CISE318

Computer Control Systems

Lecture 3: Z-transform

Dr. Amar Khoukhi

(Term 092)

Read Sections 2.1-2.4 of text book

CISE318_Topic 3 (c) Khoukhi 2010 1

Outlines
 Series and their convergence.
 Why do we use Z-transform?
Z transform?
 Definition of Z-transform
 Z-Transform of simple functions
 Properties of Z-transform
 Inverse Z-transform
 Long division
 Partial fraction expansion

 Solving Difference equations

CISE318_Topic 3 (c) Khoukhi 2010 2

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 Objectives
 Understand the definition of discrete time systems

 Appreciate the use Z-transform to solve linear

difference equations
 Understand the inverse Z-transform

 Appreciate the use Z-transform to describe linear

time-invariant discrete-time systems
 To be able to obtain inverse Z-transform
 To be able to solve difference equations
CISE318_Topic 3 (c) Khoukhi 2010 3

Series

 For what values of a the series is defined?

 What is the value of series?

A 1 a  a2 ....  aN
B 1 a  a2 ....  aN ....
C  a2  a3 ....  aN ....
D 1a  2a2 ....  NaN ....
CISE318_Topic 3 (c) Khoukhi 2010 4

2
 Answers

1  a N 1

A  1  a  a2  ....  a N   1  a for a  1
 N  1 for a  1
1
B  1  a  a2  ....  a N  ....  , defined for a  1
1 a
1
C  a2  a3  ....  a N  ....   1  a, defined for a  1
1 a
D  1a  2a2  ....  NaN  ....  ?
CISE318_Topic 3 (c) Khoukhi 2010 5

What is Z-transform?
 Z-transform is a tool that helps us to solve linear
difference equations
 Z-transform models such as pulse transfer
function are commonly used to describe:
linear time-invariant discrete-time systems

Difference Z-transform
Z transform Algebraic
Equation Equation

Solution of Solution of the

The Difference Inverse Z-transform
Algebraic
Equation Equation

CISE318_Topic 3 (c) Khoukhi 2010 6

3
 Why do we use Z-transform
 With Z-transform, it is easier to
 Compute
C t the
th response off discrete-time
di t ti system
t
 Analyze discrete-time system
 Stability
 Performance
 Steady state error
 ….
 Design digital controllers

CISE318_Topic 3 (c) Khoukhi 2010 7

Definition of Z-transform
More useful for computer systems
Time is discrete,
discrete denoted k instead of t
The Z-transform of a sequence {f(k)} is defined as


Z[ f (k )]  F ( z )   f (k ) z  k
k 0

Main tool is z-transform

z transform

f(k)  F(z) , where z is complex

Analogous to Laplace transform for s-domain
CISE318_Topic 3 (c) Khoukhi 2010 8

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 Series


A   a k  1  a 1  a 2  a 3  ....
k 0

When does the series converge? What is A?

Converge if a  1
1
A
1  a 1

CISE318_Topic 3 (c) Khoukhi 2010 9

Examples of Z-transform
Unit Step Example 1
u(k)

... ...
k
-2 -1 0 1 2 3 4
1 k  0
unit step u(k )  
0 k  0
The Z
Z-transform
transform of unit step u(k) is
 
1
Z {u ( k )}   u( k ) z k
  z k 
k 0 k 0 1  z 1
CISE318_Topic 3 (c) Khoukhi 2010 10

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 Examples of Z-transform Example 2

CISE318_Topic 3 (c) Khoukhi 2010 11

Examples of Z-transform
Unit Ramp Example 3

kT k  0
unit ramp r (k )  
 0 k0
The Z-transform of unit ramp r(k) is
 
Tz
Z {r ( k )}   r ( k ) z k
  kT z k 
k 0 k 0 z  12

CISE318_Topic 3 (c) Khoukhi 2010 12

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 Example 4

Find the Z-transform of the sequence

k 0 1 2 3 >3
f(k) 1 3 -2 1 0

F ( z )  k 0 f ( k ) z  k  1  3z 1  2 z 2  1z 3


CISE318_Topic 3 (c) Khoukhi 2010 13

Example 5

Find the Z-transform of the sequence

q

k 0 1 2 3 >3
f(k) 1 1 1 1 1

F ( z )  k 0 f ( k ) z  k  k 0 z  k
 

1
 1  z 1  z 2  z 3  .... 
1  z 1
CISE318_Topic 3 (c) Khoukhi 2010 14

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 Example 6
Find the Z-transform of the sequence
k 0 1 2 3 >3
f(k) 1 0.5 0.25 0.125 (0.5)k

