2.

Z-transform and theorem

E(s)

R(s)

M(s)
Gc(s)

Controller

GP(s)

Y(s)

Plant
GHP(z)

R(z)

M(z)

E(z)

ZOH

Gc(z)

A/D

Y(z)
GP(s)

D/A

Computer system

Plant

2. Z-transform and theorem

f(kT)

f(t)

A/D
time

Time kT

f(kT)

f(kT)
D/A
Time kT

Time kT

2. Z-transform and theorem

How can we represent the sampled data
mathematically?
For continuous time system, we have a
mathematical tool Laplace transform. It
helps us to define the transfer function of a
control system, analyse system stability and
design a controller. Can we have a similar
mathematical tool for discrete time system?

2.1 Z-transform
For a continuous signal f(t), its sampled data can be
written as,

f s (t ) f (kT ) f (0) f (T ) f (2T ) f (nT )

Then we can define Z-transform of f(t) as

n 0

F ( z ) Z [ f (t )] Z [ f (nT )] f (nT ) z n
n 0

f (0) f (T ) z 1 f (2T ) z 2

where z-1 represents one sampling period delay in

time.

2.1 Z-transform
Solution:
Example 1: Find the Z-transform of unit step
f(t)
function.
f(kT)

kT

2.1 Z-transform
Apply the definition of Z-transform, we have

F ( z ) Z [ f (t )] Z [ f (kT )] f (kT )z k
k 0

1 z 1 z 2
a
a aq aq aq
1 q
1
1
2
F ( z) 1 z z
1 z 1
2

2.1 Z-transform
Another method

F ( z ) Z [ f (t )] Z [ f (kT )] f (kT )z k
k 0

1 z 1 z 2
z 1 F ( z ) z 1 (1 z 1 z 2 ) z 1 z 2 z 3
1
1
F ( z) z F ( z) 1 F ( z)
1 z 1

2.1 Z-transform
Example 2: Find the Z-transform of a
exponential decay.
f(t)
Solution:
f (kT ) e akT

F ( z ) Z [ f (kT )] e akT z k
k 0

1 e aT z 1 e 2 aT z 2
1
F ( z)
1 e aT z 1

2.1 Z-transform
Exercise 1: Find the Z-transform of a
exponential decay f(t)=e-at using other
method.
f(t)
t

2.1 Z-transform
Example 3: Find the Z-transform of a cosine
function.
Solution: As
e

jt

cost j sin t ; e

jt

cost j sin t

e jt e jt
e jt e jt
cost
; sin t
2
j2

2.1 Z-transform
e jt e jt 1
j t
j t
F ( z ) Z [coskT ] Z

(
Z
[
e
]

Z
[
e
])

2
1
at
Z [e ]
1 e aT z 1
jT 1
1
1
1
z 1 e jT z 1
1 1 e
F ( z)

jT 1
jT 1
2 1 e z
1 e
z 2 (1 e jT z 1 )(1 e jT z 1 )
1 2 (e jT z 1 e jT z 1 )
2 2 z 1 cosT

jT 1
jT 1
2
2 1 (e
z e z ) z
2(1 2 z 1 cosT z 2 )
1 z 1 cosT

1 2 z 1 cosT z 2

2.1 Z-transform
Exercise 2: Find the Z-transform for decayed
cosine function f (t ) e at cos t
1 z 1e aT cos T
F ( z)
1 2 z 1e aT cos T e 2 aT z 2

2.1 Z-transform
Example 4: Find the Z-transform for
f (t ) 1 e at

Solution:

F ( z ) Z [ f (kT )] Z 1 e at Z [1] Z [e at ]
1
1
at
Z [1] Z [ step]
; Z [e ]
1
1 z
1 e aT z 1
1
1
(1 e aT ) z 1
F ( z)

1
aT 1
1 z
1 e z
(1 z 1 )(1 e aT z 1 )

2.1 Z-transform
Exercise 3: Find the Z-transform for
f (t ) te at
Tz 1e aT
F ( z)
(1 z 1e aT ) 2

2.1 Z-transform
The functions can be given either in time
domain as f(t) or in S-domain as F(s). They
are equivalent. eg.
a) A unit step function: 1(t) or 1/s
b) A ramp function: t or 1/s2
c) f(t)=1-e-at or a/(s(s+a))
etc.

