Z_Transform_C_k
Z_Transform_C_k
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.
z
Z {a k }
za
a
The above series converge if 1 . i.e. ROC is z a .
z
-2-
Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
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 kT } . Determine the z-transform of the sequence.
1
Solution: We know that cos kT {eikT eikT } and the linearity property, we have
2
Z{cos kT } Z{ 2 e 12 eikT } 12 Z{eikT } 12 Z{eikT }
1 ikT
-3-
Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
Z{sin kT } 21i Z{(eiT )k } 21i Z{(eiT )k }
z
Using Z{a k } , z a
za
Since eiT eiT 1
z z
Therefore Z{sin kT } 1
iT
21i , z 1
z e
2i
z eiT
z ( z e iT ) z ( z eiT )
Z{sin kT } 21i , z 1
( z eiT )( z e iT )
z ( z e iT z eiT )
Z{sin kT } 21i 2 , z 1
z zeiT zeiT 1
z (eiT e iT )
Z{sin kT } 21i 2 , z 1
z z (eiT eiT ) 1
z 2i sin T
Z{sin kT } 21i 2 , z 1
z 2 z cos T 1
z sin T
Z{sin kT } 2 , z 1
z 2 z cos T 1
az sin T
Exercise: Show that for a constant T Z{a k sin kT } , z a
z 2az cos T a 2
2
1 ikT
Solution: We know that sin kT {e e ikT } and by the linearity property, we have
2i
Z{a sin kT } Z{a ( 2i e 21i eikT )} 21i Z{a k eikT } 21i Z{a k eikT }
k k 1 ikT
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 ek } and by the linearity property, we have
2
-4-
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
za
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 km p pm
k 0 z n 0 z p m z
-6-
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 mn .
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 m1 x2 z m2 xm1z1
m 1
Hence Z{xk m } z m Z{xk } xk z mk
k 0
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 kT } 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
-7-
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 } zz / 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 (kzk 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 (kzk 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
-8-
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 .
x x
lim X ( z ) lim x0 1 22 x0
z z
z z
Hence lim X ( z ) x0
z
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
-9-
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 za
( 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 kT } 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 } zz / 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
- 10 -
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
- 11 -
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.
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
- 12 -
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 m1 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 z2 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
z2 5z 1
- 13 -
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 z2
(b) (e) (h)
z 1 z i z 1
z z
(c) (f)
z2 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 am1 z m1 am z m
X ( z)
b0 b1 z b2 z 2 bn1 z n1 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.
- 14 -
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
- 15 -
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 .
za
Answers:
(a) {0, 12 , 34 , 78 , 16
15
,}
(b) { 2 ,1, 2 ,2 , 2 , 3 , 72 ,}
1 3 5
- 16 -
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 am1 z m1 am z m
z ( z c1 )( z c2 ) ( z cm1 )( 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 ni 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
ie and i ei / 2
z
So that Z 1 {(ei / 2 ) k } {eik / 2 } {cos 12 k i sin 12 k } ,
z i
- 17 -
Faculty of Engineering & Technology, Bahauddin Zakariya University, Multan, Pakistan.
DR. AHMAD HASSAN (Assistant Professor) Department of Basic Sciences and Humanities
z
Z 1 {(ei / 2 ) k } {eik / 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
ie and i ei / 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 {(ei / 2 ) k a k } {a k eik / 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 1Y ( z) {a k 1 sin 12 k }
- 18 -
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 ei / 3
So the denominator z 2 z 1 ( z ei / 3 )( z ei / 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
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)
- 19 -
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
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
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
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 31 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 1Y ( z ) 3Z 1 3Z 1 2
2Z 1 3
3Z 1
( z 1) ( z 1) ( z 1) z 2
Z 1Y ( z ) 3{(1)k } 3{1k!((11))1 } 2{ k ( k2!(1)(1) 21) } 3{(2)k }
k k
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 ei / 6
So the denominator z 2 2 3z 4 ( z 2ei / 6 )( z 2ei / 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 2ei / 6 ( z 2e )( z 2e ) z ei / 6 ( z 2e ) z ei / 6 2e 2ei / 6
ei ei
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 2ei / 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 ei / 3
So the denominator z 2 z 1 ( z ei / 3 )( z ei / 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
(2 i) ! dz 2i z z 1 (2 i) ! dz 2i z 1
1 d 2 i z
Ai
(2 i) ! dz 2i ( z 2 z 1) , i 1,2
z 1
For i 1
1 d 21 z 1 d z ( z 2 z 1) z (2 z 1)
A1
(2 1) ! dz 21 ( 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 ei / 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 )
- 23 -
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
{(ei / 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 1Y ( 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
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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 ei / 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 1Y ( z ) 8{(2) k } 9{ k1(!22)1 } 5{ k ( k2!12)(2 2) } 8{(1) k }
k k
- 25 -
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
2i 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
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
z2
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
z2 k 1 2 1
z (1) k (1) k
( z 3) z 1
(1 3) 2
z2
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
z2 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
- 26 -
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 m1
(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.