F ( z)  k 0 f (k )zk  k 0 0.5k zk  k 0 (2z)k

  

1 1 1 1 1 z
 1  z1  z2  z3  ....  1
 1

2 4 8 1  (2z) 1  0.5 z z  0.5

CISE318_Topic 3 (c) Khoukhi 2010 15

Properties of Z-transform
Linearity

Let F1 ( z )  Z { f1 ( k )}
F2 ( z )  Z { f 2 ( k )}
a and b are any real numbers
Then
Z {a f1 ( k )}  a F1 ( z )
Z { f1 ( k )  f 2 ( k )}  F1 ( z )  F2 ( z )
Z {a f1 ( k )  b f 2 ( k )}  a F1 ( z )  b F2 ( z )
CISE318_Topic 3 (c) Khoukhi 2010 16

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 Example 7

Find the Z-transform

Z transform of the sequence
k 0 1 2 3 >3
f(k) 8 1 1 1 1

1
F ( z )  k 0 f ( k ) z k  7 


1  z 1

CISE318_Topic 3 (c) Khoukhi 2010 17

Example 8
Find the Z-transform of the sequence
k 0 1 2 3 >3
f(k) 2 2 2 2 2

2
F ( z )  k 0 f ( k ) z k 


1  z 1

CISE318_Topic 3 (c) Khoukhi 2010 18

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 Properties of Z-transform

Let Z { f ( k )}  F ( z )
dF ( z )
Z {kT f ( k )}  T z
dz

Z {e akT f ( k )}  F ( e aT z )

CISE318_Topic 3 (c) Khoukhi 2010 19

Properties of Z-transform
Let Z { f ( k )}  F ( z )
Z { f ( k  n )u( k  n )}  z n F ( z )
where u( k  n ) is the shifted unit step

CISE318_Topic 3 (c) Khoukhi 2010 20

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 Z-transform Properties

Convolution definition f1n f 2 n   f m f n  m
1 2
m

Take z-transform   
Z  f1n f 2 n  Z   f1m f 2 n  m
m 

 

Z-transform definition     f1m f 2 n  m z n
Interchange summation n  m 
 
Substitute r = n – m   f1m  f 2 n  mz n
m n
 
Z-transform definition
  f m  f rz 
m
1
r 
2
 r m

    
   f1mz m   f 2 r z r 
 m  r  21 
 F1zF2 z 
CISE318_Topic 3 (c) Khoukhi 2010

Example 9
z 2  2z 1
Ratio of polynomial z-domain functions X [ z] 
3 1
z2  z 
2 2
Divide through by the highest
1  2 z 1  z 2
power of z X [ z] 
3 1
1  z 1  z  2
2 2
Factor denominator into first-order factors
1  2 z 1  z 2
X [ z] 
Use partial fraction decomposition
 1 1 
1  z  1  z 1

 2 
to get first-order terms
A1 A2
X [ z ]  B0  
1 1 1  z 1
1 z
2
CISE318_Topic 3 (c) Khoukhi 2010 22

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 Example 9 (con’t)
2
1  2 3 1 2 1
Find B0 by polynomial z  z 1 z  2z 1
2 2
division z  2  3z 1  2
5 z 1  1
 1  5 z 1
X [ z]  2 
 1 1 
1  z  1  z
1
 
Express in terms of B0  2 

1  2 z 1  z 2 1 4  4
A1    9
1  z 1 z 1  2
1 2
Solve for A1 and A2
1  2 z 1  z  2 1 2 1
A2   8
1 1
1  z 1
CISE318_Topic 3 (c) Khoukhi 2010 2 z 1 1 2 23

Example 9 (con’t)
Express X[z] in terms of B0, A1, and A2
9 8
X [ z]  2   1
1  z 1 1  z
1
2
Use table to obtain inverse z-transform
n
1
xn  2  n  9   un  8 un
 2
With the unilateral z-transform, or the bilateral z-transform with
region of convergence, the inverse z-transform is unique

CISE318_Topic 3 (c) Khoukhi 2010 24

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 Properties of Z-transform
Initial and final value theorems

