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M. Sami Fadali
Professor of Electrical Engineering
UNR
=time delay operator
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Identities Used Repeatedly Unit Impulse
1
-1 0 1
Definition 2.1:
Impulse-sampled version:
, Laplace transform
z-transform obtained using Definition 2.2
same as Definition 2.1
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-1 0 1 2 -1 0 1 2
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Z-transform Properties Time Delay
Linearity: Use Definition 2.2 and the linearity Use the time delay property of the Laplace
of the Laplace transform. transform _
Z Z
Example
Example
Z
Z Z
Z Z
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Z
Z
Using proof by induction, generalize
Z
Change index of summation to
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Example Discrete-Time Convolution
Use the time advance property to find the z-
transform of the causal sequence
Z Z
Solution
Proof: Let the convolution give
Easier solution:
Write the sequence as
Use the linearity of the z-transform. Causal Sequence
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Multiplication by Exponential Example
Z Find the z-transform of the exponential
sequence
Proof
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(same as earlier example ) 18
Z Substitute for
Z Z
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Example
Inversion of the z-Transform
Find the z-transform of the sampled ramp sequence
Three types of z-domain functions F(z): Residue = partial fraction coefficient of the
with simple (non-repeated) real poles. term of the expansion
with complex conjugate & real poles.
with repeated poles.
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. .
Solution: Solve using two different methods. .
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MATLAB Results
numerator ,
r= k=
denominator
40.0000 []
>> num = [1, 1]
-90.0000
>> den = [1, 0.3, 0.02, 0]
50.0000
Partial Fraction Coefficients
p=
>> [r, p, k] = residue( num, den)
-0.2000
p = poles, r = residues
-0.1000
k = coefficients of remainder polynomial.
0
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.
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II: Complex Conjugate & Simple
Example (cont.)
Real Roots
Partial Fraction Expansion
Use the following z-transforms ( rad.)
Z
(ii) Table Lookup (use the delay theorem)
Same denominator with complex conjugate
roots:
,
(Verify: same answer as before)
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Use
= angle of pole ( partial fraction coefficient )
Use:
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Example Example (cont.)
Find the inverse z-transform of Multiply by the denominator & equate coefficients
. .
Check calculations
= 0.9(20)+19.6890.1(1.311) 1.557 0
Partial fraction expansion (multiply eqn. by )
.
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0
-0.5
-1.5
-3 -2 -1 0 1 2 3
Real Axis
. .
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Example (cont.) MATLAB
19.689 0.656 2.213 0.656 2.213 numerator , denominator
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0.1 0.5 0.5 0.5 0.5 >> num = 5*[1, 3]
Convert from Cartesian to polar form >> den = [1, 0.1, 0.4, 0]
.
>> denp =conv(den1, den 2) % Multiply polynomials
Partial Fraction Coefficients
Inverse z-transform to obtain
>> [r, p, k] = residue( num, den)
3 p = poles, r = residues , k = coefficients of the
20 19.689 0.1 4.616 0.707 cos 1.283
4 polynomial resulting from dividing the numerator by
as obtained earlier. the denominator.
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j r 1 Solution
(i) Partial Fraction Expansion (Dividing by z)
1 d i 1
A1, i i 1
( z z1 ) r F ( z ) , i 1, 2, ... , r
(i 1) ! d z z z1
. .
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Example (cont.) The Final Value Theorem
Theorem 2.1 The Final Value Theorem
Evaluating at yields If a sequence approaches a constant limit
as tends to infinity, then the limit is given
by
Lim
Lim
Using the delay theorem gives the same answer
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Z-transform Solution of
(ii) Solve for X(z)
Difference Equations
Example 2.19: Solve the linear difference equation
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(iii) Partial fraction expansion Equating Coefficients
The partial fraction of is Multiply by the denominator
Equate coefficient of
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12
10
0
0 1 2 3 4 5 6 7
k
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