Introduction To Z Transform

Digital signal processing
. System analysis via the Z

transform

Athanassios C. Iossifides
September 2011

Athanassios Iossifides DIGITAL SIGNAL PROCESSING E2

.1 The Z transform
.2 Properties and theorems of the Z transform
.3 The inverse Z transform
.4 Z-domain system analysis
. System analysis via the Z transform

.1 The Z transform
.1 The Z transform
Introduction definition
The discrete time Fourier transform (DTFT) that represents discrete signals
by means of complex exponential functions, is defined as

and analyzes the signals in their digital frequency components.
However, DTFT does not exist for all signals, e.g. the discrete step function
u(n) and cannot describe and analyze the transient phenomena of digital
systems.
Therefore, the Z transform is defined, that is,

where z = re
j
(r = |z|) is a complex variable, which usually is referred to
as complex frequency. The values of |z| for which the sum given above
converges (not goes to infinity), define a region over the Z plane of
complex numbers, that is called Region of Convergence (ROC).
=
= = =

( ) ( ) [ ( )] ( )
j jn
n
X e X x n x n e F
( ) [ ( )] ( )
n
n
X z Z x n x n z
=
= =

( ) ( )
z
x n X z
.1 The Z transform
Remarks
The Z transform
is commonly engaged to solve linear difference equations with
constant coefficients, the computation of the response of a LTI (Linear
Time Invariant) system, the design of digital filters, etc.
describes the discrete signals/systems in the complex plane with poles
and zeros (equivalently to the Laplace transform for analogue
signals/systems).
If we set z = e
j
, that is, |z| = 1, we get a unit circle in the complex plane,
which corresponds to the DTFT.

The DTFT exists if the Region of
Convergence (ROC) of the Z transform
includes the unit circle.
( ) ( ) ( ) (DTFT) j
jn j
z e
n
X z x n e X e
=
=
= =

.1 The Z transform
Example Proakis 3.1.1
Z transform of finite sequences

ROC: The whole complex plane excluding z = 0.
___________________

ROC: The whole complex plane excluding z = 0 z = .
___________________


1
( ) {1,2,5,7,0,1} x n
|
=
1 2 3 5
1 1
( ) ( ) 1 2 5 7
n
n
X z x n z z z z z

=
= = + + + +
2
( ) {1,2,5,7,0,1} x n
|
=
2 1 3
2 2
( ) ( ) 2 5 7
n
n
X z x n z z z z z

=
= = + + + +
3
( ) {0,0,1,2,5,7,0,1} x n
|
=
2 3 4 5 7
3 3
( ) ( ) 2 5 7
n
n
X z x n z z z z z z

=
= = + + + +

.1 The Z transform
Z transform of elementary sequences

ROC: The whole complex plane.
___________________

___________________

ROC: |z| > 1.
4
( ) ( ) x n n = [ ( )] ( ) 1
n
n
Z n n z
=
= =
6
( ) ( ) x n u n =
1 1
1
0 0
1
[ ( )] 1 ( ) , | | 1
1
n n
n n
Z u n z z z
z

= =
= = = <

5
( ) ( ) x n n k = [ ( )] ( )
n k
n
Z n k n k z z

=
= =
0
1
, | | 1
1
n
n
a a
a
=
= <

.1 The Z transform
Z transform of
Remark: causal sequence (right sided)

Converges when
ROC: |z| > |a|
( ) ( )
n
x n a u n =
1
0 0
( ) ( ) ( )
n n n n n
n n n
X z a u n z a z az

= = =
= = =

1
| | 1 | | | | az z a
< >
1
1
( )
1
X z
az
0
1
, | | 1
1
n
n
a a
a
=
= <

.1 The Z transform
Z transform of
Remark: anticausal sequence (left sided)

Setting b
1
z = A yields

Which converges for ||<1
Thus, (z) converges when

ROC: |z| < |b|
0, 0
( ) ( 1)
, 1
n
n
n
x n b u n
b n
>
= =

s
1 1
1 1
1
( ) ( 1) ( ) ( ) ,
n n n n n m
n n n m
X z b u n z b z b z b z m n

= = = =
= = = = =

1
1 1
1 1
( ) ( )
1 1
X z b z
b z bz

= =

1
| | 1 | | | | b z z b
< <
0
1
, | | 1
1
n
n
A A
A
=
= <
2 3 2
0
... (1 ...)
m
m
A A A A A A A A
=
+ + + = + + + =

