CHAPTER 3:

CHAPTER 3:
THE Z
THE Z
-
-
TRANSFORM & ITS APPLICATION TO
TRANSFORM & ITS APPLICATION TO
THE ANALYSIS OF LTI SYSTEMS
THE ANALYSIS OF LTI SYSTEMS
Lesson #9: The Z-transform
Lesson #10: Z-transform properties
Lesson #11: Inversion of Z-transform
Lesson #12: Analysis of LTI systems in the z-domain
Lecture #9
Lecture #9
The Z
The Z
-
-
transform
transform
1. Definition of the Z-transform
2. Region of convergence
3. Examples of Z-transform
Introduction to Z
Introduction to Z
-
-
Transform (ZT)
Transform (ZT)
Recall the Laplace Transform:
Z-Transform is the discrete-time counterpart of the Laplace
Transform:

= dt e t f s F
st
) ( ) (

=
n
n
z n f z F ] [ ) (
From Laplace Transform to Z
From Laplace Transform to Z
-
-
Transform
Transform
Take a CT signal f(t) and sample it:


=

=
= =

n n
s
s
sampling
nT t nT f nT t t f t f
t f t f
) ( ) ( ) ( ) ( ) (
) ( ) (

From Laplace Transform to Z
From Laplace Transform to Z
-
-
Transform
Transform
Take the Laplace Transform of the sampled signal:
[ ( )] ( ) ( ) ( ) ( )
( ) ( ) ( )
st st
s
n n
st snT
n n
L f t f nT t nT e dt f nT t nT e dt
f nT t nT e dt f nT e

= =

= =
(
= =
(

= =

Let f(nT) = f[n] and e

sT
= z then:
For a DT signal x[n] = , x[-2], x[-1], x[0], x[1], x[2],
The bilateral Z-transform of x[n] is defined to be
Definition of the Z
Definition of the Z
-
-
transform
transform
Assume that values of z exist such that the summation
converges. z takes values in the complex plane
{ }

= =
n
n
z n x n x ZT z X ] [ ] [ ) (
Sum goes
over all
integer
values
Poles and Zeros of Z
Poles and Zeros of Z
-
-
transform
transform
Poles p
k
X(p
k
) =
Zeros z
k
X(z
k
) = 0
{ }

= =
n
n
z n x n x ZT z X ] [ ] [ ) (
Poles are roots of denominator polynomial
Zeros are roots of numerator polynomial
Note: find these after canceling any common factors and do this
for polynomial in z (not in z
-1
)
Lecture #9
Lecture #9
The Z
The Z
-
-
transform
transform
1. Definition of the Z-transform
2. Region of convergence
3. Examples of Z-transform
ROC: set of all values of z, for which X(z) converges
We will find the ROC for these cases:
1. Right-sided signal (x[n] = 0, n<n
0
)
2. Left-sided signal (x[n] = 0, n>n
0
)
3. Two-sided signal (-<n<+)
4. Finite-duration signal
Region of convergence (ROC)
Region of convergence (ROC)
Right
Right
-
-
sided signal
sided signal
Sum goes
from n
0
to
infinity
Right
Right
-
-
sided signal
sided signal
Infinite Egg White!!!
Right
Right
-
-
sided signal
sided signal
If x[n] is not causal then X(z) will not converge at z =
we cant include in the ROC
Ex: x[n] = u[n+1]
ROC: r
max
< |z| <
Left
Left
-
-
sided signal
sided signal
Left
Left
-
-
sided signal
sided signal
Egg Yolk!!!
Left
Left
-
-
sided signal
sided signal
If x[n] has values at some times > 0, then X(z) does not
converge at z = 0 we cant include 0 in the ROC
Ex: x[n] = u[-n+1]
ROC: 0 < |z| < r
min
Two
Two
-
-
sided
sided
signal
signal
Two-sided signal = Left-sided signal + right-sided signal
Note: if |a| |b| then X(z) does not exist
Donut!!!
Finite
Finite
-
-
duration signal
duration signal
ROC: all of z, except:
z = 0 if k > 0
z = if k < 0
m
n
n
z z ) m n ( ) z ( X

