DR.

AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities

Chapter
Z-TRANSFORM
Introduction
The z-transform is useful for the manipulation of discrete data sequences and has acquired a new
significance in the formulation and analysis of discrete-time systems. It is used extensively today in the
areas of applied mathematics, digital signal processing, control theory, population science, and
economics. These discrete models are solved with difference equations in a manner that is analogous to
solving continuous models with differential equations. The role played by the z-transform in the
solution of difference equations corresponds to that played by the Laplace transforms in the solution of
differential equations.

DEFINITION AND EXAMPLES

Definition: The z-transform of a sequence {xk } is defined in general as

xk
{x } 
k   X ( z)  z
k  
k

For sequence {xk } that are causal, that is xk  0 for k  0


xk
The z-transform reduces to {x }  X ( z )  

k 0 k
.
k 0 z
In this chapter we consider only causal sequences, so use the notation and definition as

x
{xk }  X ( z )   kk
n 0 z

Region of Convergence (ROC):

Region of convergence is the set of those values of z for which power series X (z ) converges. OR for
which power series, X (z ) attains finite value.
If there is no value of z for which X (z ) converges, then the sequence {xk } is said to be having no Z
transform.
The Unit-sample Sequence or The Unit-impulse Sequence:
A sequence of particular importance is the unit pulse or impulse sequence
1, if k  0
{ k }  {1}  {1, 0, 0, 0,} or k  
0, if k  0
1 0 0 0
By definition Z{ k }  0  1  2  3  
z z z z
Z{ k }  1
ROC is the entire plane.

The Unit-step Sequence:

A unit step sequence is defined as
1, if k  0
{uk }  {(1)k }  {1,1,1,1,} un   or
0, if k  0
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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
1 1 1 1 1 z
By definition Z{uk }  0  1  2  3    
z z z z 1  z z 1
1

z
Z {uk } 
z 1
1
The above series converge if  1 . i.e. ROC is z  1 . So that ROC is the exterior of the unit circle in
z
the z-plane.

The Unit-ramp Sequence:

A unit ramp sequence is defined as
k , if k  0
{rk }  {k}  {1, 2, 3, 4,} or rk  
0, if k  0
0 1 2 3 1 2 3 
By definition Z{rk }   1  2  3    1   2  
z 0
z z z z z z 
2
1 1 1 ( z  1) 2 z
 1    2

z z z z ( z  1) 2
z
Z{rk } 
( z  1) 2
1
The above series converge if  1 . i.e. ROC is z  1 . So that ROC is the exterior of the unit circle in
z
the z-plane.
The Exponential Sequence:
An exponential sequence is defined as
a k , if k  0
{xk }  {a k }  {1, a, a 2 , a3 ,} or xk  
0, if k  0
1 a a 2 a3 1 z
By definition Z{xk }  0  1  2  3    
z z z z 1 z z  a
a

z
Z {a k } 
za
a
The above series converge if  1 . i.e. ROC is z  a .
z

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities

BASIC PROPERTIES OF THE Z-TRANSFORM

Linear Property: The z-transform is a linear transformation. Or
If {xk } and { yk } are sequences having z transforms X (z ) and Y (z ) respectively and if  and  are
any constants, real or complex, then Z{xk   yk }  Z{xk }  Z{ yk }  X ( z)  Y ( z) .
Proof: Let {xk } and { yk } are sequences having z transforms X (z ) and Y (z ) respectively. i.e.
Z{xk }  X ( z ) and Z{ yk }  Y ( z ) .
Let  and  are any constants, real or complex. By definition

x   y
Z{xk   yk }   k k k
k 0 z
 
x y
   kk    kk
k 0 z k 0 z

 Z{xk }  Z{ yk }
 X ( z)  Y ( z)
The region of the existence of the z transform, in the z-plane, of the linear sum will be the intersection
of the regions of existence of the individual z-transforms X (z ) and Y (z ) .
Example: The continuous-time function f (t )  cos t H (t ) ,  a constant, is sampled in the idealized
sense at the interval T to generate the sequence {cos kT } . Determine the z-transform of the sequence.
1
Solution: We know that cos kT  {eikT  eikT } and the linearity property, we have
2
Z{cos kT }  Z{ 2 e  12 eikT }  12 Z{eikT }  12 Z{eikT }
1 ikT

Z{cos kT }  12 Z{(eiT )k }  12 Z{(eiT )k }

z
Using Z{a k }  , z a
za
Since eiT  eiT  1
z z
Therefore Z{cos kT }  12 iT
 12 , z 1
z e z  eiT
z ( z  e iT )  z ( z  eiT )
Z{cos kT }  2
1
, z 1
( z  eiT )( z  e iT )
z ( z  e iT  z  eiT )
Z{cos kT }  12 2 , z 1
z  zeiT  zeiT  1
z (2 z  (eiT  e iT ))
Z{cos kT }  12 2 , z 1
z  z (eiT  eiT )  1
z (2 z  2 cos T )
Z{cos kT }  12 2 , z 1
z  2 z cos T  1
z ( z  cos T )
Z{cos kT }  2 , z 1
z  2 z cos T  1
Example: The continuous-time function f (t )  sin t H (t ) ,  a constant, is sampled in the idealized
sense at the interval T to generate the sequence {sin kT } . Determine the z-transform of the sequence.
1
Solution: We know that sin kT  {eikT  e ikT } and the linearity property, we have
2i
Z{sin kT }  Z{ 2i e  21i eikT }  21i Z{eikT }  21i Z{eikT }
1 ikT

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
Z{sin kT }  21i Z{(eiT )k }  21i Z{(eiT )k }
z
Using Z{a k }  , z a
za
Since eiT  eiT  1
z z
Therefore Z{sin kT }  1
iT
 21i , z 1
z e
2i
z  eiT
z ( z  e iT )  z ( z  eiT )
Z{sin kT }  21i , z 1
( z  eiT )( z  e iT )
z ( z  e iT  z  eiT )
Z{sin kT }  21i 2 , z 1
z  zeiT  zeiT  1
z (eiT  e iT )
Z{sin kT }  21i 2 , z 1
z  z (eiT  eiT )  1
z 2i sin T
Z{sin kT }  21i 2 , z 1
z  2 z cos T  1
z sin T
Z{sin kT }  2 , z 1
z  2 z cos T  1
az sin T
Exercise: Show that for a constant T Z{a k sin kT }  , z a
z  2az cos T  a 2
2

1 ikT
Solution: We know that sin kT  {e  e ikT } and by the linearity property, we have
2i
Z{a sin kT }  Z{a ( 2i e  21i eikT )}  21i Z{a k eikT }  21i Z{a k eikT }
k k 1 ikT

