University of Technology Engineering Analysis Lecture Notes

Dep. Of Electrical & Electronic Eng. Lec. 1 Third Year

-----------------------------------------------------------------------------------------------------------------
-----------------------------------------------------------------------------------------------------------------
Lec. Dr. Abbas H. Issa
www.uotiq.org
1
Chapter Two: The Z Transform

2.1 Discrete Time System Response:
If a continuous time signal f(t) is sampled data every T
seconds beginning at t= 0, the corresponding sampled data is
denoted as the sequence.
{f(kt)} = f(0), f(T), f(2T), f(3T), (1)
- < k >
,f(kT) = f
k
F
Graphical representation of a discrete time function.
>>> Some examples of sequences are shown below
1. Unit impulse


2. Unit step


3. Real exponential


>>> The unit function (unit pulse) is perhaps the most important
of these special discrete time signals and is defined as (the
Kronecker delta).



Where the signal is taken as a function of (k). Note that the
subscript notation is used interchangeably with argument
)
`

=
=
=
0 , 0
0 , 1
) (
k
k
k o
)
`

<
>
=
0 , 0
0 , 1
) (
k
k
k u
) exp( ) ( akT k u =
) 2 (
, 0
, 1
) (
)
`

=
=
= =
N k
N k
N k N k o o
University of Technology Engineering Analysis Lecture Notes
Dep. Of Electrical & Electronic Eng. Lec. 1 Third Year
-----------------------------------------------------------------------------------------------------------------
-----------------------------------------------------------------------------------------------------------------
Lec. Dr. Abbas H. Issa
www.uotiq.org
2
notation. If f(k) represents an arbitrary sequence (signal), the
unit function can be used to write.



Equation (3) is an identity since f(k) is any discrete time
signal.
>>> Geometric series:


The corresponding formula for the sum of the first n terms of
series (S
n
) was found to be


A series of numbers u
1
+u
2
++u
n
+ is said to converge to a
limit L if to every positive number however small there may
be associated an integer m such that


The limit L is called sum of the series
For geometric series



The sum of geometric series in which | r | < 1 is a/(1-r).
If a series u
1
+u
2
++u
n
+ is convergent then

=
=
0
) ( ) ( ) (
n
n k n f k f o ) 3 (
+ + + + + + +
1 4 3 2 n
r a r a r a r a r a a
r
ar
r
a
S
n
n

=
1 1
m n > when L Sn < c
)
1
( lim )
1
( lim lim
r
ar
r
a
S
n
n n
n
n

=

1 lim 0 lim
1
< =
+

n
n
n
n
n
u
u
or u
University of Technology Engineering Analysis Lecture Notes
Dep. Of Electrical & Electronic Eng. Lec. 1 Third Year
-----------------------------------------------------------------------------------------------------------------
-----------------------------------------------------------------------------------------------------------------
Lec. Dr. Abbas H. Issa
www.uotiq.org
3
2.2 Definition of Z - Transform
The Z transform of the sequence {x(kT)} is


Where = signifies equal by definition, the symbol Z is the Z
Transform variable. We will refer to the function X(Z) as the Z-
transform of the sequence {x(kT)}, and the sequence {x(kT)} as
the inverse transform of X(Z).
The set of Z values for which the summation converges is
called the region of convergence (ROC) for the transform;
ROC will be an annular region of the entire complex Z-Plane
given by

The lower limit R
x-
may be zero and R
x+
could possibly be .
Evaluating X(Z) at the complex number (Z= r e
iw
) gives



Example: Find the Z transform including of convergence of



Solution: The Z-transform is given by


By the geometric progression formula



{ } ) ( ) ( ) (
0

Z
n
n
Z nT x Z X kT x ) 4 (
+
< <
x x
R Z R
| |
k
k
k
k iw
re Z
k x r e r k x Z X
iw

=

= = ) ( ) ( ) ( ) (
iwk
e

)
`

<
>
=
0 , 0
0 ,
) (
n
n a
n x
n
| |


=

= =
0
1
) ( ) (
n
n
n
n n
Z a Z a Z X
a Z
Z
Z a
Z X =

=
1
1
1
) (
University of Technology Engineering Analysis Lecture Notes
Dep. Of Electrical & Electronic Eng. Lec. 1 Third Year
-----------------------------------------------------------------------------------------------------------------
-----------------------------------------------------------------------------------------------------------------
Lec. Dr. Abbas H. Issa
www.uotiq.org
4
Which is converge if |a Z
-1
| < 1, which is equivalent to | Z| > | a|
, X(Z) has a zero at Z=0 and a pole at Z= a, where the zero is
denoted by (o) and the pole is denoted by (x).