= =

) m n ( ) n ( x = For

=

=
= =
2
1
2
1
] [ ) ( ] [ ] [ ] [
n
n k
k
n
n k
z k x z X k n k x n x
Lecture #9
Lecture #9
The Z
The Z
-
-
transform
transform
1. Definition of the Z-transform
2. Region of convergence
3. Examples of Z-transform
Find the ZT of the right-sided and the left-sided sequences
Examples of Z
Examples of Z
-
-
transform
transform
1 2
[ ] [ ] and [ ] ( ) [ 1]
n n
x n a u n x n a u n = =
| a | | z | ,
a z
z
1 | az |
1 | az |
az 1
1
) az ( z a ) z ( X
1
1
1
0 n
n 1
0 n
n n
1
>

>
<
= = =

Find the ZT of the right-sided and the left-sided sequences
Examples of Z
Examples of Z
-
-
transform
transform
1 2
[ ] [ ] and [ ] ( ) [ 1]
n n
x n a u n x n a u n = =
| a | | z | ,
a z
z
1 | z a |
1 | z a |
z a 1
z a
) z a ( z a ) z ( X
1
1
1
1
1 n
n 1
1 n
n n
2
<

>
<

= = =

The ROC must be specified for the bilateral Z-Transform to be unique
Find the ZT of the left-sided signal
Examples of Z
Examples of Z
-
-
transform
transform
[ ] 3 [ 1] 4 [ 1]
n n
x n u n u n = + .
Find the ZT of the two-sided signal
Examples of Z
Examples of Z
-
-
transform
transform
[ ]
n
x n a
, ,
=
Find the ZT of the two-sided signal
Examples of Z
Examples of Z
-
-
transform
transform
[ ] ( 5) [ 1] 3 [ 1]
n n
h n u n u n = . + .
Find the ZT of the signal
Examples of Z
Examples of Z
-
-
transform
transform
x[n] =
Find the ZT of the right-sided-sided signal
Examples of Z
Examples of Z
-
-
transform
transform
[ ] sin( ) [ ]
n
x n r bn u n =
|

\
|

=
=
=

jb jb
n jb n jb
jbn n jbn n
e r z
z
e r z
z
j 2
1
) z ( X
) n ( u ) re (
j 2
1
) n ( u ) e r (
j 2
1
) n ( u e r
j 2
1
) n ( u e r
j 2
1
) n ( x
| r | | z | ,
r b cos rz 2 z
b sin rz
) n ( u ) bn sin( r
2 2
Z
n
>
+

Lecture #9
Lecture #9
Z
Z
-
-
transform properties
transform properties
1. Linearity
2. Time shifting
3. Frequency scaling
4. Multiplication by n
5. Convolution in time
6. Initial value
7. Final value
Linearity
Linearity
The new ROC is the intersection of ROC{X(z)} and ROC{Y(z)}
If aX(z) + bY(z) cancels pole then the new ROC is bigger
[ ] [ ] ( ) ( )
Z
ax n by n aX z bY z + +
Lecture #9
Lecture #9
Z
Z
-
-
transform properties
transform properties
1. Linearity
2. Time shifting
3. Frequency scaling
4. Multiplication by n
5. Convolution in time
8. Initial value
9. Final value
The new ROC is the same as ROC{X(z)} except for z = 0 if
n
0
>0 and z = if n
0
<0
Proof:
Time shifting
Time shifting
0
0
[ ] ( )
Z
n
x n n z X z

Delay of k means that the Z-transform is multiplied by z
-k
Example of applying the time
Example of applying the time
-
-
shifting property
shifting property
{ } ] 5 [ ) 3 ( ) 1 (
4
1
] [
5
+ =

n u n w
n n
Determine the ZT of the signal:
Lecture #9
Lecture #9
Z
Z
-
-
transform properties
transform properties
1. Linearity
2. Time shifting
3. Frequency scaling
4. Multiplication by n
5. Convolution in time
6. Initial value
7. Final value
The new ROC is the scaled ROC{X(z)} with factor |a|
(bigger or smaller)
Proof:
Frequency scaling
Frequency scaling
|