.1 The Z transform
Z transform of
Remark: double sided sequence

The overall ROC is the intersection of the two ROCs.
( ) ( ) ( 1)
n n
x n a u n b u n = +
2
1
1
( )
1
X z
bz
( ) ( ) ( 1)
n n
x n a u n b u n = +
1
1
1
( )
1
X z
az
ROC: |z| > |a| ROC: |z| < |b|

|b| > |a|
ROC: |a|< z < |b|
|b| < |a|
ROC = C
1 1
1 1
( )
1 1
X z
az bz

=

X(z) does not exist
.1 The Z transform
Signal families and ROC
Finite duration signals

Causal The whole complex
plane excluding
z = 0
Anticausal
The whole complex
plane excluding
z =
Double sided
The whole complex
plane excluding
z = 0 z =
.1 The Z transform
Signal families and ROC
Infinite duration signals

Causal
(right sided)
|z| > r2
Anticausal
(left sided)
Double sided
|z| < r1
r2 < |z| < r1
.1 The Z transform
Z transform basic pairs
1
1 1
1 1
1 2 1 2
1
0
0
( ) 1, the whole complex plane
1
( ) , | | 1
1
1 1
( ) , | | | | ( 1) , | | | |
1 1
( ) , | | | | ( 1) , | | | |
(1 ) (1 )
1 cos
cos( ) ( )
1
z
z
z z
n
z z
n
z
n
u n z
z
a u n z a au n z a
az az
az az
na u n z a nau n z a
az az
z
n u n
>
> <

> <

1 2
0
1
0
0
1 2
0
1
0
0
1 2 2
0
1
0
0
1 2 2
0
, | | 1
2 cos
sin
sin( ) ( ) , | | 1
1 2 cos
1 cos
cos( ) ( ) , | | | |
1 2 cos
sin
sin( ) ( ) , | | | |
1 2 cos
z
z
n
z
n
z
z z
z
n u n z
z z
az
a n u n z a
az a z
az
a n u n z a
az a z

>
+
>
+
>
+
>
+
.1 The Z transform
Poles and zeros
Zeros of the transform (z) are the values of z for which X(z) equals zero,
that is, (z) = 0.
Poles of the transform (z) are the values of z for which X(z) goes to
infinity, that is, (z) = . The ROC does not include poles.
When (z) is a rational function of the form

we can rewrite it as follows (by factorization introducing the common
factors b
0
z
and a
0
z
)

where z
k
and p
k
are the zeros and the poles, respectively. Additionally,
there are poles at z = 0 according to the relationship between and .

1
0 1 0
1
0 1
0
( ) ...
( )
( )
...
M
k
k
M
M k
N N
N
k
k
k
b z
B z b b z b z
X z
A z
a a z a z
a z
=
+ + +
= = =
+ + +

0 1 2
0 1 2
( ) ( )( )...( )
( )
( ) ( )( )...( )
M M N
N
B z b z z z z z z
X z z
A z a z p z p z p
+

= =


.2 Properties and theorems of
the Z transform
.2 Properties and theorems of the Z transform
Linearity
Time shift
Mult/tion with exponential sequence
Reflection
.. ROCx: r
1
< |z| < r
2
, ROC 1/r
2
< |z| < 1/r
1
Differentiation
Complex conjugate
Convolution
Theorem of initial value
If x(n) causal, then
1 2
1 1 2 2 1 1 2 2
( ) ( ) ( ) ( ), ROC ROC ROC
z
X X
a x n a x n a X z a X z + + =
0
0
( ) ( ), ROC ROC
z
n
X
x n n z X z
=
1
( ) ( ), ROC | | ROC
z
n
X
a x n X a z a
=
1
( ) ( ), ROC 1 / ROC
z
X
x n X z
=
( )
( ) , ROC ROC
z
X
dX z
nx n z
dz
=
( ) ( ), ROC ROC
z
X
x n X z
- - -
=
1 2
1 2 1 2
( ) ( ) ( ) ( ), ROC ROC ROC
z
X X
x n x n X z X z =
(0) lim ( )
z
x X z
=