2.2 Z-transform theorems

Linearity: If f(t) and g(t) are Z-transformable
and and are scalar, then the linear
combination f(t)+g(t) has the Ztransform
Z[f(t)+g(t)]= F(z)+ G(z)

2.2 Z-transform theorems

Shifting Theorem:
Given that the Z-transform of f(t) is F(z), find
the Z-transform for f(t-nT).
f(t)

f(t-nT)

nT

2.2 Z-transform theorems

If f(t)=0 for t<0 has the Z-transform F(z), then
Z [ f (t nT )] z n F ( z ) and
n 1

n
k
Z [ f (t nT )] z F ( z ) f (kT ) z
k 0

Proving: By Z-transform definition, we have

Z [ f (t nT )] f (kT nT ) z

k 0

f (kT nT ) z
k 0

( k n ) n

f (kT nT ) z k z n n
k 0

k 0

f (kT nT ) z ( k n )

2.2 Z-transform theorems

Defining m=k-n, we
have

Z [ f (t nT )] z n f (kT nT ) z ( k n ) z n
k 0

f (mT ) z m

m n

Since f(mT)=0 for

the above as
m<0, we can rewrite

Z [ f (t nT )] z n

m n

f (mT ) z m z n f (mT ) z m z n F ( z )
m 0

Thus, if a function f(t) is delayed by nT, its Ztransform would be multiplied by z-n. Or,
multiplication of a Z-transform by z-n has the
effect of moving the function to the right by nT
time. This is the so-called Shifting Theorem.

2.2 Z-transform theorems

Final value theorem:Suppose that f(t), where f(t)=0
for t<0, has the Z-transform of F(z), then the final
value of f(t) can be given by
1

lim f (t ) lim (1 z ) F ( z )
t

z 1

There are other theorems for Z-transform. Please

read the study book or textbook for more details.

Theorem

Name

F ( z ) Z [ f (t )] f (kT ) z k

Definition

k 0

Z [k1 f1 (t ) k 2 f 2 (t )] k1 F1 ( z ) k 2 F2 ( z )
Z [e at f (t )] F ( ze aT )

z
Z [a t f (t )] F ( )
a

Linearity
Multiply by e-at
Multiply by at

Z [ f (t kT )] z k F ( z )

Time Shift 1

n 1

Time Shift 2

Z [ f (t kT )] z k [ F ( z ) f (kT ) z k ]
k 0

Z [ f (t ) f (t 1)] (1 z 1 ) F ( z )
t
F ( z)
Z f ( )d
0
1 z 1

Differentiation
Integration

f () lim (1 z 1 ) F ( z )

Final Value

f (0) lim F ( z)

Initial Value

z 1

f(t)

F(s)

F(z)

(t)

u(t)

1
s

1
1 z 1

1
s2

Tz 1
(1 z 1 ) 2

e at e bt
ba

e-at

1
( s a )( s b)
1
sa

1 e-at

a
s( s a)

sint

s2 2

cost

s
s 2

e-atsint

e-atcost

(s a) 2 2
sa
(s a) 2 2

1
(e aT e bT ) z 1

aT 1
bT 1
b a (1 e z )(1 e z )
1
1 e

aT

z 1

(1 e aT ) z 1
(1 z 1 )(1 e aT z 1 )
z 1 sin T
1 2 z 1 cos T z 2

1 z 1 cos T
1 2 z 1 cos T z 2
z 1e aT sin T
1 2 z 1e aT cos T e 2 aT z 2
1 z 1e aT cos T
1 2 z 1e aT cos T e 2 aT z 2

2.3 Z-transform examples

Example 1: Assume that f(k)=0 for k<0, find the Ztransform of f(k)=9k(2k-1)-2k+3, k=0,1,2.
Solution: Obvious f(k) is a combination of three
sub-function 9k(2k-1), 2k and 3. Therefore, first we
can apply linearity theorem to f(k). Second, subfunction 9k(2k-1) can be considered as a product of
k and 2-12k, then we can apply the theorem of
multiply by ak. Finally, we can find the answer by
combining these three together.