\
|

a
z
X n x a
Z
n
] [
|

\
|
=
|

\
|
=
=

a
z
X
a
z
n x
z n x a n x a ZT
n
n
n
n n n
] [
] [ ]} [ {
Multiplication by a
n
results in a complex scaling in the z-domain
Example of applying the
Example of applying the
frequency
frequency
-
-
scaling property
scaling property
] [ ] [ n u a n x
n
=
Determine the ZT of the signal:
Lecture #9
Lecture #9
Z
Z
-
-
transform properties
transform properties
1. Linearity
2. Time shifting
3. Frequency scaling
4. Multiplication by n
5. Convolution in time
6. Initial value
7. Final value
The new ROC is the same ROC{X(z)}
Proof:
Multiplication by n
Multiplication by n
dz
z dX
z n nx
Z
) (
] [
dz
z dX
z z n nx n nx ZT
z n nx
z
z n nx
dz
z dX
z n x z X
n
n
n
n
n
n
n
n
) (
] [ ]} [ {
] [
1
] [
) (
] [ ) (
1
= =
= = =

Example of applying the

Example of applying the
multiplication
multiplication
-
-
by
by
-
-
n property
n property
] [ ] [ n u na n x
n
=
Determine the ZT of the signal:
Lecture #9
Lecture #9
Z
Z
-
-
transform properties
transform properties
1. Linearity
2. Time shifting
3. Frequency scaling
4. Multiplication by n
5. Convolution in time
6. Initial value
7. Final value
Convolution in time
Convolution in time
[ ] [ ] [ ] ( ) ( )
Z
y n x n h n X z H z =
The new ROC is the intersection of ROC{X(z)} and ROC{Y(z)}
If poles cancel zeros then the new ROC is bigger
Proof:
[ ] [ ] [ ] [ [ ] [ ]]
Z
n
n k
y n x n h n x k h n k z

= =
=

) ( ). (
] [ ] [
] [ ] [ ) (
) (
z H z X
z k n h z k x
z k n h k x z Y
k n
k n k
k
n
n
k
=
=
=

=
Switching the order of
the summation:
Application of the convolution property
Application of the convolution property
x[n]
h[n]
X(z)
H(z)
ZT
ZT
ZT
-1
x[n]*h[n]
Compute the convolution of the signals:
x
1
[n] = [n] - 2[n-1] + [n-2]
x
2
[n] = [n] + [n-1] + [n-2] + [n-3] + [n-4] + [n-5]
Example
Example
Lecture #9
Lecture #9
Z
Z
-
-
transform properties
transform properties
1. Linearity
2. Time shifting
3. Frequency scaling
4. Multiplication by n
5. Convolution in time
6. Initial value
7. Final value
If x[n] is causal then x[0] is the initial value of the function x[n]
Proof:
Initial value theorem
Initial value theorem
) ( lim ] 0 [ z X x
z
=
0 , ,
... ] 2 [ ] 1 [ ] 0 [ ] [ ) (
2 1
0

+ + + = =

n
n
n
z z as Obviously
z x z x x z n x z X
If x[n] = 0 with n < n
0
then x[n
0
] is the initial value, and
Proof:
Initial value theorem
Initial value theorem
)] ( [ lim ] [
0
0
z X z n x
n
z
=
] [ ) ( ,
... ] 2 [ ] 1 [ ] [ ) (
... ] 2 [ ] 1 [ ] [ ] [ ) (
0
2
0
1
0 0
) 2 (
0
) 1 (
0 0
0
0
0 0 0
0
n x z X z z As
z n x z n x n x z X z
z n x z n x z n x z n x z X
n
n
n n n
n n
n
=
+ + + + + =
+ + + + + = =

+ +

Ex 1: Find the initial value of x[n] where X(z) = z/(z-0.6)