Z{a k sin kT }  21i Z{(aeiT )k }  21i Z{(aeiT )k }

z
Using Z{a k }  , z a
za
Since aeiT  aeiT | a |
z z
Therefore Z{a k sin kT }  1
iT
 21i , z a
z  ae
2i
z  aeiT
z ( z  ae iT )  z ( z  aeiT )
Z{a k sin kT }  21i , z a
( z  aeiT )( z  aeiT )
z ( z  ae iT  z  aeiT )
Z{a k sin kT }  21i 2 , z a
z  zaeiT  zaeiT  a 2
za(eiT  eiT )
Z{a k sin kT }  21i 2 , z a
z  za(eiT  e iT )  a 2
z 2ai sin T
Z{a k sin kT }  21i 2 , z a
z  2az cos T  a 2
za sin T
Z{a k sin kT }  2 , z a
z  2az cos T  a 2
z ( z  a cos T )
Exercise: Show that for a constant T Z{a k cos kT }  , z a
z  2az cos T  a 2
2

z ( z  cosh  )
Exercise: Show that for a constant  Z{cosh k }  2
z  2 z cosh   1
1
Solution: We know that cosh k  {ek  ek } and by the linearity property, we have
2
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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
Z{cosh k}  Z{12 ek  12 e k }  12 Z{ek }  12 Z{e k }
Z{cosh k}  12 Z{(e )k }  12 Z{(e )k }
z
Using Z{a k }  , z a
za
z z
Therefore Z{cosh k }  12 
 12 , z  e and z  e
z e z  e
z ( z  e )  z ( z  e )
Z{cosh k }  12 , z  e
( z  e )( z  e  )
z ( z  e   z  e )
Z{cosh k }  12 2 , z  e
z  ze  ze  1
z (2 z  (e  e  ))
Z{cosh k }  12 2 , z  e
z  z (e  e  )  1
z (2 z  2 cosh  )
Z{cosh k }  12 2 , z  e
z  2 z cosh   1
z ( z  cosh  )
Z{cosh k }  2 , z  e
z  2 z cosh   1
z sinh 
Exercise: Show that for a constant  Z{sinh k } 
z  2 z cosh   1
2

1
The first shift property (delaying): Show that Z{xk m }  Z{xk } .
zm
Proof: Let the delay version of the sequence {xk } , denoted by { yk } with
yk  xk m
Here m is the number of steps in the delay. By definition
   x
y x
Z{ yk }   kk   k km   p pm
k 0 z n 0 z p  m z

where we have written p  k  m . If {xk } is a causal sequence, so that x p  0 ( p  0) , then

 xp 1  xp 1 1
Z { yk }    m  p
 m Z{xk }  m X ( z )
p 0 z pm z p 0 z z z
1
Hence Z{xk m }  Z{xk }
zm
Example: The causal sequence {xk } is generated by xk  ( 12 )k k  0 . Determine the z transfer of the
shifted sequence {xk 2 } .
1
Solution: We know that by first shift property Z{xk m }  Z{xk } . Put m  2
zm
1
Z{xk 2 }  Z{xk }
z2
Given xk  ( 12 )k k  0 , so
1
Z{xk 2 }  2
Z{( 12 ) k }
z
z
Using Z{a k }  , z a
za
Therefore
1 z 1
Z{xk 2 }  , z
z 2 z  12 2
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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
1 2z 1
Z{xk 2 }  2 , z
z 2z 1 2
2 1
Z{xk 2 }  , z
z (2 z  1) 2
Method-II
Since {xk } is a causal sequence. Therefore
{xk 2}  {x2 , x1, x0 , x1,}  {0, 0,1, 12 , 14 , }
1 1
0 0 1 1 1 1
Z{xk 2 }  0  1  2  23  44   2 (1   2  )
z z z z z z 2z 4z
1 1 1 2z 2 1
Z{xk 2 }  2   1
z 1  21z z 2 z  1 z (2 z  1)
2
2z
2 1
Z{xk 2 }  , z
z (2 z  1) 2
Exercise: Use the first shift property to calculate the z transform of the sequence { yk } , with
0 k 3
yk  
 xk 3 k 3
where {xk } is a causal and xk  ( 12 ) k . Confirm your result by direct evaluation of Z{ yk } using the
definition of the z-transform.
0 k 3
Solution: Given that yk  
 xk 3 k  3
1
We know that by first shift property Z{xk m }  Z{xk } .
zm
So for m  3 ,
1
Z{ yk }  Z{xk 3}  Z{xk }
z3
Given xk  ( 12 ) k , so
1
Z { yk }  3
Z{( 12 ) k }
z
z
Using Z{a k }  , z a
za
Therefore
1 z 1
Z { yk }  , z
z 3 z  12 2
1 2z 1
Z { yk }  , z
z3 2z 1 2
2 1
Z { yk }  2 , z
z (2 z  1) 2
Method-II
Since {xk } is a causal sequence. Therefore
{ yk }  {x3 , x2 , x1, x0 , x1,}  {0, 0, 0,1, 12 , 14 , }
{ yk }  {0,0, 0, x0 , x1,}  {0, 0, 0,1, 12 , 14 , }
1 1
0 0 0 1 1 1 1
Z{ yk }  0  1  2  3  24  45   3 (1   2  )
z z z z z z z 2z 4z

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
1 1 1 2z 2 1
Z { yk }  3  3  2 1
z 1  2 z z 2 z  1 z (2 z  1)
1
2z
2 1
Z { yk }  2 , z
z (2 z  1) 2
m 1
The second shift property (advancing): Show that Z{xk  m }  z m Z{xk }   xn z mn .
n 0

Proof: Let the one step advanced version of the sequence {xk } , for m  1, denoted by { yk } with
yk  xk 1
By definition
  
yk xk 1 xk 1
Z { yk }   k
  k
 z  k 1
k 0 z k 0 z k 0 z
putting p  k  1 gives
   xp
xp 
Z{xk 1}  z  p
 z   p  x0   zZ{xk }  x0 z
 
p 1 z  p 0 z 
Thus statement is true for m  1.
Let the two step advanced version of the sequence {xk } , for m  2 , denoted by { yk } with
yk  xk  2
By definition
  
yk xk 2 xk 2
Z { yk }   k
  k
 z 2
 k 2
k 0 z k 0 z k 0 z
putting p  k  2 gives
   xp
xp x1 
Z{xk  2 }  z 2   z 2

   x    z 2 Z{xk }  x0 z 2  x1 z
z 
p p 0
p 2 z  p 0 z
Thus statement is true for m  2 . Similarly in general for m step advanced sequence {xk  m }
Z{xk m}  z m Z{xk }  x0 z m  x1z m1  x2 z m2    xm1z1
m 1
Hence Z{xk  m }  z m Z{xk }   xk z mk
k 0

Multiplication by a k or Frequency scale :

If Z{xk }  X ( z ) then for any constant a , Z{a k xk }  X ( z / a) .
Proof:

x
If Z{xk }   kk  X ( z ) then by definition
k 0 z
 
a k xk xk
Z{a k xk }      X ( z / a)
k 0  a 
k k
k 0 z z

Hence Z{a xk }  X ( z / a) .
k

Example: Use appropriate properties of z-transform, find the z-transform of the signal
xk  3k sin(k / 2) .
Solution: We that
z sin T
Z{sin kT }  2 , z 1
z  2 z cos T  1
z sin( / 2)
Therefore Z{sin(k / 2)}  2 , z 1
z  2 z cos( / 2)  1
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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
z
Z{sin(k / 2)}  2 , z 1
z 1
We know that Z{a k xk }  X ( z / a)
i.e Z{a k xk }  Z{xk } zz / a
z z /3
Therefore Z{3k sin(k / 2)}  Z{sin(k / 2)} z z / 3  
z  1 z z / 3 ( z / 3) 2  1
2