2.3 Z-transform examples

F ( z ) Z [9k (2 k 1 ) 2 k 3] Z [9k (2 k 1 )] Z [2 k ] Z [3]
-1
z
1
z
Tz
Tz

Z [a t f (t )] F ; Z[1]

;
Z[t]

1 - z -1 z 1
(1 z 1 ) 2 ( z 1) 2
a
z/2
1
k
k
Z [2 ] Z [2 1]

z / 2 1 1 2 z 1
9
9 ( z / 2)
9 z 1
k 1
k 1
k
Z [9k (2 )] Z [9k 2 2 ] Z [k 2 ]

2
2
2 (z/2 - 1)
(1 2 z 1 ) 2
1
9
z
1
3
F ( z ) Z [9k (2 k 1 )] Z [2 k ] Z [3]

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

2 z 2

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

2.3 Z-transform examples

Example 2: Obtain the Z-transform of the
curve x(t) shown below.
f(t)

2 3 4

2.3 Z-transform examples

Solution: From the figure, we have
K
0
1
2
3
4
5
6
f(k) 0
0
0
1/3 2/3 1
1
Apply the definition of Z-transform, we have

F ( z ) f (k ) z k
k 0

z 3 2 z 4
000

z 5 z 6
3
3

z -3 2 z 4

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

1
3
1 z
3(1 z 1 )

2.3 Z-transform examples

a2
Example 3: Find the Z-transform of F ( s ) 2
s (s a)
Solution: Apply partial fraction to make F(s) as a
sum of simpler terms.
k3
a2
k1 k 2
a 1
1
F (s) 2
2
2

s ( s a) s
s sa s
s sa
a
1
1
F ( z ) Z [ F ( s )] Z [ 2 ] Z [ ] Z [
]
s
s
sa
aTz 1
1
1

1 2
1
(1 z ) 1 z
1 e aT z 1
[(aT 1 e aT ) (1 e aT aTe aT ) z 1 ]z 1

(1 z 1 ) 2 (1 e aT z 1 )

2.4 Inverse Z-transform

The inverse Z-transform: When F(z), the Ztransform of f(kT) or f(t), is given, the operation
that determines the corresponding time sequence
f(kT) is called as the Inverse Z-transform. We
label inverse Z-transform as Z-1.
bo b1 z 1 b2 z 2 bm z m
F ( z ) Z [ f (kT )] Z [ f (t )]
1 ao z 1 a1 z 2 an z n
1
2
m

b
z

b
z

b
z
1
1
o
1
2
m
f (kT ) Z [ F ( z )] Z
1
2
n
1

a
z

a
z

a
z
o
1
n

2.4 Inverse Z-transform

Z-transform

=
Inverse Z-transform

2.4 Inverse Z-transform

The inverse Z-transform can yield the
corresponding time sequence f(kt) uniquely.
However, it says nothing about f(t). There might
be numerous f(t) for a given f(kT).
f(t)

2T

3T

4T

5T

6T

2.4 Inverse Z-transform

x(kT)

Zero-order
Hold

Low-pass
Filter

f(t)

2.5 Methods for Inverse Z-transform

How can we find the time sequence for a
given Z-transform?
1) Z-transform table
Example 1: F(z)=1/(1-z-1), find f(kT).
F(z)=1+z-1+z-2+z-3+
f(kT)=Z-1[F(z)]=1, for k=0, 1, 2,

2.5 Inverse Z-transform examples

(1 e aT ) z 1
Example 2: Given F ( z )
,
1
aT 1
(1 z )(1 e z )

Find f(kT).
Solution: Apply partial-fraction-expansion to
simplify F(z), then find the simpler terms from
the Z-transform table.
(1 e aT ) z 1
k1
k2
F ( z)

1
aT 1
1
(1 z )(1 e z ) 1 z
1 e aT z 1

Then we need to determine k1 and k2

2.5 Inverse Z-transform examples

(1 e aT ) z 1
k1
k2
F ( z)

1
aT 1
1
(1 z )(1 e z ) 1 z
1 e aT z 1

Multiply (1-z-1) to both side and let z-1=1, we have

aT
1
(
1

e
)
z
k1
k2

1
(1 z 1 )

(
1

z
)

1
aT 1
1
aT 1
(1 z )(1 e z )
1 e z
1 z

(1 e aT ) z 1
(1 z 1 )k2
(1 e aT ) z 1
k1
k1
aT 1
aT 1
1 e z
1 e z
1 e aT z 1

1
z 1 1

2.5 Inverse Z-transform examples

Similar as the above, we let multiply (1-e-aTz-1) to
both side and let z-1 =eaT, we have
aT
1
(
1

e
)
z
k1
k2

aT 1
(1 e aT z 1 )

