Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

ECSE 304 Signals and Systems II Lecture 8: Unilateral z-Transform and Time - Frequency Analysis of D-T Systems
Reading: O and W, Sections 10.4 and 10.9 Richard Rose McGill University Dept. of Electrical and Computer Engineering
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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Outline
Definition and Properties of the Unilateral z-Transform Solving Linear Constant-Coefficient Difference Equations with Non-Zero Initial Conditions Time and Frequency Analysis of Discrete Time Systems

Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Unilateral z-Transform
The unilateral z-Transform of a sequence x[n] is defined as
X( z ) :$
n $0

% x[n]z # n

!"

Adopt shorthand notation for x[n] and its unilateral z-Transform

x[n] ( # ( z ) $ !" & x[n]'
!"

The unilateral z-Transform differs from the bilateral zTransform in that the summation is carried out only over positive values of n, even if x[ n] is nonzero for n ) 0
Side effect: ROC of unilateral z-Transform is always the exterior of a circle in the z plane
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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Unilateral z-Transform
The unilateral and bilateral z-Transform of sequence are not necessarily the same, even for right-sided sequences: Example: Consider the sequence x[n] $ a n !1u[n ! 1]
Bilateral z-Transform: Apply the time shifting property to the zTransform of a nu[n]
X ( z) $ z z2 $ , 1 # az #1 z # a z *a

Unilateral z-Transform:

#( z) $ $

n $0

% a n!1z # n $ a % (az #1 )n
n $0

!"

!"

, z *a 1 # az #1 The unilateral and bilateral transforms are not equal

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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Unilateral z-Transform
Inverse unilateral z-Transform:
Partial Fraction Expansion: Select all ROCs of individual terms to be regions of the z-plane that are exterior to disks Example: The inverse z-Transform of
# ( z) $ 1 1 # az #1

can only be considered for z * a Power Series Expansion: The series must be in negative powers of z Example: In performing long division on:
1 1 # az
#1

$ 1 ! az #1 ! a 2 z #2 ! ...

the expansion can only include negative powers of z

This follows from the definition of the unilateral z-Transform stating that the summation only includes negative powers of z
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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Unilateral z-Transform Properties

For a unilateral z-Transform pair x[n] ( # ( z) many of the properties are identical to bilateral z-transform properties:
Linearity, scaling in the z-domain, time-expansion, conjugation, and differentiation
!"

Several Properties differ from the bilateral case: Time Delay:

If y[n] $ x[n # 1] , then the unilateral z-Transform of y[n] is:
$( z) $
n $0

% x[n # 1]z #n $ x[#1] ! % x[n # 1]z #n

n $1 m $0

"

"

$ x[#1] !

% x[m]z #(m!1)
#1 m $0

"

$ x[#1] ! z

% x[m]z

"

Substitution of variables
#m
!"

#1 So the unilateral z-Transform pair is: x[n # 1] ( z # ( z ) ! x[#1]

Same as bilateral z-transform with the added initial condition

Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Unilateral z-Transform Properties

Time Advance: By a similar argument:
x[n ! 1] ( z# ( z) # zx[0]
Note differences from corresponding bilateral z-Transform properties
!"

Convolution: For two causal signals x1[n] ( #1 ( z) and

x1 [n]+ x 2 [n] ( #1 ( z)#2 ( z)
Note that the resulting signal will also be causal:
y[n] $ x1[n] + x2 [n] $ % x1[m]x2 [n # m]
m $#" !" !"

!"

x 2 [n] ( #2 ( z)

!"

!"