.3 The Inverse Z transform
Definition
The inverse Z transform is defined as

where C is a closed curve in the region of convergence (ROC) of (z) that
includes the complex plane origin (z = 0).
It can be calculated by three basic methods:
Direct computation of the integral
Development of X(z) as a power series
Partial fractions expansion method
The inverse Z transform is used for difference equations solution, discrete
systems analysis, etc.
1
1
( ) ( )
2
n
C
x n X z z dz
j

=
}
The inverse Z transform via partial fractions expansion
This method is particularly used when the Z transform is a rational
function. In this case, we try to express the original rational function as a
sum of simple, known Z transform pairs (given in tables).
Let the transform Z be a rational function of the form

The rational function is proper when < and a
N
= 0. If the rational
function is not proper ( ), we convert it to a proper rational function
by division of the nominator and denominator polynomials. The division
yields

where the function
1
(z)/A(z) is now proper.
1
0 1
1
1
( ) ...
( )
( )
1 ...
M
M
N
N
B z b b z b z
X z
A z
a z a z

+ + +
= =
+ + +
1 1 ( )
0 1
( ) ( )
( ) ...
( ) ( )
M N
M N
B z B z
X z c c z c z
A z A z

= = + + + +
Let the rational function

be proper and (z) be of order . By denominator factorization we
conclude to the form

where the poles are discrete. Then we expand to fractions

For real signals the complex poles appear in pairs of conjugate, e.g., p
2
= p
1
* and the
residuals are also conjugate, that is,
2
=
1
*
Then, we write
( )
( )
( )
B z
X z
A z
=
1 2
1 2
( )
...
N
N
X z A A A
z z p z p z p
= + + +

1 2
'( )
( )
( )( )...( )
N
B z
X z
z p z p z p
=

( ) ( )
k
k
k
z p
z p X z
A
z
=
=
1 2
1 2
1 2
1 1 1
1 2
( ) ...
...
1 1 1
N
N
N
N
A z A z A z
X z
z p z p z p
A A A
p z p z p z

= + + + =

= + + +

Each fraction of the form

can be inversed to the time domain as an exponential function, according
to

When the poles are complex conjugate, then

and their combination is inversed to the time domain as

where
1
1
A
pz
{ }
1
1
( ), | | | |
1
1
( 1) | | | |
n
n
p u n z p
Z
pz
p u n z p
>
=

<
1
0 1
1 1 1 2
1 2
1 1 1
A A b b z
pz p z a z a z
-
-
+
+ =
+ +
1
1 1
2| | cos( ) ( )
1 1
n
A A
Z A r n u n
pz p z
-
-

+ = +
`

)
| | ,
j j
A A e p re = =
When multiple poles appear, e.g.

then its pole is expanded to a sum of fractions of the form

In order to compute the coefficients A
kl
with 1 < l < m, differentiations
have to be applied, e.g. for m = 2, the coefficients are calculated by

1 2
2
( )
... ... ...
( ) ( )
k k km
m
k
k k
X z A A A
z z p
z p z p
= + + + + +

1 2
'( )
( )
( )( )...( ) ...( )
m
N
B z
X z
z p z p z p z p
=

2
1
( ) ( )
k
k
k
z p
d z p X z
A
dz z
=
(
=
(

2
2
( ) ( )
k
k
k
z p
z p X z
A
z
=
=
{ }
1 1
1 1 1
2 1 2 1 2
( ), | | | |
( ) (1 ) (1 )
( 1), | | | |
n
n
A
np u n z p
p Az Az A pz
Z Z Z
p
A z p pz pz
np u n z p
p

>

= = =
` `

) )

<

Find the causal signal that has the Z transform
We expunge the negative powers of z

The roots of the denominator (poles) are p
1
= 1 and p
2
= 0.5. We expand (z)/z in
partial fractions as

Therefore

Since x(n) is causal, it follows that
1 2
1
( )
1 1.5 0.5
X z
z z

=
+
2 2
2 1 2 2
1
( )
1 1.5 0.5 1.5 0.5
z z
X z
z z z z z

= =
+ +
1 2
2
( )
( 1)( 0.5) 1 0.5
1.5 0.5
X z z z A A
z z z z z
z z
= = = +

+
1
1
( 1) ( ) 1
2
1 0.5
z
z X z
A
z
=
= = =
2
0.5
( 0.5) ( ) 0.5
1
0.5 1
z
z X z
A
z
=
= = =
1 1
( ) 2 1 2 1 2 1
( )
1 0.5 1 0.5
1 1 0.5
X z z z
X z
z z z z z
z z

