Professor A G Constantinides 1

Z - transform

Defined as power series




Examples:

=

=

0
. ) (
k
k
k
z f z F
...... .... ) (
2
2
1
1 0
+ + + + + =
r
r
z f z f z f f z F
{ } { } 1 =
k
f
.... . 1 . 1 . 1 1 ) (
3 2 1
+ + + + =

z z z z F
Professor A G Constantinides 2
Z - transform

And since


We get


.... ) (
3 2 1 1
+ + + =

z z z z F z
1
1
1
) (

=
z
z F
Professor A G Constantinides 3
Z - transform

Define

{ } { }
k
k
f o =
0 1 2 3 4 5 6 7 8 9
0
0.5
1
1.5
2
2.5
o +ve and = 1
o +ve and > 1
o +ve and < 1
Professor A G Constantinides 4
Z - transform

We have


ie

Note that has a pole at on the
z-plane.

=

=

0
) (
k
k k
z z F o
.... ) ( ) ( ) ( 1
3 1 2 1 1
+ + + + =

z z z o o o
o
o

=

=

z
z
z
z F
1
1
1
) (
1
1
<

z o
) (z F
o = z
Professor A G Constantinides 5
Z - transform
Note:
(i) If magnitude of pole is > 1 then
increases without bound
(ii) If magnitude of pole is < 1 then
has a bounded variation
i.e. the contour on the z-plane is of
crucial significance.
It is called the Unit circle



{ }
k
f
{ }
k
f
1 = z
Professor A G Constantinides 6
The unit circle







1
1
circle Unit : 1 = z

positive
1 > 1 o o <
Professor A G Constantinides 7
Z transform properties
(i) Linearity
The z-transform operation is linear
Z

Where Z , i = 1, 2

(ii) Shift Theorem
Z
{ } { } | | ) ( ) (
2 2 1 1
) 2 (
2
) 1 (
1
z F c z F c f c f c
k k
+ = +
= ) (z F
i
{ } | |
) (i
k
f
{ } | | ) (z F z f
m
m k

=
Professor A G Constantinides 8
Z - transform

Let

Z


But for negative i.
.... ) (
2
2
1
1 0
+ + + =

z f z f f z F
{ } | | .... . .
2
2
1
1
+ + + =

+

+
z f z f f f
m m m m k
.... ....
2
2
1
1 0
+ + + +
m m m
z f z f z f
....
0
i
f
Professor A G Constantinides 9
Z - transform
Examples:
(i) Consider generation of new discrete
time signal from via

Recall linearity and shift

(ii) Z write
{ }
k
g { }
k
f
1
=
k k k
f f g
) ( ) 1 ( ) (
1
z F z z G

=
{ } | | kT
0
cose
2 2
cos
0 0
0
kT j kT j
e e
kT
e e
e

+ =
Professor A G Constantinides 10
Z - transform

From
With from earlier result


We obtain Z
{ } | | { } | |
kT j
e kT
0
0
Re cos
e
e =
o
e
=
T j
e
0
{ } | |
1
1
1

=
z
k
o
o
Z
{ } | |
1
0
0
. 1
1
Re cos

=
z e
kT
T je
e
2 1
0
1
0
). (cos 2 1
). (cos 1

+

=
z z T
z T
e
e
Professor A G Constantinides 11
Inverse Z - transform

Given F(z) to determine .
Basic relationship is


may be obtained by power series
expansion. It suffers from cumulative
errors

{ }
k
f
.... ) (
3
3
2
2
1
1 0
+ + + + =

z f z f z f f z F
{ }
k
f
Professor A G Constantinides 12
Inverse Z - transform

Alternatively



Use for m = -1
otherwise
where closed contour I encloses origin
.... ) (
2
3
1
2
0
1 1
+ + + =

f z f z f z z F z
n n n n
... ...
1
+ +

z f
n
}
=
I
j dz z
m
t 2
0 =
Professor A G Constantinides 13
Inverse Z - transform

Integrate to yield


Examples
(i)
write
}
=
I
n
n
f
z
dz
z F z
j
). (
2
1
t
1
5 . 0 1
1
) (

=
z
z F
5 . 0
) (

=
z
z
z F
Professor A G Constantinides 14
Inverse Z - transform

And hence

Pole at of Residue
(ii) Let

where
and
To determine
}

=
I
z
dz
z
z
z
j
f
k
k
. .
5 . 0 2
1
t
5 . 0 = z
( )
k
5 . 0
) ( ). ( ) ( z X z G z Y =
{ } | |
k
g z G Z = ) (
{ } | | ) (
1
z Y y
k

= Z
{ } | |
k
x z X Z = ) (
Professor A G Constantinides 15
Inverse Z - transform

From inversion formula




But
}
=
I
z
dz
z z Y
j
y
k
k
. ). (
2
1
t
}
=
I
z
dz
z z X z G
j
y
k
k
. ). ( ). (
2
1
t

=

=

0
) (
n
n
n
z g z G
Professor A G Constantinides 16
Inverse Z - transform

Hence




Thus
}
=
I
j
y
k
t 2
1
z
dz
z z X z g
k
n
n
n
. ). (
0
|
.
|

\
|

}
=

=
I

0
. ). (
2
1
.
n
n k
n k
z
dz
z z X
j
g y

t
n k
x

=

=

0
.
n
n k n k
x g y
Professor A G Constantinides 17
Inverse Z - transform
Note:
(i) For causal signals for negative
i. Thus upper convolution summation limit
is in this case equal to k.
(ii) Frequency representation of a discrete-
time signal is obtained from its z-transform
by replacing where T is the
sampling period of interest. (Justification
will be given later.)
0
i
x
T j
e z
e