$ % x1[m]u[m]x2 [n # m]u[n # m]
m $#" n

$ % x1[m]x2 [n # m]
m $0

Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Solution of Difference Equations with Initial Conditions

The unilateral z-Transform is used for solving difference equations with non-zero initial conditions Recursive application of the time delay property demonstrates how initial conditions appear:
x[n # m] ( z # m X ( z ) ! z # m!1 x[#1] ! ! ! z #1 x[#m ! 1] ! x[# m]
UZ

Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Solution of Difference Equations with Initial Conditions

Example: Consider difference equation y[n] ! 3 y[n # 1] $ x[n] with input x[n] $ ,u[n] and initial condition y[ #1] $ Solve this equation for y[n] in terms of , and Take the unilateral z-Transform of both sides of the diff. eq.:
$ ( z ) ! 3z #1$ ( z ) ! 3 y[ #1] $ # ( z ) (1 ! 3z #1 )$ ( z ) ! 3- $

,
1 # z #1

Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Solution of Difference Equations with Initial Conditions

Solve for $ ( z ) :
$( z ) $ # 3, ! , z *3 (1 ! 3z #1 ) (1 ! 3z #1 )(1 # z #1 )
Zero state response: Nonzero only if the input x[n] $ ,u[n] is nonzero

Zero input response: Nonzero only if the initial condition y[ #1] $ - is nonzero

Zero State Response: Obtained by setting the initial conditions equal to zero Zero Input Response: The response to initial condition alone, obtained by setting the input equal to zero
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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Solution of Difference Equations with Initial Conditions

To obtain y[n] , expand the zero state response by PFE:
,
(1 ! 3z )(1 # z )
#1 #1

3 4

,
#1

1 ! 3z

1 4

1 # z #1

The unilateral z-Transform is given by:

$( z ) $
3 4

, # 3#1 z *3

1 ! 3z% " #$ $

1 4

1 # z #1 " #%
z *1

From the z-Transform Table:

1 3 y[n] $ ( 4 , # 3- )( #3) n u[ n] ! ,u[n] 4

ROC for unilateral zTransform is always outside of disk for largest pole

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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

An Aside Relationship Between z-Transform and Laplace Transform

Discrete time systems can be analyzed as if they were continuous time systems:
Discrete System y[ n] x[n]

x (t ) $ % x[n]. (t # nT )
n $0

"

Sampled Continuous System "

n $0

y (t ) $ % y[n]. (t # nT )

H ( z)
Sampled Signal
#1

H (e sT )
Replace delay elements z with delay elements that have transfer function e # sT

Z-Transform can be considered to be the Laplace transform with a change of variable: z $ e sT Later, we will discuss sampling and the limitations posed on the sample interval, T, to enable us to recover x(t) from x[n]
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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

An Aside Relationship Between z-Transform and Laplace Transform

Mapping from s-plane to z-plane:

z $ e Ts $ e T (, ! j/ ) $ e,T e j/T $ e,T (cos /T ! j sin /T) $ e,T 0/T 1 z $ e,T & 0z $ /T
S-plane imaginary axis maps to unit circle Left half of s-plane:, ) 0 1| z |) 1 maps to inside of unit circle Right half of s-plane:, * 0 1| z |* 1 maps to outside of unit circle
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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

An Aside Relationship Between z-Transform and Laplace Transform

Im B A C Re A B C s-plane : Stable Region : Unstable Region z-plane : Boundary between the Stable and Unstable Region
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Im

Re

Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Time and Frequency Analysis of D-T Systems

The frequency response of a system whose ROC includes the unit circle is defined to be: The DTFT of its impulse response, or j/ H ( z ) evaluated on the unit circle z $ e Write H ( z ) in a factorized form:
H ( z) $ A ( z # z1 )! ( z # z M ) ( z # p1 )! ( z # p N )
e # p1 ! e # pN

We can evaluate its e j/ # z1 ! e j/ # z M j/ magnitude on the unit circle: H (e ) $ A j/ j/

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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Time and Frequency Analysis of D-T Systems

H (e ) $ A
j/

e j/ # z1 ! e j/ # z M e j/ # p1 ! e j/ # p N
k

Analyze by j/ moving the point e along the unit circle

| H (e j/ ) |

- Approaching a pole, pk $ rk e j2 , decreases e j/ # pk and increases | H (e j/ ) | - Approaching a zero, z k $ rk e j2 , decreases e j/ # z and decreases | H (e j/ ) | k
k

H ( z) $ A

( z # 1)( z ! 1) ( z # jr )( z ! jr )