Initial value theorem
Initial value theorem
Ex 2: Find the initial value of x[n] where X(z) = (z^3)/(z-0.6)
Lecture #9
Lecture #9
Z
Z
-
-
transform properties
transform properties
1. Linearity
2. Time shifting
3. Frequency scaling
4. Multiplication by n
5. Convolution in time
6. Initial value
7. Final value
If this limit exists then x[n] has a final value (steady-state
value)
Proof: HW
Final value theorem
Final value theorem
)] ( ) 1 ( lim[ ] [ ] [ lim
1
z X z x n x
z
n
= =

Ex1: unit step u[n]
Ex2: sinusoidal signal
Examples
Examples
Ex3: the impulse response of an LTI system is h[n] = a
n
u[n], |a|<1.
Determine the value of the step response of the system as n
The step response of the system is:
y[n] = h[n]*u[n] Y(z) = X(z).H(z)
Examples
Examples
Lecture #10
Lecture #10
Inversion of Z
Inversion of Z
-
-
transform
transform
1. Inverse Z-transform formula
2. Using partial fraction expansion to invert the ZT
3. Using power series expansion to invert ZT
FT formula building
FT formula building
Using the Cauchy theorem:

=
= =


0 0
0 1
2
1
1
z if
z if
dz z
j
I
C
n

Z: complex variable
Counterclockwise contour integral is along a closed path in
the z plane
FT formula building
FT formula building
Multiplying two sides of ZT definition formula by
1
2
1
l
z
j
Taking the integral:
] [
2
1
] [
] [
2
1
) (
2
1
1 ) (
1 1
l x
dz z
j
n x
dz z z n x
j
dz z z X
j
C
n l
n
C
l
n
n
C
l
=
=
|

\
|
=

Applying the
Cauchy theorem
1 1
] [
2
1
) (
2
1

=
l
n
n l
z z n x
j
z z X
j
Inverse ZT formula
Inverse ZT formula
The inverse ZT is defined by

=
C
1 n
dz z ) z ( X
j 2
1
] n [ x
Counterclockwise contour integral is along a closed path in
the z plane.
LTI case: can avoid integration use easier methods
Lecture #10
Lecture #10
Inversion of Z
Inversion of Z
-
-
transform
transform
1. Inverse Z-transform formula
2. Using partial fraction expansion to invert the ZT
3. Using power series expansion to invert ZT
Distinct poles:
Similar to what you saw for Laplace transforms
Partial fraction expansion
Partial fraction expansion
k
p z
k k
p z
z
z Y
r
=
= ) (
) (
Repeated poles:
Partial fraction expansion
Partial fraction expansion
Z
Z
-
-
Transform table
Transform table
1 ) n (
m
z ) m n (


a z
z
] n [ u a
n

2
n
) a z (
az
] n [ u na

3
n 2
) a z (
) a z ( az
] n [ u a n

2 2
cos 2
) cos (
] [ ) cos(
a az z
a z z
n u n a
n
+


2 2
cos 2
sin
] [ ) sin(
a az z
az
n u n a
n
+


1
2
3
4
5
6
7
2
2 5
( ) 3
( 2)( 3)
z z
X z z
z z

= ,, ,>

Distinct poles
) n ( u ) 2 3 ( ) n ( x
3 | z | ,
2 z
1
3 z
1
) 3 z )( 2 z (
) 3 z ( ) 2 z (
) 3 z )( 2 z (
5 z 2
z
) z ( X
n n
+ =
>

=

+
=


=
Examples of partial fraction expansion
Examples of partial fraction expansion
Divide X(z) by z, to save z for later
2 | z | ,
) 1 z (
C
1 z
B
2 z
A
) 1 z )( 2 z (
1
z 2
) z ( X
2 2
>

=

=
; 1 C ; 1 B ; 1 A
1 ) 2 z ( C ) 2 z )( 1 z ( B ) 1 z ( A
2
= = =
= + +
2 | z | ,
) 1 z (
z
1 z
z
2 z
z
2 ) z ( X
2
>
(

