Shift Property of z-Transform

If

Lecture 16 then

which is delay causal signal by 1 sample period.

More z-Transform
(Lathi 5.2,5.4-5.5)

If we delay x[n] first:

Peter Cheung
Department of Electrical & Electronic Engineering
Imperial College London

If we ADVANCE x[n] by 1 sample period:
URL: www.ee.imperial.ac.uk/pcheung/teaching/ee2_signals
E-mail: p.cheung@imperial.ac.uk
L5.2 p508

PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 1 PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 2

Convolution property of z-transform More Properties of z-Transform

If h[n] is the impulse response of a discrete-time LTI system, then
For all these cases, we assume:

Scaling Property:
then

If
Multiply by n property:

Then

Time reversal property:

That is: convolution in the time-domain is the same as multiplication in
the z-domain.

Therefore, we can derive the input-output relationship fo any LTI
Initial value property:
systems in z-domain:

L5.2 p511 L5.2 p512

PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 3 PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 4
 Summary of z-transform properties (1) Summary of z-transform properties (2)

L5.2 p514 L5.2 p514

PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 5 PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 6

Discrete LTI System and Difference Equation Realization of LTI System Direct Form I

Consider a discrete time system where the input-output relation is
The general transfer function H(z) can be realised using Direct Form I as
described by: y[n] 5 y[n 1] + 6 y[n 2] = x[n] + 3x[n 1] + 5 x[n 2] follows:
b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N

This is known as a difference equation, where current output is dependent Y [ z] = H [ z] X [ z] = X [ z]
on current input x[n], and two previous inputs and outputs x[n-1], x[n-2], 1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N
y[n-1] and y[n-2]. 1
N ( 0
= 1 N +1
b + b1 z 1 + ...... + bN 1 z N +1 + bN z N ) X [ z ]

Take z-transform on both sides and assume zero-state condition: 1 + a1 z + ...... + a N 1 z + a N z
Y ( z ) 5z 1Y ( z ) + 6 z 2Y ( z ) = X ( z ) + 3z 1 X ( z ) + 5z 2 X ( z ) 1
1 2 1 2 = W ( z )
(1 5z + 6 z )Y ( z ) = (1 + 3z + 5z ) X ( z ) 1 + a1 z 1
+ ...... + a N 1 z
N +1
+ aN z N
Y ( z) 1 + 3z 1 + 5 z 2
= H ( z) =
X ( z) 1 5 z 1 + 6 z 2

The transfer function of a general Nth order causal discrete LTI system is:
b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N
H [ z] =
1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N L5.4 p525 L5.4 p525

PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 7 PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 8
 Realization of LTI System Direct Form II Realization of LTI System Transposed Direct Form II

Or use Canonical Director Form II:
Or the transposed version: Y [ z] = H [ z] X [ z] =

b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N
X [ z]
1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N
b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N
Y [ z] = H [ z] X [ z] = X [ z] Y [ z] + ( a1z 1 + ...... + aN 1z N +1 + aN z N )Y [ z ] = (b0 + b1z 1 + ...... + bN 1z N +1 + bN z N ) X [ z ]
1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N
1 Y [ z] = (b0 + b1 z 1 + ...... + bN 1z N +1 + bN z N ) X [ z] ( a1z 1 + ...... + aN 1z N +1 + aN z N )Y [ z ]
= (b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N ) 1 N +1 X [ z]
1 + a1 z + ...... + a N 1 z + aN z N
= (b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N )W ( z)

(bN X [ z ] aN Y [ z ]) z 1 + (bN 1 X [ z ] aN 1Y [ z ])

(bN X [ z ] aN Y [ z ]) z 1

L5.4 p525 L5.4 p525

PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 9 PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 10

Examples Frequency Response of Discrete-time Systems

Direct Form II Transposed
Remember that for a continuous-time system, the system response to an
input ejt is H(j) ejt.
2 2 z 1
The response to an input cos t is |H(j)| cos (t + H(j)).
H [ z] = =
z + 5 1 + 5 z 1
e jt H ( j )e jt
Continuous-time (.) continuous-time
System H(j)
4 z + 28 4 + 28 z 1 cos t
H [ z] = =
z +1 1 + z 1
Now, consider a discrete-time system with z-domain transfer function H[z].

Let z = ej, the system response to an input ejn is H[ej] ejn .

The response to an input cos n is |H[ej]| cos (cos n + H[ej]).
= TS where TS is the sampling period.
1
4 z + 28 4 + 28 z
H [ z] = = e j n H [e j ]e jn
z + 6 z + 5 1 + 6 z 1 + 5 z 2
2
Discrete-time [.] discrete-time
System H [ej]
cos n H [e j ] cos(n + H [e j ])
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PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 11 PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 12
 Frequency Response Example (1) Frequency Response Example (2)

For a system specified by the following difference equation, find the
Amplitude response
frequency response of the system.
y[n + 1] 0.8 y[n] = x[n + 1]

Take z-transform on both sides to find the transfer function:
zY [ z ] 0.8Y [ z ] = zX [ z ] Y [ z] z 1
H [ z] = = =
X [ z ] z 0.8 1 0.8 z 1

Therefore the frequency response is:

Phase response

L5.5 p533 L5.5 p533

PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 13 PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 14

Mapping from s-plane to z-plane Mapping from s-plane to z-plane

Since z = e sT = e( + j )T = e T e jT where T = 2/s
Since z = e sT = e( + j )T = e T e jT where T = 2/s

we can map the s-plane to the z-plane as below: we can map the s-plane to the z-plane as below:
j Im( z ) j Im( z )
s-plane z-plane s-plane z-plane

+1 +1
js / 2 js / 2

j
Re( s) = Re( z ) Re( s) = Re( z )
1 = T +1 1 = T +1

js / 2 js / 2
1 1
j j

PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 15 PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 16
 Mapping from s-plane to z-plane

Since z = e sT = e( + j )T = e T e jT where T = 2/s

we can map the s-plane to the z-plane as below:
j Im( z )
s-plane z-plane

+1
js / 2

Re( s) = Re( z )
1 = T +1

js / 2
1
j

PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 17