CHAPTER 3:

THE Z-TRANSFORM & ITS APPLICATION TO THE ANALYSIS OF LTI SYSTEMS

Lesson #9: The Z-transform Lesson #10: Z-transform properties

Lesson #11: Inversion of Z-transform Lesson #12: Analysis of LTI systems in the z-domain

Lecture #9 The Z-transform

1. Definition of the Z-transform

2. Region of convergence 3. Examples of Z-transform

Introduction to Z-Transform (ZT)

Recall the Laplace Transform:

F ( s)

f (t )e dt

st

Z-Transform is the discrete-time counterpart of the Laplace Transform:

F ( z)
n

f [n ] z

From Laplace Transform to Z-Transform

Take a CT signal f(t) and sample it:

f (t ) f s (t )
n

sampling

f s (t ) f (nT ) (t nT )
n

f (t ) (t nT )

From Laplace Transform to Z-Transform

Take the Laplace Transform of the sampled signal:

L[ f s (t )]
n

f (nT ) (t nT ) e st dt
n

f (nT ) (t nT )e st dt f (nT )e
snT

f (nT )
n

(t nT )e st dt
n

Let f(nT) = f[n] and esT = z then:

Definition of the Z-transform

For a DT signal x[n] = , x[-2], x[-1], x[0], x[1], x[2], The bilateral Z-transform of x[n] is defined to be
Sum goes over all integer values

X ( z)

ZT x[n]
n

x[n] z

Assume that values of z exist such that the summation converges. z takes values in the complex plane

Poles and Zeros of Z-transform

X ( z) ZT x[n]
n

x[n] z

Poles pk X(pk) =

Zeros zk X(zk) = 0
Poles are roots of denominator polynomial

Zeros are roots of numerator polynomial Note: find these after canceling any common factors and do this for polynomial in z (not in z-1)

Lecture #9 The Z-transform

1. Definition of the Z-transform

2. Region of convergence 3. Examples of Z-transform

Region of convergence (ROC)

ROC: set of all values of z, for which X(z) converges

We will find the ROC for these cases:
1. 2. 3.

Right-sided signal (x[n] = 0, n<n0) Left-sided signal (x[n] = 0, n>n0) Two-sided signal (-<n<+)

4.

Finite-duration signal

Right-sided signal

Sum goes from n0 to infinity

Right-sided signal

Infinite Egg White!!!

Right-sided signal
If x[n] is not causal then X(z) will not converge at z = we cant include in the ROC

Ex: x[n] = u[n+1]

ROC: rmax < |z| <

Left-sided signal

Left-sided signal

Egg Yolk!!!

Left-sided signal

If x[n] has values at some times > 0, then X(z) does not converge at z = 0 we cant include 0 in the ROC Ex: x[n] = u[-n+1]

ROC: 0 < |z| < rmin

Two-sided signal
Two-sided signal = Left-sided signal + right-sided signal

Donut!!!

Note: if |a| |b| then X(z) does not exist

Finite-duration signal
For

x (n )

(n m)
n2

X( z)
n

(n m)z
n2

x[n]
k n1

x[k ] [n k ]

X ( z)
k n1

x[k ]z

ROC: all of z, except:

z = 0 if k > 0 z = if k < 0

Lecture #9 The Z-transform

1. Definition of the Z-transform

2. Region of convergence 3. Examples of Z-transform

Examples of Z-transform
Find the ZT of the right-sided and the left-sided sequences

x1[n] a nu[n] and

x2 [n]
1 n

(a n )u[ n 1]

X1 (z)
n 0

a z z z a

n n 0

(az )

1 1 az

| az | 1 | az | 1
1

, |z| |a|

Examples of Z-transform
Find the ZT of the right-sided and the left-sided sequences

x1[n] a nu[n] and

x2 [n]

(a n )u[ n 1]