=
2 z ,
) 1 z )( 2 z (
z 2
) z ( X
2
>

=
Repeated poles
) n ( u ) n 1 2 ( 2 ) n ( x
n
=
Examples (cont)
Examples (cont)
2 2
cos 2
sin
] [ ) sin(
a az z
az
n u n a
n
+


5 . 0 | z |
) 5 . 0 (
3
cos z ) 5 . 0 ( 2 z
3
sin z ) 5 . 0 (
x
3
4
) z ( X
2 2
>
+

=
25 . 0 z 5 . 0 z
z
) z ( X
2
+
=
|z| > 0.5
) n ( u n
3
sin ) 5 . 0 (
3
4
) n ( x
n
|

\
|

=
Complex poles
Examples (cont)
Examples (cont)
Time-shift
property
Examples (cont)
Examples (cont)
Divide W(z) by z, to save z for later
4
2
( ) 3
2 3
z
W z z
z z

= ,, ,>

5
4
1
4
1
5
2
5
z
3 z 1 z ) 3 z )( 1 z (
z
3 z 2 z
z
z
) z ( W


|

\
|

+
+

=
+
=

=
] 5 n [ u ) 3 (
4
1
] 5 n [ u ) 1 (
4
1
] n [ w
5 n 5 n
+ =

Examples (cont)
Examples (cont)
Given h(n) = a
n
u(n) (|a|<1) and x(n) = u(n).
Find y(n) = x(n)*h(n)
] n [ u
a 1
a 1
] n [ y
1 n

=
+
Examples (cont)
Examples (cont)
Find the output y(n) to an input x(n) = u(n) and an LTI
system with impulse response h(n) = -3
n
u(-n-1)
] 1 [ ) 3 (
2
3
] [
2
1
] [ = n u n u n y
n
Lecture #10
Lecture #10
Inversion of Z
Inversion of Z
-
-
transform
transform
1. Inverse Z-transform formula
2. Using partial fraction expansion to invert the ZT
3. Using power series expansion to invert ZT
you can pick off x(n) as the coefficients of the series
... ] 2 [ ] 1 [ ] 0 [ ] 1 [ ] 2 [ ... ] [ ) (
2 1 0 1 2
+ + + + + + = =

z x z x z x z x z x z n x z X
n
n
... ... ) (
2
2
1
1
0
0
1
1
2
2
+ + + + + + =


z a z a z a z a z a z X
] [n x a
n

If you can expand X(z) as a series in z
-1
Power series expansion
Power series expansion
0 | z | : ROC >
1 2
( ) 1 2 3 X z z z

= + +
0 ) 2 , 1 , 0 n )( n ( x
3 ) 2 ( x
2 ) 1 ( x
1 ) 0 ( x
=
=
=
=
Find the inverse Z-transform of
Examples of power series expansion
Examples of power series expansion
a z : ROC ,
az 1
1
) z ( X
1
>

=

0 ) 0 n )( n ( x
...
a ) 3 ( x
a ) 2 ( x
a ) 1 ( x
1 ) 0 ( x
... z a z a az 1 ) z ( X
3
2
3 3 2 2 1
= <
=
=
=
=
+ + + + =

Examples (cont)
Examples (cont)
Long division
Lecture #11
Lecture #11
Analysis of LTI systems in the Z
Analysis of LTI systems in the Z
-
-
domain
domain
1. Transfer function
2. LTI system properties from transfer function
3. Unilateral Z-transform
4. Using unilateral Z-Transform to solve the difference
equations
Transfer function
Transfer function
For system impulse response h(n), its ZT is often called
Transfer Function H(z)
Consider H(z) = N(z)/D(z)
The roots of N(z): system zeros
The roots of D(z): system poles
D(z) = 0: characteristic equation
Determination of transfer function
Determination of transfer function
1. From impulse response h(n): Just take Z-Transform
3. From block diagram:
(1) Find the difference equation, then find H(z) from equation
(2) Put X(z) as input, then directly find Y(z) from block diagram
2. From difference equation:
- Take Z-Transform for both side
- Put the Y(z) on left side
- Divide both side by X(z)