3z
Z{3k sin(k / 2)} 
z 9
2

Multiplication by k m or Differentiation
m
If Z{xk }  X ( z ) then for a positive integer m ,  d 
Z{k m xk }    z  X ( z ) .
 dz 
Proof: We prove the statement by induction
C-I for m  1
By definition
 
kx
Z {k xk }   k k   z xk (kzk 1 )
k 0 z k 0

d k
  ( z ) xk z
k 0 dz

d xk
  ( z )
k 0 dz z k
d  xk  d 
 z 
dz k 0 z k
   z  X ( z)
 dz 
 d 
Z{k xk }    z  X ( z ) (1)
 dz 
So the statement is true for m  1.
C-II Suppose statement is true for m  n . i.e.
n
 d 
Z{k n xk }    z  X ( z ) (2)
 dz 
Now we have to prove statement for m  n  1 . i.e.
n 1
 d 
Z{k n 1 xk }    z  X ( z)
 dz 
By definition

k n 1 xk 
Z {k n 1 xk }   k
   k n z xk (kzk 1 )
k 0 z k 0

d k
  ( z ) k n xk z
k 0 dz

d k n xk
  ( z )
k 0 dz z k
d  k n xk  d 
 z 
dz k 0 z k
   z  Z {k n xk }
 dz 
n
n 1  d  d 
Z{k xk }    z   z  X ( z ) By (2)
 dz  dz 
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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
n 1

n 1 d 
Z{k xk }    z  X ( z )
 dz 
Hence statement is true for m  n  1 and so for all positive integral value of m .

Initial value theorem:

If {xk } is a sequence with z transform X (z ) then the initial-value theorem states that
lim X ( z )  x0 .
z 

Proof: If {xk } is a sequence with z transform X (z ) then by definition


xk x x
X ( z )  Z{ xk }  k
 x0  1  22  
k 0 z z z
Taking lim both side, we get
z 

 x x 
lim X ( z )  lim  x0  1  22    x0
z  z 
 z z 
Hence lim X ( z )  x0
z 

Final value theorem:

If {xk } is a sequence with z transform X (z ) then the final-value theorem states that
lim (1  z 1 ) X ( z )  lim xk
z 1 k 
1
provided that the poles of (1  z ) X ( z ) are inside the unit circle.
Proof: Let the sequence {xk } has the constant limit as k tends to infinity
xk  k0  yk n  0,1, 2, (1)
where yk is a sequence that decays to zero as k tends to infinity and
lim xk  k0 (2)
k 
Taking z transform both side of (1)
Z{xk }  Z{k0}  Z{ yk }
Z{xk }  k0 Z{1}  Z{ yk }
z
X ( z )  k0  Y ( z)
z 1
 1 
X ( z )  k0  1 
 Y ( z)
1 z 
(1  z 1 ) X ( z)  k0  (1  z 1 )Y ( z)
Taking lim both side, we get
z 1

lim (1  z 1 ) X ( z )  lim[k0  (1  z 1 )Y ( z )]
z 1 z 1
1
lim (1  z ) X ( z )  k0 (3)
z 1

By (2) and (3), we get lim (1  z 1 ) X ( z )  lim xn .

z 1 k 
Example: Use appropriate properties of z-transform, find the z-transform of the signal
xk  k 3k .
Solution:
We know that

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
m
If Z{xk }  X ( z ) then for a positive integer m ,  d 
Z{k m xk }    z  X ( z ) .
 dz 
For m  1 ,  d   d 
Z{k xk }    z  X ( z )    z Z{xk }
 dz   dz 

and xk  3k  d   d  z 
 Z{a k } 
z
Z{k 3k }    z  Z{3k }    z  
 dz   dz  z  3  za
( z  3)(1)  z (1) 3
Z{k 3k }   z  z
( z  3) 2
( z  3)2
3z
Z{k 3k }  .
( z  3) 2
Example: Use appropriate properties of z-transform, find the z-transform of the signal
xk  k 2 .
Solution:
m
If Z{xk }  X ( z ) then for a positive integer m ,  d 
Z{k m xk }    z  X ( z ) .
 dz 
2 2
For m  2 ,  d   d 
Z{k 2 xk }    z  X ( z )    z  Z{xk }
 dz   dz 
2 2
and xk  (1)  d   d   z 
 Z{(1)k } 
z
Z{k (1) }    z  Z{(1) k }    z  
k

2 k

 dz   dz   z  1  z 1
d  d  z 
2
 d   z  
Thus Z{k }    z  
2
    z   z  
 dz   z  1   dz  dz  z  1  
 d   ( z  1)(1)  z (1)  
Z{k 2 }    z   z  
 dz   ( z  1) 2 
 d  z 
Z{k 2 }    z  
 dz  ( z  1) 2 
 ( z  1) 2  z 2( z  1)   z  1  2 z   z ( z  1)
Z{k 2 }   z    z 3 

 ( z  1) 4
  ( z  1)  ( z  1)3
z ( z  1)
Z{k 2 }  .
( z  1)3
Example: Use appropriate properties of z-transform, find the z-transform of the signal
xk  k 2k sin(k / 2) .
Solution: We that
z sin T
Z{sin kT }  2 , z 1
z  2 z cos T  1
z sin( / 2)
Therefore Z{sin(k / 2)}  2 , z 1
z  2 z cos( / 2)  1
z
Z{sin(k / 2)}  2 , z 1
z 1
We know that Z{a k xk }  X ( z / a)
i.e Z{a k xk }  Z{xk } zz / a
z z/2
Therefore Z{2k sin(k / 2)}  Z{sin(k / 2)} z z / 2  
z  1 z z / 2 ( z / 2) 2  1
2

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
2z
Z{2 k sin(k / 2)}  2
z 4
We know that
m
If Z{xk }  X ( z ) then for a positive integer m ,  d 
Z{k xk }    z  X ( z ) .
m

 dz 
For m  1 ,  d   d 
Z{k xk }    z  X ( z )    z Z{xk }
 dz   dz 
 d   d  2z
Therefore Z{k 2k sin(k / 2)}    z Z{2k sin(k / 2)}    z  2
 dz   dz  z  4
( z 2  4)(2)  2 z (2 z )  2z 2  8
Z{k 2k sin(k / 2)}   z   z
( z 2  4) 2 ( z 2  4) 2
2 z ( z 2  4)
Z{k 2k sin(k / 2)}  .
( z 2  4) 2

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
A short table of Z transforms.

{xk } (k  0) Z{xk } Region of Convergence

1 (k  0)
xk   k   1 All z
0 (k  0)
z
xk  uk  1 (unit step sequence | z | 1
z 1
z
xk  a k ( a constant) | z|  |a|
za
z
xk  k | z | 1
( z  1) 2
az
xk  kak | z|  |a|
( z  a) 2
z ( z  1)
xk  k 2 | z | 1
( z  1) 2
z
xk  e  kT ( T constant) | z |  e T
z  e T
z ( z  cos T )
xk  cos kT (  , T constants) |z| 1
z  2 z cos T  1
2

z sin T
xk  sin kT (  , T constants) |z| 1
z  2 z cos T  1
2

z ( z  a cos T )
xk  a k cos kT (  , T constants) | z|  |a|
z  2 za cos T  a 2
2

za sin T
xk  a k sin kT (  , T constants) | z|  |a|
z  2 za cos T  a 2
2

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
Properties of the Z-transform
The following properties of z-transforms listed in Table are well known in the field of digital signal
analysis.