X 2 (z)
n

anz
1

n n 1

( a 1z ) n

a 1z | a 1z | 1 1 a 1z | a 1z | 1

z z a

, |z| |a|

The ROC must be specified for the bilateral Z-Transform to be unique

Examples of Z-transform
Find the ZT of the left-sided signal

x[n] 3n u[ n 1] 4n u[ n 1]
x[n ] X ( z) { 3n u[ n 1]} { 4n u[ n 1]} z z z 4

z 3 ROC :| z | 3

Examples of Z-transform
n

Find the ZT of the two-sided signal

x[n] a
1 a
n

x[n ]

a a

n n

n n

0 0

a u[n ]

u[ n 1]

z 1 X ( z) ROC :| a | | z | if | a | 1 z a z 1/ a |a | X ( z ) does not exist if | a | 1

Examples of Z-transform
Find the ZT of the two-sided signal

h[n] ( 5) u[n 1] 3 u[ n 1]
h[n ] (0.5)n {u[n ] (0.5) u[n ] H ( z)
n

[n ]} 3n u[ n 1] [n ] { 3 u[ n 1]} ROC : 0.5 | z | 3

n

z z 1 z 0.5 z 3

Examples of Z-transform

Find the ZT of the signal

x[n] =

X ( z)

1 z 2

3z

ROC : 0 | z |

Examples of Z-transform
Find the ZT of the right-sided-sided signal

x[n] r n sin(bn)u[n]
1 n jbn 1 n jbn x (n ) r e u (n ) r e u (n ) 2j 2j 1 1 jb n (r e ) u (n ) (re jb ) n u (n ) 2j 2j X(z) 1 z 2 j z r e jb
Z

z z re

jb

r sin(bn )u (n )

rz sin b , |z| |r| 2 2rz cos b r

Lecture #9 Z-transform properties

1. Linearity
2. Time shifting 3. Frequency scaling 4. Multiplication by n 5. Convolution in time

6. Initial value 7. Final value

Linearity

ax[n] by[n]

aX ( z ) bY ( z )

The new ROC is the intersection of ROC{X(z)} and ROC{Y(z)} If aX(z) + bY(z) cancels pole then the new ROC is bigger

Lecture #9 Z-transform properties

1. Linearity 2. Time shifting
3. Frequency scaling 4. Multiplication by n 5. Convolution in time 8. Initial value

9. Final value

Time shifting
Z

x[n n0 ]

n0

X ( z)

The new ROC is the same as ROC{X(z)} except for z = 0 if n0>0 and z = if n0<0 Proof:

Delay of k means that the Z-transform is multiplied by z-k

Example of applying the timeshifting property

Determine the ZT of the signal:

w[n]
w[n ]

1 ( 1) n (3) n 4

u[n 5]
1 n5 (3) u[n 5] 4

1 ( 1)5 ( 1)n 5 u[n 5] 4 1 z 1 z 5 W ( z) z z5 4z 1 4z 3

ROC: 1 < |z| < 3

Lecture #9 Z-transform properties

1. Linearity
2. Time shifting 3. Frequency scaling 4. Multiplication by n 5. Convolution in time

6. Initial value 7. Final value

Frequency scaling
a x[n]
n Z

z X a

The new ROC is the scaled ROC{X(z)} with factor |a| (bigger or smaller) Proof:

ZT {a n x[n ]}
n

a n x[n ]z z x[n ] a

z X a

Multiplication by an results in a complex scaling in the z-domain

Example of applying the frequency-scaling property

Determine the ZT of the signal:

x[n] a u[n]
Z

u[n ] a u[n ]
n Z

z 1 z/a z/a 1

ROC :| z | 1 z z a ROC :| z | | a |

Lecture #9 Z-transform properties

1. Linearity 2. Time shifting
3. Frequency scaling 4. Multiplication by n 5. Convolution in time 6. Initial value

7. Final value

Multiplication by n
Z

nx[n]

dX ( z ) z dz

The new ROC is the same ROC{X(z)} Proof:

X ( z)
n

x[n ]z

dX ( z ) dz ZT {nx[n ]}

nx[n ]z
n

n 1

1 zn

nx[n ]z

nx[n ]z
n

dX ( z ) z dz

Example of applying the multiplication-by-n property

Determine the ZT of the signal:

x[n] na nu[n]
a u[n ] na u[n ]
n Z n Z

z a d z z dz z a

ROC :| z | | a | z ( a) ( z a )2 az ( z a )2 ROC :| z | | a |

Lecture #9 Z-transform properties

1. Linearity
2. Time shifting 3. Frequency scaling 4. Multiplication by n 5. Convolution in time

6. Initial value 7. Final value

Convolution in time
Z

y[n] x[n] h[n]