=

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

= =
N
0 k
k
k
M
0 r
r
r
z a
z b
) z ( X
) z ( Y
) z ( H
Y(z) = X(z) . H(z)
ZT

Transfer function from difference equation
Transfer function from difference equation

= =
=
M
0 r
r
N
0 k
k
] r n [ x b ] k n [ y a
-Linear
-Time-shift

=
=
=

= = =

k
k
k

r
r
r

k
k
k
M
r
r
r
z a
z b
z a
z b
z X
z Y
z H
0
0
0
0
) (
) (
) (
Multiply num. and den. by z
N
:
Transfer function from difference equation
Transfer function from difference equation
Suppose M = N
For the -filter:
Its transfer function:
For example: y[n] 0.9y[n-1] = 0.1x[n] = 0.1
Example
Example
) ( ) 1 ( ) 1 ( ) ( n x n y n y =
1
0
0
) 1 ( 1
) (

=

= =

z
z a
z b
z H

k
k
k
M
r
r
r

9 . 0
1 . 0
) (

=
z
z
z H
Find the transfer function of the delay unit
Transfer function from block diagram
Transfer function from block diagram
Z
-1
X(z) Y(z)
D
x[n] y[n]
y[n] = x[n-1] Y(z) = z
-1
X(z) H(z) = z
-1
Find the transfer function of this feedback system
Transfer function from block diagram
Transfer function from block diagram
y[n] =( x[n]+y[n]*h
2
[n] ) * h
1
[n]
Y (z) = [X(z)+Y(z).H
2
(z)].H
1
(z)
H
1
(z)
x[n]
y[n]
H
2
(z)
w[n]
) ( ). ( 1
) (
) (
) (
) (
2 1
1
z H z H
z H
z X
z Y
z H

= =
Lecture #11
Lecture #11
Analysis of LTI systems in the Z
Analysis of LTI systems in the Z
-
-
domain
domain
1. Transfer function
2. LTI system properties from transfer function
3. Unilateral Z-transform
4. Using unilateral Z-Transform to solve the difference
equations
Causality
Causality
Recall:
Causal system
h(n) is right-sided signal ROC of transfer function is
An LTI system is causal if and only if the ROC of the transfer
function is the exterior of a circle of radius r
max
<
including the point z =
0 0 ] [ < = n n h
max
r | z | >
Causality (cont)
Causality (cont)
For the causal system, the numerator of H(z) can not be of
higher order than the denominator
If the numerator order is less equal to the denominator
order then the system is causal??? NOT SURE!!!
Consider the system:
6 . 0
9 . 0
6 . 0
9 . 0 4 . 0
) (
2

+
+ =

+ +
=
z
z
z
z
z z
z H
Unit advance y[n]=x[n+1]
noncausal
Example
Example
Numerator order is 1; denominator order is 1; but it is non-
causal!!!
Consider this system:
1 | :|
1
) (
] 1 [ ] [
<

=
=
z ROC
z
z
z H
n u n h
Stability
Stability
Recall:
Stable system
Its transfer function:
<

+
= n
n h ] [


=

= =
n
n
n
n
n
n
| z | | ] n [ h | | z ] n [ h | | ) z ( H | z ] n [ h ) z ( H

n
| ] n [ h | | ) z ( H |
Unit circle |z| = 1
The ROC includes |z| = 1
An LTI system is BIBO stable if and only if the ROC of the
transfer function includes the unit circle.
The conditions for causality and stability are different and
one does not imply the other
4 cases:
- Causal and stable system
- Non-causal and stable system
- Causal and unstable system
- Non-causal and unstable system
A causal system is BIBO stable, provided that all poles of
H(z) lie inside the unit circle.
Causality and Stability
Causality and Stability
Ex1: Given an LTI system:
Examples
Examples
48 . 0 96 . 1 5 . 2
9 . 0 6 . 1 2
) (
2 3
2
+