Let Z { f ( k )}  F ( z )
Initial value Theorem
f (0)  lim F ( z )
z 

Final value Theorem

f ( )  lim( z  1) F ( z )
z 1

provided all poles of F(z) are inside unit circle

except possibly a single pole at z  1.
CISE318_Topic 3 (c) Khoukhi 2010 25

Example 10
z  0.6
What is f(0) and f() if F ( z ) 
z  0.5z  0.06
2

z  0.6 
f (0)  lim F (z )    0 L ' Hopital ' sRule
z  z  0.5z  0.06 z  
2

To find f ()we need to check for applicability of

final value Theorem
Poles of F (z )are  0.3, 0.2  we can use theTheorem
(z  1)(z  0.6)
f ()  lim(z  1)F (z )  0
z 1 z 2  0.5z  0.06 z 1
CISE318_Topic 3 (c) Khoukhi 2010 26

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 Example 11
z  0.7
What is f(0) and f() if F ( z ) 
z  3z  2
2

z  0.7 
f (0)  lim F ( z )   0
z  z 2  3z  2 z   
To find f () we need to check for applicability of
final value Theorem
Poles of F ( z )are  1,2  we can NOT use the Theorem
f () is unbounded
CISE318_Topic 3 (c) Khoukhi 2010 27

Example 12
What is Z {kTe  akT } ?
Solution :
T z
Z {kT } 
( z  1) 2
Z {e akT f ( k )}  F ( e aT z )
 akT T e aT z
Z {kTe }  aT
( e z  1) 2
CISE318_Topic 3 (c) Khoukhi 2010 28

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 Example 13
g  n   n u  n   u  n  6
g ( n )  n u n   n u n  6 
 n u n    n  6  u n  6   6 u n  6 
z 1 z  1 z 
G z    6 6 
z  1 z  1  z z 1
2 2
z6
z 1 6
  
z  1
2
z 5
z  1
2
z z  1
5


z 5
z

1

z  1 6
z 5
z  1
2
z 5
z  1
2
z  1 z z  1
5

z 6
 6z  5

z  1
5 2
z
CISE318_Topic 3 (c) Khoukhi 2010 29

Example 14
Find the z-transform of the unit pulse or impulse sequence 

 1 for n  0
xn   n  
0 otherwise
This follows trivially from Equation 
 
x ( z )  z [ xn ] n
x z
n 0
n
n
 1  0z
n 0
n
1

Z{ (k )}  1  0 z 1  0 z 2  ...  1

CISE318_Topic 3 (c) Khoukhi 2010 30

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 Example 15
Find the z-transform of the unit –step sequence

1 for n  0
xn  un  
0 for n  0
From the definition
  
x( z )  x z
n 0
n
n
 z
n 0
n
  (z
n 0
1 n
)

1 z
 
1  z 1 z  1

CISE318_Topic 3 (c) Khoukhi 2010 31

Exercise 1
Find the Z-transform of the sequence
k 0 1 2 >2
f(k) 0 0 1 1

F ( z)  ?

CISE318_Topic 3 (c) Khoukhi 2010 32

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 Exercise 2
Find the Z-transform of the sequence
k 0 1 2 >2
f(k) 1 1 -1 0

F ( z)  ?

CISE318_Topic 3 (c) Khoukhi 2010 33

Inverse Z-transform

 Several methods are available to obtain

inverse Z-transform
 Partial fraction expansion
 Power series method
 Inversion Formula
 Convolution Method

CISE318_Lesson5 (c) Khoukhi 2009 34

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z-Transforms of Common Functions

Name f(t) F(s) F(z)

1 t0
Impulse f (t )   1 1
0 t0
1 z
Step f (t )  1
s z 1
1 z
p
Ramp f (t )  t
s2 ( z  1) 2
1 z
Exponential f (t )  e at
sa z  ea
1 z Sin a
Sine f (t )  sin(t )
  s2
2
z 2  2(Cos a ) z  1
CISE318_Lesson5 (c) Khoukhi 2009 35

z-transform Table (2)

No. xn  X z 

n( n  1)( n  2)...( n  m  1) n z
10  un 
 m m! ( z   ) m 1
z ( z   cos  )
11a  cos nun
n
z 2  (2  cos  ) z  
2

z ( z   sin  )
 sin nun
n
12b
z 2  (2  cos  ) z  
2

rz[ z cos    cos(    )]

r  cos( n   )un
n
12a
z 2  (2  cos  ) z  
2

(0.5re j ) z (0.5re  j ) z
r  cos( n   )un    e j
n
12b 
z  z  2
r  cos( n   )un
n
12c z ( Az  B)
z 2  2az  
2

