EEL205 : Signals and Systems

Kushal K. Shah
Asst. Prof. @ EE, IIT Delhi
Email : kkshah@ee.iitd.ac.in
Web : http://web.iitd.ac.in/~kkshah

Z Transform

Z Transform

X (z )

x [n] z n

z = re j

n=

x [n] r n e j n
n=


F x [n] r n

=
=



X (j ) = X (z ) 

r =1

ROC : range of r for which X (z ) converges

Z Transform

X (z )

x [n] z n

z = re j

n=

x [n] r n e j n
n=


F x [n] r n

=
=



X (j ) = X (z ) 

r =1

ROC : range of r for which X (z ) converges

Z Transform

X (z )

x [n] z n

z = re j

n=

x [n] r n e j n
n=


F x [n] r n

=
=



X (j ) = X (z ) 

r =1

ROC : range of r for which X (z ) converges

Z Transform

X (z )

x [n] z n

z = re j

n=

x [n] r n e j n
n=


F x [n] r n

=
=



X (j ) = X (z ) 

r =1

ROC : range of r for which X (z ) converges

Z Transform

X (z )

x [n] z n

z = re j

n=

x [n] r n e j n
n=


F x [n] r n

=
=



X (j ) = X (z ) 

r =1

ROC : range of r for which X (z ) converges

Z-Plane

X (z ) = x [n] z n

n=

z = re j

ROC : range of r for which X (z ) converges

If ROC includes the unit circle, then the DTFT of x [n] also exists

Z-Transform : Example 1

x [n]
X (z )

=
=

a n u [n ]

x [n] z n
n=

an u [n] z n

n=

=
=
=

az 1

n =0

1 az 1

z a

n


if az 1  < 1
if |z | > |a|

Z-Transform : Example 1

x [n]
X (z )

=
=

a n u [n ]

x [n] z n
n=

an u [n] z n

n=

=
=
=

az 1

n =0

1 az 1

z a

n


if az 1  < 1
if |z | > |a|

Z-Transform : Example 1

x [n]
X (z )

=
=

a n u [n ]

x [n] z n
n=

an u [n] z n

n=

=
=
=

az 1

n =0

1 az 1

z a

n


if az 1  < 1
if |z | > |a|

Z-Transform : Example 1

x [n]
X (z )

=
=

a n u [n ]

x [n] z n
n=

an u [n] z n

n=

=
=
=

az 1

n =0

1 az 1

z a

n


if az 1  < 1
if |z | > |a|

Z-Transform : Example 1

x [n]
X (z )

=
=

a n u [n ]

x [n] z n
n=

an u [n] z n

n=

=
=
=

az 1

n =0

1 az 1

z a

n


if az 1  < 1
if |z | > |a|

Z-Transform : Example 1

x [n]
X (z )

=
=

a n u [n ]

x [n] z n
n=

an u [n] z n

n=

=
=
=

az 1

n =0

1 az 1

z a

n


if az 1  < 1
if |z | > |a|

Z-Transform : Example 1

x [n]
X (z )
If a = 0.5,

=
=

a n u [n ]
z
z a

if |z | > |a|

Z-Transform : Example 2

x [n ]
X (z )

= an u [n 1]

x [n] z n

n=

an u [n 1] z n

n=
1

=
=

az 1

n=

z a

n

n =1

a1 z

if |z | < |a|

n

Z-Transform : Example 2

x [n ]
X (z )

= an u [n 1]

x [n] z n

n=

an u [n 1] z n

n=
1

=
=

az 1

n=

z a

n

n =1

a1 z

if |z | < |a|

n

Z-Transform : Example 2

x [n ]
X (z )

= an u [n 1]

x [n] z n

n=

an u [n 1] z n

n=
1

=
=

az 1

n=

z a

n

n =1

a1 z

if |z | < |a|

n

Z-Transform : Example 2

x [n ]
X (z )

= an u [n 1]

x [n] z n

n=

an u [n 1] z n

n=
1

=
=

az 1

n=

z a

n

n =1

a1 z

if |z | < |a|

n

Z-Transform : Example 2

x [n ]
X (z )

= an u [n 1]

x [n] z n

n=

an u [n 1] z n

n=
1

=
=

az 1

n=

z a

n

n =1

a1 z

if |z | < |a|

n

Z-Transform : Example 2

x [n ]
X (z )