=
z z z
z z
z H
The poles of H(z):
den = [1 -2.5 1.96 -0.48];
p = roots(den)
1. |z|>1.2: causal, unstable
2. 0.8<|z|<1.2: non-causal, stable
3. 0.5|z|<0.8: non-causal, unstable
p = 1.2 0.8 0.5
Ex2: A LTI system is characterized by:
Examples
Examples
3
2
5 . 0 5 . 1 5 . 3
) 4 3 (
5 . 1 5 . 3 1
4 3
) (
2 2 1
1

=
+

=
+

=

z
z
z
z
z z
z z
z z
z
z H
Specify the ROC of H(z) and find h[n] for the following conditions:
1. The system is stable
2. The system is causal
3. The system is anticausal
Ex2: A LTI system is characterized by:
Examples
Examples
3
2
5 . 0 5 . 1 5 . 3
) 4 3 (
5 . 1 5 . 3 1
4 3
) (
2 2 1
1

=
+

=
+

=

z
z
z
z
z z
z z
z z
z
z H
Invertibility
Invertibility
H(z).H
i
(z) = 1
H
i
(z) = 1/H(z)
The inverse of a system H(z) is a second system H
i
(z) that,
when cascaded with H(z), yields the identity system
H(z) H
i
(z)
X(z) X(z)
H(z) = N(z)/D(z) H
i
(z) = D(z)/N(z)
H(z) is causal MN and if H
i
(z) is causal NM.
Hence, for both systems to be causal M = N
H(z) is stable: all poles lie inside the unit circle.
H
i
(z) is stable: all poles (zeros of H(z)) lie inside the unit circle.
Hence, for both systems to be stable, both the poles and
zeros of H(z) must lie inside the unit circle
Invertibility
Invertibility
Lecture #11
Lecture #11
Analysis of LTI systems in the Z
Analysis of LTI systems in the Z
-
-
domain
domain
1. Transfer function
2. LTI system properties from transfer function
3. Unilateral Z-transform
4. Using unilateral Z-Transform to solve the difference
equations
In control applications, causal systems are interested in:
h[n] = 0 with all n < 0
When considering CT causal systems, the Unilateral
Laplace Transform is used
Similarly, when considering DT causal systems, the
Unilateral Z-transform is used
Unilateral Z
Unilateral Z
-
-
Transform
Transform
In difference equations, the initial conditions are non-zero
the Unilateral Z-Transform is used
1. It does not contain information about the signal x[n] for n<0
Unilateral ZT
Unilateral ZT
) ( ] [ :
] [ ) (
0
z X n x otation
z n x z X
Z
n
n
+

=
+
+

2. Unilateral X
+
(z) is identical to the bilateral X(z) of the signal
x[n].u[n]
3. ROC of X
+
(z) is always outside a circle no need to refer to
ROC
Ex.: x(n-1) x(-1) + z
-1
X
+
(z)
x(n-2) x(-2) + z
-1
x(-1) + z
-2
X
+
(z)
Time shifting property of unilateral ZT
Time shifting property of unilateral ZT
0 , ] [ ) ( ) (
) ( ] [
1
> +

=
+
+
+
+
k z i x z z X z k n x then
z X n x If
k i
i k k
Z
Z
Lecture #11
Lecture #11
Analysis of LTI systems in the Z
Analysis of LTI systems in the Z
-
-
domain
domain
1. Transfer function
2. LTI system properties from transfer function
3. Unilateral Z-transform
4. Using unilateral Z-Transform to solve the
difference equations
1. Take the unilateral ZT of equation
2. Find the output in the Z-domain, Y(z)
3. Use inverse ZT to get the output y(n) from Y(z)
Using Z
Using Z
-
-
transform to solve the
transform to solve the
difference equation
difference equation
] r n [ x b ] k n [ y a
M
0 r
r
N
0 k
k
=

= =
Example
Example
Find the output,
of the system
in two cases:
a)
b)
0 n ], n [ y
] n [ x ] 2 n [ y 2 ] 1 n [ y 3 ] n [ y + =
0 ] 1 [ y , 0 ] 2 [ y ], n [ u 3 ] n [ x
2 n
= = =

