Z Transform

The Transforms
The Laplace transform of a function f(t):

st

F (s )

f (t )e

dt

The one-sided z-transform of a function x(n):

X (z)

x (n )z n

n 0

The two-sided z-transform of a function x(n):

X (z)

x (n )z n

n
2

Relationship to Fourier Transform

Note that expressing the complex variable z in polar form
reveals the relationship to the Fourier transform:

X (re i )
X (re i )

x (n )(re i ) n , or

x (n )r n e in , and if r 1,

X (e i ) X ( )

x (n )e in

which is the Fourier transform of x(n).

3

z-Plane
X ( z)

x ( n) z

Im

z = ej

n
j

X (e )

x ( n )e

j n

Fourier
Fourier Transform
Transform is
is to
to evaluate
evaluate zztransform
transform on
on aa unit
unit circle.
circle.

Re

The z-Transform
Counterpart of the Laplace transform for discrete-time signals
Generalization of the Fourier Transform
Fourier Transform does not exist for all signals

The z-Transform is often time more convenient to use

Definition:

X z

x
n
z

Compare to DTFT definition:

xn e

Xe

jn

z is a complex variable that can be represented as z=r ej

Substituting z=ej will reduce the z-transform to DTFT

The z-transform and the DTFT

The z-transform is a function of the complex z variable
Convenient to describe on the complex z-plane
If we plot z=ej for =0 to 2 we get the unit circle

X e j

Im

Unit Circle

r=1

0
2

Re

Convergence of the z-Transform

DTFT does not always converge

xn e

Xe

jn

Infinite sum not always finite if x[n] no absolute summable

Example: x[n] = anu[n] for |a|>1 does not have a DTFT

Complex variable z can be written as r ej so the z-transform

X re

xn re

j n

xn r n e jn
n

DTFT of x[n] multiplied with exponential sequence r

For certain choices of r the sum maybe made finite

xn r

-n

-n

Region of Convergence
The set of values of z for which the z-transform converges
Each value of r represents a circle of radius r
The region of convergence is made of circles

Example: z-transform converges for

values of 0.5<r<2

Im

ROC is shown on the left

In this example the ROC includes
the unit circle, so DTFT exists

Not all sequence have a z-transform

Re

Stable Systems

A stable system requires that its Fourier transform is uniformly

convergent.

Im

1
Re

Fact: Fourier transform is to evaluate ztransform on a unit circle.

A stable system requires the ROC of ztransform to include the unit circle.

Example: A right sided Sequence

xx((nn))aannuu((nn))

x(n)
...
-8 -7 -6 -5 -4 -3 -2 -1

1 2 3 4 5 6 7 8 9 10

Example: A right sided

Sequence

Region of convergence

For convergence of X(z), we require that

xx((nn))aa uu((nn))
nn

X ( z)

a u (n)z
n

1
|
az
|

n 0

| z || a |

a n z n
n 0

(az 1 ) n
n 0

| az 1 | 1

1
z
X ( z ) (az )

1
1 az
za
n 0
1 n

| z || a |

Example: A right sided Sequence ROC for x(n)=anu(n)

zz
XX((zz))
,,
zzaa

| |zz||| |aa| |

Which
Which one
one is
is stable?
stable?

Im

Im

a
Re

Re

Example: A left sided Sequence

xx((nn))aannuu((nn11))

-8 -7 -6 -5 -4 -3 -2 -1

1 2 3 4 5 6 7 8 9 10

...

x(n)

Example: A left sided Sequence

xx((nn))aa uu((nn11))
nn

X ( z ) a u ( n 1)z
n

n
1

a n z n

For convergence of X(z), we require that

1
|
a
z|

| a 1 z | 1

n 0

| z || a |

a n z n
n 1

(a 1 z ) n a 1 z / 1 a 1 z z / z a
n 1

X ( z)

z
za
| z || a |

Example: A left sided Sequence ROC for x(n)=anu(

n1)

zz
XX((zz))
,,
zzaa

| |zz||| |aa| |

Which
Which one
one is
is stable?
stable?

Im

Im

a
Re

Re

Represent z-transform as a Rational Function

P( z )
X ( z)
Q( z )

where P(z) and Q(z) are

polynomials in z.