Example: Find the Z transform including of convergence of



Solution: The Z-transform is given by


This series converges if |b
-1
Z | < 1 or | Z| < | b|, in which case.


Z - Plane
Re
Im
Region of
Convergence
)
`

s

=
1 ,
) 1 ( ,
) (
n mean
n u b
n x
n
| |


=

= =
1
1
) ( ) (
n
n n
n
n n
Z b Z b Z X
b < Z ROC
b Z
Z
Z X

= , ) (
University of Technology Engineering Analysis Lecture Notes
Dep. Of Electrical & Electronic Eng. Lec. 1 Third Year
-----------------------------------------------------------------------------------------------------------------
-----------------------------------------------------------------------------------------------------------------
Lec. Dr. Abbas H. Issa
www.uotiq.org
5
Example: Find the Z transform including of convergence of



Solution: The Z-transform is given by


This series converges if |b
-1
Z | < 1 or | Z| < | b|, in which case.


ROC is equal to the intersection of two ROCs.


2.3 Properties of Z - Transform
1- Linearity: we shall show that the Z- transform is a linear
transformation which implies that. Both the direct and the
inverse Z transform obey the property of linearity. Thus, if
Z{f(k)} and Z{g(k)} are denoted by F(Z) and G(Z),
respectively, then
Z{a f(k) + b g(k) } = a F(Z) + b G(Z)
Where a & b are any constant multipliers.
Example: Find the Z transform of the

s
>
=
1 ,
0 ,
) (
n b
n a
n x
n
n
| | | |


=

=
1
0
) ( ) (
n
n n
n
n n
Z b Z a Z X
} { } { , ) ( b Z a Z ROC
b Z
Z
a Z
Z
Z X < >

=
2
6 8
)
2
.( 5 ) 1 ( 3 ) (
: Solution
) 2 ( 5 ) ( 3 ) (
+
+
=
+
+ =
+ =
Z
Z
Z
Z
Z F
k k f
k
o
University of Technology Engineering Analysis Lecture Notes
Dep. Of Electrical & Electronic Eng. Lec. 1 Third Year
-----------------------------------------------------------------------------------------------------------------
-----------------------------------------------------------------------------------------------------------------
Lec. Dr. Abbas H. Issa
www.uotiq.org
2- Translation: Frequently the terms of an equation involve a
time shifted signal of the form f(k+1) or more generally
f(k+N) for some integer N. we will first prove that
Z{ f(k+1} = Z F(Z) - Z f(0)
Where f(0) is to be interpreted as given initial condition.
Proof:








( )
) 0 ( ) (
) 0 ( . &
) 0 ( ) (
1 ) (
) 1 ( )} 1 ( {
0
1
1
0
f Z Z F Z
Zf sub adding by
f Z m f Z
n m for Z m f
Z n f n f Z
m
m
m
n
n
n
=
(

=
+ = =
+ = +

=
+

Since the summation is F(z)

The result just proved is easily extended to higher order time
shifts.
For example, if g(k+1) = f(k+2), then [since g(k) = f(k+1)]
Z{ f(k+2)} = Z{ g(k+1)} = Z G(Z) - Z g(0)
= Z[Z F(Z) - Z f(0)]-Zf(1)
= Z
2
F(Z) - Z
2
f(0)-Zf(1)
In a similar manner the transform of the general N
th

order time shift takes on the form
Z{ f(k+N)} = Z
N
F(Z) [Z
N
f(0)+ Z
N-1
f(1)++ Z f(N-1)]
This emphasizes that except for the first term, all other terms are
associated with the initial or boundary conditions for the shifted signal.

6