= = =

{ }
1
1 1
2 1
( ) 2 ( ) 0.5 ( ) (2 0.5 ) ( )
1 1 0.5
n n
x n Z u n u n u n
z z

= = =


1
= 0.5 + 0.5j and p
2
= p
1
* = 0.5 0.5j.
We expand (z)/z in partial fractions as

Therefore

1
1 2
1
( )
1 0.5
z
X z
z z

+
=
+
2 1 2
2 1 2 2
1
( )
1 0.5 0.5
z z z z
X z
z z z z z

+ +
= =
+ +
1 2
( ) 1
( 0.5 0.5 )( 0.5 0.5 ) 0.5 0.5 0.5 0.5
X z z A A
z z j z j z j z j
+
= = +
+ +
1
0.5 0.5
( 0.5 0.5 ) ( ) 0.5 0.5 1 1.5 0.5
0.5 1.5
0.5 0.5 0.5 0.5
z j
z j X z j j
A j
z j j j
= +
+ + +
= = = =
+ +
1 1
1
1
( ) X z A A
z z p
z p
-
-
= +

2 1
0.5 1.5 A A j
-
= = +
We know that (from the table given before at page E-13)

In our case we have

Thus,

( )
1 1.5
0.5
tan
71.57
10 10
0.5 1.5
2 2
j
j
A j e e

= = =
1
1 1
2| | cos( ) ( )
1 1
n
A A
Z A r n u n
pz p z
-
-

+ = +
`

)
| | ,
j j
A A e p re = =
( )
1 0.5
0.5
tan
45 /4
2 2 2
0.5 0.5
2 2 2
j
j j
p j e e e
= + = = =
2
( ) 2| | cos( ) ( ) 10 cos( / 4 71.57 ) ( )
2
n
n
x n A r n u n n u n
| |
| = + =
\ .

1
= 1 and p
2
= 1 with order 2. We
expand (z)/z in partial fractions as

Thus,

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

=
+
3 3
3 1 1 2 2
1
( )
(1 )(1 ) ( 1)( 1)
z z
X z
z z z z z

= =
+ +
2
1 21 22
2 2
( )
1 1
( 1)( 1) ( 1)
X z z A A A
z z z
z z z
= = + +
+
+
1
2
1
( 1) ( ) 1 1
4
( 1 1) z
z X z
A
z
=
+
= = =

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

= + + = + +
+
+
2
22
1
( 1) ( ) 1 1
1 1 2
z
z X z
A
z
=
= = =
+
2 2 2
21
2
1 1
1
( 1) ( ) 2 ( 1) 3
1 4
( 1) z z
z
d z X z d z z z z
A
dz z dz z
z = =
=
( ( ( +
= = = =
( ( (

+
+


Since x(n) is causal, by using the pairs of page E-13, we get

Finally,

{ }
1
1
1
( 1) ( )
1
n
Z u n
z
=
+
1
1 1 1 2
1 1 3 1 1
( )
4 4 2
1 1 (1 )
z
X z
z z z

= + +
+
{ }
1
1
1
( )
1
Z u n
z
1
1
1 2
( )
(1 )
z
Z nu n
z

=
`
)
1 3 1
( ) ( 1) ( ) ( ) ( )
4 4 2
1 3
( 1) ( )
4 4 2
n
n
x n u n u n nu n
n
u n
= + + =
(
= + +
(


System function
The system function or transfer function of a LTI (Linear Time Invariant)
system is defined as the Z transform of the impulse response

By taking into account the convolution property of the Z transform, the
response y(n) of as system with impulse response h(n), when the input is
x(n), may be calculated by

where (z) and (z) are the Z transforms of the input and the output
(response), respectively.

