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Introduction
z-Transform
Zeros and Poles
Region of Convergence
Important z-Transform Pairs
Inverse z-Transform
z-Transform Theorems and Properties
System Function
The z-Transform
Introduction
Why z-Transform?
A generalization of Fourier transform
Why generalize it?
T does not converge on all sequence
otation good for analysis
ring the power of complex variable theory deal
with the discrete-time signals and systems
The z-Transform
z-Transform
Definition
The z-transform of sequence x(n) is defined by
X ( z)
x ( n) z
n
Let
z = ej.
j
X (e )
x ( n )e
Fourier
Transform
j n
z-Plane
X ( z)
x ( n) z
z = ej
n
j
X (e )
x ( n )e
Im
j n
Re
Fourier
Fourier Transform
Transform isis to
to evaluate
evaluate z-transform
z-transform
on
on aa unit
unit circle.
circle.
z-Plane
Im
X(z)
z = ej
Re
Im
Re
Periodic Property of FT
X(ej)
X(z)
Im
Re
Can
Canyou
yousay
saywhy
whyFourier
FourierTransform
Transformisis
aaperiodic
periodicfunction
functionwith
withperiod
period2?
2?
The z-Transform
Zeros and Poles
Definition
Give a sequence, the set of values of z for which the ztransform converges, i.e., |X(z)|<, is called the region of
convergence.
| X ( z ) |
n
x
(
n
)
z
n
|
x
(
n
)
||
z
|
ROC
ROC is
is centered
centered on
on origin
origin and
and
consists
consists of
of aa set
set of
of rings.
rings.
Example: Region of
Convergence
| X ( z ) |
n
x
(
n
)
z
Im
n
|
x
(
n
)
||
z
|
ROC
ROCisisan
an annual
annualring
ringcentered
centered
on
on the
theorigin.
origin.
r
Re
Rx | z | Rx
j
ROC {z re | Rx r Rx }
Stable Systems
A stable system requires that its Fourier transform is uniformly
convergent.
Im
Re
x(n)
...
-8 -7 -6 -5 -4 -3 -2 -1
1 2 3 4 5 6 7 8 9 10
xx((nn))aa uu((nn))
nn
X ( z)
a u (n)z
n
1
|
az
|
n 0
| z || a |
a n z n
n 0
(az 1 ) n
n 0
| az 1 | 1
1
z
X ( z ) (az )
1
1 az
za
n 0
1 n
| z || a |
z ,
,
zzaa
| |zz||| |aa| |
Which
Which one
one isis stable?
stable?
Im
Im
Re
Re
-8 -7 -6 -5 -4 -3 -2 -1
1 2 3 4 5 6 7 8 9 10
...
x(n)
X ( z ) a u (n 1)z
n
n
1
a n z n
1
|
a
z|
| a 1 z | 1
n 0
| z || a |
a n z n
n 1
1 a n z n
n 0
1
z
X ( z ) 1 (a z ) 1
1
1 a z z a
n 0
1
| z || a |
z ,
,
zzaa
| |zz||| |aa| |
Which
Which one
one isis stable?
stable?
Im
Im
Re
Re
The z-Transform
Region of
Convergence
Represent z-transform as
a Rational Function
P( z )
X ( z)
Q( z )
x ( n) a n u ( n)
| z || a |
Im
Re
x(n) a n u ( n 1)
| z || a |
Im
Re
1
1
z2 z3
( z 12 )( z 13 )
Im
1/2
Re
1
1
z3 z2
( z 13 )( z 12 )
Im
1/12
1/3
1/2
Re
0 n N 1
X ( z) a z
n 0
Im
N 1
( az )
1 n
n 0
N-1 zeros
1 (az 1 ) N
1 az 1
1 zN aN
N 1
z
za
N-1 poles
Re
Always
Always Stable
Stable
Properties of ROC
A ring or disk in the z-plane centered at the origin.
The Fourier Transform of x(n) is converge absolutely iff the ROC includes
the unit circle.
The ROC cannot include any poles
Finite Duration Sequences: The ROC is the entire z-plane except possibly
z=0 or z=.
Right sided sequences: The ROC extends outward from the outermost finite
pole in X(z) to z=.
Left sided sequences: The ROC extends inward from the innermost nonzero
pole in X(z) to z=0.
