z-transform derived from Laplace transform
Lecture 15
Consider a discrete-time signal x(t) below sampled every T sec.
x(t ) = x0 (t ) + x1 (t T ) + x2 (t 2T ) + x3 (t 3T ) + .....
Discrete-Time System Analysis
using z-Transform
(t)
The Laplace transform of x(t) is therefore (Time-shift prop. L6S13):
X ( s) = x0 + x1e sT + x2e s 2T + x3e s 3T + .....
(Lathi 5.1)
z = esT = e( + j )T = e T cos T + je T sin T
Now define
X [ z ] = x0 + x1 z 1 + x2 z 2 + x3 z 3 + .....
Peter Cheung
Department of Electrical & Electronic Engineering
Imperial College London
URL: www.ee.imperial.ac.uk/pcheung/teaching/ee2_signals
E-mail: p.cheung@imperial.ac.uk
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Lecture 15 Slide 1
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z-1 the sample period delay operator
From Laplace time-shift property, we know that z = e sT is time advance
by T second (T is the sampling period).
1
sT
Therefore z = e
corresponds to UNIT SAMPLE PERIOD DELAY.
As a result, all sampled data (and discrete-time system) can be
expressed in terms of the variable z.
More formally, the unilateral z-transform of a causal sampled
sequence:
x[n] = x[0] + x[1] + x[2] + x[3] +
is given by:
X ( s) = x(t )e st dt
Fourier
transform
X ( ) = x(t )e jt dt
0 = 2 / T
n =
E2.5 Signals & Linear Systems
Continuous-time system
Converts integraldifferential equations to & signal analysis; stable
or unstable
algebraic equations
Laplace
transform
z
transform
The bilateral z-transform for a general sampled sequence is:
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Suitable for ..
Converts finite time
signal to frequency
domain
Continuous-time; stable
system, convergent
signals only; best for
steady-state
n =0
x[n]z
Purpose
N0 1
= x[n]z n
X [ z] =
Definition
Discrete X [n ] =
x[n]e jn0T Converts finite discrete- Discrete time, otherwise
0
time signal to discrete
Fourier
n =0
same as FT
transform N 0 samples,T = sample period frequency domain
Lecture 15 Slide 2
E2.5 Signals & Linear Systems
Laplace, Fourier and z-Tranforms
X [ z ] = x0 + x1 z 1 + x2 z 2 + x3 z 3 + .....
(L6S5)
(t T) e sT (L6S13)
X [ z] =
x[n]z
n =
Converts difference
equations into
algebraic equations
Discrete-time system &
signal analysis; stable
or unstable
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Lecture 15 Slide 4
Example of z-transform (1)
Example of z-transform (2)
Find the z-transform for the signal nu[n], where is a constant.
By definition
Since u[n] = 1 for all n 0 (step function),
Apply the geometric progression formula:
Therefore:
Observe that a simple equation in z-domain results in an infinite
sequence of samples.
Observe also that
exists only for
.
For
X[z] may go to infinity. We call the region of z-plane
where X[z] exists as Region-of-Convergence (ROC), and is shown below.
z-plane
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z-transforms of [n] and u[n]
Also, for
Therefore
Since
From slide 5, we know
Hence
Therefore
Since
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z-transforms of cosn u[n]
Remember that by definition:
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z-transforms of 5 impulses
Find the z-tranform of:
By definition,
Now remember the equation for sum of a power series:
r
k =0
Let
z-transform Table (1)
r n+1 1
r 1
r = z and n = 4
z 5 1
X [ z ] = 1
z 1
z
=
(1 z 5 )
z 1
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z-transform Table (2)
E2.5 Signals & Linear Systems
Inverse z-transform
As with other transforms, inverse z-transform is used to derive x[n] from
X[z], and is formally defined as:
Here the symbol
indicates an integration in counterclockwise direction
around a closed path in the complex z-plane (known as contour integral).
Such contour integral is difficult to evaluate (but could be done using
Cauchys residue theorem), therefore we often use other techniques to
obtain the inverse z-tranform.
One such technique is to use the z-transform pair table shown in the last
two slides with partial fraction.
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Find inverse z-transform real unique poles
Find the inverse z-transform of:
Step 1: Divide both sides by z:
Step 2: Perform partial fraction:
Step 3: Multiply both sides by z:
Find inverse z-transform repeat real poles (1)
Find the inverse z-transform of:
Divide both sides by z and expand:
Use covering method to find k and a0:
We get:
To find a2, multiply both sides by z and let z:
Step 4: Obtain inverse z-transform of each term from table (#1 & #6):
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Find inverse z-transform repeat real poles (2)
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Find inverse z-transform complex poles (1)
To find a1, let z = 0:
Therefore, we find:
Use pairs #6 & #10
Find inverse z-tranform of:
Whenever we encounter complex pole, we need to use a special partial
fraction method (called quadratic factors):
Now multiply both sides by z, and let z:
We get:
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Find inverse z-transform complex poles (2)
Find inverse z-transform long division
To find B, we let z=0:
Consider this example:
Now, we have X[z] in a convenient form:
Perform long division:
Use table pair #12c, we identify A = -2, B = 16,
Thus:
Therefore
and a = -3.
Therefore:
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