DSP - Lecture - Chap 3
DSP - Lecture - Chap 3
Z Transform
By
Dr. Ahmed Musa
Z-Trans Overview
Z Transform
Properties of z-transform
Transfer Function
Transfer Function & Difference Equation
Transfer Function & Impulse Response
Inverse Z Transform
Transfer Function & System Stability
Difference Equation & System Stability
Impulse & Step Responses
Steady State Output
1
What is Z-trans?
Z Transform Table
2
Region of Convergence (ROC)
Since the z-transform is an infinite series, it exists only for those values of z
for which this series converges.
All the values of z that make the summation exist form a Region of
Convergence (ROC) in the z-transform domain.
While all other values of z outside the ROC will cause the summation to
diverge.
Examples on Z-trans
𝑿 𝒛 = 𝜹 𝒏 𝒛−𝒏 = 𝜹 𝟎 = 𝟏
𝒏=𝟎
ROC: Entier 𝑧 plane
b) x[n] = δ[n-1]
solution:
∞
3
Cont. examples on Z-trans
f)
Solution:
𝒙[𝒏] = 𝜹[𝒏 + 𝟐] + 𝟐𝜹[𝒏 + 𝟏] + 𝟓𝜹[𝒏] + 𝟕𝜹[𝒏 − 𝟏] + 𝜹[𝒏 − 𝟑]
g) 𝒙[𝒏] = 𝒂𝒏𝒖[𝒏]
Solution:
4
Cont. examples on Z-trans
Example-2: Find the z transform of the signal x[n] depicted in the figure.
Solution:
The signal 𝒙[𝒏] is described as:
• 𝑿 𝒛 = 𝒙 𝟎 + 𝒙 𝟏 𝒛−𝟏 + 𝒙[𝟐]𝒛−𝟐
• 𝑿 𝒛 = 𝟐 + 𝒛−𝟏 + 𝟎. 𝟓𝒛−𝟐
Properties of z-transform
Linearity
5
Cont. Properties of z-transform
Linearity
Example-4: Find the z-transform of the signal x[n] defined by
Solution
More generally,
𝒁{𝒙[𝒏 − 𝒌]} = 𝒛-kX(𝒛)
6
Cont. Properties of z-transform
Time Shifting/Shift Theorem
Solution
Time Reversal
7
Cont. Properties of z-transform
Convolution
Convolution in time domain is equal to the multiplication in frequency
Proof
8
Cont. Properties of z-transform
Solution
𝒙 𝟎 𝒙 𝟏
lim𝒛→∞ 𝑿 𝒛 = lim 𝒙 𝟎 + + + …….. = 𝒙(𝟎)
𝒛→∞ 𝒛 𝒛𝟐
Scaling (multiplying by 𝒂𝒏 )
9
Properties of z-transform
10
Transfer Function & Difference Equation
Factoring out Y(z) on the left side and X(z) on the right side:
(2 + z-1 + 0.9z-2)Y(z) = (z-1 + z-4)X(z)
11
Transfer Function & Difference Equation
(1 – 0.5z-1)Y(z) = (1 + 0.5z-1)X(z)
then
Y(z) – 0.5z-1Y(z) = X(z) + 0.5z-1X(z)
12
Transfer Function & Impulse Response
The relationship between the transfer function and the impulse response of
a system is also straightforward.
the transfer function H(z) is the z transform of the impulse response h[n].