(
1

e
z
)

1
aT 1
1
aT 1
(1 z )(1 e z )
1 e z
1 z

(1 e aT ) z 1 (1 e aT z 1 )k1
(1 e aT ) z 1

k2 k2
1
1
1 z
1 z
1 z 1

Finally, we have

1
z 1 e aT

(1 e aT ) z 1
1
1
F ( z)

1
aT 1
1
(1 z )(1 e z ) 1 z
1 e aT z 1
f (kT ) 1 e akT , k 0,1,2,

2.5 Inverse Z-transform examples

Exercise 4: Given the Z-transform
1

z
F ( z)
1
1
2
(1 z )(1 1.3 z 0.4 z )

Determine the initial and final values of f(kT), the

inverse Z-transform of F(z), in a closed form.
Hint: Partial-fraction-expansion, then use Ztransform table, and finally applying initial &
final value theorems of Z-transform.

2.5 Inverse Z-transform examples

2) Direct division method
Example 1: F(z)=1/(1+z-1), find f(kT).
1
2
1 z 1
1
1

1
1 z 1
1 z 1 1
1 z 1 1
1 z 1
1 z 1
1 z 1
-z 1

-z 1

-z

z 1 z 2

z 1 z 2

z -2

z -2

2.5 Inverse Z-transform examples

Finally, we obtain: F(z)=1-z-1+z-2-z-3+
K =
0
1
2
3

F(kT)=
1
-1
1
-1

1 2 z 1
Example 2: Given
F ( z)
(1 z 1 ) 2
Find f(kT).
Solution: Dividing the numerator by the
denominator, we obtain

1 4 z 1 7 z 2
1 2 z 1 z 2 1 2 z 1
1 2 z 1 z 2
4 z 1 z 2
4 z 1 8 z 2 4 z 3
7 z 2 4 z 3
7 z 2 14 z 3 7 z 4
10 z 3 7 z 4
10 z 3 20 z 4 10 z 5
13z 4 10 z 5

2.5 Inverse Z-transform examples

Finally, we obtain: F(z)=1+ 4z-1 + 7z-2 + 10z-3+
K =
0
1
2
3

F(kT)=
1
4
7
10
Exercise

0.3679 z 1 0.343 z 2 0.02221 z 3 0.05659 z 4

5:F ( z )
,
1
1 1.3679 z 0.3679 z 2

Find f(kT).

Ans. :k
f(kT)

0
0

1
2
3
0.3679 0.8463 1

4
1

5
1

2.5 Inverse Z-transform examples

3) Computational method using Matlab
1
1

2
z
Example: Given F ( z )
find f(kT).
(1 z 1 ) 2

1 2 z 1
z 2 2z
z 2 2z
F ( z)

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

Solution:
num=[1 2 0]; den=[1 2 1]
Say we want the value of f(kT) for k=0 to 30
u=[1 zeros(1,30)]; F=filter(num, den, u)
1 4 7 10 13 16 19 22 25 28 31

2.5 Inverse Z-transform examples

Exercise 6: Given the Z-transform

z 1 (0.5 z 1 )
F ( z)
(1 0.5 z 1 )(1 0.8 z 1 ) 2
Use 1) the partial-fraction-expansion method and 2)
the Matlab to find the inverse Z-transform of
F(z).
Answer: x(k)=-8.3333(0.5)k+8.333(0.8)k-2k(0.8)k-1
x(k)=0;0.5;0.05;0.615;1.2035;-1.6257;-1.8778

Reading
Study book
Module 2: The Z-transform and theorems
Textbook
Chapter 2 : The Z-transform (pp23-50)

Tutorial
Exercise: The frequency spectrum of a continuoustime signal is shown below.
1) What is the minimum sampling frequency for
this signal to be sampled without aliasing.
2) If the above process were to be sampled at 10
Krad/s, sketch the resulting spectrum from 20
Krad/s to 20 Krad/s.
F()
Krad/s
-8

-4

Tutorial
Solution: 1) From the spectrum, we can see that the
bandwidth of the continuous signal is 8 Krad/s.
The Sampling Theorem says that the sampling
frequency must be at least twice the highest
frequency component of the signal. Therefore,
the minimum sampling frequency for this signal
is 2*8=16 Krad/s.
F()
Krad/s
-8

