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=
= = =
( ) ( ) [ ( )] ( )
j jn
n
X e X x n x n e F
( ) [ ( )] ( )
n
n
X z Z x n x n z
=
= =
( ) ( )
z
x n X z
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E5
.1 The Z transform
Remarks
The Z transform
is commonly engaged to solve linear difference equations with
constant coefficients, the computation of the response of a LTI (Linear
Time Invariant) system, the design of digital filters, etc.
describes the discrete signals/systems in the complex plane with poles
and zeros (equivalently to the Laplace transform for analogue
signals/systems).
If we set z = e
j
, that is, |z| = 1, we get a unit circle in the complex plane,
which corresponds to the DTFT.
The DTFT exists if the Region of
Convergence (ROC) of the Z transform
includes the unit circle.
( ) ( ) ( ) (DTFT) j
jn j
z e
n
X z x n e X e
=
=
= =
=
= = + + + +
2
( ) {1,2,5,7,0,1} x n
|
=
2 1 3
2 2
( ) ( ) 2 5 7
n
n
X z x n z z z z z
=
= = + + + +
3
( ) {0,0,1,2,5,7,0,1} x n
|
=
2 3 4 5 7
3 3
( ) ( ) 2 5 7
n
n
X z x n z z z z z z
=
= = + + + +
=
= =
6
( ) ( ) x n u n =
1 1
1
0 0
1
[ ( )] 1 ( ) , | | 1
1
n n
n n
Z u n z z z
z
= =
= = = <
5
( ) ( ) x n n k = [ ( )] ( )
n k
n
Z n k n k z z
=
= =
0
1
, | | 1
1
n
n
a a
a
=
= <
< >
1
1
( )
1
X z
az
0
1
, | | 1
1
n
n
a a
a
=
= <
= =
s
1 1
1 1
1
( ) ( 1) ( ) ( ) ,
n n n n n m
n n n m
X z b u n z b z b z b z m n
= = = =
= = = = =
1
1 1
1 1
( ) ( )
1 1
X z b z
b z bz
= =
1
| | 1 | | | | b z z b
< <
0
1
, | | 1
1
n
n
A A
A
=
= <
2 3 2
0
... (1 ...)
m
m
A A A A A A A A
=
+ + + = + + + =
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E10
.1 The Z transform
Example Proakis 3.1.4
Z transform of
Remark: double sided sequence
The overall ROC is the intersection of the two ROCs.
( ) ( ) ( 1)
n n
x n a u n b u n = +
2
1
1
( )
1
X z
bz
( ) ( ) ( 1)
n n
x n a u n b u n = +
1
1
1
( )
1
X z
az
>
> <
> <
1 2
0
1
0
0
1 2
0
1
0
0
1 2 2
0
1
0
0
1 2 2
0
, | | 1
2 cos
sin
sin( ) ( ) , | | 1
1 2 cos
1 cos
cos( ) ( ) , | | | |
1 2 cos
sin
sin( ) ( ) , | | | |
1 2 cos
z
z
n
z
n
z
z z
z
n u n z
z z
az
a n u n z a
az a z
az
a n u n z a
az a z
>
+
>
+
>
+
>
+
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E14
.1 The Z transform
Poles and zeros
Zeros of the transform (z) are the values of z for which X(z) equals zero,
that is, (z) = 0.
Poles of the transform (z) are the values of z for which X(z) goes to
infinity, that is, (z) = . The ROC does not include poles.
When (z) is a rational function of the form
we can rewrite it as follows (by factorization introducing the common
factors b
0
z
and a
0
z
)
where z
k
and p
k
are the zeros and the poles, respectively. Additionally,
there are poles at z = 0 according to the relationship between and .
1
0 1 0
1
0 1
0
( ) ...
( )
( )
...