X ( z) H ( z)

The new ROC is the intersection of ROC{X(z)} and ROC{Y(z)}

If poles cancel zeros then the new ROC is bigger

Proof:
Z

y[n]

x[n] h[n]
n

[
k

x[k ]h[n k ]]z

Switching the order of the summation:

Y ( z)
k

x[k ]
n

h[n k ]z
k n k

x[k ]z
k

h[n k ]z

(n k )

X ( z ).H ( z )

Application of the convolution property

x[n]

ZT

X(z)
ZT-1

x[n]*h[n]

h[n]

ZT

H(z)

Example
Compute the convolution of the signals:
x1[n] = [n] - 2[n-1] + [n-2] x2[n] = [n] + [n-1] + [n-2] + [n-3] + [n-4] + [n-5]

X1(z)] = 1 2z-1 + z-2

X2(z) = 1 + z-1 + z-2 + z-3 + z-4 + z-5 X1(z).X2(z) = 1 z-1 z-6 + z-7
x1[n]*x2[n] = [n] - [n-1] - [n-6] + [n-7]

Lecture #9 Z-transform properties

1. Linearity
2. Time shifting 3. Frequency scaling 4. Multiplication by n 5. Convolution in time

6. Initial value 7. Final value

Initial value theorem

If x[n] is causal then x[0] is the initial value of the function x[n]

x[0] lim X ( z )
z

Proof:
n 1 2

X ( z)
n 0

x[n]z

x[0] x[1]z , z
n

x[2]z

...

Obviously, as z

Initial value theorem

If x[n] = 0 with n < n0 then x[n0] is the initial value, and

x[n0 ] lim[ z X ( z )]
z

n0

Proof:

X ( z)
n n0

x[n ]z

x[n0 ]z

n0

x[n0 1]z x[n0 2] z

( n0 1)

x[n0

2] z

( n0 2 )

...

z n0 X ( z ) As z

x[n0 ] x[n0 1]z , z n0 X ( z )

...

x[n0 ]

Initial value theorem

Ex 1: Find the initial value of x[n] where X(z) = z/(z-0.6)

x[0] lim X ( z )
z

z lim 1 z z 0.6

Ex 2: Find the initial value of x[n] where X(z) = (z^3)/(z-0.6)

lim z 2 X ( z )
z

lim z
z

z3 1 x[ 2] z 0.6

Lecture #9 Z-transform properties

1. Linearity
2. Time shifting 3. Frequency scaling 4. Multiplication by n 5. Convolution in time

6. Initial value 7. Final value

Final value theorem

If this limit exists then x[n] has a final value (steady-state value)

lim x[n]
n

x[ ] lim[ ( z 1) X ( z )]
z 1

Proof: HW

Examples
Ex1: unit step u[n]

ZT{u[n]}

z z 1

lim ( z 1)
z 1

z z 1

lim z 1 : correct
z 1

Ex2: sinusoidal signal

n ZT sin u[n ] 2 lim ( z 1)

z 1

z2 1

z sin( / 2) 2 z cos( / 2) 1

z z2 1

z z
2

0 : incorrect ??? correct ???

Examples
Ex3: the impulse response of an LTI system is h[n] = anu[n], |a|<1.

Determine the value of the step response of the system as n

The step response of the system is:

y[n] = h[n]*u[n] Y(z) = X(z).H(z)

Y ( z)

z a z 1

z ( z a )( z 1) 1

ROC :| z | 1

( z 1) z 2 lim y[n ] lim n z 1 (z a )( z 1)

1 a

Lecture #10 Inversion of Z-transform

1. Inverse Z-transform formula

2. Using partial fraction expansion to invert the ZT 3. Using power series expansion to invert ZT

FT formula building

Using the Cauchy theorem:

1 z n 1dz 2 jC

1 if z 0 if z

0 0

Z: complex variable Counterclockwise contour integral is along a closed path in the z plane

FT formula building
Multiplying two sides of ZT definition formula by

1 2 j

zl

1 2 j

X ( z) z

l 1

1 2 jn

x[n] z n z l

Taking the integral:

1 2 jC

X ( z ) z dz

l 1

1 2 jC
n n

x[n ] z n z l 1 2 jC z(l
n) 1

dz

Applying the Cauchy theorem

x[n ] x[l ]

dz

Inverse ZT formula

The inverse ZT is defined by

x[n ]

1 n 1 X(z)z dz 2 jC

Counterclockwise contour integral is along a closed path in the ROC of X(z) in the z-plane.