( ) { ( )} ( )
n
n
H z Z h n h n z
=
= =

( ) ( ) ( ), ROC ROC ROC
Y H X
Y z H z X z = =
( ) h n ( ) ( ) ( ) y n x n h n =
( ) x n
( ) H z ( ) ( ) ( ) Y z X z H z =
( ) X z
Systems interconnection
Cascaded systems

Parallel systems

1
( ) H z
2
( ) H z
1 2
( ) ( ) H z H z
1
( ) H z
2
( ) H z
1 2
( ) ( ) H z H z +
1
( ) h n
2
( ) h n
1 2
( ) ( ) h n h n +
1
( ) h n
2
( ) h n
1 2
( ) ( ) h n h n
System function
When the LTI system is given in the form of difference equations, such as

the transfer function may be computed by

which can be expresses as
where z
k
are the zeros and p
k
are th
poles of the system function. On the
complex plane each pole is drawn as
an x and each zero as an .

1 0
( ) ( ) ( )
M N
k
k
y n a y n k b x n
= =
+ =

0
1 0
1
( )
( ) ( ) ( ) ( )
( )
1
M
N M
k
k
N
k
k
k
k
b z
Y z
Y z a z Y z b z X z H z
X z
a z
=
= =

=
+ = = =
+
1
0
1
( )
( )
( )
M
N M
N
k
k
z z
H z b z
z p
=
=
[
[
System function and frequency response
When the ROC of the system function includes the unit circle, then the
frequency response of the system, may be directly calculated by the
system function, by setting z = e
j
.

The factors e
j
z
and e
j
p
k
can be
considered as vectors of the complex
plane that connect a point of the unit
circle with the zero z
and the pole p

k

respectively.

( ) 1
0
1
( )
( ) ( )
( )
j
M
j
j j N M
z e
N
j
k
k
e z
H e H z b e
e p
=
=
=
= =
[
[
Re{ } z
Im{ } z
z
k
p
unit circle
System function and frequency response
The magnitude of the frequency response
at a specific frequency
0
may be
calculated as the ratio of the product of
distances of the unit circle point from the
zeros over the product of the distances of
the unit circle point from the poles

The phase of the frequency response at a specific frequency
0
may be
calculated by

When the impulse response of the system is real valued, then the system
function presents even symmetry of the magnitude and odd symmetry
of the phase with respect to frequency.
1 2
0
1 2
| || |...| |
| ( )| | |
| || |...| |
j j j
M j
j j j
N
e z e z e z
H e b
e p e p e p

=

Re{ } z
Im{ } z
0
z
k
p
0 0 0
0
1 1
( ) [0 ] [( ) ] ( ) ( )
M N
j j j
k
k
H e or N M e z e p
= =
= + +

unit circle
Relationship among different system representations
( ) h n
( ) H z
..
( )
j
H e
DTFT
Inverse
Z transform
IDTFT
j
z e =
Z transform
Expresssion as powers of
z
-1
, multiplication and
inverse Z transform
Transform Z
and =Y/X
calculation
DTFT and
= /
calculation
D.E.
Stability and realizability of LTI systems
A system is BIBO (Bounded Input Bounded Output) stable when

or equivalently

Therefore, an LTI system is BIBO stable only if the ROC of the system
function includes the unit circle.
A causal system (ROC: |z| > a) is stable when all the system poles
are inside the unit circle.
A system is realizable when it is causal and stable.
Therefore, a realizable system has a ROC of the form |z| > a, where a < 1.

=
<
| ( )|
n
h n
=
< =
| ( )| , | | 1
n
n
h n z z
Realizable systems of 1
st
and 2
nd
order
A causal 1
st
order system of the form

is BIBO stable (and therefore realizable) when |a
1
| < 1.
A causal 2
nd
order system of the form

where p
1
, p
2
are the poles,
is stable
(and therefore realizable)
when
|a
2
| < 1
|a
1
| < 1 + a
2
= >
+
0
1
1
1
( ) , | | | |
1
b
H z z a
a z

= > >
+ +
0
1 2
1 2
1 2
( ) , | | | |, | | | |
1
b
H z z p z p
a z a z
Stability triangle
Inversibility of LTI systems
For an LTI system with transfer function H(z), the inverse system is defined
as the system with a transfer function G(z), such that

The cascade interconnection of the two systems is equivalent to the unit
system.
The inverse system exists if the two transfer functions H(z) and G(z) have
Regions of Convergence (ROC) that intersect between each other.
The poles of the original system become the zeros of the inverse system
and the zeros of the original system become the poles of the inverse
system.
In the time domain, the relationship of the two impulse responses (of the
original and the inverse system) is

= =
1
( ) ( ) 1 ( )
( )
G z H z G z
H z
= ( ) ( ) ( ) h n g n n
Systems with feedback
Systems with feedback are used in many applications such as stabilization
of unstable systems, design of inverse systems, etc.

