CHAPTER 3

Z TRANSFORM AND ITS

APPLICATION TO THE ANALYSIS OF LTI
SYSTEM

Z TRANSFORM
A. The Direct z-Transform

X ( z)

n
x
(
n
)
z

z - complex variable

X ( z ) Z x(n)
ROC

z
x(n)

X(z)

Region of Convergence
- set of all values of z for which X(z) attains a finite value

Example:
Determine the z-transforms of the following finite-duration signals:
x1 (n) 1,2,5,7,0,1
1.
Soln. X 1 ( z ) 1 2 z 1 5 z 2 7 z 3 z 5 , ROC : entire z - plane except z 0
2.

x2 (n) 1,2,5,7,0,1
Soln.

X 1 ( z ) z 2 2 z 5 7 z 1 z 3 , ROC : entire z - plane except z 0 and z

3.

x3 (n) 0,0,1,2,5,7,0,1
Soln. X 3 ( z )

z 2 2 z 3 5 z 4 7 z 5 z 7 ROC: entire z plane except z=0

4. x4 (n) (n k ), k 0

So ln :

z
X 4 ( z ) z k i.e., (n k )

z k , k 0, ROC : entire z - plane except z 0

Example: Determine the z-transform of the signal

n

1
x ( n) u ( n)
2
Soln:

1 1 2 1 3 1 n
x(n) 1, , , ,..., ,...
2 2 2
2
2

1
1
1
X ( z ) 1 z 1 z 2 z n ...
2
2
2

1 n 1 1
z z

n 0 2
n 0 2

Infinite Geometric series

Recall

1
1 A
1
or z
2

1 A A2 A3 ...

if A 1

1 1
z 1
2
1
1
X ( z)
, ROC : z
1
2
1 z 1
2
for

Expressing z in polar form

z re j where r z and z
X ( z ) z re j

n j n
x
(
n
)
r
e

In the ROC of X(z), X(z) ,

but

X(z)

n jn
x
(
n
)
r
e

x(n)r

n -

n jn

x(n)r

n -

Finite if x(n)r n
Is absolutely summable

X ( z)

x ( n) r n
n 0

x ( n)
x ( n)
n
x ( n) r n
n
r
n 1
n 0 r

Example: Determine the z-transform of the signal

n ,
x ( n) u ( n)
0,

n0
n0

Solution:
From

X ( z)

x ( n) z

X ( z) z
n

n 0

z 1

n 0

z 1 1 or z

If

Then this power series converges to

1 z
1

x ( n) u ( n)
X ( z )
n

1
1 z

, ROC : z

If
then

1
x ( n ) u ( n)
X ( z )
,
1
1 z

Unit step function

ROC : z 1

Example: Determine the z-transform of the signal

0,
x(n) u (n 1) n
- ,
n

Solution:

X ( z)

x(n) z

n0
n -1

z
1

Where l=-n

z
1

l 1

A
Using the formula A A A ... A 1 A A ...
1 A
1
When A 1
z
1
-1
X ( z)

provided
that

z 1 or z
1
1
1 z 1 z
2

Then

z
x(n) nu (n 1)

X ( z)

1 z

, ROC : z

In summary,

A discrete-time signal x(n) is uniquely determined by its z-transform X(z)

and the region of convergence of X(z) (ROC).
1
X ( z)
, ROC : z b
Example: Determine the z-transform of the signal
1 bz 1

x(n) nu (n) b n u (n1 1)

X ( z)

x ( n) z

z
n n

b z

n
n 0
n
Solution:
Case 1: b : The two ROC do not overlap, X(z) do not exist

Case 2:

b : There is a ring in the z - plane :

1
b

1 - z -1 1 bz 1 b z bz 1
ROC : z b

X(z)

n n

X ( z)

n 0

1
1 z 1

b z

1 n

l 1

, ROC : z

The Inverse z-Transfo rm

- transforming from z-domain to time domain
- can be derive using Cauchy integral theorem

X ( z)

x(k ) z

z X ( z )dz x(k ) z z dz

n 1

X ( z )z dz

n 1

n 1

n 1

X ( z )z dz

x(k ) z

n 1 k

dz

x(k ) z

n 1 k

dz

whereC - closed contour in the ROC of X(z), in counterclockwise

From Cauchy Integral Theorem

1, k n
1
n 1 k
z
dz

C
2j
0, k n
then

X ( z )z n 1dz

x(k ) z n 1 k dz
C

2jx(n)
1
n 1
x(n)
X
(
z
)
z
dz

2j C

Properties of the z-transform

1. Linearity
If

z
x 1 ( n)

X1 ( z)

z
and x 2 (n)

X 2 ( z)
z
then x(n) a 1 x1 (n) a2 x2 (n)

a1 X 1 ( z ) a2 X 2 ( z )

Example: Determine the z-transform of the signals

a.)x(n) cos0 n u (n)

b.)x(n) sin 0 n u (n)

Solution:

x(n) cos0 n u (n)

1 j 0 n
1
e u ( n ) e j 0 n u ( n )
2
2
1
1
X ( z ) Z e j 0 n u ( n ) Z e j 0 n u ( n )
2
2

setting

e j e j 1
0

j 0 n

u ( n)

1 e

j 0

ROC : z 1

and
e

j 0 n

u ( n)

1 e

j 0

ROC : z 1

thus
1
1
1
1
X(z)

,
j0 1
j0 1
2 1 e z
2 1 e z
manipulating

ROC : z 1

1
1

z
cos0
z
cos0 n u (n)
1 2 z 1 cos0 z 2

Solve for b!