Sequence Z-transform

Definition { xk } X ( z )   xk z k
k 0

Addition {xk }  { yk } X ( z)  Y ( z)
Constant Multiple {c xk } c X (z )
Linearity { xk   yk }  X ( z)   Y ( z)
z1 m
Delayed Unit step uk  m
z 1
1
Time delay step xk 1 X ( z)
z
1
Time delay shift xk  m X ( z)
zm
Forward 1 step xk 1 z ( X ( z )  x0 )
Forward 2 step xk  2 z 2 ( X ( z)  x0  x1 z 1 )
m 1
Forward m step xk  m z m ( X ( z )   xi z i )
i 0
k
Frequency scale a xk X ( z / a)
Differentiation k xk  zX (z )
1 X ( z)
Integration xk  dz
k z
1 X ( z)
Integration Shift xk  z m  m1 dz
k m z
n
Discrete time convolution xk  yk   xi yk i X ( z)Y ( z)
i 0
n
xk 1   xi
z
Convolution with yk  1 X ( z)
i 0 z 1
Exercise: Calculate the Z transform of the following sequences. State the region of convergence in
each case:
(a) {( 14 ) k } (d) {(2) k } (g) {cos k }
(b) {3k } (e) {3k}
(c) {(2) k } (f) {( 15 ) k }
Answers:
4z z z
(a) , if | z | 14 (d) , if | z | 2 (g) , if | z | 1
4z 1 z2 z 1
z 3z
(b) , if | z | 3 (e) , if | z | 1
z 3 ( z  1) 2
z
(c) , if | z | 2 (f)
5z
, if | z | 15
z2 5z  1

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
The inverse Z transform
We shall discuss about the inverse Z transform. That is we find a causal sequence {xk } from the
knowledge of its Z transform X (z ) .
If Z{xk }  X ( z ) then Z 1 X ( z )  {xk }
Some formulas of inverse Z transform from the knowledge of its Z transform.
 z 
Z 1   {uk }
 z  1
 z 
Z 1    {a k }
z  a
 z 
Z 1  2
 {k}
 ( z  1) 
 az 
Z 1  2
 {kak }
 ( z  a ) 
 z  k (k  1)(k  2) (k  m  1) k
Z 1  m 1 
{ a}
 ( z  a)  m! a m
1 
Z 1  m X ( z )  Z 1 X ( z )
z  k k  m

Exercise: Invert the following Z transforms. Give the general term of the sequence in each case.
z z 1
(a) (d) (g)
z 1 3z  1 z 1
z z z2
(b) (e) (h)
z 1 z i z 1
z z
(c) (f)
z2 1
z i 2
Answers:
(a) {uk } (d) 13 {(1 / 3) k } 0 k  0 1 k 0
(g)  (h) 
(b) {(1) } 1 k  0

(1) k 0
k k 1
(e) {(i) k }
k
(c) {(1 / 2) } (f) {(i 2 ) } k

There are four methods that are used to find the inverse Z transfer. They are:
(a) Power series method or long division method or Synthetic division method
(b) Partial fraction expansion method
(c) Complex inversion integral method or Cauchy’s integration method
(d) Convolution integral method
In this chapter we discuss first three.
Long Division Method
To determine the inverse Z transform of X (z ) , if X (z ) is a ratio of the polynomials say
a0  a1 z  a2 z 2    am1 z m1  am z m
X ( z) 
b0  b1 z  b2 z 2    bn1 z n1  bn z n
We can generate a series in z by dividing the numerator of X (z ) by its denominator. If X (z )
converges for | z |  , we obtain the series
x x x
X ( z )  x0  x1 z 1  x2 z 2    xm z m    x0  1  22    mm  
z z z
k
We can identify the coefficients of z as xk of a causal sequence.
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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
For getting a causal sequence, first put the numerator and denominator of X (z ) in decreasing powers of
z before long division.
Example: Using long division, determine the inverse Z transform of
2  3z 1
X ( z)  .
(1  z 1 )(1  14 z 1  81 z  2 )
2  3z 1 2  3z 1
Solution: Given X ( z)   ,
(1  z 1 )(1  14 z 1  18 z  2 ) 1  54 z 1  18 z  2  18 z 3
Let us assume that a causal sequence is to be obtained.
Now
2  12 z 1  78 z 2  32
41 3
z  128 183 4
z 
1  54 z 1  81 z  2  81 z  3 2  3z 1
2  52 z 1  14 z  2  14 z  3
1 1
2
z  14 z  2  14 z  3
1
2
z 1  85 z  2  161 z  3  161 z  4
 78 z  2  163 z  3  161 z  4
 78 z  2  32
35  3
z  167 z  4  647 z  5
41  3
 32 z  11
64
z  4  647 z  5
41  3 205  4 41  5 41  6
 32 z  128 z  256 z  256 z
183  4 69  5 41  6
 128 z  256 z  256 z
X ( z)  2  12 z 1  87 z 2  3241 3
z  128183 4
z 
1 1 7 1 41 1 183 1
X ( z)  2     
2 z 8 z 2 32 z 3 128 z 4
Hence {xk }  {2, 12 ,  87 , 32
41
,  128
183
,}
z 2  2z
Example: Using long division, determine the inverse Z transform of X ( z )  , ROC:
z 3  3z 2  4 z  1
| z | 1 .
z 2  2z
Solution: Given X ( z)  , ROC: | z | 1
z 3  3z 2  4 z  1
Since ROC is | z | 1 , therefore xk must be a causal sequence
Now
z 1  5 z 2  11z 3  12 z 4  13z 5
z 3  3z 2  4 z  1 z 2  2 z
z 2  3z  4  z 1
5 z  4  z 1
5 z  15  20 z 1  5 z  2
11  21z 1  5 z  2
11  33z 1  44 z  2  11z 3
12 z 1  49 z  2  11z 3
12 z 1  36 z  2  48 z 3  12 z  4
 13z  2  59 z 3  12 z  4
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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
X ( z)  z 1  5z 2  11z 3  12 z 4 13z 5  
1 5 11 12 13
X ( z)  0   2  3  4  5  
z z z z z
Hence {xk }  {0,1, 5,11,12,  13,}
Exercise: Using long division, determine the inverse Z transform of
z
(a) X ( z )  2 , ROC: | z | 1 .
2 z  3z  1
z2
(b) X ( z )  2 , ROC: | z | 1 .
2z  4z  2
z
(c) X ( z )  , ROC: | z | a .
za
Answers:
(a) {0, 12 , 34 , 78 , 16
15
,}
(b) { 2 ,1, 2 ,2 , 2 , 3 , 72 ,}
1 3 5

(c) {1, a, a 2 , a3 , a 4 ,}

Partial Fraction Method
To find the inverse Z transform of X (z ) using partial fraction expansion method, its denominator must
X ( z)
be in factored form. We find the partial fraction of instead of X (z ) . This method can be applied
z
X ( z) X ( z)
only if is a proper rational function. If is not proper rational function, then it should be
z z
written as the sum of polynomial and a proper rational function before applying this method.
X ( z)
Consider a rational function given by
z
X ( z ) a0  a1 z  a2 z 2    am1 z m1  am z m

z b0  b1 z  b2 z 2    bn1 z n1  bn z n
When m  n , it is a proper fraction.
When m  n , it is not a proper fraction, so write it as:
X ( z) N ( z)
 Q( z ) 
z D( z )
N ( z)
where Q(z ) is a polynomial and is a proper rational function. There are two cases for proper
D( z )
X ( z)
rational function .
z
X ( z)
CASE-I has all distinct poles.
z
X ( z) X ( z)
When all the poles of are distinct, then is in the form
z z
X ( z ) a0  a1 z  a2 z 2    am1 z m1  am z m A A A
  1  2  n
z ( z  c1 )( z  c2 ) ( z  cn1 )( z  cn ) z  c1 z  c2 z  cn
The coefficients A1 , A2 ,, An can be determined using the formula
X ( z)
Ai  ( z  ci ) , i  1, 2,, n
z z ci