LTI case: can avoid integration use easier methods

Lecture #10 Inversion of Z-transform

1. Inverse Z-transform formula

2. Using partial fraction expansion to invert the ZT 3. Using power series expansion to invert ZT

Partial fraction expansion

Similar to what you saw for Laplace transforms

Distinct poles:

rk

Y ( z) (z z

pk )
z pk

Partial fraction expansion

Repeated poles:

Z-Transform table
1
2 3 4

(n ) 1 (n m)
a n u[n ] z

z z

5 6
7

a az n na u[n ] (z a ) 2 az (z a ) 2 n n a u[n ] (z a ) 3 z ( z a cos n a cos( n)u[n] z 2 2az cos az sin n a sin( n)u[n] z 2 2az cos

) a2 a2

Examples of partial fraction expansion

Distinct poles

X ( z)

2 z 5z z ( z 2)( z 3)

Divide X(z) by z, to save z for later

X(z) 2z 5 (z 2) (z 3) z (z 2)(z 3) (z 2)(z 3) 1 1 ,| z | 3 z 3 z 2 n n x (n ) (3 2 )u (n )

Examples (cont)
Repeated poles

X( z )

2z , 2 (z 2)(z 1)

X( z ) 2z

1 2 (z 2)(z 1)
A 1; B 1; C

A z 2
1;

C ,| z | 2 2 z 1 (z 1)

A(z 1) 2 B(z 1)(z 2) C(z 2) 1

X( z ) 2

z z 2

z ,| z | 2 2 z 1 (z 1)
n

x(n) 2(2

1 n )u (n )

Examples (cont)
Complex poles
n

X( z)

z2

z |z| > 0.5 0.5z 0.25

z2 az sin 2az cos a2

a sin( n)u[n]

X(z)

4 3 x | z | 0.5 3 z 2 2(0.5)z cos (0.5) 2 3

(0.5)z sin

x (n )

4 n (0.5) sin n u (n ) 3 3

Examples (cont)
z4 z 2z 3

Time-shift property

W ( z)

Divide W(z) by z, to save z for later

W(z) z

z5 z 2 2z 3

z5 (z 1)(z 3)

1 4

1 4

z 1 z 3

w[n ]

1 1 n5 n 5 ( 1) u[n 5] (3) u[n 5] 4 4

Examples (cont)
Given h(n) = anu(n) (|a|<1) and x(n) = u(n).
Find y(n) = x(n)*h(n)

X( z)

z z 1

| z | 1 ; H( z )

z z a

|z| |a|

Y( z)

z2 X(z).H(z) |z| 1 (z a )(z 1) a z 1 z |z| 1 1 az a 1 az 1

1 an 1 y[n ] u[n ] 1 a

Examples (cont)
Find the output y(n) to an input x(n) = u(n) and an LTI system with impulse response h(n) = -3nu(-n-1)

X ( z)

z z 1

| z | 1 ; H ( z)

z z 3

|z| 3

Y ( z)

1 z 2 z 1

3 z 2 1 |z| 3 z 3

y[n]

1 3 n u[n] (3) u[ n 1] 2 2

Lecture #10 Inversion of Z-transform

1. Inverse Z-transform formula 2. Using partial fraction expansion to invert the ZT

3. Using power series expansion to invert ZT

Power series expansion

If you can expand X(z) as a series in z-1
X ( z)
n

x[n]z

... x[ 2]z 2
2

x[ 1]z1 x[0]z 0
1

x[1]z
1

x[2]z
2

...