A z  B  2 AaB)
2 2 2 a Aa  B
r   cos 1   tan 1
 A   a2
2
 a
2 2
CISE318_Lesson5 (c) Khoukhi 2009 36

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 Partial Fraction Expansion

In Partial fraction expansion method F(z) is expressed as the sum of

simple terms and the Z-Transform Table is used to invert each one of them

 In Inverse Z-transform, we expand F(z)/z then

multiply by z to get the expansion of F(z)
 This is used
sed to ensure
ens re that the obtained
expansion of F(z) contains the factor z in
numerator

CISE318_Lesson5 (c) Khoukhi 2009 37

Partial Fraction Expansion

Z-transform
Z transform table provide a list of functions and
their Z-transform
Expand X(z) as the weighted sum of terms
available in the Table
Because most of term in the Z-transform table has
“z’’ in numerator, we will factor X(z)/z then
multiply
lti l b
by z tto gett X(
X(z))

CISE318_Lesson5 (c) Khoukhi 2009 38

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Partial Fraction Expansion, Example 16

 2z 
Find Z 1  
 ( z  1)( z  2) 
F ( z) 2 a a
Expand   1  2
z ( z  1)( z  2) z  1 z  2
 2 
a1  ( z  1)   2
 ( z  1)( z  2)  z 1
 2 
a2  ( z  2)   2
 ( z  1)( z  2)  z 2
 2z
 f ( k )  2(1) k  2( 2) k  22 k  1
2z
F ( z)  
z 1 z  2
CISE318_Lesson5 (c) Khoukhi 2009 39

Partial Fraction Expansion

, Example 17 Simple pole case

Problem: Find inverse Z-Transform

Z Transform of F(z)
F (z) a1 a2 an
Expand    
z z  p1 z  p2 z  pn
 F (z) 
ai  ( z  pi ) 
 z  z  pi

a1 z a2z an z
F (z)    
z  p1 z  p2 z  pn
f ( k )  a 1 ( p 1 ) k  a 2 ( p 2 ) k  ...  a n ( p n ) k
CISE318_Lesson5 (c) Khoukhi 2009 40

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 Partial Fraction Expansion
Example 18
 2z 
Find Z 1  
 ( z  1)( z  2) 
F ( z) 2 a a
Expand   1  2
z ( z  1)( z  2) z  1 z  2
 2 
a1  ( z  1)   2
 ( z  1)( z  2)  z 1
 2 
a2  ( z  2)   2
 ( z  1)( z  2)  z 2
 2z
 f ( k )  2(1) k  2( 2) k  22 k  1
2z
F ( z)  
z 1 z  2
CISE318_Lesson5 (c) Khoukhi 2009 41

Inversion Formula

x(k )   residuesof E ( z) z
all poles
k 1

of X ( z ) z k 1

for simple poles

residuesof E ( z) z  k 1
z a  ( z  a ) E ( z ) z k 1
z a

for poles with multiplicity m

d m1
residuesof E ( z) z  k 1
z a 
1
(m  1)! dz m 1
( z  a )m E ( z ) z k 1 
z a

 General form is obtained

CISE318_Lesson5 (c) Khoukhi 2009 42

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 Example 19
Inversion Formula

1 z k 1
X ( z)   X ( z ) z k 1 
( z  1)( z  2 ) ( z  1)( z  2 )
for k  0 poles are 0,1,2
for k  0 poles are 1,2

x(k )  
all poles
residues of E ( z ) z k 1
of X ( z ) z k 1

zk
x ( k ) z k 1 
z ( z  1)( z  2 )

 General form is obtained

CISE318_Lesson5 (c) Khoukhi 2009 43

More Examples

Find inverse z-transform-real unique poles

8 z  19
Find the inverse z-transform of : X [z] 
( z  2)( z  3)

X [ z] 8 z  19
Step 1: Divide both sides by z : 
z z ( z  2)( z  3)

X [ z ] (19 / 6) (3 / 2) (5 / 3)
Step 2: Perform partial fraction:   
z z z 2 z 3