𝐻 𝑧 = 𝒁 ℎ[𝑛] 𝐻 𝑧 = ∞ 𝑛=0 ℎ[𝑛]𝑧
−1
The transfer function H(z) of the system is the z transform of the impulse
response h[n]. Taking z transform term by term we get
H(z) = 1 + 0.4z-1 + 0.2z-2 + 0.05z-3
Note that we can also get the difference equation from the TF.
y[n] = x[n] + 0.4x[n-1] + 0.2x[n-2]+ 0.05x[n-3]
YU Digital Signal Processing_CME 454 Dr. Ahmed Musa
13
Inverse Z Transform
Inverse Z Transform
14
Inverse Z Transform: Using Residues Theorem
15
Inverse Z Transform: Using Informal Methods
16
Inverse Z Transform: Long Division Method
17
Inverse Z Transform: Long Division Method
or
18
Inverse Z Transform: Partial Fraction Method
DISADVANTAGES
Applicable to strictly proper rational function in standard form
19
Inverse Z Transform: Partial Fraction Method
Example-27: Using partial fraction method find the impulse response of the
system
𝑧 −2
𝐻 𝑧 =
1+0.25𝑧 −1
Solution
Changing to standard from, the transfer function becomes;
1
𝐻(𝑧) = 2
𝑧 + 0.25𝑧
Its partial fraction expansion is
1 𝐴 𝐵
𝐻 𝑧 = = +
𝑧 𝑧 + 0.25 𝑧 𝑧 + 0.25
4 −4 4𝑧
𝐻 𝑧 = + = 𝑧 −1 4 −
𝑧 𝑧 + 0.25 𝑧 + 0.25
The portion within the brackets gives the inverse transform 4δ[n] - 4(-
0.25)n u[n], so the final inverse transform is
h[n] = 4δ[n - 1] - 4(-0.25)n-1u[n - 1]
Example: Using partial fraction method find the inverse z-transform of the
signal
Solution
Eliminating the negative power of 𝑧 by multiplying the numerator and
denominator by 𝑧2 yields
20
Transfer Function & System Stability
21
Transfer Function & System Stability
Poles have the biggest effect on the behavior of a digital system (digital
filter).
Zeros tend to modulate, to a greater or lesser degree depending on their
position relative to the poles.
The poles of digital filter can be found if its transfer function is known.
Both zeros and poles are in general complex numbers.
A very powerful tool for the digital system analysis and design is a complex
plane called z plane, on which poles and zeros of the transfer function are
plotted.
On the z plane,
poles are plotted as crosses (X)
zeros are plotted as circles (O)
A plot showing pole and zero locations is called a pole-zero plot.
Example: for a first order system the
poles and zeros are
𝟐
𝑯 𝒛 = 𝟏+𝟎.𝟒𝒛−𝟏
Poles: at 𝑧 = -0.4
Zeros: at 𝑧 = 0
22
Transfer Function (TF) & System Stability
The position of the poles and zeros on the z plane can give clue about the way a
digital system (filter) will behave.
One reason the poles of a system are so useful is that they determine whether or not
the system (filter) is stable.
The system is stable as long as the poles lie inside the unit circle, which is a circle of
unit radius on the z plane.
If the magnitude of each pole is less than one, the poles are less than one unit’s
distance from the center of the unit circle, and the system(filter) is stable.
If any of the poles of a system lie outside the unit circle, the system is unstable.
If the outermost pole lies on the unit circle, the system is described as being
marginally stable.
Example: Find the poles and zeros and stability for the digital filter whose
transfer function is
Solution:
Eliminating negative exponents yields
23
Transfer Function & System Stability
For a step input, we can determine step response assuming zero initial
conditions. Letting
24
Impulse & Step Responses
25
Impulse & Step Responses(Stabiliy Illustration)
Among the stable systems, the closer the poles are to the unit circle, the
longer the impulse and step responses take to settle to their final values.
When all poles are extremely close to the origin of the z plane, the
responses reach their final values almost immediately.
26
Impulse & Step Responses (Stable and Unstable IR)
27
Impulse & Step Responses (Stable and Unstable IR)
The steady state output for the step response of a stable system may be
computed using the system’s difference equation, by replacing all outputs y
with ySS and all inputs x with one (1).
28
Steady State Output
The steady state output for the impulse response of a stable system is
always zero.
Replacing the outputs y with ySS and the inputs 𝒙 with zero (0)
For example, the difference equation
29
Impulse & Step Responses: Effect of Zero Position on Impulse Response
Questions?
30