The z-Transform

Introduction

Content

Introduction
z-Transform
Zeros and Poles
Region of Convergence
Important z-Transform Pairs
Inverse z-Transform
z-Transform Theorems and Properties
System Function

Why z-Transform?

A generalization of Fourier transform

Why generalize it?

FT does not converge on all sequence

Notation good for analysis
Bring the power of complex variable theory deal with
the discrete-time signals and systems

The z-Transform
z-Transform

Definition

The z-transform of sequence x(n) is defined by

X ( z)

x ( n) z

Let z = ej.
j

X (e )

x ( n )e

Fourier
Transform
j n

z-Plane
X ( z)

x ( n) z

Im

z = ej

n
j

X (e )

x ( n )e

j n

Re

Fourier Transform is to evaluate z-transform

on a unit circle.

z-Plane
Im

X(z)

z = ej

Re
Im
Re

Periodic Property of FT
X(ej)

X(z)

Im
Re

Can you say why Fourier Transform is

a periodic function with period 2?

The z-Transform
Zeros and Poles

Definition

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.

| X ( z ) |

n
x
(
n
)
z

n
|
x
(
n
)
||
z
|

ROC is centered on origin and

consists of a set of rings.

Example: Region of Convergence

| X ( z ) |

n
x
(
n
)
z

Im

n
|
x
(
n
)
||
z
|

ROC is an annual ring centered

on the origin.

r
Re

Rx | z | Rx

ROC {z re j | Rx r Rx }

Stable Systems

A stable system requires that its Fourier transform is

uniformly convergent.
Im

Re

Fact: Fourier transform is to

evaluate z-transform on a unit
circle.
A stable system requires the
ROC of z-transform to include
the unit circle.

Example: A right sided Sequence

x ( n) a n u ( n)

x(n)

...
-8 -7 -6 -5 -4 -3 -2 -1

1 2 3 4 5 6 7 8 9 10

Example: A right sided Sequence

For convergence of X(z), we
require that

x ( n) a u ( n)
n

X ( z)

a u (n)z
n

1
|
az
|
n 0

| z || a |

a n z n
n 0

(az 1 ) n
n 0

| az 1 | 1

1
z
X ( z ) (az )

1
1 az
za
n 0
1 n

| z || a |

Example: A right sided Sequence

ROC for x(n)=anu(n)
z
X ( z)
,
za

| z || a |

Which one is stable?

Im

Im

Re

Re

Example: A left sided Sequence

x(n) a nu (n 1)

-8 -7 -6 -5 -4 -3 -2 -1

1 2 3 4 5 6 7 8 9 10

...
x(n)

Example: A left sided Sequence

x(n) a u (n 1)
n

X ( z ) a u ( n 1)z
n

n
1

a n z n

For convergence of X(z), we

require that

1
|
a
z|

| a 1 z | 1

n 0

| z || a |

a n z n
n 1

1 a n z n
n 0

1
z
X ( z ) 1 (a z ) 1

1
1 a z z a
n 0
1

| z || a |

Example: A left sided Sequence

ROC for x(n)=anu( n1)
z
X ( z)
,
za

| z || a |

Which one is stable?

Im

Im

Re

Re

The z-Transform
Region of
Convergence

Represent z-transform as a
Rational Function

P( z )
X ( z)
Q( z )

where P(z) and Q(z) are

polynomials in z.

Zeros: The values of zs such that X(z) = 0

Poles: The values of zs such that X(z) =

Example: A right sided Sequence

z
X ( z)
,
za

x ( n) a n u ( n)

| z || a |

Im

Re

ROC is bounded by the

pole and is the exterior
of a circle.

Example: A left sided Sequence

z
X ( z)
,
za

x(n) a nu (n 1)

| z || a |

Im

Re

ROC is bounded by the

pole and is the interior
of a circle.

Example: Sum of Two Right Sided Sequences

x( n) ( 12 ) n u ( n) ( 13 ) n u (n)
z
z
2 z ( z 121 )
X ( z)

1
1
z2 z3
( z 12 )( z 13 )
Im

ROC is bounded by poles

and is the exterior of a circle.
1/12
1/3

1/2

Re

ROC does not include any pole.

Example: A Two Sided Sequence

x(n) ( 13 ) n u (n) ( 12 ) n u (n 1)
z
z
2 z ( z 121 )
X ( z)

1
1
z3 z2
( z 13 )( z 12 )
Im

ROC is bounded by poles

and is a ring.

1/12
1/3

1/2

Re

ROC does not include any pole.

Example: A Finite Sequence

x ( n) a n ,

0 n N 1

N 1

X ( z) a z
n

n 0

Im

N 1

( az )

1 n

n 0

N-1 zeros

1 (az 1 ) N

1 az 1

1 zN aN
N 1
z
za

ROC: 0 < z <

ROC does not include any pole.

N-1 poles

Re

Always Stable

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: 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.

