Shift Property of z-Transform

If then which is delay causal signal by 1 sample period.

Lecture 16 More z-Transform

(Lathi 5.2,5.4-5.5)

If we delay x[n] first:

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
PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 1

If we ADVANCE x[n] by 1 sample period:

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Lecture 16 Slide 2

Convolution property of z-transform

More Properties of z-Transform

If h[n] is the impulse response of a discrete-time LTI system, then then

For all these cases, we assume: Scaling Property:

If Then

Multiply by n property:

Time reversal property:

That is: convolution in the time-domain is the same as multiplication in the z-domain. Therefore, we can derive the input-output relationship fo any LTI systems in z-domain:

Initial value property:

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Lecture 16 Slide 4

Summary of z-transform properties (1)

Summary of z-transform properties (2)

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Discrete LTI System and Difference Equation

Realization of LTI System Direct Form I

Consider a discrete time system where the input-output relation is described by: y[n] 5 y[n 1] + 6 y[n 2] = x[n] + 3x[n 1] + 5 x[n 2] This is known as a difference equation, where current output is dependent on current input x[n], and two previous inputs and outputs x[n-1], x[n-2], y[n-1] and y[n-2]. Take z-transform on both sides and assume zero-state condition:

The general transfer function H(z) can be realised using Direct Form I as follows:

Y [ z] = H [ z] X [ z] =

b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N X [ z] 1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N 1 1 N +1 = + bN z N ) X [ z ] (b0 + b1 z + ...... + bN 1 z 1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N

Y ( z ) 5z 1Y ( z ) + 6 z 2Y ( z ) = X ( z ) + 3z 1 X ( z ) + 5z 2 X ( z )

(1 5z + 6 z )Y ( z ) = (1 + 3z + 5z ) X ( z )

Y ( z) 1 + 3z 1 + 5 z 2 = H ( z) = X ( z) 1 5 z 1 + 6 z 2

1 = 1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N

W ( z )

The transfer function of a general Nth order causal discrete LTI system is:

H [ z] =
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b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N 1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N
E2.5 Signals & Linear Systems

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Lecture 16 Slide 7

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PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 8

Realization of LTI System Direct Form II

Realization of LTI System Transposed Direct Form II

Or use Canonical Director Form II:

Or the transposed version:

Y [ z] = H [ z] X [ z] =

Y [ z] = H [ z] X [ z] =

b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N X [ z] 1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N 1 = (b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N ) 1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N

b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N X [ z] 1 + a1 z 1 + ...... + aN 1 z N +1 + aN z N

Y [ z] + ( a1z 1 + ...... + aN 1z N +1 + aN z N )Y [ z ] = (b0 + b1z 1 + ...... + bN 1z N +1 + bN z N ) X [ z ]

X [ z]

Y [ z] = (b0 + b1 z 1 + ...... + bN 1z N +1 + bN z N ) X [ z] ( a1z 1 + ...... + aN 1z N +1 + aN z N )Y [ z ]

= (b0 + b1 z 1 + ...... + bN 1 z N +1 + bN z N )W ( z)

(bN X [ z ] aN Y [ z ]) z 1 + (bN 1 X [ z ] aN 1Y [ z ]) (bN X [ z ] aN Y [ z ]) z 1

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PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 9

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PYKC 10-Mar-11 E2.5 Signals & Linear Systems Lecture 16 Slide 10

Examples
Direct Form II
H [ z] = 2 2 z 1 = z + 5 1 + 5 z 1

Frequency Response of Discrete-time Systems

Transposed

Remember that for a continuous-time system, the system response to an input ejt is H(j) ejt. The response to an input cos t is |H(j)| cos (t + H(j)). H ( j )e jt e jt

H [ z] =

4 z + 28 4 + 28 z 1 = z +1 1 + z 1

Now, consider a discrete-time system with z-domain transfer function H[z]. Let z = ej, the system response to an input ejn is H[ej] ejn . The response to an input cos n is |H[ej]| cos (cos n + H[ej]).

cos t

Continuous-time System H(j)

(.) continuous-time

= TS where TS is the sampling period.

H [ z] = 4 z + 28 4 + 28 z = z + 6 z + 5 1 + 6 z 1 + 5 z 2
2 1

e j n
cos n
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H [e j ]e jn
Discrete-time System H [ej]

[.] discrete-time

H [e j ] cos(n + H [e j ])
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Frequency Response Example (1)

Frequency Response Example (2)

For a system specified by the following difference equation, find the frequency response of the system. y[n + 1] 0.8 y[n] = x[n + 1] Take z-transform on both sides to find the transfer function:

Amplitude response

zY [ z ] 0.8Y [ z ] = zX [ z ]

H [ z] =

Therefore the frequency response is:

Y [ z] z 1 = = X [ z ] z 0.8 1 0.8 z 1

Phase response

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Lecture 16 Slide 14

Mapping from s-plane to z-plane

Mapping from s-plane to z-plane

Since z = e sT = e( + j )T = e T e jT where T = 2/s we can map the s-plane to the z-plane as below: Im( z ) j
s-plane z-plane

Since z = e sT = e( + j )T = e T e jT where T = 2/s we can map the s-plane to the z-plane as below: Im( z ) j
s-plane z-plane

js / 2
j

+1

js / 2
= T +1

+1

Re( s) =

Re( z )

Re( s) =

= T

+1

Re( z )

js / 2

js / 2

j
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j
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Mapping from s-plane to z-plane

Since z = e sT = e( + j )T = e T e jT where T = 2/s we can map the s-plane to the z-plane as below: Im( z ) j
s-plane z-plane

js / 2
Re( s) =
1

+1

= T +1

Re( z )

js / 2

j
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