M
k
k
M
M k
N N
N
k
k
k
b z
B z b b z b z
X z
A z
a a z a z
a z
=
+ + +
= = =
+ + +
0 1 2
0 1 2
( ) ( )( )...( )
( )
( ) ( )( )...( )
M M N
N
B z b z z z z z z
X z z
A z a z p z p z p
+
= =
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E15
.2 Properties and theorems of
the Z transform
. System analysis via the Z transform
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E16
.2 Properties and theorems of the Z transform
Linearity
Time shift
Mult/tion with exponential sequence
Reflection
.. ROCx: r
1
< |z| < r
2
, ROC 1/r
2
< |z| < 1/r
1
Differentiation
Complex conjugate
Convolution
Theorem of initial value
If x(n) causal, then
1 2
1 1 2 2 1 1 2 2
( ) ( ) ( ) ( ), ROC ROC ROC
z
X X
a x n a x n a X z a X z + + =
0
0
( ) ( ), ROC ROC
z
n
X
x n n z X z
=
1
( ) ( ), ROC | | ROC
z
n
X
a x n X a z a
=
1
( ) ( ), ROC 1 / ROC
z
X
x n X z
=
( )
( ) , ROC ROC
z
X
dX z
nx n z
dz
=
( ) ( ), ROC ROC
z
X
x n X z
- - -
=
1 2
1 2 1 2
( ) ( ) ( ) ( ), ROC ROC ROC
z
X X
x n x n X z X z =
(0) lim ( )
z
x X z
=
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E17
.3 The Inverse Z transform
. System analysis via the Z transform
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E18
.3 The inverse Z transform
Definition
The inverse Z transform is defined as
where C is a closed curve in the region of convergence (ROC) of (z) that
includes the complex plane origin (z = 0).
It can be calculated by three basic methods:
Direct computation of the integral
Development of X(z) as a power series
Partial fractions expansion method
The inverse Z transform is used for difference equations solution, discrete
systems analysis, etc.
1
1
( ) ( )
2
n
C
x n X z z dz
j
=
}
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E19
.3 The inverse Z transform
The inverse Z transform via partial fractions expansion
This method is particularly used when the Z transform is a rational
function. In this case, we try to express the original rational function as a
sum of simple, known Z transform pairs (given in tables).
Let the transform Z be a rational function of the form
The rational function is proper when < and a
N
= 0. If the rational
function is not proper ( ), we convert it to a proper rational function
by division of the nominator and denominator polynomials. The division
yields
where the function
1
(z)/A(z) is now proper.
1
0 1
1
1
( ) ...
( )
( )
1 ...
M
M
N
N
B z b b z b z
X z
A z
a z a z
+ + +
= =
+ + +
1 1 ( )
0 1
( ) ( )
( ) ...
( ) ( )
M N
M N
B z B z
X z c c z c z
A z A z
= = + + + +
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E20
.3 The inverse Z transform
The inverse Z transform via partial fractions expansion
Let the rational function
be proper and (z) be of order . By denominator factorization we
conclude to the form
where the poles are discrete. Then we expand to fractions
For real signals the complex poles appear in pairs of conjugate, e.g., p
2
= p
1
* and the
residuals are also conjugate, that is,
2
=
1
*
Then, we write
( )
( )
( )
B z
X z
A z
=
1 2
1 2
( )
...
N
N
X z A A A
z z p z p z p
= + + +
1 2
'( )
( )
( )( )...( )
N
B z
X z
z p z p z p
=
( ) ( )
k
k
k
z p
z p X z
A
z
=
=
1 2
1 2
1 2
1 1 1
1 2
( ) ...
...
