The z-transform
Part 1
Dr. Ali Hussein Muqaibel
http://faculty.kfupm.edu.sa/ee/muqaibel/
Dr. Ali Muqaibel
The material to be covered in this lecture is
as follows:
Dr. Ali Muqaibel
Introduction to the z-transform
Definition of the z-transform
Derivation of the z-transform
Region of convergence for the transform
Examples.
After finishing this lecture you should be
able to:
Dr. Ali Muqaibel
Find the z-transform for a given signal utilizing the z-
transform definition
Calculate the region of convergence for the transform
Derivation of the z-Transform
Dr. Ali Muqaibel
The z-transform is the basic tool for the analysis and synthesis
of discrete-time systems.
The z-transform is defined as follows:
The coefficient x(nI
s
) denote the sample value and
z
-n
denotes that the sample occurs n sample periods after
the t = u reference.
Note that the lower limit of the summation can start from
zero if the signal is causal (Unilateral z-transform)
Rather than starting form the given definition for the z-
transform, we may start from the continuous-time function
and derive the z-transform. This is done in the next slide.
( ) ( )
n
n
z x nT z X
=
=
Derivation of the z-transform
Dr. Ali Muqaibel
The sampled signal may be written as
Since o t -nI
s
= u for all t except
at t = nI
s
, x(t) can be replaced by
x(nI
s
).
And Assuming x(t) = u for t < u. Then,
Taking Laplace transform yields
Rearranging
By sifting property of the delta
function
( ) ( ) ( )
s
n
x t x t t nT o
=
=
( ) ( ) ( )
0
s s
n
s
x t x t nT nT o
=
=
( ) ( ) ( )
0
0
t
n
s
s
X s x nt t n e T dt o
=
=
}
( ) ( ) ( )
0
0
st
s
n
X s x nT t nT e dt o
=
=
}
X
s
s = x nI c
-sn1
n=0
Continue Derivation
Dr. Ali Muqaibel
Defining the complex variable z as the Laplace time-shift
operator z = c
s1
X s = x nI c
-sn1
n=0
becomes, X z = x nI z
-n
n=0
We could have started from the last expression but it is good
to relate to the s-domain
In the s-domain the left-half plane corresponds to o < u is
mapped to |z| < 1 in the z-plane which is the region inside
the unit circle.
j
1
Re[z]
Im[z]
S-plane
z-plane
Left-half
Unit
circle
Region of Convergence (ROC)
z = c
s1
s = o +]
z = c
c1
c
]o1
z = c
c1
,z, is converged for o < u (left-half of s-plane). This corresponds
to ,z, < 1. This is the region inside the unit circle.
,z, is NOT converged for o > u (right-half of s-plane). This
corresponds to ,z, > 1 which is the region outside the unit circle
The mapping of the Laplace variable s into the z-plane through
z = c
s1
is illustrated in the figure.
j
1
Re[z]
Im[z]
S-plane
z-plane
Left-half
Unit
circle
The Z-Transform in Summary
Dr. Ali Muqaibel
The coefficient x(nI) denotes the sampled value
The square bracket is used to indicate discrete times.
z
-n
denotes that the sample occurs n sample periods after
the t = u reference.
c
s1
is simply the I-second time shift
The parameter z is simply shorthand notation for the Laplace
time shift operator
For instance, Suz
-40
denotes a sample, having value 30, which
occurs 40 sample periods after the t=0 reference
Matlab has special tools for z-transform: ztrans, iztrans , pretty
X z = x nI z
-n
n=0
= x|n]z
-n
n=0
Where z = c
s1
and n >= u
Example 1:
Dr. Ali Muqaibel
Determine the z-transform for the
following signal
Solution:
We know that
hence
| |
1
2
,
,
1
0
1
2
1
0,
1
,
,
n
n
x n n
n
otherwise
=
= =
( ) | |
X z
n
n
x n z
=
=
( ) | | | |
( )
| |
( )
| |
( )
| |
( )
( )
1 0 1 2
1
1
2
2
1 0 X 1 2
2
z
n
x x x x n z z z z z
X z z z z
x
= = + + +
= + +
Example 2: Sampled Step Function
(Important Functions)
Dr. Ali Muqaibel
Consider a unit step sample sequence
defined by >
Find the z-transform.