19 3  z  5  z 
Step 3: Multiply both sides by z : X [ z]       
6 2  z  2 3 z 3

Step 4: Obtain inverse z-transform of each term from table (#1 & #6) :

3 
 [n]   2n  3n u[n]
19 5
x[n]  
6 2 3 
CISE318_Lesson5 (c) Khoukhi 2009 44

22
 Find inverse z-transform – repeat real poles

Example 20
Find the inverse z-transform of: z ( 2 z 2  11z  12)
X [ z] 
( z  1)( z  2) 3
Di id both
Divide b th sides
id byb z and
d expand:
d
X [ z ] 2 z 2  11z  12 k a0 a1 a2
    
z ( z  1)( z  2) 3 z  1 ( z  2) 3 ( z  2) 2 ( z  2)
Use covering method to find k and a0 :
2 z  11z  12
2
2 z 2  11z  12
k  3 a0   2
( z  1)( z  2) 3 z 1
( z  1)( z  2)3 z  2
W gett :
We
X [ z ] 2 z 2  11z  12  3 2 a1 a2
    
z ( z  1)( z  2) 3
z  1 ( z  2) ( z  2)
3 2
( z  2)
To find a2 , multiply both sides by z and let z  :
0  3  0  0  a 2  a 2  3
CISE318_Lesson5 (c) Khoukhi 2009 45

Find inverse z-transform – repeat real poles

Example 20, Cont.
a1 let z = 0 : 12 1 a 3
To find  3   1   a1  1
8 4 4 2
Therefore, we find :
X [ z]  3 2 1 3
   
z z  1 ( z  2) 3 ( z  2) 2 z  2
z z z z
X [ z ]  3 2  3
z 1 ( z  2) 3 ( z  2) 2 z2

Use pairs #6 & #10

 n( n  1) n n n 
x[ n]   3  2 ( 2)  ( 2)  3( 2) n  u[ n]
 8 2 
 1 
  3  ( n 2  n  12) 2 n  u[ n]
 4 
CISE318_Lesson5 (c) Khoukhi 2009 46

23
Find inverse z-transform – complex poles (1)
Example 21
Find inverse z-transform of: 2 z (3 z  17 )
X [ z] 
( z  1)( z 2  6 z  25)
2 z (3 z  17)

( z  1)( z  3  j 4)( z  3  j 4)
Whenever we encounter complex pole, we need to use a special partial
fraction method (called quadratic factors):
X [ z] 2(3 z  17 ) 2 Az  B
  
z ( z  1)( z 2  6 z  25) z  1 z 2  6 z  25
Now multiply
p y both sides by
y z and let z :

0  2  A  A  2
We get :
2(3 z  17 ) 2  2z  B
 
( z  1)( z 2  6 z  25) z  1 z 2  6 z  25
CISE318_Lesson5 (c) Khoukhi 2009 47

Find inverse z-transform – complex poles (2)

Example 21, Cont.

To find B, we let z=0 :  34 B

 2   B  16
25 25
Now, we have X [n] in a convenient form :

X [ z] 2  2 z  16 2z z (2 z  16)
   X [ z]  
z z  1 z 2  6 z  25 z  1 z 2  6 z  25
Use table pair #12c, we identify A=-2, B=16,   5 and a=-3

100  256  192 3

r  3 .2   cos 1    0.927rad
25  9 5
  10 
  tan 1    2.246rad
 8 
Therefore :
x[n]  [2  3.2(5) n cos(0.927 n  2.246)]u[n]
CISE318_Lesson5 (c) Khoukhi 2009 48

24
Inverse Z-Transform by Power Series Expansion
Example 22

The z-transform is power series Xz    xn z
n  
n

In expanded from
Xz     x 2 z2  x 1 z1  x0  x1 z 1  x2 z 2  

1
  
Z-transforms of this form  
Xz   z2 1  z 1  1  z 1 1  z 1
 2 
 1 n  2
1 1  1
 z  z  1  z 1
2

  2 n  1
can generally be inversed
2 2

xn   1 n  0
Especially useful for finite-length
 1
 2 n1
1 1
Example xn  n  2  n  1  n  n  1  0
 n2
2 2
CISE318_Lesson5 (c) Khoukhi 2009 49

Homework problems
 Check the course webCT for the Homework
Assignment

CISE318_Topic 3 (c) Khoukhi 2010 50

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