1 1 1
N
N
N
N
A z A z A z
X z
z p z p z p
A A A
p z p z p z
= + + + =
= + + +
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E21
.3 The inverse Z transform
The inverse Z transform via partial fractions expansion
Each fraction of the form
can be inversed to the time domain as an exponential function, according
to
When the poles are complex conjugate, then
and their combination is inversed to the time domain as
where
1
1
A
pz
{ }
1
1
( ), | | | |
1
1
( 1) | | | |
n
n
p u n z p
Z
pz
p u n z p
>
=
<
1
0 1
1 1 1 2
1 2
1 1 1
A A b b z
pz p z a z a z
-
-
+
+ =
+ +
1
1 1
2| | cos( ) ( )
1 1
n
A A
Z A r n u n
pz p z
-
-
+ = +
`
)
| | ,
j j
A A e p re = =
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E22
.3 The inverse Z transform
The inverse Z transform via partial fractions expansion
When multiple poles appear, e.g.
then its pole is expanded to a sum of fractions of the form
In order to compute the coefficients A
kl
with 1 < l < m, differentiations
have to be applied, e.g. for m = 2, the coefficients are calculated by
1 2
2
( )
... ... ...
( ) ( )
k k km
m
k
k k
X z A A A
z z p
z p z p
= + + + + +
1 2
'( )
( )
( )( )...( ) ...( )
m
N
B z
X z
z p z p z p z p
=
2
1
( ) ( )
k
k
k
z p
d z p X z
A
dz z
=
(
=
(
2
2
( ) ( )
k
k
k
z p
z p X z
A
z
=
=
{ }
1 1
1 1 1
2 1 2 1 2
( ), | | | |
( ) (1 ) (1 )
( 1), | | | |
n
n
A
np u n z p
p Az Az A pz
Z Z Z
p
A z p pz pz
np u n z p
p
>
= = =
` `
) )
<
= = =
2
0.5
( 0.5) ( ) 0.5
1
0.5 1
z
z X z
A
z
=
= = =
1 1
( ) 2 1 2 1 2 1
( )
1 0.5 1 0.5
1 1 0.5
X z z z
X z
z z z z z
z z
= = =
{ }
1
1 1
2 1
( ) 2 ( ) 0.5 ( ) (2 0.5 ) ( )
1 1 0.5
n n
x n Z u n u n u n
z z
= = =
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E24
.3 The inverse Z transform
Example Proakis 3.4.9
Find the causal signal that has the Z transform
We expunge the negative powers of z
The roots of the denominator (poles) are p
1
= 0.5 + 0.5j and p
2
= p
1
* = 0.5 0.5j.
We expand (z)/z in partial fractions as
Therefore
1
1 2
1
( )
1 0.5
z
X z
z z
+
=
+
2 1 2
2 1 2 2
1
( )
1 0.5 0.5
z z z z
X z
z z z z z
+ +
= =
+ +
1 2
( ) 1
( 0.5 0.5 )( 0.5 0.5 ) 0.5 0.5 0.5 0.5
X z z A A
z z j z j z j z j
+
= = +
+ +
1
0.5 0.5
( 0.5 0.5 ) ( ) 0.5 0.5 1 1.5 0.5
0.5 1.5
0.5 0.5 0.5 0.5
z j
z j X z j j
A j
z j j j
= +
+ + +
= = = =
+ +
1 1
1
1
( ) X z A A
z z p
z p
-
-
= +
2 1
0.5 1.5 A A j
-
= = +
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E25
.3 The inverse Z transform
Example Proakis 3.4.9
We know that (from the table given before at page E-13)
In our case we have
Thus,
( )
1 1.5
0.5
tan
71.57
10 10
0.5 1.5
2 2
j
j
A j e e
= = =
1
1 1
2| | cos( ) ( )
1 1
n
A A
Z A r n u n
pz p z
-
-
+ = +
`
)
| | ,
j j
A A e p re = =
( )
1 0.5
0.5
tan
45 /4
2 2 2
0.5 0.5
2 2 2
j
j j
p j e e e
= + = = =
2
( ) 2| | cos( ) ( ) 10 cos( / 4 71.57 ) ( )
2
n
n
x n A r n u n n u n
| |
| = + =
\ .