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
X ( z) X ( z)
CASE-II If has m  distinct poles or simple poles and a pole c repeated n  distinct , then
z z
is in the form
X ( z) a0  a1 z  a2 z 2    am1 z m1  am z m

z ( z  c1 )( z  c2 )  ( z  cm1 )( z  cm )( z  c) n
X ( z) A A A B B2 Bn
 1  2  m  1  
z z  c1 z  c2 z  cm z  c ( z  c ) 2
( z  c) n
The coefficients A1 , A2 ,, Am , B1 , B2 ,, Bn can be determined using the formula
X ( z)
Ai  ( z  ci ) , i  1, 2,, m
z z ci
1 d n i  n X ( z) 
Bi   ( z  c ) , i  1, 2,, n
(n  i) ! dz ni  z  z c
X ( z)
If has a complex pole, then the partial fraction can be expressed as
z
X ( z) A A
 
z z c z c
where c is the complex conjugate of c and A is complex conjugate of A . In other words, complex
conjugate poles result in complex conjugate coefficients in the partial fraction.
z
Example: Find the inverse Z transform of Y ( z )  2 .
z 1
z
Solution: Given Y ( z)  2
z 1
Y ( z) 1 1 A B
Now  2   
z z  1 ( z  i)( z  i) z  i z  i
Where A and B can be evaluated as
Y ( z) 1 1 1
A  ( z  i)  ( z  i)  
z z i ( z  i)( z  i) z i ( z  i) z i 2i
Y ( z) 1 1 1
B  ( z  i)  ( z  i)  
z z i ( z  i)( z  i) z i ( z  i) z i 2i
Y ( z) 1 1 1 1
So  
z 2i z  i 2i z  i
1 z z 
Y ( z)   
2i  z  i z  i 
 z 
We know Z 1    {a k } .
 z  a 
 z   z 
Therefore Z 1    {i k } , Z 1    {(i) k }
z i z i
i
We know Euler formula e  cos   i sin 
i / 2
 ie and  i  ei / 2
 z 
So that Z 1    {(ei / 2 ) k }  {eik / 2 }  {cos 12 k  i sin 12 k } ,
z i

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
 z 
Z 1    {(ei / 2 ) k }  {eik / 2 }  {cos 12 k  i sin 12 k }
z i
Thus by linear property
1  z   z 
Z 1 Y ( z )  Z 1    Z 1  
2i   z  i   z  i  
Z 1 Y ( z )  {cos 12 k  i sin 12 k }  {cos 12 k  i sin 12 k }
1
2i
Z 1 Y ( z )  {2i sin 12 k }
1
2i
Z Y ( z)  {sin 12 k }
1

z
Example: Find the inverse Z transform of Y ( z )  2 2 , where a is a real constant.
z a
z
Solution: Given Y ( z)  2 2
z a
Y ( z) 1 1 A B
Now  2 2  
z z  a ( z  ia )( z  ia ) z  ia z  ia
Where A and B can be evaluated as
Y ( z) 1 1 1
A  ( z  ia )  ( z  ia )  
z z ia ( z  ia )( z  ia ) z ia ( z  ia ) z ia 2ia
Y ( z) 1 1 1
B  ( z  ia )  ( z  ia )  
z z ia ( z  ia )( z  ia ) z ia ( z  ia ) z ia 2ia
Y ( z) 1 1 1 1
So  
z 2ia z  ia 2ia z  ia
1  z z 
Y ( z)  
2ia  z  ia z  ia 
 z 
We know Z 1    {a k } .
 z  a 
 z   z 
Therefore Z 1    {(ia ) k }  {i k a k } , Z 1    {(ia ) k }  {(i) k a k }
 z  ia   z  ia 
i
We know Euler formula e  cos   i sin 
i / 2
 ie and  i  ei / 2
 z 
So that Z 1    {(ei / 2 ) k a k }  {a k eik / 2 }  {a k (cos 12 k  i sin 12 k )} ,
 z  ia 
 z 
Z 1    {(ei / 2 ) k a k }  {a k eik / 2 }  {a k (cos 12 k  i sin 12 k )}
 z  ia 
Thus by linear property
1  1  z   z 
Z 1 Y ( z )   Z    Z 1  
2ia   z  ia   z  ia  
Z 1 Y ( z ) 
1
2ia

{a k (cos 12 k  i sin 12 k )}  {a k (cos 12 k  i sin 12 k )} 
Z 1 Y ( z ) 
1
2ia

{a k (2i sin 12 k )} 
Z 1Y ( z)  {a k 1 sin 12 k }
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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
z
Example: Find the inverse Z transform of Y ( z )  2 .
z  z 1
z
Solution: Given Y ( z)  2
z  z 1
The denominator of the transform may be factorized as
z 2  z  1  ( z  ( 12  23 i))( z  ( 12  23 i))
We know Euler formula ei  cos   i sin 
 2 
1
2
3
i  ei / 3 and 12  23 i  ei / 3
So the denominator z 2  z  1  ( z  ei / 3 )( z  ei / 3 )
Y ( z) 1 1 A B
Now  2  i / 3 i / 3
 
z z  z  1 ( z  e )( z  e ) ( z  e ) ( z  e i / 3 )
i / 3

Where A and B can be evaluated as

Y ( z) 1 1 1
A  ( z  ei / 3 )  ( z  ei / 3 ) i / 3 i / 3
 i / 3
 i / 3 i / 3
z z ei / 3 ( z  e )( z  e ) z ei / 3 ( z  e ) z ei / 3 e  e
Y ( z) 1 1 1
B  ( z  e i / 3 )  ( z  e i / 3 ) i / 3 i / 3
 i / 3
 i / 3 i / 3
z z ei / 3 ( z  e )( z  e ) z ei / 3 ( z  e ) z ei / 3 e e
ei  ei
Since sin   .
2i
1 1 1 1 1 1 1 1
A  i / 3 i / 3       
e e 2i sin 13  2i 23 i 3   , B
e  i / 3
e i / 3
 
 2i sin 13  2i 23 i 3
Y ( z) 1 1 1 1
So  i / 3
 i / 3 i / 3
z i 3 ( z  e ) (e e ) i 3
1  z z 
Y ( z)   ( z  ei / 3 )  ( z  e i / 3 ) 
i 3 
 z 
We know Z 1    {a k } .
 z  a 
 z   z 
Therefore Z 1  i / 3 
 {(ei / 3 ) k }  {ei k / 3} , Z 1  i / 3 
 {(ei / 3 ) k }  {e i k / 3}
z e  z e 
Thus by linear property
1  1  z  1  
Z 1 Y ( z ) 
z
Z  z  ei / 3   Z  z  e i / 3  
i 3    
Z 1 Y ( z ) 
1

{eik / 3}  {e ik / 3} 
i 3
Z 1 Y ( z ) 
1
{2i sin 13 k }
i 3
Z Y ( z)  { 23 sin 13 k }
1

z 1
Example: Find the inverse Z transform of Y ( z )  , ROC; z  1 .
3  4 z 1  z 2
z 1 z
Solution: Given Y ( z)  1 2
 2 , ROC; z  1 .
3  4z  z 3z  4 z  1
The denominator of the transform may be factorized as
3z 2  4 z  1  (3z  1)( z  1)  3( z  13 )( z  1)
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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
Y ( z) 1 1 A B
Now  2   
z 3z  4 z  1 3( z  3 )( z  1) ( z  3 ) ( z  1)
1 1