-4

Tutorial
2) Spectrum of the sampled signal is formed by
shifting up and down the spectrum of the
original signal along the frequency axis at i
times of sampling frequency. As s=10 Krad/s,
for i =0, we have the figure in bold line. For i=1,
we have the figure in bold-dot line.
F()

-8

-4

2 4

6 8 10 12 14 16 18
Krad/s

Tutorial
For I=-1, 2, we have

-18

-14

-8 -6 -4 -2

F()

2 4

6 8 10 12 14 16 18
Krad/s

2 4

6 8 10 12 14 16 18
Krad/s

Tutorial
Exercise 1: Find the Z-transform of a
exponential decay f(t)=e-aT using other
method.
f(t)
t

Tutorial

F ( z ) Z [ f (t )] Z [ f (kT )] f (kT )
k 0

1 e aT z 1 e 2 aT z 2
e aT z 1 F ( z ) e aT z 1 (1 e aT z 1 e 2 aT z 2 )
e aT z 1 e 2 aT z 2 e 3aT z 3
F ( z) e

aT

z F ( z) 1 F ( z)

1
1 e aT z 1

Tutorial
Exercise 2: Find the Z-transform for a
decayed cosine function f (t ) e at cos t
Solution 1: Z cost 1 z 1 cosT F ( z )
1 2 z 1 cosT z 2
Z [ f (t )] F ( z ); F [e at f (t )] F ( ze aT )
1
1

z
cosT
at
Z [e cost ]
1 2 z 1 cosT z 2

1 e aT z 1 cosT

1 2e aT z 1 cosT e 2 aT z 2

z e aT z

Tutorial
Solution 2:

at jt
at jt

e
at
F ( z ) Z [e cost ] Z

1
( Z [e at jt ] Z [e at jt ])
2
1
at
Z [e ]
1 e aT z 1
1
1
1

F ( z)

aT jT 1
2 1 e
z
1 e aT jT z 1
1 e aT z 1 cosT

1 2e aT z 1 cosT e 2 aT z 2

Tutorial
Exercise 3: Find the Z-transform for
f (t ) te at

Solution:

Tz 1
Z t
F ( z)
1 2
(1 z )
Z [ f (t )] F ( z ); F [e at f (t )] F ( ze aT )
1
Tz
Z [te at ]
(1 z 1 ) 2

Te aT z 1

(1 e aT z 1 ) 2

z e aT z

Tutorial
Exercise 4: Given the Z-transform
1
z
F ( z)
1
1
2
(1 z )(1 1.3 z 0.4 z )
Determine the initial and final values of f(kT), the
inverse Z-transform of F(z), in a closed form.
Solution: Apply the initial value theorem and the
final value theorem respectively, we have

Tutorial
z 1
f (0) lim F ( z ) lim
0
1
1
2
0.4 z )
z
z (1 z )(1 1.3 z
1
1
(
1

z
)
z
1
f () lim[(1 z 1 ) F ( z )] lim

1
1
2
(
1

z
)(
1

1
.
3
z

0
.
4
z
) 2.7
z 1
z

z 1
z 1
F ( z)

1
1
2
(1 z )(1 1.3z 0.4 z ) (1 z 1 )(1 0.8 z 1 )(1 0.5 z 1 )
k3
k1
k2
0.37
1.11
1.48

1
1
1
1
1
1 z
1 0.5 z
1 0.8 z
1 z
1 0.5 z
1 0.8 z 1
1
f (k )
(1 3(0.5) k 4(0.8) k )
27

Tutorial
Exercise 5: Given
0.3679 z 1 0.343 z 2 0.02221 z 3 0.05659 z 4
F ( z)
1 1.3679 z 1 0.3679 z 2
Find f(kT) using direct-division method.