X ( z) ... a 2 z

a 1z

a0 z

a1 z

a2 z

...

you can pick off x(n) as the coefficients of the series

an

x[n]

Examples of power series expansion

Find the inverse Z-transform of

X ( z) 1 2z
x (0) 1 x (1) 2 x (2) 3 x (n )(n

3z

ROC : | z | 0

0,1,2) 0

Examples (cont)
1 X( z ) , ROC : z 1 1 az
Long division

a
3

X(z) 1 az x (0) 1 x (1) a x (2) a 2 x (3) a ... x (n )(n

3

a z

a z

...

0) 0

Lecture #11 Analysis of LTI systems in the Z-domain

1. Transfer function
2. LTI system properties from transfer function 3. Unilateral Z-transform 4. Using unilateral Z-Transform to solve the difference equations

Transfer function

For system impulse response h(n), its ZT is often called Transfer Function H(z) Consider H(z) = N(z)/D(z)

The roots of N(z): system zeros The roots of D(z): system poles D(z) = 0: characteristic equation

Determination of transfer function

1. From impulse response h(n): Just take Z-Transform

2. From difference equation:

- Take Z-Transform for both side - Put the Y(z) on left side - Divide both side by X(z) 3. From block diagram:

(1) Find the difference equation, then find H(z) from equation (2) Put X(z) as input, then directly find Y(z) from block diagram

Transfer function from difference equation

N M

a k y[n k ]

b r x[n r ]
r 0
M

ZT

k 0
N k

-Linear
-Time-shift

a k z Y( z )
k 0 r 0

b r z X( z )
M

Y(z) = X(z) . H(z)

H(z)

Y(z) X(z)

br z
r 0 N

akz
k 0

Transfer function from difference equation

Suppose M = N
Multiply num. and den. by zN:
M N

H ( z)

Y ( z) X ( z)

br z
r 0 N

r r 0 N

br z

ak z
k 0

k k 0

ak z k

Example
For the -filter:

y(n) (1
Its transfer function:

) y(n 1)
M

x(n)
1 (1 )z
1

br z H ( z)
r 0 N

ak z
k 0

For example: y[n] 0.9y[n-1] = 0.1x[n] = 0.1

H ( z)

0.1z z 0.9

Transfer function from block diagram

Find the transfer function of the delay unit

x[n]

y[n]

y[n] = x[n-1] Y(z) = z -1X(z) H(z) = z -1

X(z)

Z-1

Y(z)

Transfer function from block diagram

Find the transfer function of this feedback system w[n]

x[n]

H1(z)
H2(z)

y[n]

y[n] =( x[n]+y[n]*h2[n] ) * h1[n]

Y (z) = [X(z)+Y(z).H2(z)].H1(z)

H ( z)

Y ( z) X ( z)

H1 ( z ) 1 H1 ( z ).H 2 ( z )

Lecture #11 Analysis of LTI systems in the Z-domain

1. Transfer function 2. LTI system properties from transfer function

3. Unilateral Z-transform 4. Using unilateral Z-Transform to solve the difference equations

Causality

Recall:
Causal system

h[n] 0

n 0

h(n) is right-sided signal ROC of transfer function is

| z | rmax

An LTI system is causal if and only if the ROC of the transfer function is the exterior of a circle of radius rmax < including the point z =

Causality (cont)

Consider the system:

H ( z)

z2

0.4 z 0.9 z 0.6

z 0.9 z 0.6

Unit advance y[n]=x[n+1] noncausal

For the causal system, the numerator of H(z) can not be of higher order than the denominator

If the numerator order is less equal to the denominator order then the system is causal??? NOT SURE!!!

Example

Consider this system:

h[n ] H ( z)

u[ n 1] z z 1 ROC :| z | 1

Numerator order is 1; denominator order is 1; but it is noncausal!!!

Stability

Recall: Stable system

n

h[n]

Its transfer function:

H( z )
n

h[n ]z

| H( z ) |
n

| h[n ]z

|
n

| h[n ] || z

Unit circle |z| = 1

| H( z) |
n

| h[n ] | The ROC includes |z| = 1

An LTI system is BIBO stable if and only if the ROC of the transfer function includes the unit circle.

Causality and Stability

The conditions for causality and stability are different and one does not imply the other

4 cases: Causal and stable system Non-causal and stable system

Causal and unstable system Non-causal and unstable system A causal system is BIBO stable, provided that all poles of H(z) lie inside the unit circle.