Find
Find the
the possible
possible
ROCs
ROCs
a b
Re
Re
Re
Re
Im
a b
Re
The z-Transform
Important
z-Transform Pairs
Z-Transform Pairs
Sequence
z-Transform
(n)
( n m )
z m
ROC
All z
All z except 0 (if m>0)
or (if m<0)
u (n)
1
1 z 1
| z | 1
u ( n 1)
1
1 z 1
| z | 1
a u (n)
1
1 az 1
| z || a |
a n u (n 1)
1
1 az 1
| z || a |
Z-Transform Pairs
Sequence
z-Transform
1 [cos 0 ] z 1
1 [2 cos 0 ]z 1 z 2
| z | 1
[sin 0 ] z 1
1 [ 2 cos 0 ] z 1 z 2
| z | 1
1 [ r cos 0 ]z 1
1 [ 2r cos 0 ]z 1 r 2 z 2
| z | r
[ r sin 0 ] z 1
1 [2r cos 0 ]z 1 r 2 z 2
| z | r
1 a N zN
1 az 1
| z | 0
an
0 n N 1
otherwise
ROC
The z-Transform
Inverse zTransform
Methods
1. Long division
2. Residue
3. Convolution
4. Partial fraction
The z-Transform
z-Transform
Theorems and
Properties
Linearity
Z[ x(n)] X ( z ),
z Rx
Z[ y (n)] Y ( z ),
z Ry
Z[ax(n) by (n)] aX ( z ) bY ( z ),
z Rx R y
Overlay of
the above two
ROCs
Shift
Z[ x(n)] X ( z ),
z Rx
Z[ x(n n0 )] z X ( z )
n0
z Rx
Z[ x(n)] X ( z ),
Rx- | z | Rx
Z[a x(n)] X (a z )
n
z | a | Rx
Differentiation of X(z)
Z[ x(n)] X ( z ),
dX ( z )
Z[nx(n)] z
dz
z Rx
z Rx
Conjugation
Z[ x(n)] X ( z ),
Z[ x * (n)] X * ( z*)
z Rx
z Rx
Reversal
Z[ x(n)] X ( z ),
Z[ x(n)] X ( z )
z Rx
z 1 / Rx
z Rx
1
2j
[ X ( z ) X * ( z*)]
z Rx
z Rx
for n 0
x(0) lim X ( z )
z
Convolution of Sequences
Z[ x(n)] X ( z ),
Z[ y (n)] Y ( z ),
z Rx
z Ry
Z[ x(n) * y (n)] X ( z )Y ( z )
z Rx R y
Convolution of Sequences
x ( n) * y ( n)
x(k ) y (n k )
Z[ x(n) * y (n)]
x(k ) y(n k )z
X ( z )Y ( z )
x(k ) y(n k )
x(k ) z k
n
y
(
n
)
z
The z-Transform
System
Function
Shift-Invariant System
y(n)=x(n)*h(n)
x(n)
h(n)
h(n)
X(z)
H(z)
Y(z)=X(z)H(z)
Shift-Invariant System
X(z)
Y(z)
H(z)
H(z)
YY((zz))
H
H((zz))
XX ((zz))
M
M
aa yy((nnkk))
bb xx((nnrr))
kk00
kk
rr00
rr
k 0
r 0
Y ( z ) ak z k X ( z ) br z r
M
M
rr
H
H((zz))
bbrrzz
rr00
NN
kk
aakkzz
k 0
k 0
Representation in
Factored Form
Contributes poles at 0 and zeros at cr
M
M
H
H((zz))
11
AA
(
1
c
z
(1 crr z ))
rr11
NN
11
(
1
d
z
)
(
1
d
z
r
r )
kk11
Im
M
M
H
H((zz))
11
AA
(
1
c
z
(1 crr z ))
rr11
NN
11
(
1
d
z
)
(
1
d
z
r
r )
kk11
Re
Im
M
M
H
H((zz))
11
AA
(
1
c
z
(1 crr z ))
rr11
NN
11
(
1
d
z
)
(
1
d
z
r
r )
kk11
1
Re
Example
Consider the causal system characterized by
y (n) ay (n 1) x(n)
11
H
H((zz))
11
11az
az
h( n) a n u ( n)
Im
1
Re
Example:
zzzz11
HH((zz))
((zz pp11)()(zz pp22))
j
j0 0 z
e
j
HH((ee j00)) j0 e jz101
((ee j0 pp11)()(ee j0 pp22))
p1
e j 0
z1
Re
p2
H(e
H(e )=?
)=?
A LTI system
by its
jj is completely characterized
jj
pole-zero pattern.
|H(e
|H(e )|=?
)|=?
Im
Example:
zzzz11
HH((zz))
((zz pp11)()(zz pp22))
j
j0 0 z
e
j
HH((ee j00)) j0 e jz101
((ee j0 pp11)()(ee j0 pp22))
p1
e j 0
z1
Re
p2
H(e
H(e )=?
)=?
A LTI system
by its
jj is completely characterized
jj
pole-zero pattern.
|H(e
|H(e )|=?
)|=?
Im
Example:
j
|H(e )| =
|
|
|
||
H(ej) = 1(2+ 3 )
z1
p1
e j 0
1
p2
Re
Example
11
H
H((zz))
11
11az
az
dB
20
Im
10
0
-10
Re
0
-1
-2
Discrete Fourier
Series(DFS)