z-Transform

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 Discrete‐time Transfer Function
‐ z Transform ‐
Transform techniques are an important tool in the analysis
of signals and linear time‐invariant (LTI) systems.

For the analysis of the discrete‐time (DT) signals and LTI

systems, z Transform techniques are required.

In mathematics and signal processing, the Z‐transform

converts a discrete time‐domain signal, which is a
sequence of real or complex numbers, into a complex
frequency domain representation.
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 Z Transform
For a discrete time LTI system with impulse response
h[n], the output y[n] of the system to the complex
exponential input of the form zn is:
y[n]  T {z n }  H ( z ) z n Equation 1


where H ( z)   h[n]z
n  
n
Equation 2

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 Z Transform
The function H(z) is referred to as the z-transform of
h[n]. For a general discrete time signal x[n], the z-
transform X(z) is defined as:

X ( z)   x[ n
n  
] z n
Equation 3

The variable z is generally complex valued and

expressed in polar form as:
j
z  re Equation 4

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 Z Transform
Where r is the magnitude of z and Ω is the angle of z.
The z-transform defined in Equation 3 is often called
the bilateral (or two sided) z transform in contrast to
the unilateral (or one sided) z transform which is
defined as:

X ( z)   x[n]z
n  0
n
Equation 5

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 Z Transform
The x[n] and X(z) are said to form a z-transform pair
denoted as :

x[n]  X ( z ) Equation 6

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 Z Transform

x[n] X[z] = З {x[n]}

transform Laplace
Transform continuous

Z
discrete
X[z] Transform

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 Z Transform

x (t) x [n]
Z Transform

X [ z]   x[ n
n  
] z n

X (s) X [z] Power Series Expansion

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 Z Transform
(example)
For
x[n] = an u[n]
z
X ( z)  then
za z |z|>|a|
X ( z) 
za
there is one zero at z = 0
one pole at z = a x[n] = – an u[–n–1]
then
z
X ( z)  |z|<|a|
za
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 ROC
As in the case of Laplace Transform, the range of
values of the complex variable z for which the z
transform converges is called the region of
convergence. To illustrate the z transform and the
associated ROC let us consider some examples.

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 ROC
Consider the sequence:
x[n]  a n u[n] a real Equation 7

Then, by Equation 3, the z transform of x[n] is:

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

For the convergence of X(z) we require that



 | az
n 0
1 n
| 

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 ROC
Thus the ROC is the range of values of z for which
1
| az | 1 or equivalently |z| > |a|. Then

1
X ( z )   (az ) 
1 n
1
|z| > |a| Equation 8
n 0 1  az

Alternatively by multiplying the numerator and

denominator of Equation 8, we get:
z
X ( z)  |z| > |a| Equation 9
za
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 ROC |z| > |a|
Re(z) Re(z)

x x
a 1 Im(z) 1 a Im(z)

0<a<1 a>1

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 ROC |z| > |a|
Re(z) Re(z)

x x
-1 a Im(z) a -1 Im(z)

-1 < a < 0 a < -1

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 ROC
Consider the sequence:
x[n]  a nu[n  1] Equation 10

1 |z| < |a| Equation 11

X ( z) 
1  az 1
z
X ( z)  |z| < |a|
Equation 12
za

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 ROC |z| < |a|
Im(z) Im(z)

x x
a 1 Re(z) 1 a Re(z)

0<a<1 a>1

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 ROC |z| < |a|
Im(z) Im(z)

x x
-1 a Re(z) a -1 Re(z)

-1 < a < 0 a < -1

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 Properties of Z Transform
Linearity:

If x1[n]  X 1 ( z )
ROC=R1
x2 [ n ]  X 2 ( z )
ROC=R2
Then Equation 13
a1 x1[n]  a2 x2 [n]  a1 X 1 ( z )  a2 X 2 ( z )
R'  R1  R2

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 Properties of Z Transform
Time Shifting:

If x[n]  X ( z )
ROC=R

Then
x[n  n0 ]  z  n0 X ( z ) Equation 14

R'  R  {0 | z | }

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 Properties of Z Transform
Multiplication:

If x[n]  X ( z )
ROC=R

Then  z R ' | z0 | R
z x[n]  X  
n
0
Equation 15
 z0 

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 Properties of Z Transform
Time Reversal:

If x[n]  X ( z )
ROC=R

Then 1 R' 

1
x[ n]  X   R
Equation 16
z

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 Properties of Z Transform
Multiplication by n (or differentiation in z):

If x[n]  X ( z )
ROC=R

Then dX ( z ) R'  R
nx[n]   z Equation 17
dz

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 Properties of Z Transform
Accumulation:

If x[n]  X ( z )
ROC=R

Then

1 z

k  
x[k ] 
1 z 1
X ( z) 
z 1
X ( z) Equation 18

R '  R  {| z | 1}

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 Properties of Z Transform
Convolution:

If ROC=R1
x1[n]  X 1 ( z ) ROC=R2
Then x2 [ n ]  X 2 ( z )

x1[n]  x2 [n]  X 1 ( z ) X 2 ( z ) Equation 19

R'  R1  R2

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 Example
Find the z transform of DT signal:
n
x[n]  1.3

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 Solution

X ( z )  Z [ x[n]]   x[n]z  n Im z
n 0

 1.3n z  n
n 0
 n

  1. 3 z 1
 1.3
Re z

n 0

1

1  1.3 z 1
z

z  1.3
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 Inverse Z Transform
A. Inversion Formula:
The formal expression for inverse z transform in terms
of an integration in the z-plane

1
2j C
n 1 Equation 20
x[n]  X ( z ) z dz

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 Inverse Z Transform
B. Use of Table of z Transform Pairs:
To express X(z) as a sum where X 1 ( z ),... X n ( z ) are
functions with known inverse transforms x1[n],...xn [n]

X ( z )  X 1 ( z )  ...  X n ( z ) Equation 21

x[n]  x1[n]  ...  xn [n]

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 Inverse Z Transform
C. Power Series Expansion:
X(z) is given as a power series in the form

X [ z]   x[n]z
n  
n

2 1 1 2
 ...  x[2]z  x[1]z  x[0]  x[1]z  x[2]z  ...

Equation 22

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 Inverse Z Transform
D. Partial Fraction Expansion:
N ( z) ( z  z1 )...( z  z m )
X [ z]  k
D( z ) ( z  p1 )...( z  pn )

Assuming n  m and all poles pk are simple, then

X ( z ) c0 c1 c2 cn
    ... 
z z z  p1 z  p2 z  pn
c0 n ck
  Equation 23
z k 1 z  pk
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 Inverse Z Transform
where
X ( z)
c0  X ( z ) z 0 ck  ( z  p k )
z z  pk
hence
z z
X ( z )  c0  c1  ...  cn
z  p1 z  pn
c0 n z Equation 24
   ck
z k 1 z  pk
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 Inverse Z Transform
Inferring the ROC for each term in Equation 24 from
the overall ROC of X(z) and from Table, we can then
invert each term providing thereby the overall inverse
z-transform:

If m > n, the complete partial fraction would be:

mn n
z
X ( z )   bq z   ck
q
Equation 25
q 0 k 1 z  pk

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 Inverse Z Transform
If X(z) has multiple order poles, say pi is the multiple
pole with multiplicity r, then the expansion of X(z)/z
will consist of terms of the form:
1 2 r
 2
 ...  r
Equation 26
z  pi ( z  pi ) ( z  pi )

where
1 dk  r X ( z) 
r  k  ( z  pi ) z  z  pi Equation 27
k! dz k  

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 z transform
The direct formula of inverse z transform
is defined as:
1

1 n 1
x[n]  Z [ X ( z )]  X ( z ) z dz
2j C

• Long Division Method

• Partial Fraction Expansion Method

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 Example
Determine the inverse transform of
1
X ( z)  1 2
ROC z  1
1  (3 / 2) z  (1 / 2) z

using Long Division Method

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 Solution
Long Division Method
3 1
1  z  ...
2
3 1 1  2
1 z  z 1
2 2 3 1 1  2
1 z  z
2 2
3 1 1  2
z  z
2 2
3 1 9  2 3 3
z  z  z
2 4 4
7 2
z  ...
4 36
 Solution
Therefore,
3 1 7  2 15 3 31  4
X ( z )  1  z  z  z  z  ...
2 4 8 16

The inverse z transform is:

 3 7 15 31 
x[n]  1, , , , ,....
 2 4 8 16 

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 Example
Determine the inverse transform of
1
 4  8z
H ( z) 
1  6 z 1  8 z  2

using Partial Fraction Expansion Method

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 Solution
Partial Fraction Expansion Method
 4  8 z 1  4  8 z 1
H ( z)  1 2

1  6 z  8z (1  4 z 1 )(1  2 z 1 )
 12 8
 1

1 4z 1  2 z 1

Inverse z transform is:

h(n)  [12(4) n  8(2) n ]u[n]

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 Quiz 2d
Determine the inverse transform of
z 1
(a) X ( z )  2 z
2 z  3z  1 2

using Long Division Method

z 1 1
X ( z )  2 z
(b) 3 z  4 z 1  1 3

using Partial Fraction Expansion Method

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 Quiz
* Hint:
1
(a) Since ROC is z  , x[n] is a left
2
handed signal, so the answer should be x[n]
= { …..,15,7,3,1}

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TQ

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