Examples
Ex1: Given an LTI system:

H ( z)
The poles of H(z):

2 z 2 1.6 z 0.9 2 2.5 z 1.96 z 0.48

p = 1.2 0.8 0.5

den = [1 -2.5 1.96 -0.48];

p = roots(den) 1. |z|>1.2: causal, unstable

2. 0.8<|z|<1.2: non-causal, stable 3. 0.5|z|<0.8: non-causal, unstable

Examples
Ex2: A LTI system is characterized by:

H ( z)

3 4z 1 1 3.5z 1 1.5z

z ( 3z 4) z 2 3.5z 1.5

z z 0.5

2z z 3

Specify the ROC of H(z) and find h[n] for the following conditions:
1. 2. 3.

The system is stable The system is causal The system is anticausal

Examples
Ex2: A LTI system is characterized by:

H ( z)

3 4z 1 1 3.5z 1 1.5z

z ( 3z 4) z 2 3.5z 1.5

z z 0.5

2z z 3

1. The system is stable then ROC: 0.5 < |z| < 3

h[n] = (0.5)nu[n] 2(3)nu[-n-1]

2. The system is causal then ROC: |z| > 3

h[n] = (0.5)nu[n] + 2(3)nu[n]

3. The system is anticausal then ROC: |z| < 0.5

h[n] = -(0.5)nu[-n-1] - 2(3)nu[-n-1]

Invertibility
The inverse of a system H(z) is a second system Hi(z) that, when cascaded with H(z), yields the identity system

H(z).Hi(z) = 1

Hi(z) = 1/H(z)
X(z) X(z)

H(z)

Hi(z)

Invertibility
H(z) = N(z)/D(z) Hi(z) = D(z)/N(z)

H(z) is causal MN and if Hi(z) is causal NM.

Hence, for both systems to be causal M = N

H(z) is stable: all poles lie inside the unit circle.

Hi(z) is stable: all poles (zeros of H(z)) lie inside the unit circle. Hence, for both systems to be stable, both the poles and zeros of H(z) must lie inside the unit circle

Lecture #11 Analysis of LTI systems in the Z-domain

1. Transfer function 2. LTI system properties from transfer function

3. Unilateral Z-transform 4. Using unilateral Z-Transform to solve the difference equations

Unilateral Z-Transform
In control applications, causal systems are interested in:

h[n] = 0 with all n < 0 When considering CT causal systems, the Unilateral Laplace Transform is used
Similarly, when considering DT causal systems, the Unilateral Z-transform is used

In difference equations, the initial conditions are non-zero the Unilateral Z-Transform is used

Unilateral ZT
X ( z)
n 0 Z

x[n ]z

Notation : x[n ]

X ( z)

1. It does not contain information about the signal x[n] for n<0 2. Unilateral X+(z) is identical to the bilateral X(z) of the signal

x[n].u[n]
3. ROC of X+(z) is always outside a circle no need to refer to ROC

Time shifting property of unilateral ZT

Z

If then

x[n ] x(n k )

X ( z)
Z 1

z X ( z) z

k i k

x[i ]z , k

Ex.:

x(n-1) x(-1) + z-1X+(z)

x(n-2) x(-2) + z-1x(-1) + z-2X+(z)

Lecture #11 Analysis of LTI systems in the Z-domain

1. Transfer function 2. LTI system properties from transfer function

3. Unilateral Z-transform 4. Using unilateral Z-Transform to solve the difference equations

Using Z-transform to solve the difference equation

N M

a k y[n k ]
k 0 r 0

b r x[n r ]

1. Take the unilateral ZT of equation

2. Find the output in the Z-domain, Y(z) 3. Use inverse ZT to get the output y(n) from Y(z)

Example

Find the output, of the system

y[n], n 0

y[n] 3y[n 1] 2y[n 2] x[n]

in two cases: a) b)
n 2

x[n] 3

u[n], y[ 2] 0, y[ 1] 0
4 , 9 y[ 1] 1 3

x[n ] 3

n 2

u[n ], y[ 2]