Solution:
1 1.3679 z 1 0.3679 z 2

0.3679 z 1
0.3679 z 1 0.343 z 2 0.02221 z 3 0.0565 z 4
0.3679 z 1 0.5033 z 2 0.1354 z 3
0.8463 z 2 0.1576 z 3 0.0565 z 4

Tutorial
Continuous
1 1.3679z 1 0.3679z 2

0.3679z 1 0.8463z 2 z 3 z 4
0.3679z 1 0.343z 2 0.02221z 3 0.0565z 4
0.3679z 1 0.5033z 2 0.1354z 3
0.8463z 2 0.1576z 3 0.0565z 4
0.8463z 2 1.1576z 3 0.3114z 4
z 3 0.3679z 4
z 3 1.3679z 4 0.3679z 5
z 4 0.3679z 5

f (k ) 0.3679z 1 0.8463z 2 z 3 z 4

Tutorial
Exercise 6: Given the Z-transform

z 1 (0.5 z 1 )
F ( z)
(1 0.5 z 1 )(1 0.8 z 1 ) 2
Use 1) the partial-fraction-expansion method and 2)
the Matlab to find the inverse Z-transform of
F(z).
Solution1: To make the expanded terms more
recognizable in the Z-transform table, we
usually expand F(z)/z into partial fractions.

z 1 (0.5 z 1 )
z (0.5 z 1)
F ( z)

1
1 2
(1 0.5 z )(1 0.8 z )
( z 0.5)( z 0.8) 2
k3
F ( z)
0.5 z 1
k1
k2

z
( z 0.5)( z 0.8) 2 ( z 0.5) ( z 0.8) 2 z 0.8
k1
k3
0.5 z 1
k2

( z 0.5)
( z 0.5)

2
2
( z 0.5)( z 0.8)
z 0.8
( z 0.5) ( z 0.8)
0.5 z 1
k 2 ( z 0.5) k3 ( z 0.5)

1
2
2
( z 0.8)
( z 0.8)
z 0.8
0.5 z 1
let z 0.5 k1
( z 0.8) 2

8.333
z 0.5

k3
0.5 z 1
k1
k2
2

( z 0.8)
( z 0.8)

2
2
( z 0.5)( z 0.8)
z 0.8
( z 0.5) ( z 0.8)
2

k ( z 0.8)
0.5 z 1 k1 ( z 0.8) 2
0.5 z 1

k2 3
k2
2
z 0.5
z 0.5
z 0.5
( z 0.5) z 0.8

k3
0.5 z 1
k1
k2
2

( z 0.8)
( z 0.8)

2
2
( z 0.5)(z 0.8)
z 0.8
( z 0.5) ( z 0.8)
2

k3 ( z 0.8)
0.5 z 1 k1 ( z 0.8) 2

k2
derivative
z 0.5
z 0.5
z 0.5
0.5 z 1 k1 ( z 0.8)

z 0.5 z 0.5
'

0.5 z 1
k3

z 0.5

'

z 0.8

'

k3 ( z 0.5) k3 ( z 0.8)
0
; let z 0.8
( z 0.5)

0.5( z 0.5) (0.5 z 1)

0.5 * 0.3 0.6

8.333
2
2
( z 0.5)
0.3
z 0.8

F ( z)
0.5 z 1
8.333
2
8.333

z
( z 0.5)(z 0.8) 2
( z 0.5) ( z 0.8) 2 z 0.8
8.333
2 z 1
8.333
F ( z)

1
1 2
(1 0.5 z ) (1 0.8 z ) 1 0.8 z 1
f (k ) 8.333(0.5) k 2(0.8) k 1 8.333(0.8) k

Tutorial
Partial fraction for inverse Z-transform
F ( z ) b0 z m b1 z m1 bm1 z bm b0 z m b1 z m1 bm1 z bm
n

n 1
z
z a0 z an1 z an
( z p1 )(z p2 ) ( z pn )

a
a1
a2
F ( z)

n ; ai ( z pi )
z p1 z p2
z pn
z z pi

If F(z)/z involve s a multiple pole, eg. P1, then

a3
an
F ( z ) b0 z m b1 z m1 bm1 z bm
c1
c2

z
( z p1 ) 2 ( z p3 ) ( z pn ) ( z p1 ) 2 z p1 z p3
z pn
F ( z)
d
2 F ( z)
2 F ( z)
ai ( z pi )
; c1 ( z p1 )
; c2 ( z p1 )
z z pi
z z p1
dz
z z p1

Tutorial
Solution 2: Expand F(z) into a polynomial form
z 1 (0.5 z 1 )
0.5 z 1 z 2
F ( z)

1
1 2
(1 0.5 z )(1 0.8 z )
1 2.1z 1 1.44 z 2 0.32 z 3

Num=[0 0.5 1 0];

Den=[1 2.1 1.44 0.32];
U==[1 zeros(1,40)];
F=filter(Num, den,U)
0
0.5 0.05 -0.615

-1.2035