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E26
.3 The inverse Z transform
Example Proakis 3.4.10
Find the causal signal that has the Z transform
We expunge the negative powers of z
The roots of the denominator (poles) are p
1
= 1 and p
2
= 1 with order 2. We
expand (z)/z in partial fractions as
Thus,
1 1 2
1
( )
(1 )(1 )
X z
z z
=
+
3 3
3 1 1 2 2
1
( )
(1 )(1 ) ( 1)( 1)
z z
X z
z z z z z
= =
+ +
2
1 21 22
2 2
( )
1 1
( 1)( 1) ( 1)
X z z A A A
z z z
z z z
= = + +
+
+
1
2
1
( 1) ( ) 1 1
4
( 1 1) z
z X z
A
z
=
+
= = =
1
2 1 1 1 2
( ) 1 1 3 1 1 1 1 1 3 1 1
( )
4 1 4 1 2 4 4 2
( 1) 1 1 (1 )
X z z
X z
z z z
z z z z
= + + = + +
+
+
2
22
1
( 1) ( ) 1 1
1 1 2
z
z X z
A
z
=
= = =
+
2 2 2
21
2
1 1
1
( 1) ( ) 2 ( 1) 3
1 4
( 1) z z
z
d z X z d z z z z
A
dz z dz z
z = =
=
( ( ( +
= = = =
( ( (
+
+
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E27
.3 The inverse Z transform
Example Proakis 3.4.10
Since x(n) is causal, by using the pairs of page E-13, we get
Finally,
{ }
1
1
1
( 1) ( )
1
n
Z u n
z
=
+
1
1 1 1 2
1 1 3 1 1
( )
4 4 2
1 1 (1 )
z
X z
z z z
= + +
+
{ }
1
1
1
( )
1
Z u n
z
1
1
1 2
( )
(1 )
z
Z nu n
z
=
`
)
1 3 1
( ) ( 1) ( ) ( ) ( )
4 4 2
1 3
( 1) ( )
4 4 2
n
n
x n u n u n nu n
n
u n
= + + =
(
= + +
(
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E28
.4 Z-domain system analysis
. System analysis via the Z transform
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E29
.4 Z-domain system analysis
System function
The system function or transfer function of a LTI (Linear Time Invariant)
system is defined as the Z transform of the impulse response
By taking into account the convolution property of the Z transform, the
response y(n) of as system with impulse response h(n), when the input is
x(n), may be calculated by
where (z) and (z) are the Z transforms of the input and the output
(response), respectively.
( ) { ( )} ( )
n
n
H z Z h n h n z
=
= =
( ) ( ) ( ), ROC ROC ROC
Y H X
Y z H z X z = =
( ) h n ( ) ( ) ( ) y n x n h n =
( ) x n
( ) H z ( ) ( ) ( ) Y z X z H z =
( ) X z
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E30
.4 Z-domain system analysis
Systems interconnection
Cascaded systems
Parallel systems
1
( ) H z
2
( ) H z
1 2
( ) ( ) H z H z
1
( ) H z
2
( ) H z
1 2
( ) ( ) H z H z +
1
( ) h n
2
( ) h n
1 2
( ) ( ) h n h n +
1
( ) h n
2
( ) h n
1 2
( ) ( ) h n h n
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E31
.4 Z-domain system analysis
System function
When the LTI system is given in the form of difference equations, such as
the transfer function may be computed by
which can be expresses as
where z
k
are the zeros and p
k
are th
poles of the system function. On the
complex plane each pole is drawn as
an x and each zero as an .
1 0
( ) ( ) ( )
M N
k
k
y n a y n k b x n
= =
+ =
0
1 0
1
( )
( ) ( ) ( ) ( )
( )
1
M
N M
k
k
N
k
k
k
k
b z
Y z
Y z a z Y z b z X z H z
X z
a z
=
= =
=
+ = = =
+
1
0
1
( )
( )
( )
M
N M
N
k
k
z z
H z b z
z p
=
=
[
[
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E32
.4 Z-domain system analysis
System function and frequency response
When the ROC of the system function includes the unit circle, then the
frequency response of the system, may be directly calculated by the
system function, by setting z = e
j
.
