EC533: Digital Signal Processing

Lecture 5
The Z-Transform
 Introduction
• The Laplace Transform (s domain) is a valuable tool for
representing, analyzing & designing continuos-time signals &
systems.
• The z-transform is convenient yet invaluable tool for
representing, analyzing & designing discrete-time signals &
systems.
• The resulting transformation from s-domain to z-domain is called
z-transform.

• The relation between s-plane and z-plane is described below :

z = esT
• The z-transform maps any point s = σ + jω in the s-plane to z-
plane (r∠θ).
 5.1 – The Z-Transform

For continuous-time signal,

Time Domain S-Domain

For discrete-time signal,

Ƶ Z-Domain
Time Domain
Ƶ-1

Causal
System

where,
 Z- Transform Definition
• The z-transform of sequence x(n) is defined by

n
X ( z)   x(n) z Two sided z transform
Bilateral z transform
n

For causal system


n
X ( z)   x(n) z One sided z transform
Unilateral z transform
n 0
• The z transform reduces to the Discrete Time Fourier transform
(DTFT) if r=1; z = ej.
DTFT

j
X (e )   x(n)e
n 
 j n
Geometrical interpretation of z-transform

• The point z = rejω is a Im z

vector of length r from j
origin and an angle ω with z = rejω

respect to real axis. r

ω
Re z
-1 1

• Unit circle : The contour

|z| = 1 is a circle on the z- -j
plane with unity radius

DTFT is to evaluate z-transform on a unit circle.

 Pole-zero Plot

• A graphical
representation of z- Im z
transform on z-plane j
– Poles denote by “x” and
– zeros denote by “o”
Re z
-1 1

-j
 Example

 Find the z-transform of,

 Solution:

It’s a geometric sequence

Recall: Sum of a Geometric Sequence

where, a: first term, r: common ratio,

n: number of terms
 Region Of Convergence (ROC)
• ROC of X(z) is the set of all values of z for which X(z) attains a
finite value.
• Give a sequence, the set of values of z for which the z-transform
converges, i.e., |X(z)|<, is called the region of convergence.
 
n
| X ( z) |  x(n) z  | x(n) || z |n  
n n

n
Im  | x(n)r | 
n 
ROC is an annual ring centered
r on the origin.

Re Rx | z | Rx

ROC  {z  re j | Rx  r  Rx }

Ex. 1 Find the z-transform of the following sequence
x(n) = {2, -3, 7, 4, 0, 0, ……..}

X ( z)   x[ n
n  
] z n
 2  3 z 1
 7 z 2
 4 z 3

2 z 3  3z 2  7 z  4
 3
, |z|0
z
The ROC is the entire complex z - plane except the origin.

Ex. 2 Find the z-transform of d [n]


X ( z)   d [
n  
n] z n
1

with an ROC consistingof the entire z - plane.

Ex. 3 Find the z-transform of d [n -1]

1
X ( z )  d [n  1] z  z 
n 1

n   z
with an ROC consistingof the entire z - plane except z  0 .

Ex. 4 Find the z-transform of d [n +1]


X ( z)   d [
n  
n  1] z n
z

with an ROC consistingof the entire z - plane except z  ,

i.e., there is a pole at infinity.
Ex.5 Find the z-transform of the following right-sided sequence
(causal)
x(n)

x [n]  a u [n]
n

... n
-8 -7 -6 -5 -4 -3 -2 -1 1 2 3 4 5 6 7 8 9 10

 
n 1 n
X ( z)   a u[n]z
n
  (az )
n n 0

This form to find inverse

ZTusing PFE
Ex.6 Find the z-transform of the following left-sided sequence

-8 -7 -6 -5 -4 -3 -2 -1 1 2 3 4 5 6 7 8 9 10
... n

x(n)

5
 Ex. 7 Find the z-transform of

Rewriting x[n] as a sum of left-sided and right-sided sequences

and finding the corresponding z-transforms,
 where

Notice from the ROC that the z-transform

doesn’t exist for b > 1
 Properties of ROC

• A ring or disk in the z-plane centered at the origin.

• The Fourier Transform of x(n) is converge absolutely iff the
ROC includes the unit circle.
• The ROC cannot include any poles
• Finite Duration Sequences: The ROC is the entire z-plane
except possibly z=0 or z=.
• Right sided sequences (causal seq.): The ROC extends
outward from the outermost finite pole in X(z) to z=.
• Left sided sequences: The ROC extends inward from the
innermost nonzero pole in X(z) to z=0.
• Two-sided sequence: The ROC is a ring bounded by two
circles passing through two pole with no poles inside the ring
 Properties of z-Transform
ROC
(1) Linearity: a x[n]  b y[n]  a X ( z)  bY ( z) Contains
Rx∩Ry

Rx

Rx

z
(4) scaling : a n x[n]  X  |a|Rx
a
1
(5) Time Reversal: x [n]  X ( ) 1/Rx
z
(6) Conjugation x* (n)  X * ( z* ) Rx

Rx∩Ry
(7) Convolution : h [n]  x [n]  H ( z) X ( z)
Transfer
Function
 Rational z-Transform
For most practical signals, the z-transform can be expressed
as a ratio of two polynomials

N ( z) ( z  z1 )(z  z2 )( z  zM )
X ( z)  G
D( z ) ( z  p1 )(z  p2 )( z  pN )
where
G is scalar gain,
z1 , z2 ,, zM are the zeroesof X(z), i.e.,the roots
of the numerator polynomial
and p1 , p2 ,, pN are the poles of X(z), i.e.,the roots
of the denominator polynomial.
 Commonly used z-Transform pairs

Sequence z-Transform ROC

δ*n+ 1 All values of z

u[n] 1 |z| > 1

1  z 1

1
αnu[n] |z| > |α|
1  z 1
z 1
nαnu[n] (1  z 1 )2 |z| > |α|

1
(n+1) αnu[n] |z| > |α|
(1  z 1 )2

1  (r cos0 ) z 1
(rn cos ωon) u[n] |z| > |r|
1  (2r cos0 ) z 1  r 2 z 2

1  (r sin 0 ) z 1
(rn sin ωon) [n] |z| > |r|
1  (2r cos0 ) z 1  r 2 z 2
Z-Transform & pole-zero distribution & Stability
considerations

Thus, unstable
z R.H.S.
stable
 Mapping between S-plane & Z-plane is done as follows: L.H.S.

1) Mapping of Poles on the jω-axis of the s-domain to the z-domain ωs/4

Maps to a unit circle & represents Marginally stable terms 1

ωs/2 ω=0
ω=ωs
3ωs/4
 Z-Transform & pole-zero distribution & Stability
considerations – cont.

2) Mapping of Poles in the L.H.S. of the s-plane to the z-plane

Maps to inside the unit circle & represents stable terms & the
system is stable.

3) Mapping of Poles in the R.H.S. of the s-plane to the z-plane

Outside the unit circle & represents unstable terms.

 Discrete Systems Stability Testing Steps

1) Find the pole positions of the z-transform.

2) If any pole is on or outside the unit circle. (Unless coincides with zero on the unit
circle)  The system is unstable.
• Pole Location and Time-domain Behavior for Causal Signals
 Stable and Causal Systems
Causal Systems : ROC extends outward from the outermost pole.
Im

Re

Stable Systems : ROC includes the unit circle. Im

A stable system requires that its Fourier transform is 1

uniformly convergent.
Re