The total transfer function Q(z) of the system with feedback can be
calculated by

=
= =
+
( ) ( )[ ( ) ( ) ( )]
( ) ( )
( )
( ) 1 ( ) ( )
Y z H z X z G z Y z
Y z H z
Q z
X z G z H z
Example
Let a causal LTI system described by the following difference equation

(a) Find the transfer function, (b) draw the poles-zeros diagram, (c) compute the
frequency response (d) compute the impulse response of the system
(a) We implement the Z transform to the difference equation

Since the system is causal, the ROC is outside the circle defined by the pole with
maximum magnitude, that is, |z| > 0.9.
() the system has a pole at z = 0.9
and a zero at z = 0.

= + = = =
1 1
1
( ) 1
( ) 0.9 ( ) ( ) ( )(1 0.9 ) ( ) ( )
( )
1 0.9
Y z
Y z z Y z X z Y z z X z H z
X z
z
= + ( ) 0.9 ( 1) ( ) y n y n x n
= =
1
1
( )
0.9
1 0.9
z
H z
z
z
Example (cont.)
(c) Since the ROC includes the unit circle, the frequency response is given by

(d) The impulse response is
=
= =
( ) ( )
0.9
j
j
j
z e
j
e
H e H z
e
1
0
2 2
1
| | 1 1
| ( )| | |
| | | 0.9|
(cos 0.9) sin
j
j
j j
e z
H e b
e p e

= = =

+
= + + =
1
sin
( ) 0 0 ( 0.9) tan
cos 0.9
j j j

H e e e
= > =
1
1
1
( ) ,| | 0.9 ( ) 0.9 ( )
1 0.9
z
n
H z z h n u n
z
Example
Let the causal LTI system described by the following difference equation

(a) Find the transfer function, (b) estimate the frequency response (the type of
filter) based on the poles-zeros diagram
(a)

(since the system is causal, the ROC is outside the pole with the maximum
magnitude).
(b) Since the poles are in the high
frequencies region, the frequency
response has a form of a highpass
filter.

= + ( ) 1.8 ( 1) 0.82 ( 2) ( ) y n y n y n x n

= + = =
+ +
1 2
1 2
( ) 1
( ) 1.8 ( ) 0.82 ( ) ( ) ( )
( )
1 1.8 0.82
Y z
Y z z Y z z Y z X z H z
X z
z z
= = >
+ + +
+ +
2 2
2
( ) , | | 0.82
( 0.9 0.1)( 0.9 0.1)
1.8 0.82
z z
H z z
z j z j
z z
Example (cont.)
The magnitude of the frequency response is given in the following figure

Compute the response of the system
when the input is
----
The transfer function of the system can be computed as follows

The Z transform of the input is

Therefore, the response (output) of the system is

= +
5 1
( ) ( 1) ( 2) ( )
6 6
y n y n y n x n
=
1
( ) ( ) ( 1)
3
x n n n
( )( )

= = =
+
1 2 1 1
( ) 1 1
( )
5 1 1 1 ( )
1 1 1
6 6 2 3
Y z
H z
X z
z z z z
=
1
1
( ) 1
3
X z z
( )
( )( )

= = = =

1
1
1 1 1
1 1 1
( ) ( ) ( ) 1 ( ) 0.5 ( )
1 1 1 3
1 1 1
2 3 2
z
n
Y z H z X z z y n u n
z z z
Example Proakis 5.24
Let the causal system described by the following difference equation

Find (a) the impulse response , () the frequency response, (c) the response to the
input
(a) We calculate the transfer function

The impulse response is given by

(b) The frequency response is

= + +
1 1
( ) ( 1) ( ) ( 1)
2 2
y n y n x n x n
= +
2 4
( ) cos( )

x n n

+
= = =

1
1 1
( ) 1 0.5 2
( ) 1
( )
1 0.5 1 0.5
Y z z
H z
X z
z z
{ }
= =
1
1
2
( ) 1 2(0.5) ( ) ( )
1 0.5
n
h n Z u n n
z
**When the nominator and
denominator of the rational
function are of the same
degree (equal powers) we
apply polynomial division
=