The factors e
j
z
and e
j
p
k
can be
considered as vectors of the complex
plane that connect a point of the unit
circle with the zero z
= =
[
[
Re{ } z
Im{ } z
z
k
p
unit circle
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E33
.4 Z-domain system analysis
System function and frequency response
The magnitude of the frequency response
at a specific frequency
0
may be
calculated as the ratio of the product of
distances of the unit circle point from the
zeros over the product of the distances of
the unit circle point from the poles
The phase of the frequency response at a specific frequency
0
may be
calculated by
When the impulse response of the system is real valued, then the system
function presents even symmetry of the magnitude and odd symmetry
of the phase with respect to frequency.
1 2
0
1 2
| || |...| |
| ( )| | |
| || |...| |
j j j
M j
j j j
N
e z e z e z
H e b
e p e p e p
=
Re{ } z
Im{ } z
0
z
k
p
0 0 0
0
1 1
( ) [0 ] [( ) ] ( ) ( )
M N
j j j
k
k
H e or N M e z e p
= =
= + +
unit circle
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E34
.4 Z-domain system analysis
Relationship among different system representations
( ) h n
( ) H z
..
( )
j
H e
DTFT
Inverse
Z transform
IDTFT
j
z e =
Z transform
Expresssion as powers of
z
-1
, multiplication and
inverse Z transform
Transform Z
and =Y/X
calculation
DTFT and
= /
calculation
D.E.
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E35
.4 Z-domain system analysis
Stability and realizability of LTI systems
A system is BIBO (Bounded Input Bounded Output) stable when
or equivalently
Therefore, an LTI system is BIBO stable only if the ROC of the system
function includes the unit circle.
A causal system (ROC: |z| > a) is stable when all the system poles
are inside the unit circle.
A system is realizable when it is causal and stable.
Therefore, a realizable system has a ROC of the form |z| > a, where a < 1.
=
<
| ( )|
n
h n
=
< =
| ( )| , | | 1
n
n
h n z z
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E36
.4 Z-domain system analysis
Realizable systems of 1
st
and 2
nd
order
A causal 1
st
order system of the form
is BIBO stable (and therefore realizable) when |a
1
| < 1.
A causal 2
nd
order system of the form
where p
1
, p
2
are the poles,
is stable
(and therefore realizable)
when
|a
2
| < 1
|a
1
| < 1 + a
2
= >
+
0
1
1
1
( ) , | | | |
1
b
H z z a
a z
= > >
+ +
0
1 2
1 2
1 2
( ) , | | | |, | | | |
1
b
H z z p z p
a z a z
Stability triangle
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E37
.4 Z-domain system analysis
Inversibility of LTI systems
For an LTI system with transfer function H(z), the inverse system is defined
as the system with a transfer function G(z), such that
The cascade interconnection of the two systems is equivalent to the unit
system.
The inverse system exists if the two transfer functions H(z) and G(z) have
Regions of Convergence (ROC) that intersect between each other.
The poles of the original system become the zeros of the inverse system
and the zeros of the original system become the poles of the inverse
system.
In the time domain, the relationship of the two impulse responses (of the
original and the inverse system) is
= =
1
( ) ( ) 1 ( )
( )
G z H z G z
H z
= ( ) ( ) ( ) h n g n n
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E38
.4 Z-domain system analysis
Systems with feedback
Systems with feedback are used in many applications such as stabilization
of unstable systems, design of inverse systems, etc.
The total transfer function Q(z) of the system with feedback can be
calculated by
=
= =
+
( ) ( )[ ( ) ( ) ( )]
( ) ( )
( )
( ) 1 ( ) ( )
Y z H z X z G z Y z
Y z H z
Q z
X z G z H z
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E39
.4 Z-domain system analysis
Example
Let a causal LTI system described by the following difference equation
(a) Find the transfer function, (b) draw the poles-zeros diagram, (c) compute the
frequency response (d) compute the impulse response of the system
(a) We implement the Z transform to the difference equation
Since the system is causal, the ROC is outside the circle defined by the pole with
maximum magnitude, that is, |z| > 0.9.