3
1
] 1 [ y ,
9
4
] 2 [ y ], n [ u 3 ] n [ x
2 n
= = =

a) Take the bilateral ZT of the equation:
2 z 3 z
z
3 z
z
9
1
) z ( Y
z 2 z 3 1
1
3 z
z
9
1
) z ( Y
3 z
z
9
1
) z 2 z 3 1 )( z ( Y
) z ( X ) z ( Y z 2 ) z ( Y z 3 ) z ( Y
] n [ x ] 2 n [ y 2 ] 1 n [ y 3 ] n [ y
2
2
2 1
2 1
2 1
+
=
+
=

= +
+ =
+ =



Example
Example
b) Take the unilateral ZT of the equation:
) 2 z 3 z (
z
) 3 z ( z
2 z
) z ( Y
z 2 z 3 1
1
9
8
z
3
2
1
3 z
z
9
1
) z ( Y
) 2 ( y 2 ) 1 ( y z 2 ) 1 ( y 3
3 z
z
9
1
) z 2 z 3 1 )( z ( Y
) z ( X )] 2 ( y ) 1 ( y z ) z ( Y z [ 2 )] 1 ( y ) z ( Y z [ 3 ) z ( Y
] n [ x ] 2 n [ y 2 ] 1 n [ y 3 ] n [ y
2
2
2 1
1
1 2 1
1 2 1
+

=
|

\
|
+
|

\
|
+ +

=
+

= +
+ + + + =
+ =

Example
Example
Prob.1 Find the ZT and ROC of the following signals using the
definition formula:
HW
HW
{ }

<

=
=

0 ) (
0 ) (
] [ )
4 0
5 ) (
] [ )
4 , 1 , 6 , 0 , 0 , 0 , 0 , 3 ] [ )
2
1
3
1
2
1
n
n
n v c
n
n
n y b
n x a
n
n
n
Prob.2 Find the ZT and ROC of the following signals. Tables may be
used
HW
HW
( )
( ) ]) 10 [ ] [ ( ] [ )
] 1 [ ] [ )
2
1
1
3
1
2
1
=
=

n u n u n h b
n u n n v a
n
n
Prob.3
HW
HW
Prove the final value theorem
)] ( ) 1 ( lim[ ] [ ] [ lim
1
z X z x n x
z
n
= =

Prob.4
11.6
Prob.5
11.10 a, b, c
Prob.6 Find x(n)*h(n)
HW
HW
( )
] 1 [ 2 ] [ , ] [ ] [ )
] [ ) ( ] [ ] [ , ] [ ] [ )
] [ ] ) ( 1 [ ] [ , ] 1 [ ] [ )
2
1
2
1
4
1
= =
+ = =
+ = =
n u n h n nu n x c
n u n n h n u n x b
n u n h n u n x a
n
n
n
n

Prob.7
11.15
HW
HW
Prob.8
11.18
Prob.9
11.24
Prob.10
HW
HW
Given the system:
2
25
2
1
5
6
2
2
1
1
z z 1
z z
) z ( H


+
+
=
a) Find its impulse response
b) Find the zero-state step response and step-response
with the initial conditions as y(-1) = 1 and y(-2) = 2
c) Draw its block diagram
Prob.11
HW
HW
We want to design a causal LTI system with the property that if
the input is x[n] = (0.5)
n
u[n] -0.25(0.5)
n-1
u[n-1]
then the output is y[n] = (1/3)
n
u[n]
a) Find H(z) and then h(n) of a system that satisfies the
foregoing conditions
b) Find the difference equation that characterizes this system
c) Determine a realization of the system that requires the
minimum possible amount of memory
d) Determine if the system is stable
Prob.12 Use the one-sided ZT to determine y(n), n0 in the
following cases
HW
HW
( )
1 ] 2 [ ; 0 ] 1 [ ; ] [ ] [
; ] [ ] 2 [ ] [ )
; 1 ] 1 [ ; ] [ ] [
; ] [ ] 1 [ ] [ )
4
1
3
1
2
1
= = =
+ =
= =
+ =
y y n u n x
n x n y n y b
y n u n x
n x n y n y a
n