Zeros: The values of zs such that X(z) = 0

Poles: The values of zs such that X(z) =

Poles and Zeros

When X(z) is a rational function, i.e., a ration of

polynomials in z, then:
1. The roots of the numerator polynomial are
referred to as the zeros of X(z), and
2. The roots of the denominator polynomial are
referred to as the poles of X(z).
Note that no poles of X(z) can occur within the region
of convergence since the z-transform does not
converge at a pole.
Furthermore, the region of convergence is bounded
by poles.

Example: A right sided Sequence

z
X ( z)
,
za

x ( n) a n u ( n)

| z || a |

Im

Re

ROC is bounded by
the pole and is the
exterior of a circle.

Example: A left sided Sequence

z
X ( z)
,
za

x(n) a n u ( n 1)

| z || a |

Im

Re

ROC is bounded by
the pole and is the
interior of a circle.

Example: Sum of Two Right Sided Sequences

x(n) ( 12 ) n u (n) ( 13 ) n u (n)

z
z
2 z ( z 121 )
X ( z)

1
1
z2 z3
( z 12 )( z 13 )
Im

1/12
1/3

1/2

Re

ROC is bounded by poles

and is the exterior of a
circle.

ROC does not include any pole.

ROC is bounded by poles

and is a ring.
ROC does not include any pole.

ROC: 0 < z <

ROC does not include any pole.

Always
Always Stable
Stable

Properties of ROC
A ring or disk in the z-plane centered at the origin.
The Fourier Transform of x(n) is converge absolutely iff
the ROC includes the unit circle.
The ROC cannot include any poles
Finite Duration Sequences: The ROC is the entire zplane except possibly z=0 or z=.
Right sided sequences: The ROC extends outward from
the outermost finite pole in X(z) to z=.
Left sided sequences: The ROC extends inward from the
innermost nonzero pole in X(z) to z=0.

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im

Find
Find the
the possible
possible
ROCs
ROCs

a b

Re

More on Rational zTransform

Consider the rational z-transform
with the pole pattern:
Im
Case 1: A right sided Sequence.

a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im
Case 2: A left sided Sequence.

a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im
Case 3: A two sided Sequence.

a b

Re

More on Rational z-Transform

Consider the rational z-transform
with the pole pattern:
Im
Case 4: Another two sided Sequence.

a b

Re

Z-Transform Pairs

Sequence

z-Transform

(n)

( n m )

z m

ROC
All z
All z except 0 (if m>0)
or (if m<0)

u (n)

1
1 z 1

| z | 1

u ( n 1)

1
1 z 1

| z | 1

a u (n)

1
1 az 1

| z || a |

a n u (n 1)

1
1 az 1

| z || a |

Properties of Z-Transform

Linearity
If x(n) has a z-transform X(z) with a region of convergence Rx,
and if y(n) has a z-transform Y(z) with a region of convergence
Ry,
w(n) ax(n) by (n) Z W ( z ) aX ( z ) bY ( z )
and the ROC of W(z) will include the intersection of Rx and Ry,
that is, Rw contains . R x R y

Shifting property
If x(n) has a z-transform X(z), x(n n0 ) Z z n X ( z )
0

Time reversal
If x(n) has a z-transform X(z) with a region of convergence Rx
that is the annulus z , the z-transform of the time-reversed
sequence x(-n) is
x( n) X ( z )
and has a region of convergence 1 z 1 , which is denoted by 1 R
Z

Properties of Z-Transform

Multiplication by an exponential

If a sequence x(n) is multiplied by a complex exponential n.

Convolution theorm

n x(n) Z X ( 1 z )

If x(n) has a z-transform X(z) with a region of convergence Rx, and if

h(n) has a z-transform H(z) with aZ region of convergence Rh,
y (n) x(n) h(n) Y ( z ) X ( z ) H ( z )

The ROC of Y(z) will include the intersection of Rx and Rh, that is,
Ry contains Rx Rh .
With x(n), y(n), and h(n) denoting the input, output, and unit-sample
response, respectively, and X(z), Y(x), and H(z) their z-transforms.
The z-transform of the unit-sample response is often referred to as
the system function.

Conjugation
If X(z) is the z-transform of x(n), the z-transform of the complex
conjugate of x(n) is x (n) Z X ( z )

Properties of Z-Transform

Derivative
If X(z) is the z-transform of x(n), the ztransform of is
dX ( z )
nx(n) z
dz
Z

Properties of Z Transform,
Linearity

Time Shifting

Time Reversal

Convolution of Sequences