() the system has a pole at z = 0.9
and a zero at z = 0.
= + = = =
1 1
1
( ) 1
( ) 0.9 ( ) ( ) ( )(1 0.9 ) ( ) ( )
( )
1 0.9
Y z
Y z z Y z X z Y z z X z H z
X z
z
= + ( ) 0.9 ( 1) ( ) y n y n x n
= =
1
1
( )
0.9
1 0.9
z
H z
z
z
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E40
.4 Z-domain system analysis
Example (cont.)
(c) Since the ROC includes the unit circle, the frequency response is given by
(d) The impulse response is
=
= =
( ) ( )
0.9
j
j
j
z e
j
e
H e H z
e
1
0
2 2
1
| | 1 1
| ( )| | |
| | | 0.9|
(cos 0.9) sin
j
j
j j
e z
H e b
e p e
= = =
+
= + + =
1
sin
( ) 0 0 ( 0.9) tan
cos 0.9
j j j
H e e e
= > =
1
1
1
( ) ,| | 0.9 ( ) 0.9 ( )
1 0.9
z
n
H z z h n u n
z
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E41
.4 Z-domain system analysis
Example
Let the causal LTI system described by the following difference equation
(a) Find the transfer function, (b) estimate the frequency response (the type of
filter) based on the poles-zeros diagram
(a)
(since the system is causal, the ROC is outside the pole with the maximum
magnitude).
(b) Since the poles are in the high
frequencies region, the frequency
response has a form of a highpass
filter.
= + ( ) 1.8 ( 1) 0.82 ( 2) ( ) y n y n y n x n
= + = =
+ +
1 2
1 2
( ) 1
( ) 1.8 ( ) 0.82 ( ) ( ) ( )
( )
1 1.8 0.82
Y z
Y z z Y z z Y z X z H z
X z
z z
= = >
+ + +
+ +
2 2
2
( ) , | | 0.82
( 0.9 0.1)( 0.9 0.1)
1.8 0.82
z z
H z z
z j z j
z z
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E42
.4 Z-domain system analysis
Example (cont.)
The magnitude of the frequency response is given in the following figure
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E43
.4 Z-domain system analysis
Example Proakis 3.5.4
Compute the response of the system
when the input is
----
The transfer function of the system can be computed as follows
The Z transform of the input is
Therefore, the response (output) of the system is
= +
5 1
( ) ( 1) ( 2) ( )
6 6
y n y n y n x n
=
1
( ) ( ) ( 1)
3
x n n n
( )( )
= = =
+
1 2 1 1
( ) 1 1
( )
5 1 1 1 ( )
1 1 1
6 6 2 3
Y z
H z
X z
z z z z
=
1
1
( ) 1
3
X z z
( )
( )( )
= = = =
1
1
1 1 1
1 1 1
( ) ( ) ( ) 1 ( ) 0.5 ( )
1 1 1 3
1 1 1
2 3 2
z
n
Y z H z X z z y n u n
z z z
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E44
.4 Z-domain system analysis
Example Proakis 5.24
Let the causal system described by the following difference equation
Find (a) the impulse response , () the frequency response, (c) the response to the
input
(a) We calculate the transfer function
The impulse response is given by
(b) The frequency response is
= + +
1 1
( ) ( 1) ( ) ( 1)
2 2
y n y n x n x n
= +
2 4
( ) cos( )
x n n
+
= = =
1
1 1
( ) 1 0.5 2
( ) 1
( )
1 0.5 1 0.5
Y z z
H z
X z
z z
{ }
= =
1
1
2
( ) 1 2(0.5) ( ) ( )
1 0.5
n
h n Z u n n
z
**When the nominator and
denominator of the rational
function are of the same
degree (equal powers) we
apply polynomial division
=
+
= =
1 0.5
( ) ( )
1 0.5
j
j
j
z e
j
e
H e H z
e
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E45
.4 Z-domain system analysis
Example Proakis 5.24 (cont.)