Solution
The sum converges absolutely to
1
1-z
-1
outside the unit circle , ,
t
u(t)
T A
2 T A 3 T A 4 T A 5 T A
1
0
( )
1 2 3
1
0
1
( ) 1 ........... , 1
1
n
n
U z X z z z z z z
z
=
= = + + + + = = >
( )
0
n
n
X z z
=
=
Sampled Dirac Delta Function (an other
important function)
Dr. Ali Muqaibel
The Dirac Delta Function is defined to be
For a delayed version of delta is defined as
Applying the definition of the z-transform
1 0
[ ]
0 0
n
n
n
o
=
=
=
1
[ ]
0
n k
n k
n k
o
=
=
=
Dirac
function
( ) t o
0
( ) ( ) (0) 1
s T
k
X z t z o o
A
=
= = =
( ) 1 X z =
The Unit Exponential Sequence
Dr. Ali Muqaibel
The unit exponential sequence is defined to be
Apply z-transform definition
-n
n=0
,
we get
, 0
[ ]
0 0
k
e k
x k
k
o
o
>
=
<
k
1
1
1
[ ]
1
z
X k
e z z e
o o
= =
1
0 0
1
( ) ( )
1
( )
1
k k k
k k
X z e z e z
z
X z
e z z e
o o
o o
= =
= =
= =
| | where z e
o
>
if k e then
o
= 1
1
( )
1
z
X z
kz z k
= =
Example 3 with Poles and Zeros
Dr. Ali Muqaibel
Determine the z-transform of the signal
x|n] = u.S
n
u|n]
Depict the ROC and the locations of poles and zeros of X(z) in the z-plane
Solution:
Substituting is the definition of the z-transform
X z = u.S
n
u n z
-n
=
n=-
u.S
n
z
-n
=
n=0
(
0.5
z
)
n
n=0
This is a geometric series of infinite length in the ratio 0.5/z; the sum
converges, provided that ,
0.5
z
, < 1 or ,z, > u.S. Hence the z-transform is
Pole at z = , zero at z = . 5,
ROC is the light blue region
( )
1
0
0.5 1
, 0.5
1 0.5
, 0.5
0.5
n
n
X z z
z z
z
z
z
=
| |
= = >
|
\ .
= >
Im[z]
0.5
0
( )
( )
0 1 2
0 1 2
2
1 1 1
...
2 2 2
1 1
1 ...
2 4
X z z z z
X z
z z
| | | | | |
= + + +
| | |
\ . \ . \ .
| | | |
= + + +
| |
\ . \ .
Self Test 1:
Dr. Ali Muqaibel
Find the z- transform of the following signal:
n
Hint :
nn
2
Answer:
2 2
1
( )
1
X z z a
a z
= >
+
Self Test 2:
Dr. Ali Muqaibel
Determine the z-transform of the signal
x|n] = -u|-n - 1] + u.S
n
u|n]
Depict the ROC and the locations of poles and zeros of X(z) in the z-
plane
Answer:
the sum converges, provided that ,z, > u.S and ,z, < 1.
( )
1
0
0 0
0.5
0.5
1
n
n
n n
n
k
n k
X z z
z
z
z
= =
= =
| |
=
|
\ .
| |
= +
|
\ .
( )
( )
( ) ( )
1
1 1
1 , 0.5 1
1 0.5 1
2 1.5
, 0.5 1
0.5 1
X z z
z z
z z
z
z z
= + < <
= < <
Poles at z=0.5, 1, zeros at z=0, 0.75.
ROC is the region in between
Dr. Ali Muqaibel
( )
( )
( )( )
1
1 1
1 , 0.5 1
1 0.5 1
2 1.5
, 0.5 1
0.5 1
X z z
z z
z z
z
z z
= + < <
= < <
Poles at z=0.5, 1, zeros at z=0, 0.75. ROC is the region in between
Continue Self-test