Where A and B can be evaluated as

Y ( z) 1 1 1 1
A  ( z  13 )  ( z  13 )   1 
z z  13 3( z  3 )( z  1) z  1 3( z  1) z  1 3( 3  1) 2
1
3 3

Y ( z) 1 1 1 1
B  ( z  1)  ( z  1)   
z z 1 3( z  13 )( z  1) z 1 3( z  13 ) z 1 3(1  13 ) 2
Y ( z)  1 1 1 1 1 z z 
So   Y ( z)    
z 2 ( z  3 ) 2 ( z  1)
1
2  ( z  1) ( z  13 ) 
 z 
We know Z 1    {a k } .
 z  a 
 z   z 
Therefore Z 1    {(1) k }  {1} , Z 1  1
 {( 13 ) k }
 z  1   z  3

Thus by linear property

1  z  1  z 

Z 1 Y ( z )  Z 1   Z   
2   z  1  z  3  
1


Z 1 Y ( z )  {1}  {( 13 ) k }
1
2

Z 1 Y ( z )  {1  ( 13 ) k }
1
2
z ( z  1)
Example: Find the inverse Z transform of Y ( z )  , ROC; z  2 .
( z  2)( z  1)3
z ( z  1)
Solution: Given Y ( z)  , ROC; z  1 .
( z  2)( z  1)3
Y ( z) z 1 A A2 A3 A4
Now   1   
z ( z  1) ( z  2) ( z  1) ( z  1) ( z  1) ( z  2)
3 2 3

Where A1 , A2 , A3 and A4 can be evaluated as

1 d n i  n X ( z) 
For A1 , A2 and A3 (repeated poles) Ai 
(n  i) ! dz ni ( z  c) z  , i  1,2,3
  z c
Here n  3 and c  1 , therefore
1 d 3 i  3 X ( z)  1 d 3i  z 1 
Ai    ( z  1) ( z  1)3 ( z  2)  , i  1,2,3
3
( z 1)
(3  i)! dz 3i  z  z  1 (3  i)! dz 3i   z  1
1 d 3 i  z  1 
Ai  , i  1,2,3
(3  i)! dz 3i  z  2  z  1
1 d 33  z  1  1  z 1   11 
For i  3 A3      2
(3  3)! dz  z  2  z  1 0!  z  2  z  1   1  2 
3 3   

1 d 3 2  z  1  1 d  z 1   ( z  2)(1)  ( z  1)(1) 
For i  2 A2  3 2       
(3  2)! dz  z  2  z  1 1! dz  z  2  z  2  ( z  2)2  z  1

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
 3   3 
 2
 2
3
 ( z  2)  z  1  (1  2) 
1 d 31  z  1  1 d 2  z 1  1 d  ( z  2)(1)  ( z  1)(1) 
For i  1 A1   
(3  1)! dz  z  2  z  1 2! dz  z  2  z  1 2 dz 
3 1  2
( z  2)2 
 z  1
1 d  3  1   3  2( z  2) 
  
2 dz  ( z  2)  z  1 2  ( z  2) 4  z  1
 2

  3(1  2) 
 4 
 3
 (  1  2) 
Y ( z) z 1 z 1  2 1  3
A4  ( z  2)  ( z  2)    3
z z  2 ( z  2)( z  1)3 z  2
( z  1)3 z  2
(2  1)3  1
Y ( z) 3 3 2 3
By partial fraction    
z ( z  1) ( z  1) ( z  1) ( z  2)
2 3

z z z z
Y ( z )  3 3 2 3
( z  1) ( z  1) 2
( z  1) 3
( z  2)
 z   z  k (k  1)(k  2) (k  m  1) k
We know Z 1    {a k } and Z 1  m 1 
{ a }.
z  a  ( z  a)  m! a m
Thus by linear property
 z   z   z   z 
Z 1Y ( z )  3Z 1    3Z 1  2
 2Z 1  3
 3Z 1 
 ( z  1)   ( z  1)   ( z  1)   z  2 
Z 1Y ( z )  3{(1)k }  3{1k!((11))1 }  2{ k ( k2!(1)(1) 21) }  3{(2)k }
k k

Z 1Y ( z)  3{(1)k }  3{k (1)k }  {k (k  1)(1)k }  3{(2)k }

Z 1Y ( z)  {3  3k  2k (k  1)}(1)k  3{(2)k }
Y ( z)
Exercise: By first resolving into partial fractions, Z 1[Y ( z )] when Y (z ) is given by
z
z z 1  2 z 1  z 2
(a) (f) 2 (k)
( z  1)( z  2) z  2 3z  4 1  32 z 1  12 z 2
(b)
z 2z 2  7z z ( z 2  4 z  5)
(g) (l)
(2 z  1)( z  3) ( z  1) ( z  3)
2
z 3  6 z 2  11z  6
z2 z2 z ( z 2  9)
(c) (h) (m)
(2 z  1)( z  1) ( z  1) 2 ( z 2  z  1) ( z  1)( z  2)3
2z 1 1
(d) 6 z
2z  z 1
2 (i)
(1  12 z 1 )(1  13 z 1 )


z
(e) 2 3z 1
z 1 (j)
(1  z 1 )(1  2 z 1 )
Answers:
(a) 13 {1  (2) k } (e) {sin 12 k } (i) {( 12 ) k  ( 13 ) k }
(b) 17 {(3) k  (1 / 2) k } (f) {2k sin 16 k } (j) 3{(2) k  1}
(c) 1
6 {2  (1 / 2) k } (g) { 52 k  14 (1  3k )} (k) 2 k  {9( 12 ) k  8}
(d) 23 {(1 / 2) k  (1) k } (h) {k  23 sin 13 k } (l) {(3) k  (2) k  1}

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
{8  8(2) k } 
(m)
{ 92 k (2) k  85 k (k  1)(2) k }
z
Exercise: Find the inverse Z transform of Y ( z )  2 .
z  2 3z  4
z
Solution: Given Y ( z)  2
z  2 3z  4
The denominator of the transform may be factorized as
z 2  2 3z  4  ( z  ( 3  i))( z  ( 3  i))
We know Euler formula ei  cos   i sin 
i / 6
 2  2i e
3 1
and 23  12 i  ei / 6
So the denominator z 2  2 3z  4  ( z  2ei / 6 )( z  2ei / 6 )
Y ( z) 1 1 A B
Now  2  i / 6 i / 6
 i / 6

z z  2 3z  4 ( z  2e )( z  2e ) z  2e z  2e i / 6
Where A and B can be evaluated as
Y ( z) 1 1 1
A  ( z  2ei / 6 )  ( z  2ei / 6 ) i / 6 i / 6
 i / 3
 i / 6
z z 2ei / 6 ( z  2e )( z  2e ) z ei / 6 ( z  2e ) z ei / 6 2e  2e i / 6
Y ( z) 1 1 1
B  ( z  2e i / 6 )  ( z  2e i / 6 ) i / 6 i / 6
 i / 3
 i / 6
z z 2ei / 6 ( z  2e )( z  2e ) z ei / 6 ( z  2e ) z ei / 6 2e  2ei / 6
ei  ei
Since sin   .
2i
1 1 1 1 1 1 1 1
A    , B    
i / 6
2(e  e i / 6
) 2(2i sin 16  ) 4i 12  2i 
 2(e  e
i / 6  i / 6
) 2(2i sin 16  ) 4i 12  2i
Y ( z) 1 1 1 1
So  
z 2i ( z  2e ) 2i ( z  2ei / 6 )
i / 6