(c) The response to a sinusoidal input has the following form
Therefore, since and
the response is given by
= +
2 4
( ) cos( )
x n n
+
= = =
+
1
/2
/2 2tan (0.5)
/2
1 0.5 1 0.5
( ) 1
1 0.5
1 0.5
j
j j
j
e j
H e e
j
e
( )
j
H e + +
0 0
0
| ( )|cos[ ( )]
j j
H e n H e +
0
cos( ) n
= +
1 1
2 4 2
( ) cos( 2tan )
y n n
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E46
.4 Z-domain system analysis
Example Proakis 5.27
A digital highpass filter has a transfer function with one pole and one zero. The
pole is at distance 0.9 for the complex plane origin. The filter suppresses
completely the DC component.
(a) Draw the poles-zeros diagram and compute the transfer function of the system,
(b) normalize the frequency response so that |()|= 1, (c) find the difference
equation of the filter
(a)
(b)
(c)
= =
+
+
1
1
1 1
( )
0.9
1 0.9
z z
H z k k
z
z
=
+
1
( )
1 0.9
j
j
j
e
H e k
e
= = = =
+
|1 | 2 1
| ( )| 1 1 1
0.1 20
|1 0.9 |
j
j
j
e
H e k k k
e
= =
+
+ = = +
1
1
1 1
( ) 1
( ) 0.05
( )
1 0.9
( ) 0.9 ( ) 0.05 ( ) 0.05 ( ) ( ) 0.9 ( 1) 0.05 ( ) 0.05 ( 1)
Y z z
H z
X z
z
Y z z Y z X z z X z y n y n x n x n
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E47
.4 Z-domain system analysis
Example Proakis 5.27 (cont.)
The magnitude of the frequency response is given in the following figure
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E48
.4 Z-domain system analysis
Example Hayes 5.2.1
Find the inverse system of the system with transfer function given as
follows
The inverse system is
There are two cases for G(z):
(a) the ROC is outside the pole, that is |z| > 2. In this case the inverse
system is causal but unstable. Its impulse response is
(b) The ROC is inside the circle defined by the pole, that is, |z| < 2. In this
case the system is stable but anticausal. Its impulse response is
***In both cases the ROC of the inverse function G(z) intersects with the ROC of H(z)
= >
1
1
0.5
( ) , | | 0.8
1 0.8
z
H z z
z
= =
1 1
1 1
1 0.8 1 0.8
( ) 2
0.5 1 2
z z
G z
z z
=
1
( ) 2 2 ( ) 1.6 2 ( 1)
n n
g n u n u n
= +
1
( ) 2 2 ( 1) 1.6 2 ( )
n n
g n u n u n
Athanassios Iossifides DIGITAL SIGNAL PROCESSING E49
.4 Z-domain system analysis
Example Hayes 5.35
Let the unstable system
Use a feedback system with feedback function G(z) = K, and compute the
closed system transfer function and the values of K for which the closed
system is stable.
The closed system Q(z) is stable when
and , which holds for > 0.44.
=
+
1 2
1
( )
1 1.44
H z
z z
+
+
+
+ +
= = = =
+ +
+
= =
+ + +
1 2
1 2
1
1 1.44
1 1.44
1
1
1 2 1 2 1 1.44
1 1
( ) ( )
( )
1 ( ) ( ) 1 ( )
1
1
1 1.44 1
z z
K
z z
K
K K
H z H z
Q z
G z H z KH z
z z K z z
< >
+
1.44
1 0.44
1
K
K
< +
+ +
1 1.44
1
1 1 K K