II The Z Transform: Topics To Be Covered
II The Z Transform: Topics To Be Covered
II The Z Transform: Topics To Be Covered
Topics to be covered
1. Introduction
2. The Z transform
II.1 Introduction
The role of the z transform in discrete-time control system is similar to that of the Laplace
transform in continuous-time system.
Discrete time signals: The sampled signal is x0 , xT , x2T where T is the sampling period.
The signal can be written as x0 , x1, x2 xk it can be considered as a sampled signal of
xt where T is 1 sec. xkT and xk are interchangeable if it doesn’t make confusion.
1
X ( z ) xt xkT xkT z
k
2.1
k 0
xkT X (Z )
Definition: Z-transform of a general discrete-time signal xk is defined as
X ( Z ) xk z k 2.2
k 0
xk X (Z )
Note: eq. 2.1 and 2.2 is referred to as the one-sided z transform or unilateral z transform. Z is a
complex variable.
k
k
2.3
xkT X (Z )
Definition: Z-transform of a general discrete-time signal xk is defined as
X (Z ) xk z
k
k
2.4
xk X (Z )
Note: eq. 2.3 and 2.4 is referred to as the two-sided z transform or bilateral z transform. Z is a
complex variable. We are only focused on one-sided z transform in this course.
2
II.3 Z Transforms of elementary
functions
Unit step function
1 0 t
xt
0 t 0
t 0 t
x t
0 t 0
Polynomial function a k
a k k 0,1,2
x k
0 k0
3
Exponential function
e at 0t
x t
0 t0
e at sin wt 0 t
x t
0 t0
x s
1
s a 2
4
Table of z transforms 1
5
Table of z transforms 2
6
II.4 Properties and Theory of z transform
i) Linearity
x1 k X 1 ( z ), ROC R1
ax1 k bx2 k aX 1 ( z ) bX 2 ( z ), ROC R1 R2
x2 k X 2 ( z ), ROC R2
Example 2.3 Determine the z transform and the associated region of convergence for following
function of time: u k and a k u k
x t nT z n X ( z ),
n 1
x t nT z n X ( z ) x kT z k
k 0
for number sequence k. we have
x k n z n X ( z ),
n 1
x k n z n X ( z ) x k z k
k 0
x t X ( z ) e at x t X ( ze aT )
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v) Differentiation in the z-Domain
x k X ( z ), ROC R kx k z
Z dX ( z )
, ROC R
dz
k
1
Example2.5 Determine the z transform for following function of time: x k k u k
2
z
Example2.6 Determine the final value of by using the final value theorem.
z e aT
8
Property table:
9
II.5 The inverse z transform
Note: the inverse z transform yields the corresponding time sequence x k , but doesn’t yield a
unique x t
If the z transform is given as a ratio of two polynomials in z, then the inverse z transform may be
obtained by several different methods, such as direct division method, the computational method,
the partial-fraction-expansion method, and the inversion integral method.
z 1
Example2.7 Determine the inverse transform of
1 2 z 1 2
10
2) The computational method
a) MATLAB approach
z 1
Example 2.8 find the inverse transform of
1 2 z 1 2
z 1 z 1
Let G ( z ) , X ( z) 1 , Y ( z) input X ( z ) 1 is the z transform of
1 2 z 1 2
1 2 z 1 2
the Kronecker delta input. In MATLAB, the Kronecker delta input is given by
x 1 zeros 1, N , where N corresponds to the end of the discrete time duration of the
process considered.
Y z z 1
G( z)
1 4 z 1 4 z 2 Y z z 1 X z
X z 1 2 z 1
2
y k 4 y k 1 4 y k 2 xk 1
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3) The partial-fraction-expansion method
b0 z m b1 z m 1 bm 1 z bm b0 z m b1 z m 1 bm 1 z bm
X ( z)
z n a1 z n 1 a n 1 z a n z p1 z p 2 z p n
Case 1 all pole are distinguished:
a1 a2 an X z
, where ai z pi
X ( z)
z z p1 z p 2 z pn z z pi
X ( z) c1 c2
Case 2 double pole
z z p1 2 z p1
2 X z d 2 X z
Then c1 z p1 , and c 2 z p1
z z p1 dz z z p1
1
Example 2.9 find the inverse transform of
z 1z 2
xkT xk
1
2j C
X ( z ) z k 1 dz
Where C is a circle with its center at the origin of the z plane such that all poles of X ( z ) z k 1 are
inside it.
Using complex variable theory, we have
xkT xk K 1 K 2 K m
m
residue of X z z k 1 at pole z z i of X z z k 1
i 1
q 1! z zi dz
12
1
Example 2.10 Find the inverse transform of
z 1z 2
z k 1
Note that X z z k 1
z 1z 2
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Example 2.11 Find the inverse transform of
z 1 1 az 1
1 az
1 3
z 1 1 az 1 z k z a
X z z k 1
z k 1
1 az 1 3
z a 3
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Example 2.12. For following difference equation and associated input and initial
conditions, determine the zero-input and zero-state responses by using the z transform.
y k 3 y k 1 xk ,
k
1
xk u k
2
y 1 1
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