1 z z 
Y ( z)   i / 6
 i / 6 
2i  ( z  2e ) ( z  2e )
 z 
We know Z 1    {a k } .
z  a
 z 
Therefore Z 1  i / 6 
 {(2ei / 6 ) k }  {2k ei k / 6 } ,
 z  2e 
 z 
Z 1  i / 6 
 {(2e i / 6 ) k }  {2k e i k / 6 }
 z  2e 
Thus by linear property
1    
Z 1 Y ( z )  Z 1 
z z
i / 6 
 Z 1  i / 6  
2i   z  2e   z  2e 

Z 1 Y ( z )  {2k eik / 6 }  {2k e ik / 6 }
1
2i


Z 1 Y ( z )  {2k (eik / 6  e ik / 6 )}
1
2i


Z 1 Y ( z )  {2k (2i sin 16 k )}
1
2i

Z Y ( z)  {2k sin 16 k }
1

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
z2
Exercise: Find the inverse Z transform of Y ( z )  .
( z  1) 2 ( z 2  z  1)
z2
Solution: Given Y ( z) 
( z  1) 2 ( z 2  z  1)
The denominator of the transform may be factorized as
z 2  z  1  ( z  ( 12  23 i))( z  ( 12  23 i))
We know Euler formula ei  cos   i sin 
i / 3
 2  2 i e
1 3
and 12  23 i  ei / 3
So the denominator z 2  z  1  ( z  ei / 3 )( z  ei / 3 )
Y ( z) z A A2 A3 A4
Now  i / 3 i / 3
 1   
z ( z  1) ( z  e )( z  e
2
) ( z  1) ( z  1) ( z  e ) ( z  e i / 3 )
2 i / 3

Where A1 , A2 , A3 and A4 can be evaluated as

For A1 , A2 (repeated poles)
1 d n i  X ( z) 
Ai  n i 
( z  c) n , i  1,2
(n  i) ! dz  z  z c
Here n  2 and c  1 , therefore
1 d 2 i  2 X ( z)  1 d 2 i  z 
Ai  ( z  1)  ( z  1) ( z  1) 2 ( z 2  z  1)  , i  1,2
2

(2  i) ! dz 2i  z  z 1 (2  i) ! dz 2i   z 1
1 d 2 i  z 
Ai 
(2  i) ! dz 2i  ( z 2  z  1)  , i  1,2
  z 1
For i  1
1 d 21  z  1 d  z   ( z 2  z  1)  z (2 z  1) 
A1     
(2  1) ! dz 21  ( z 2  z  1)  z 1 1! dz  ( z 2  z  1)  z 1  ( z 2  z  1)  z 1
 (12  1  1)  1(2  1)  1  1
A1    0
 (12  1  1)   1 
For i  2
1 d 2 2  z  1 z   1 
A2    2  2 1
(2  2) ! dz  ( z  z  1)  z 1 0!  ( z  z  1)  z 1  (1  1  1) 
2 2  2  

Y ( z) z z
A3  ( z  ei / 3 )  ( z  ei / 3 ) i / 3 i / 3

z z  e i / 3 ( z  1) ( z  e )( z  e
2
) z ei / 3 ( z  1) ( z  e i / 3 ) z ei / 3
2

e i / 3 1
 23 i 1
 3
i 2  2 i
1 3
1
  2
 2 2
 
(ei / 3  1) 2 (ei / 3  e i / 3 ) ( 12  2 i  1) ( 2  2 i  ( 2 
3 2 1 3 1
2
3
i)) ( 12  2
3 2
i) ( 3i) ( 12  2 i)( 3i)
3
3i
Y ( z) z z
A4  ( z  e i / 3 )  ( z  e  i / 3 ) i / 3 i / 3

z z e i / 3 ( z  1) ( z  e )( z  e
2
) z ei / 3 ( z  1) ( z  ei / 3 ) z e i / 3
2

e  i / 3  23 i
1
2  2 i
1 3
2  2 i
1 3
1
  2
  
(e i / 3  1) 2 (e i / 3  ei / 3 ) ( 12 
2 i  1) ( 2  2 i  ( 2  2 i ))
3 2 1 3 1 3
( 12  23 i) ( 3i) ( 12  23 i)( 3i)
2
3i
Y ( z) 1 1 1 1 1
By partial fraction   i / 3
 i / 3
z ( z  1) 2
3i ( z  e ) 3i ( z  e )

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
z 1  z z 
Y ( z)    i / 3
 i / 3 
( z  1) i 3  ( z  e ) ( z  e
2
)
 z  1  z 
We know Z 1   { a k
} and Z  2
 {k} .
 z  a   ( z  1) 
 z   z 
Therefore Z 1  i / 3 
 {(ei / 3 ) k }  {ei k / 3} , Z 1  i / 3 
 {(ei / 3 ) k }  {e i k / 3}
 z  e   z  e 
 z  1  1  z   
Thus by linear property Z 1 Y ( z )  Z 1 
z
2
  Z  i / 3 
 Z 1  i / 3  
 ( z  1)  i 3   z  e  z e 
Z 1 Y ( z )  {k} 
1
 
{eik / 3}  {e ik / 3}  {k} 
1
{2i sin 13 k }
i 3 i 3
Z 1Y ( z )  {k  23 sin 13 k }
z ( z 2  9)
Exercise: Find the inverse Z transform of Y ( z )  .
( z  1)( z  2)3
z ( z 2  9)
Solution: Given Y ( z) 
( z  1)( z  2)3
Y ( z) ( z 2  9) A1 A2 A3 A
Now      4
z ( z  1)( z  2) ( z  2) ( z  2) ( z  2) ( z  1)
3 2 3

Where A1 , A2 , A3 and A4 can be evaluated as

1 d n i  n X ( z) 
For A1 , A2 and A3 (repeated poles) Ai 
(n  i) ! dz ni ( z  c) z  , i  1,2,3
  z c
Here n  3 and c  2 , therefore
1 d 3 i  3 X ( z)  1 d 3 i  z2  9 
Ai  ( z  2)  ( z  2) 3
3
, i  1,2,3
(3  i) ! dz 3i z  z 2 (3  i) ! dz 3i  ( z  1)( z  2)  z 2
1 d 3 i  z2  9
Ai    , i  1,2,3
(3  i) ! dz 3i  z  1  z 2
1 d 3 3  z 2  9  1  z2  9  22  9 
For i  3 A3          5
(3  3) ! dz 33  z  1  z 2 0!  z  1  z 2  2  1 
1 d 3 2  z 2  9  1 d  z2  9  ( z  1)(2 z )  ( z 2  9)(1) 
For i  2 A2         
(3  2) ! dz 32  z  1  z 2 1! dz  z  1  z 2  ( z  1) 2  z 2
 z 2  2z  9   22  2(2)  9 
 2 
   9
 ( z  1)  z 2  2 1 
1 d 31  z 2  9  1 d 2  z2  9 1 d  ( z  1)(2 z )  ( z 2  9)(1) 
For i  1 A1         
(3  1) ! dz 31  z  1  z 2 2! dz 2  z  1  z 2 2 dz  ( z  1) 2  z 2
1 d  z 2  2z  9  1  ( z  1) 2 (2 z  2)  ( z 2  2 z  9)2( z  1) 
     