Example
a) Take the bilateral ZT of the equation:

y[n ] 3y[n 1] 2 y[n 2] x[n ] Y(z) 3z 1Y(z) 2z 2 Y(z) X(z) Y(z)(1 3z Y(z) Y(z)
1

2z )

1 z 9z 3
2

1 z 1 1 9 z 3 1 3z 2z 1 z z2 2 9 z 3 z 3z 2

Example
b) Take the unilateral ZT of the equation:

y[n ] 3y[n 1] 2 y[n 2] x[n ] Y(z) 3[z 1Y(z) y( 1)] 2[z 2 Y(z) z 1 y( 1) y( 2)] X(z) 1 z Y(z)(1 3z 2z ) 3y( 1) 2z 1y( 1) 2 y( 2) 9z 3 1 z 2 1 8 1 Y(z) 1 z 9z 3 3 9 1 3z 1 2z 2
1 2

z 2 z2 Y(z) 2 z(z 3) (z 3z 2)

HW
Prob.1 Find the ZT and ROC of the following signals using the definition formula:

a) b)

x[n ] y[ n ]

3, 0 , 0 , 0 , 0 , 6 ,1, 4 ( 1 )n 2 0 ( 1 )n 3 (1) 2
n

n n n n

5 4 0 0

c) v[n ]

HW
Prob.2 Find the ZT and ROC of the following signals. Tables may be used

a ) v[n ] b) h[n ]

1 2

n
1 n 2

1 n 1 3

u[n 1]

(u[n ] u[n 10])

HW
Prob.3
Prove the final value theorem

lim x[n]
n

x[ ] lim[ ( z 1) X ( z )]
z 1

Prob.4
11.6 Prob.5

11.10 a, b, c

HW
Prob.6 Find x(n)*h(n)

a) b) c)

x[n ]

1 n 4

u[n 1] , h[n ] [1 ( ) ]u[n ] [n ] ( 1 )n u[n ] 2

1 n 2

x[n ] u[n ] , h[n ]

x[n ] nu[n ] , h[n ] 2n u[n 1]

HW

Prob.7 11.15

Prob.8 11.18

Prob.9 11.24

HW
Prob.10 Given the system:

H( z)
a) Find its impulse response

z 1
6 5

1 2 1

2 25

b) Find the zero-state step response and step-response with the initial conditions as y(-1) = 1 and y(-2) = 2

c) Draw its block diagram

HW
Prob.11
We want to design a causal LTI system with the property that if
the input is x[n] = (0.5)nu[n] -0.25(0.5)n-1u[n-1] then the output is y[n] = (1/3)nu[n]

a) Find H(z) and then h(n) of a system that satisfies the foregoing conditions
b) Find the difference equation that characterizes this system c) Determine a realization of the system that requires the minimum possible amount of memory

d) Determine if the system is stable

HW
Prob.12 Use the one-sided ZT to determine y(n), n0 in the following cases

a)

y[ n ] x[n ]

1 2

y[n 1] x[n ] ; u[n ] ; y[ 1] 1;

1 n 3

b)

y[ n ]

1 4

y[n 2] x[n ] ;

x[n ] u[n ] ; y[ 1] 0 ; y[ 2] 1

Time scaling
n x k
Z

X ( z ), k positive int eger

The new ROC is the scaled ROC{X(z)} with factor (bigger or smaller)

Proof:

X ( z)
n

n x z k

m (n / k ) m 0, k , 2 k ,...

xmz
m m 0, k , 2 k ,.. m

km

x m ( zk )
m m 0, k , 2 k ,..

X ( zk )

Final value theorem

Proof:

Consider y[n] is causal and y[n] = x[n+1] x[n]

k

Y ( z)
k

lim
k n 0

{x[n 1] x[n ]}z

1

lim x[1] x[0] x[2]z lim

k

x[1]z

... x[k 1]z

1

x[k ]z
k 1

x[0] x[1](1 z 1 ) x[2]( z

z 2 ) ... x[k ]( z

z k ) x[k 1]z
k

lim
k

z 1 z 1 z 1 x[0] x[1] x[2] 2 ... x[k ] k x[k 1]z z z z

Take the limit lim Y ( z ) lim x[n 1] x[0]

z 1 n