Propiedades de la Transformada-Z
Adicin y Substraccin(Linealidad)
z x1 (k ) x2 (k ) X 1 ( z ) X 2 ( z )
Demostracin
z x1 (k ) x2 (k )
x (k ) x (k )z
x (k ) z
x (k ) z
Demostracin
z[ax(k )]
z{x(k d )}
x(k d ) z
Cambio de variable. Sea m=k-d. Por tanto, k=m+d. Si k=-, entonces m=-.
Si k=+, entonces m=+.
z{x(k d )}
x ( m) z
( m d )
x ( m) z
m d
z d
x ( m) z
Si x1 (k ) X1 ( z ) , ROCx1 y x2 (k ) X 2 ( z ) , ROCx2
z
-1-
Control Digital
Donde denota convolucin
Demostracin
z{x1 (k ) x2 (k )}
{x (k ) x (k )}z
1
k
x
(
k
d
)
x
(
d
)
z
x
(
d
)
x1 (k d ) z k
1
2
2
k d
d
k
z{x1 (k ) x2 (k )}
x2 (d ) x1 (m)z ( m d )
x (d ) z x (m)z
X1 ( z) X 2 ( z) ,
x(k ) X ( z 1 ) , ROC:
1
1
z
r1
r2
Diferenciacin en el Dominio z
z
kx(k ) z
dX ( z )
dX ( z )
, ROC es lo mismo ROCx excepto cuando z
no existe
dz
dz
z
z
Si x1 ( n) X 1 ( z ) , ROCx1 y x2 (k ) X 2 ( z ) , ROCx2
Entonces:
x1 (k ) x2 (k )
1
z
X 1 (v) X 2 v 1dv
2j c
v
.Las transformadas-Z ms
Control Digital
Tabla 1.1: Propiedades y teoremas de la transformada z.
1
f(t)
(t)
F(s)
1
1(t) o (t)
1
s
e at
t2
1
sa
1
s2
2
s3
1 e at
f(kT) o f(k)
(k)
1, k = 0
0, k 0
1(k) o (k)
e akT
kT
F(z)
1
z
z 1
z
z e aT
Tz
( z 1) 2
(kT)2
T 2 z ( z 1)
( z 1)3
a
s (s a)
1 e akT
z (1 e aT )
( z 1)( z e aT )
e at e bt
ba
( s a )( s b)
e akT e bkT
z (e aT e bT )
( z e aT )( z e bT )
t e at
1
( s a) 2
kTe akT
Tze aT
( z e aT ) 2
t 2 e at
2
( s a )3
(kT)2 e akT
T 2 ze aT ( z e aT )
( z e aT )3
10
(1 at ) e at
s
( s a) 2
(1 akT) e akT
11
sen t
senkT
12
cos t
2
s 2
z 2 z (1 aT )e aT
( z e aT ) 2
z senT
2
z 2 z cosT 1
s
2
s 2
cos kT
z 2 z cosT
z 2 2 z cosT 1
13
e at sen t
e akT senkT
e aT z senT
z 2 2e aT z cosT e 2 aT
e akT cos kT
z ( z e aT cosT )
z 2 2e aT z cosT e 2 aT
( s a)
2
14
e at cos t
sa
( s a) 2 2
-3-
Control Digital
Propiedades Importantes
La propiedad de corrimiento.
f (k m) z m F ( z) z m f (0) z m1 f (1) f (m 1) z
m 1
Z f (k m)u (k ) z m F ( z ) f (k ) z k
k 0
k
F ( z ) f (k ) z
k 1
Propiedad
f (k m)u(k m) z m F ( z )
Z f (k m)u(k m) z m F ( z )
Valor inicial
x(0) lim X ( z )
z
Valor final
x() lim z 1X ( z ), si
z 1
-4-
x()
Control Digital
Pares de Transformada Z
z
( n)
1
1 z
n ( n )
, ROC: z 1
, ROC: z 1
( z 1) 2
z z ( z 1)
, ROC: z 1
3
n 2 ( n)
( z 1)
a n ( n)
1
1 az
na ( n)
n
az 1
1
1 az
(1 az 1 ) 2
1 2 z 1 cos( o ) z 2
z 1 sin( o )
sin( o n) ( n)
, ROC: z a
1 z 1 cos( o )
cos( o n) ( n)
, ROC: z a
az 1
na ( n 1)
1 2z
z
a n cos( o n) ( n)
cos( o ) z
, ROC: z 1
, ROC: z 1
1 az 1 cos( o )
1 2az
2 2
cos( o ) a z
az 1 sin( o )
a sin( o n) ( n)
n
, ROC: z a
(1 az 1 ) 2
a n ( n 1)
, ROC: z a
1 2az
2 2
cos( o ) a z
-5-
, ROC: z a
, ROC: z a