2 dz  ( z  1) 2  z 2 2  ( z  1) 4  z 2
1  (2  1) 2 (2(2)  2)  ((2) 2  2(2)  9)2(2  1)  1   16 
      8
2 (2  1) 4  2  2  1

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
Y ( z) ( z 2  9) ( z 2  9) (12  9)  8
A4  ( z  1)  ( z  1)    8
z z ei / 3 ( z  1)( z  2)3 z 1 ( z  2)3 z 1 (1  2)3  1
Y ( z) 8 9 5 8
By partial fraction    
z ( z  2) ( z  2) ( z  2) ( z  1)
2 3

z z z z
Y ( z )  8 9 5 8
( z  2) ( z  2) 2
( z  2) 3
( z  1)
 z   z  k (k  1)(k  2) (k  m  1) k
We know Z 1    {a k } and Z 1  m 1 
{ a }.
z  a  ( z  a)  m! a m
Thus by linear property
 z   z   z   z 
Z 1 Y ( z )  8Z 1    9Z 1  2
 5Z 1  3
 8Z 1 
 ( z  2)   ( z  2)   ( z  1)   z  1
Z 1Y ( z )  8{(2) k }  9{ k1(!22)1 }  5{ k ( k2!12)(2 2) }  8{(1) k }
k k

Z 1 Y ( z )  8{(2) k }  {k (2) k }  {k (k  1)(2) k }  8{(1) k }

9 5
2 8
Z 1 Y ( z )  8{1  (2) k }  {k (2) k }  {k (k  1)(2) k }
9 5
2 8
z (2 z  11z  12)
2
Exercise: Find inverse Z transform of .
( z  1)( z  2)3
Answer: {3  14 k (k  1)(2) k  12 k (2) k  (2) k }
z3  2z 2 1
Example: Find the sequence whose Z transform is Y ( z )  .
z3
z3  2z 2 1
Solution: Given Y ( z) 
z3
2 1 1 2 0 1 0 0
This can be written as Y ( z)  1   3  0   2  3  4  5  
z z z z z z z z
By definition this a Z transform of the sequence
Z 1{Y ( z)]  { yk }  {1, 2, 0,1, 0, 0,}
Exercise: Invert the following Z transforms. Give the general term of the sequence in each case.
(a) ( z 6  2) / z 7 1 z 3z 2z 2  7z  7
(d) 3  (f)
3 2 z 3z  1 ( z  1) 2 ( z  2)
(b) 1  2  9
z z 2 z  6 z  5z  1
3 2
z 3
(e) (g) 2
(c) (3z  z  5z ) / z
2 5 5
z (2 z  1)
2
z  3z  2
Answers:
(a) {0,1, 0, 0, 0, 0, 0, 2, 0, 0,} 0 k 0
(f) 
(b) {1, 0, 3, 0, 0, 0, 0, 0, 0,  2, 0,} 
1  2(k  1)  (2) k  1
k 1

(c) {5, 0, 0,1, 3, 0, 0,} 0 k 0

(d) {0, 0,1,1,0,}  {(1 / 3) } k (g)  k 1
2  (2) k  1
1 0 k 0
{1, 3,1, 0, 0,}  
(e) 2 (1 / 2) k 1 k  1
or {1, 52 , 54 ,  18 , 161 ,  321 , }

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
Cauchy’s Integration (Residue) Method
If X (z ) is the Z transform of {xk } then
1
xk  
2i C
X ( z ) z k 1dz

where C is a circle in the z-plane in the region of convergence of X (z ) . Above integral can be
evaluated by residue integration method. That is,
xk  sum of the residues of X ( z) z k 1 at the poles inside C
Residue at the simple pole z  a is given as
Re s X ( z ) z k 1  ( z  a) X ( z ) z k 1
z a z a

Residue at the pole z  a of order m is given as

k 1
Re s X ( z ) z 
z a
1 d m1
(m  1) ! dz m 1

( z  a) m X ( z ) z k 1 
z a

1  2 z 1
Example: Using residue method, to find the inverse Z transform of X ( z )  .
1  4 z 1  3z 2
1  2 z 1 z ( z  2) z ( z  2)
Solution: Given X ( z)  1 2
 2 
1  4 z  3z z  4 z  3 ( z  1)( z  3)
We know, if X (z ) is the Z transform of {xk } then
xk  sum of the residues of X ( z) z k 1 at the poles inside C
where C is a circle in the z-plane in the region of convergence of X (z ) .
( z  2)
Since X ( z ) z k 1  zk has simple poles at z  1 and z  3
( z  1)( z  3)
Since residue of X ( z ) z k 1 about simple pole z  a is Re s X ( z ) z k 1  ( z  a) X ( z ) z k 1
z a z a

z2
Hence Re s X ( z ) z k 1  ( z  1) X ( z ) z k 1  ( z  1) zk
z  1 z  1 ( z  1)( z  3) z  1

z2 k 1  2 1
 z  (1) k  (1) k
( z  3) z  1
(1  3) 2
z2
Re s X ( z ) z k 1  ( z  3) X ( z ) z k 1  ( z  3) zk
z  3 z  3 ( z  1)( z  3) z  3

z2 k 3 2 1
 z  (3) k  (3) k
( z  1) z  3
(3  1) 2
1 1
So xk  (1) k  (3) k
2 2
1
Hence Z 1[ X ( z )]  {xk }  {(1) k  (3) k }
2
3z 1
Example: Using residue method, to find the inverse Z transform of X ( z )  .
(1  12 z 1 ) 2
3z 1 3z
Solution: Given X ( z) 
1 1 2

(1  2 z ) ( z  12 ) 2
We know, if X (z ) is the Z transform of {xk } then
xk  sum of the residues of X ( z) z k 1 at the poles inside C
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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
 DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
where C is a circle in the z-plane in the region of convergence of X (z ) .
3
Since X ( z ) z k 1  zk has pole of order two at z  12 .
( z  12 ) 2
Since residue of X ( z ) z k 1 about pole z  a of order m is given as

Re s X ( z ) z k 1 
z a
1 d m1
(m  1) ! dz m 1

( z  a) m X ( z ) z k 1 
z a

 
2 1
1 d
Hence Re1s X ( z ) z k 1  2 1
( z  12 ) 2 X ( z ) z k 1
z 2 (2  1) ! dz z  12

1 d  k
 ( z  2 )
1! dz 
1 2 3
(z  2 ) 2
z  
d
3 zk   
 3k z k 1  z  12
 3k ( 12 ) k 1
 z  12 dz
1
z  12

So xk  3k ( 12 ) k 1
Hence Z 1[ X ( z)]  {xk }  {3k ( 12 )k 1}
Exercise: Find inverse Z transform by residue method
Sr. Question Answer:
z2  z
(a) X ( z)  {xk }  {2k  1}
( z  1) 2
z ( z  1)
(b) X ( z)  2 {xk }  {2  3(2)k }
z  3z  2
z
(c) X ( z)  {xk }  {(k  3)(1) k  (0.125k 2 1.125k  3)(2) k }
( z  1) ( z  2)3
2

z (3z  1)
(d) X ( z)  {xk }  {k (0.5k  1)}
2( z  1)3

Books
Advanced Modern Engineering Mathematics, by Glyn James, 4th Edition
Signals and Systems, by A. Anand Kumar

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Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.