EE331 Signals & Systems Lecture # 10

EE331
Lecture # 10:
The z-Transform
Instructor: M. Zübeyir Ünlü, PhD
[email protected]

Note: This Lecture notes was prepared by using the MIT Signals &
Systems Fall 2003 Course web page.
1/13/2021 Lecture # 10 1
EE331 Signals & Systems Lecture # 10 Outline
Chapter 10: The z-Transform
10.0. Introduction,

10.1. The z-Transform,

10.2. The region of convergence for the z-Transform,

10.3. The inverse z-Transform,

10.4. Geometric evaluation of the Fourier transform from the pole-zero plot

10.5. Properties of the z-Transform,

10.6. Some common z-Transform pairs,

10.7. Analysis & characterization of the LTI systems using z-Transforms,

10.8. System function algebra & block diagram representations,

10.9. The unilateral z-Transform.

1/13/2021 Lecture # 10 2
 The z-Transform

Motivation: Analogous to Laplace Transform in CT

We now do not
restrict ourselves
just to z = ejω

The (Bilateral) z-Transform

The ROC and the Relation Between zT and DTFT
, r = |z|

— depends only on r = |z|, just like the ROC in s-plane

only depends on Re(s)

• Unit circle (r = 1) in the ROC ⇒ DTFT X(ejω) exists

 Example #1

This form
for PFE
and
inverse z-
transform
1 z
= =
1 − az −1 z−a

This form to find

That is, ROC |z| > |a|, pole and zero locations
outside a circle
Example #2:

Same X(z) as in Ex #1, but different ROC.

 Rational z-Transforms

x[n] = linear combination of exponentials for n > 0 and for n < 0

Polynomials in z

— characterized (except for a gain) by its poles and zeros

 The z-Transform

-depends only on r = |z|, just like the ROC in s-plane

only depends on Re(s)

• Last time:
•Unit circle (r = 1) in the ROC ⇒DTFT X(ejω) exists
•Rational transforms correspond to signals that are linear
combinations of DT exponentials
 Some Intuition on the Relation between zT and LT

The (Bilateral) z-Transform

Can think of z-transform as DT

version of Laplace transform with
 More intuition on zT-LT, s-plane - z-plane relationship

• LHP in s-plane, Re(s) < 0 ⇒ |z| = | esT| < 1, inside the |z| = 1 circle.
Special case, Re(s) = -∞ ⇔ |z| = 0.
• RHP in s-plane, Re(s) > 0 ⇒ |z| = | esT| > 1, outside the |z| = 1 circle.
Special case, Re(s) = +∞ ⇔ |z| = ∞.
• A vertical line in s-plane, Re(s) = constant ⇔ | esT| = constant, a
circle in z-plane.
 Properties of the ROCs of z-Transforms
(1) The ROC of X(z) consists of a ring in the z-plane centered about
the origin (equivalent to a vertical strip in the s-plane)

(2) The ROC does not contain any poles (same as in LT).
 More ROC Properties
(3) If x[n] is of finite duration, then the ROC is the entire z-plane,
except possibly at z = 0 and/or z = ∞.

Why?

Examples: CT counterpart
 ROC Properties Continued

(4) If x[n] is a right-sided sequence, and if |z| = ro is in the ROC, then

all finite values of z for which |z| > ro are also in the ROC.
 Side by Side
(5) If x[n] is a left-sided sequence, and if |z| = ro is in the ROC,
then all finite values of z for which 0 < |z| < ro are also in the ROC.

(6) If x[n] is two-sided, and if |z| = ro is in the ROC, then the ROC
consists of a ring in the z-plane including the circle |z| = ro.

What types of signals do the following ROC correspond to?

right-sided left-sided two-sided

Example #1
Example #1 continued

Clearly, ROC does not exist if b > 1 ⇒ No z-transform for b|n|.

 Inverse z-Transforms

for fixed r:
 Example #2

Partial Fraction Expansion Algebra: A = 1, B = 2

Note, particular to z-transforms:

1) When finding poles and zeros,
express X(z) as a function of z.
2) When doing inverse z-transform
using PFE, express X(z) as a
function of z-1.
ROC III:

ROC II:

ROC I:
 Inversion by Identifying Coefficients
in the Power Series

Example #3:

3
-1
2
0 for all other n’s
— A finite-duration DT sequence
 Example #4:

(a)

(b)
 Properties of z-Transforms

(1) Time Shifting

The rationality of X(z) unchanged, different from LT. ROC unchanged
except for the possible addition or deletion of the origin or infinity
no> 0 ⇒ ROC z ≠ 0 (maybe)
no< 0 ⇒ ROC z ≠ ∞ (maybe)

(2) z-Domain Differentiation same ROC

Derivation:
Convolution Property and System Functions

Y(z) = H(z)X(z) , ROC at least the intersection of

the ROCs of H(z) and X(z),
can be bigger if there is pole/zero
cancellation. e.g.

H(z) + ROC tells us everything about system

 CAUSALITY

(1) h[n] right-sided ⇒ ROC is the exterior of a circle possibly

including z = ∞:

A DT LTI system with system function H(z) is causal ⇔ the ROC of

H(z) is the exterior of a circle including z = ∞
 Causality for Systems with Rational System Functions

A DT LTI system with rational system function H(z) is causal

⇔ (a) the ROC is the exterior of a circle outside the outermost pole;

and (b) if we write H(z) as a ratio of polynomials

then
 Stability

• LTI System Stable ⇔ ROC of H(z) includes

the unit circle |z| = 1

⇒ Frequency Response H(ejω) (DTFT of h[n]) exists.

• A causal LTI system with rational system function is stable ⇔ all

poles are inside the unit circle, i.e. have magnitudes < 1
 Geometric Evaluation of a Rational z-Transform

Example #1:

Example #2:

Example #3:

All same as
in s-plane
 Geometric Evaluation of DT Frequency Responses

First-Order System
— one real pole
 Second-Order System
Two poles that are a complex conjugate pair (z1= rejθ =z2*)

Clearly, |H| peaks near ω = ±θ

Demo: DT pole-zero diagrams, frequency response, vector
diagrams, and impulse- & step-responses
 DT LTI Systems Described by LCCDEs

Use the time-shift property

— Rational

ROC: Depends on Boundary Conditions, left-, right-, or two-sided.

For Causal Systems ⇒ ROC is outside the outermost pole

 System Function Algebra and Block Diagrams

Feedback System
(causal systems)

negative feedback
configuration

Example #1:

z-1 ⇔ D
Delay
Example #2:

— Cascade of
two systems
 Unilateral z-Transform

Note:

(1) If x[n] = 0 for n < 0, then

(2) UZT of x[n] = BZT of x[n]u[n] ⇒ ROC always outside a circle

and includes z = ∞

(3) For causal LTI systems,

 Properties of Unilateral z-Transform
Many properties are analogous to properties of the BZT e.g.

• Convolution property (for x1[n<0] = x2[n<0] = 0)

• But there are important differences. For example, time-shift

Derivation:
Initial condition
 Use of UZTs in Solving Difference Equations
with Initial Conditions

UZT of Difference Equation

ZIR — Output purely due to the initial conditions,

ZSR — Output purely due to the input.
 Example (continued)

β = 0 ⇒ System is initially at rest:

ZSR

α = 0 ⇒ Get response to initial conditions

ZIR