3-D Plot of System Function

Pole-Zero16 Plot

Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Time and Frequency Analysis of D-T Systems

The phase of H (e j/ ) is obtained from its factored form as:
0H (e j/ ) $ 0A ! 0(e j/ # z1 ) !!!0(e j/ # z M ) # 0(e j/ # p1 ) #!#0(e j/ # p M )
j/ j/ 0H (e j/ ) is sum of angles for poles and zeroes: e # pk , e # z k

Example: Second Order System with poles at p1,2 $ re 3 j2 , 0 ) r ) 1

z2 1 H ( z) $ $ , 1 # 2r cos2z #1 ! r 2 z #2 z 2 # 2r cos2z ! r 2 z *r

DTFT given by:

H (e ) $ $
j/

e j 2/ (e j/

e j 2/ # 2r cos2e j/ ! r 2 e j 2/ # re j2 )(e j/ # re # j2 )
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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Time and Frequency Analysis of D-T Systems

The magnitude can be analyzed from the pole-zero plot:
Im{z}

e j/
v1
p1

v3

p1 $ re j2

H(e j/ )

/
-1

2
1

v2
p2

Re{z}

p2 $ re# j2
v3
2

-45

7 #2 65

72

45

[from Boulet]

[from Boulet]

and is given by:

H (e j/ ) $

v1 v 2

1 v1 v 2

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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Time and Frequency Analysis of D-T Systems

The phase is given by:
0H (e j/ ) $ 20v 3 # 0v1 # 0v 2 $ 2/ # arctan

FG sin / # Im{ p } IJ # arctanFG sin / # Im{ p } IJ H cos/ # Re{ p }K H cos/ # Re{ p }K

1 2 1 2

0H (e j/ ) 4895
45

-45

65 #4895

[from Boulet]

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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Second Order Section MatLab Example

Plot Magnitude and Phase of a 2nd Order System z2 H ( z) $ 2 , z *r z # 2r cos 2 z ! r 2

r=0.8; % pole radius theta = 0.8; % pole angle b1 = -2 * r * cos(theta); % denominator coeff b2 = r*r; % denominator coeff NUM = [1 0 0]; % numerator: z^2 DEN = [1 b1 b2]; % denominator: z^2 + b1*z + b2 Omega = linspace(-pi,pi,400); % Omega: frequency axis H = tf(NUM,DEN,-1) % tf: create a transfer function H_Omega = squeeze(freqresp(H,Omega)); % freqresp: compute freq response % 2 Plots: Magnitude, abs(H_Omega), and Phase, angle(H_Omega), vs. Freq. subplot(2,1,1); plot(Omega,abs(H_Omega),'k'); axis tight; xlabel('\Omega'); ylabel('|H[e^{j \Omega}]|'); subplot(2,1,2); plot(Omega,angle(H_Omega)*180/pi,'k'); axis tight; 20 xlabel('\Omega'); ylabel('\angle H[e^{j \Omega}] [deg]');

Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Matlab Example
Magnitude and Phase of Second Order System 3.5 3 |H[ej : ]| 2.5 2 1.5 1 0.5 -3 -2 -1 0 1 2 3

r=0.8 0.8 r= theta = 0.3 theta=0.8

60 40
j 0 H[e : ] [deg]

20 0 -20 -40 -60 -3 -2 -1 0 1 2 3

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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Matlab Example
Magnitude and Phase of Second Order System 30 25 |H[ej : ]| 20 15 10 5 -3 -2 -1 0 1 2 3 r = 0.98 theta = 0.8

100 50 0 -50 -100 -3 -2 -1 0 1 2 3

j 0 H[e : ] [deg]

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Lecture 8 The Unilateral z-Transform

ECSE304 Signals and Systems II

Matlab Example
Magnitude and Phase of Second Order System 70 60 |H[ej : ]| 50 40 30 20 10 -3 -2 -1 0 1 2 3 r = 0.98 theta = 0.3

100
j 0 H[e : ] [deg]

50 0 -50 -100 -3 -2 -1 0 1 2 3

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