+
= =
1 0.5
( ) ( )
1 0.5
j
j
j
z e
j
e
H e H z
e
Example Proakis 5.24 (cont.)
(c) The response to a sinusoidal input has the following form

Therefore, since and

the response is given by

= +
2 4
( ) cos( )

x n n
+
= = =
+
1
/2
/2 2tan (0.5)
/2
1 0.5 1 0.5
( ) 1
1 0.5
1 0.5
j
j j
j
e j
H e e
j
e
( )
j
H e + +
0 0
0
| ( )|cos[ ( )]
j j
H e n H e +
0
cos( ) n
= +
1 1
2 4 2
( ) cos( 2tan )

y n n
Example Proakis 5.27
A digital highpass filter has a transfer function with one pole and one zero. The
pole is at distance 0.9 for the complex plane origin. The filter suppresses
completely the DC component.
(a) Draw the poles-zeros diagram and compute the transfer function of the system,
(b) normalize the frequency response so that |()|= 1, (c) find the difference
equation of the filter
(a)
(b)

(c)

= =
+
+
1
1
1 1
( )
0.9
1 0.9
z z
H z k k
z
z
=
+
1
( )
1 0.9
j
j
j
e
H e k
e
= = = =
+
|1 | 2 1
| ( )| 1 1 1
0.1 20
|1 0.9 |
j
j
j
e
H e k k k
e
= =
+
+ = = +
1
1
1 1
( ) 1
( ) 0.05
( )
1 0.9
( ) 0.9 ( ) 0.05 ( ) 0.05 ( ) ( ) 0.9 ( 1) 0.05 ( ) 0.05 ( 1)
Y z z
H z
X z
z
Y z z Y z X z z X z y n y n x n x n
Example Proakis 5.27 (cont.)
The magnitude of the frequency response is given in the following figure

Example Hayes 5.2.1
Find the inverse system of the system with transfer function given as
follows

The inverse system is

There are two cases for G(z):
(a) the ROC is outside the pole, that is |z| > 2. In this case the inverse
system is causal but unstable. Its impulse response is

(b) The ROC is inside the circle defined by the pole, that is, |z| < 2. In this
case the system is stable but anticausal. Its impulse response is

***In both cases the ROC of the inverse function G(z) intersects with the ROC of H(z)
= >
1
1
0.5
( ) , | | 0.8
1 0.8
z
H z z
z

= =

1 1
1 1
1 0.8 1 0.8
( ) 2
0.5 1 2
z z
G z
z z
=
1
( ) 2 2 ( ) 1.6 2 ( 1)
n n
g n u n u n
= +
1
( ) 2 2 ( 1) 1.6 2 ( )
n n
g n u n u n
Example Hayes 5.35
Let the unstable system

Use a feedback system with feedback function G(z) = K, and compute the
closed system transfer function and the values of K for which the closed
system is stable.

The closed system Q(z) is stable when

and , which holds for > 0.44.

=
+
1 2
1
( )
1 1.44
H z
z z

+
+
+

+ +
= = = =
+ +
+
= =
+ + +
1 2
1 2
1
1 1.44
1 1.44
1
1
1 2 1 2 1 1.44
1 1
( ) ( )
( )
1 ( ) ( ) 1 ( )
1
1
1 1.44 1
z z
K
z z
K
K K
H z H z
Q z
G z H z KH z
z z K z z
< >
+
1.44
1 0.44
1
K
K
< +
+ +
1 1.44
1
1 1 K K

Introduction To Z Transform

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Introduction To Z Transform

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Digital signal processing

. System analysis via the Z

Athanassios Iossifides DIGITAL SIGNAL PROCESSING E6

Athanassios Iossifides DIGITAL SIGNAL PROCESSING E7

Athanassios Iossifides DIGITAL SIGNAL PROCESSING E8

Athanassios Iossifides DIGITAL SIGNAL PROCESSING E9

ROC: |z| > |a| ROC: |z| < |b|

Athanassios Iossifides DIGITAL SIGNAL PROCESSING E23

and the pole p

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