2. Scaling in the z-domain

z
x ( n)

X ( z ),

ROC : r1 z r2

If
then
z
a n x ( n)

X (a 1 z ), ROC : a r1 z a r2

For any constant a, real or complex

Example: Determine the z-transform of the signals

a.)x(n) a n cos0 n u (n)

b.)x(n) a n sin 0 n u (n)

Solution:
a.) from the previous example, we obtain
1 z 1 cos0
cos0 nu(n)
1 2 z 1 cos0 z 2
z

so that
1 az 1 cos0
a cos0 n u (n)

,
1 2az 1 cos0 a 2 z 2
n

Solve for b!

za

3. Time Reversal
z
x ( n)

X ( z ),

ROC : r1 z r2

then
1
1
x ( n)
X ( z ), ROC : z
r2
r1
z

Example: Determine the z-transform of the signal

x(n) u(n)

Solution:
From the previous example

1
,
ROC : z 1
1
1 z
by using time reversal property
1
z
u ( n)

,
ROC : z 1
1 z
z
u ( n)

4. Differentiation in the z-domain

z
x ( n)

X ( z)

then
z
nx(n)

dX ( z )
dz

Example: Determine the z-transform of the signal

n

x(n) na u (n)

Solution:
x(n) can be expressed as
where

x1 (n) a nu (n)

z
x1 (n) a nu (n)

X1 ( z)

nx1 (n)

1
,
1 az 1

ROC : z a

then
dX 1 ( z )
az 1
na u (n)
X ( z ) z

, ROC : z a
1 2
dz
1 az
setting a 1, the unit ramp signal z - transformis
z

nu(n)

z 1

1 z

1 2

ROC : z 1

5. Convolution of two sequences

z
x
(
n
)

X1 ( z)
If 1
z
x2 ( n )

X 2 ( z)

then
z
x(n) x1 (n) x2 (n)

X ( z) X1 ( z) X 2 ( z)

ROC : intersection of that for X1 ( z ) and X 2 ( z )

Example: Compute the convolution x(n) of the signals
x1 (n) 1,2,1

1, 0 n 5
x2 ( n )
0, elsewhere

Solution:

X 1 ( z ) 1 2 z 1 z 2
X 2 ( z ) 1 z 1 z 2 z 3 z 4 z 5
X ( z) X1 ( z) X 2 ( z)

1 - 2z -1 z 2 1 z 1 z 2 z 3 z 4 z 5
1 - z -1 z 6 z 7
Hence
x(n) 1,-1,0,0,0,0,-1,1
verify the result when using x(n) x1 (n) x2 (n)

X 1 ( z ) 1 2 z 1 z 2
X 2 ( z ) 1 z 1 z 2 z 3 z 4 z 5
X ( z) X1 ( z) X 2 ( z)

1 - 2z -1 z 2 1 z 1 z 2 z 3 z 4 z 5
1 - z -1 z 6 z 7
Hence
x(n) 1,-1,0,0,0,0,-1,1
verify the result when using x(n) x1 (n) x2 (n)

6. Correlation of two sequences

z
if x1 (n)

X1 ( z)
z
x2 ( n )

X 2 ( z)

then
rx1x2 (l)

x (n) x (n l ) R
z

x1 x 2

( z ) X 1 ( z ) X 2 ( z 1 )

Example: Determine the autocorrelation sequence of the signal

x(n) a nu (n),

-1 a 1

Solution: Rxx ( z ) Z rxx (l ) X ( z ) X ( z 1 )

1
,
1 az 1
1
X ( z 1 )
,
1 az
X ( z)

ROC : z a
ROC : z

1
a

(causalsignal)
(anticausal signal)

thus
R xx ( z )

1
1
1
1

,
ROC
:
a

1 az 1 1 az 1 a ( z z 1 ) a 2
a

To solve for

rxx (l ), compare it with the result of

xn a nu (n) b n u (n 1)
ba
1
X ( z)
with b
1
a b zabz
a
1- a 2
2

a
Rxx ( z )
1
2
1 a( z z ) a

hence
X ( z)
Rxx ( z )
,
2
1 a
1
l
rxx (l )
a
1 a2

x ( n)
rxx (l )
1 a2

with x(n) a n

7. Multiplication of two sequences

z
if x1 (n)

X1 ( z)
z
x2 ( n )

X 2 ( z)

then
1
z 1
x(n) x1 (n) x2 (n)
X ( z )
X 1 (v) X v dv

C
2j
2 v
z

whereC is the closed contour that encloses the origin and lies within
1
theregion of convergence common toboth X1 (v) and X 2
v