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im

Find the possible

ROCs

a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im
Case 1: A right sided Sequence.
a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im
Case 2: A left sided Sequence.
a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im
Case 3: A two sided Sequence.
a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im
Case 4: Another two sided Sequence.
a b

Re

The z-Transform
Important
z-Transform Pairs

Z-Transform Pairs
Sequence

z-Transform

(n)

(n m)

z m

ROC
All z
All z except 0 (if m>0)
or (if m<0)

u (n)

1
1 z 1

| z | 1

u (n 1)

1
1 z 1

| z | 1

a u (n )

1
1 az 1

| z || a |

a u (n 1)

1
1 az 1

| z || a |

Z-Transform Pairs
Sequence

z-Transform

[cos 0 n]u (n)

1 [cos0 ]z 1
1 [2 cos0 ]z 1 z 2

| z | 1

[sin 0 n]u (n)

[sin 0 ]z 1
1 [2 cos0 ]z 1 z 2

| z | 1

[r cos 0 n]u (n)

1 [r cos0 ]z 1
1 [2r cos0 ]z 1 r 2 z 2

| z | r

[r sin 0 n]u (n)

[r sin 0 ]z 1
1 [2r cos0 ]z 1 r 2 z 2

| z | r

1 aN zN
1 az 1

| z | 0

a n

0 n N 1
otherwise

ROC

The z-Transform

Inverse z-Transform

The z-Transform
z-Transform Theorems
and Properties

Linearity
Z[ x(n)] X ( z ),

z Rx

Z [ y (n)] Y ( z ),

z Ry

Z [ax(n) by(n)] aX ( z ) bY ( z ),

z Rx R y
Overlay of
the above two
ROCs

Shift
Z[ x(n)] X ( z ),

z Rx

Z [ x(n n0 )] z X ( z )
n0

z Rx

Multiplication by an Exponential Sequence

Z [ x(n)] X ( z ),

Rx- | z | Rx

Z [a x(n)] X (a z )
n

z | a | Rx

Differentiation of X(z)
Z[ x(n)] X ( z ),

dX ( z )
Z[nx(n)] z
dz

z Rx

z Rx

Conjugation
Z[ x(n)] X ( z ),

Z [ x * (n)] X * ( z*)

z Rx

z Rx

Reversal
Z[ x(n)] X ( z ),

Z [ x(n)] X ( z )

z Rx

z 1 / Rx

Real and Imaginary Parts

Z[ x(n)] X ( z ),

z Rx

Re[ x(n)] 12 [ X ( z ) X * ( z*)]

Im [ x(n)]

1
2j

[ X ( z ) X * ( z*)]

z Rx
z Rx

Initial Value Theorem

x(n) 0,

for n 0

x(0) lim X ( z)
z

Convolution of Sequences
Z[ x(n)] X ( z ),
Z [ y (n)] Y ( z ),

z Rx
z Ry

Z [ x(n) * y (n)] X ( z )Y ( z )

z Rx R y

Convolution of Sequences
x ( n) * y ( n)

x(k ) y (n k )

n
Z[ x(n) * y(n)] x(k ) y(n k ) z
n k

x(k ) y(n k )z

X ( z )Y ( z )

x(k ) z k

n
y
(
n
)
z

The z-Transform
System Function

Shift-Invariant System
y(n)=x(n)*h(n)

x(n)

h(n)
X(z)

H(z)

Y(z)=X(z)H(z)

Shift-Invariant System

X(z)

Y(z)

H(z)
Y ( z)
H ( z)
X ( z)

Nth-Order Difference Equation

N

a
k 0

y (n k ) br x(n r )
r 0

k 0

r 0

Y ( z ) ak z k X ( z ) br z r
M

H ( z ) br z
r 0

ak z

k 0

Representation in Factored Form

Contributes poles at 0 and zeros at cr
M

H ( z)

A (1 cr z )
1

r 1
N

1
(
1

d
z
)

r
k 1

Contributes zeros at 0 and poles at dr

Stable and Causal Systems

Causal Systems : ROC extends outward from the outermost pole.

Im
M

H ( z)

A (1 cr z )
r 1
N

1
(
1

d
z
)

r
k 1

Re

Stable and Causal Systems

Stable Systems : ROC includes the unit circle.

Im
M

H ( z)

A (1 cr z )
r 1
N

1
(
1

d
z
)

r
k 1

1
Re

Example
Consider the causal system characterized by

y(n) ay(n 1) x(n)

1
H ( z)
1 az 1
h( n) a u ( n)
n

Im
1

Re

Determination of Frequency Response

from pole-zero pattern

A LTI system is completely characterized by its

pole-zero pattern.
Im

Example:
z z1
H ( z)
( z p1 )( z p2 )

H (e j0 )

(e j0

e j0 z1
p1 )(e j0 p2 )

p1
e j 0

z1

Re

p2

Determination of Frequency Response

from pole-zero pattern

H(e )=?

A LTIj
system is completely characterized
by its
j
pole-zero pattern.

|H(e )|=?

Im

Example:
z z1
H ( z)
( z p1 )( z p2 )

H (e j0 )

(e j0

e j0 z1
p1 )(e j0 p2 )

p1
e j 0

z1

Re

p2

Determination of Frequency Response

from pole-zero pattern

H(e )=?

A LTIj
system is completely characterized
by its
j
pole-zero pattern.

|H(e )|=?

Im

Example:
|H(ej)|

|
|

|
||

H(ej) = 1(2+ 3 )

z1

p1
e j 0
1

p2

Re

Example
1
H ( z)
1
1 az

dB

20

Im

10
0
-10

2
1

Re

0
-1
-2