The Z-Transform

Z-Transforms play an important role in the analysis of

ECE 411 DT LTI systems as the Laplace Transform does in the
analysis of CT signals.
Signals, Spectra, and
Signal Processing
The Z-Transform

2 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

The Direct Z-Transform Region of Convergence

The z-transform of the discrete-time function x(n) is Since the z-transform is
defined as: an infinite power series,
Im

X ( z) x(n) z
n
n it exists only for those
values of z for which the
where z is a complex variable.
series converges.
This region of Re

For convenience, the z-transform of a signal is convergence (ROC) of

denoted by X(z) is the set of all
X ( z) Z x(n) values of z for which X(z)
attains a finite value.
Z-plane
Whereas the relationship is indicated by: Thus, at any time we cite
x(n)
z
X ( z) a z-transform we must
also indicate its ROC.
3 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 4 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

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Examples
Determine the z-transform of the following finite duration 5. x5(n) = (n)
signals:
6. x6(n) = (nk), k > 0
1. x1 ( n ) [1, 2, 5, 7 , 0, 1]
7. x7(n) = (n+k), k > 0
2. x 2 ( n ) [1, 2, 5, 7 , 0, 1]

It can be easily seen that the ROC of a finite duration
3. x3 ( n ) [ 0, 0, 1, 2, 5, 7 , 0, 1]
signal is the entire z-plane, except possibly z = 0,
and/or z = .
4. x 4 ( n ) [ 2, 4, 5, 7 , 0, 1]
These points are excluded since zk (k > 0) becomes
unbounded for z = , and z-k (k > 0) becomes
unbounded for z = 0.
5 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 6 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

The Z-Transform as a Complex Variable

In many cases, we can express the sum of the finite or Since z is a complex variable, let us express z in polar
infinite series for the z-transform in a closed form
expression. z re j where: r = | z |
= <z

Example: Determine the z-transform of the signal Then X(z) can be expressed as

x(n)re

n
X (z) zre j j

x(n) 1 n
2 u(n) n

x(n)r
n
n jn
e

7 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 8 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

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 In the ROC of X(z), |X(z)| < , since the z-transform Our problem is finding the values for which will make
must have a finite value. x(n)rn absolutely summable, so

x(n)r n jn 1
X (z) e x(n)
n
X ( z) x(n)r
n
n

n 0 rn

x(n)r
n
n jn
e
x(n)r n

x(n)
n 1 n 0 rn

x(n)r
n
n
In which case r in the first term must be small enough
for the first term to be finite, but big enough for the
Hence |X(z)| is finite if x(n)rn is absolutely summable. second term to prevent it from vanishing.
9 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 10 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

The ROC for the first The ROC for the second Therefore, the ROC for X(z) is the area common among
term is a circle with term is outside the the two terms, where r2 < r < r1.
some radius r1. circle of radius r2.

r1
r1
r2 r2

annular region

x(n)
ROC for: x ( n) r
n 1
n
ROC for:
n 0 rn

11 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 12 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

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Inverse Z-Transform

Since Interchanging the order of the integration and
X ( z) x( k ) z
k
k
summation, we have

We multiply the z-transform with and integrate over zn1 C

X ( z) z n1 dz x( k ) z
k
C
n 1k
dz
the closed contour C in the counterclockwise direction.
Invoking Cauchys Integral Theorem, where

z
n 1
X ( z) dz x(k ) z k z n1 dz 1 1, k n
2 j
k
C C Where C is a closed contour
z n 1 k
dz
C
0, k n enclosing the origin.
r1
C is the closed contour The RHS is reduced to
r2
(ROC) of the z-transform
C
enclosing the origin.
X ( z) z n1 dz x(n)2 j
C

13 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 14 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

Therefore
1
X ( z) z n1 dz Z 1X ( z )
2 j C
x(n)
The Z-Transform
Although the contour integral provides us with the
desired formula for determining x(n) from the inversion
of its z-transform X(z), we will not be using it directly.
Properties of the Z-Transform
Instead, we will be developing simpler methods by
employing the properties of the Z-transform and using
a lookup table.