8. Parsevals Relation
If x1 (n) and x2 (n) are complex - valued sequences,then

1
1 1
x 1 ( n ) x ( n)
X 1 (v) X 2 v dv

C
2j
v
n -

9. Initial Value Theorem

If

x(n)is causal, then

x(0) lim X(z)
z

Rational z-transforms
Poles and Zeros
Zeros of a z-transforms X(z) values of z for which X(z) = 0
Poles of a z-transform X(z) values of z for which X(z) =
M

B( z ) b0 b1 z 1 ... bM z M
X ( z)

1
N
A( z ) a0 a1 z ... a N z

bk z k
k 0
N

a z
k 0

if a 0 and b 0
b
b
z M 1 z M 1 ... M
b0
B( z ) b0 z
b0
X ( z)

A( z ) a0 z N z N a1 z N 1 ... a N
a
a0
0

B ( z ) b0 M N ( z z1 )( z z 2 ) ( z z M )

z
A( z ) a0
( z p1 )( z p2 ) ( z pM )
M

Gz

( z zk )

N - M k 1
N

( z pk )

k 1

Where G b0
a0

zeros : z z1 , z 2 ,...,z M
poles : z p1 , p2 ,..., p N
At the origin, z=0:
N M zeros if N M
N M poles if N M
at z :
zero exists if X() 0
pole exists if X()
No. of poles No. of zeros at z 0 and z

Example: Determine the pole-zero plot for the signal

x(n) a nu (n),

a0
z1

Solution:

1
z
z 0
X ( z)

, ROC : z a
1
1 az
za za

p1

then

at z1 0

No. Of zeros = 1

at p1 a

No. Of poles = 1

Example: Determine the pole-zero for the signal

a n ,
x ( n)
0,
Solution:

X ( z)
from
M 1

0 n M -1
elsewhere

n
x
(
n
)
z

X ( z ) az
Since a>0

n 0

where a 0

aM

1 n

1 az 1
z M aM

M 1
1
1 az
z z a

has M roots at

z k ae j 2k / M

k 0,1,...,M - 1

The zero z 0 a cancels the pole at z a

z - z1 z z 2 z z M 1
X(z)

z M 1
which has M - 1 zeros and M - 1 poles

Pole Location and Time-Domain Behavior for Causal Signals

The behavior of a signal depends strongly on the location of its poles relative to the
unit circle:
1. Causal real signals with simple real poles or simple complex-conjugate pairs of
poles, which are inside or on the unit circle, are always bounded in amplitude.
2. A signal with a pole (or a complex-conjugate pair of poles) near the origin decays more
rapidly than that with a pole near (but inside) the circle.

System Function of a LTI System:

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

Example: Determine the system function and the unit sample response of the system
described by the difference equation

1
y(n) y(n 1) 2 x(n)
2
Solution:

1 1
Y ( z) z Y ( z) 2 X ( z)
2
1 1
Y ( z) z Y ( z) 2 X ( z)
2
1 1
Y ( z ) 1 z 2 X ( z )
2
Y ( z)
2
2z
H ( z)

X ( z ) 1 1 z 1 z 1
2
2

Has a pole at z=1/2 and a zero at origin

From the table, the inverse z transform is

a n u ( n)

1
1 az 1

so

2
1
with a , the inverse z transformis
1
2
1 z 1
2
n

1
h(n) 2 u (n)
2

Inverse Z Trasnform
1. By Contour Integration
2. By Power Series Expansion
Given the z-transform X(z) with its corresponding ROC, we can expand X(z) into a
power series of the form

X ( z)

n
c
z
n

Which converges in the given ROC

Example: Determine the inverse z-transform of

1
X ( z)
1 1.5 z 1 0.5 z 2
When

a. ROC : z 1
b. ROC : z 0.5

Solution:
a. Since ROC is exterior of a circle, x(n) is a causal signal:
Perform the division function to get:
3
7
15
31
X ( z ) 1 z 1 z 2 z 3 z 4
2
4
8
16
then

3 7 15 31
x(n) 1, , , , ,...
2 4 8 16
b. Since ROC is interior of a circle, x(n) is an anticausal signal:
Perform the division function to get:
2 z 2 6 z 3 14 z 4 30 z 5 62 z 6 ...
1 2 3 1
z z 1 1
2
2
1 - 3z 2z 2
3z - 2z 2
3z - 9z 2 6 z 3
7z 2 6 z 3
7z 2 21z 3 14 z 4
15z3 14 z 4
15z3 45z 4 30 z 5
31z4 30 z 5

Thus

X ( z)

1
3
1
1 z 1 z 2
2
2

2 z 2 6 z 3 14 z 4 30 z 5 62 z 6 ...

x(n) 0 for n 0
x(n) ...62,30,14,6,2,0,0

3. Inverse z-transform by partial-fraction expansion

Seatwork:
1. Consider the sequence

x(n) a nu (n 1)
Prove that its z-transform is

2. Find X(z) and plot the zero-pole plot of the following:

n

1
1
x ( n ) u ( n ) u ( n)
2
3