*(k) = r(k)－c(k) = 1－c(k):
41 4
c( k )  1.75  c( k  1)  c ( k  2)
60 60
If c(0) = 0, applying the recursive algorithm we have:
41 4
c(1)  1.75  c ( 0)  c( 1)  1.75
60 60
41 4
c( 2)  1.75  c(1)  c(0)  0.554
60 60
41 4
c( 3)  1.75  c ( 2)  c(1)  1.255
…… 60 60
41 4
c( m )  1.75  c( m  1)  c( m  2)
60 60
DIGITAL SIGNAL PROCESSING

Dr. Mahmoud Hanafy Saleh