15 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

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Linearity Time Shifting
If x1 (n)

z
X1 (z) and x2 (n)

z
X 2 (z) If x(n)

z
X (z)

then x(n) a1 x1 (n) a2 x2 (n)

z
X (z) a1 X1 (z) a2 X 2 (z) then x(n k)

z
zk X (z)

Example: Determine the z-transform and the ROC of the Example: Determine the z-transform and the ROC of the
signals signals
1. x(n) 3(2 ) 4(3 )u(n)
n n
1. x1(n) = [1, 2, 5, 7 ,0, 1]

2. x(n) (coson) u(n) 2. x2(n) = [1, 2, 5, 7 ,0, 1]

3. x(n) (sinon) u(n) 3. x3(n) = [0, 0, 1, 2, 5, 7 ,0, 1]

17 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 18 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

Time Reversal (Folding) Amplitude Scaling in the Z-Domain

If x(n)

z
X (z) ROC: r1 z r2 If x(n)
z X (z) ROC: r1 z r2
1 1
then x(n)

z
X (z1) ROC: z then an x(n)

z
X (a1z) ROC: a r1 z a r2
r1 r2

Proof: Z{an x(n)} an x(n)zn x(n)an zn
n n

x(n)(a1z)n
n

19 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 20 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

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Differentiation
If x(n)
z X (z) Example: Determine the z-transform and the ROC of the
signal
dX(z)
then nx(n)

z
z
dz x(n) = nu(n)

Proof: Z{x(n)} X (z) x(n)zn
n

d d
X (z) x(n)zn x(n)(n)z
n1

dz dz n n

z1 n x(n)zn
n

dX(z)
z Zn x(n)
dz
21 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 22 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

Convolution Correlation
If x1 (n)
z X1 (z) and x2 (n)
z X 2 (z) If x1 (n)
z X1 (z) and x2 (n)
z X 2 (z)

then x(n) x1(n) x2 (n)

z
X (z) X1(z) X2 (z) then rx1x2 (l) x1(n)x2 (n l)

z
RX1X2 (z) X1(z) X2 (z1)
n

Example: Convolve the two sequences Proof: rx1x2 (l) x1(n)x2 (n l) x1(n) x2 (n)
n

x1 (n) 1, - 2, 1 since x(n)

X (z1)
z

x(n) x1(n) x2 (n)

z
X (z) X1(z) X2 (z)
x2 (n) 1, 1, 1, 1, 1, 1
and

then Zrx x (l) RX X (z) X1(z) X2 (z1)

1 2 1 2

23 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 24 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

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Multiplication of Two Sequences

x1 (n)
z X1 (z) and x2 (n)
z X 2 (z) 1
If X (z) X1(v)vn1dv x2 (n) zn
n 2 j
C

1 z
2 j
1
then x(n) x1(n) x2 (n)

z
X (z) X (v) X v dv
1

1 2
C
v
n 2 j
C
X1(v)vnv1dv x2 (n) zn

Where C is a closed contour that encloses the origin
and lies within the region of convergence common to Interchanging the order of the summation and integration
both X1(v) and X2(1/v).
we get

1
n
z 1
Proof: X (z) x(n)zn x1(n) x2 (n)zn X (z) X (v) x2 (n) v dv
2 j
1
n n
C
n v
1 n

2 j C
Let x1(n) X1(v)vn1dv z z
where X2 x2 (n)
v n v

25 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform 26 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform

Z-Transforms of Common Functions

Signal, x(n) Z-Transform, X(z)

(n) 1

1
u(n)
1 z 1
1
anu(n) 1 az 1
az 1
nanu(n) (1 az 1 ) 2
1 z 1 cos 0
(cos 0n) u(n) 1 2 z 1 cos 0 z 2
z 1 sin 0
(sin 0n) u(n) 1 2 z 1 cos 0 z 2

1 az 1 cos 0
(ancos 0n) u(n)
1 2az 1 cos 0 a 2 z 2
az 1 sin 0
(ansin 0n) u(n) 1 2az 1 cos 0 a 2 z 2

27 ECE 411 - Signals, Spectra, and Signal Processing: The Z-Transform