= an u [n 1]

x [n] z n

n=

an u [n 1] z n

n=
1

=
=

az 1

n=

z a

n

n =1

a1 z

if |z | < |a|

n

Z-Transform : Example 2

x [n]
X (z )
If a = 0.5,

= an u [n 1]
=

z a

if |z | < |a|

Z-Transform

a n u [n ]
z
=
z a
ROC : |z | > |a|

x [n ]
X (z )

a = 0.5

x [n ]
X (z )

= an u [n 1]
=

z a

ROC : |z | < |a|

a = 0.5

Z-Transform : Example 3

an u [n] bn u [n 1]
z + z
=
z a z b
ROC : |a| < |z | < |b|
iff |b| > |a|
x [n ]
X (z )

If a = 0.5 and b = 0.75,

I
1

0.5

1
0.75

Z-Transform : Example 4

x [n]

=
=

X (z ) =

b|n|
b>0
n
n
b u [n] b u [n 1]
z + z
z b z 1 b

ROC1 : |z | > b
ROC2 : |z | < 1 b
ROC : b < |z | <

iff 0 < b < 1

Z-Transform : Example 4

x [n]

=
=

X (z ) =

b|n|
b>0
n
n
b u [n] b u [n 1]
z + z
z b z 1 b

ROC1 : |z | > b
ROC2 : |z | < 1 b
ROC : b < |z | <

iff 0 < b < 1

Z-Transform : Example 4

x [n]

=
=

X (z ) =

b|n|
b>0
n
n
b u [n] b u [n 1]
z + z
z b z 1 b

ROC1 : |z | > b
ROC2 : |z | < 1 b
ROC : b < |z | <

iff 0 < b < 1

Z-Transform : Example 4

x [n]

=
=

X (z ) =

b|n|
b>0
n
n
b u [n] b u [n 1]
z + z
z b z 1 b

ROC1 : |z | > b
ROC2 : |z | < 1 b
ROC : b < |z | <

iff 0 < b < 1

Z-Transform : Example 4

x [n]

=
=

X (z ) =

b|n|
b>0
n
n
b u [n] b u [n 1]
z + z
z b z 1 b

ROC1 : |z | > b
ROC2 : |z | < 1 b
ROC : b < |z | <

iff 0 < b < 1

Z-Transform : Example 4

x [n]

=
=

X (z ) =

b|n|
b>0
n
n
b u [n] b u [n 1]
z + z
z b z 1 b

ROC1 : |z | > b
ROC2 : |z | < 1 b
ROC : b < |z | <

iff 0 < b < 1

Poles and Zeros

Pole : Value of |z | for which X (z ) is not finite

Zero : Value of |z | for which X (z ) is zero

Properties of ROC

Property 1
ROC of Z-transform consists of a ring in the z-plane centered about
the origin

X (z ) = x [n] z n

n=

|x [n]| r n <

n=

I
1

0.5

1
0.75

Property 2
ROC does not contain any poles

Property 3

If x [n] is of finite duration, then the ROC is the entire z-plane except
possibly z = 0 and/or z =
[n] 1
1
[n 1]

[n + 1]

z
z

|z | 0
|z | > 0

0 |z | <

Property 4

If x [n] is a right-handed signal, and if the circle |z | = r0 is in the ROC,

then all finite values of z for which |z | > r0 will also be in the ROC.

|x [n]| r0n

<

|x [n]| r n

<

n=N1

n=N1

if r > r0

Property 5

If x [n] is a left-handed signal, and if the circle |z | = r0 is in the ROC,

then all finite values of z for which |z | < r0 will also be in the ROC.

N2

|x [n]| r0n

<

|x [n]| r n

<

n=
N2
n=

if r < r0

Property 6

If x [n] is a two-handed signal, and if the circle |z | = r0 is in the ROC,

then the ROC will consist of a ring in the z-plane that includes the
circle |z | = r0

Property 7

If X (z ) is rational, then the ROC is bounded by poles or extends to

infinity

Property 8

If X (z ) is rational, and if x [n] is right-sided, then the ROC is the

region in z-plane outside the outermost pole
If x [n] is causal, then the ROC of X (z ) extends to infinity

Property 9

If X (z ) is rational, and if x [n] is left-sided, then the ROC is the

region in z-plane inside the innermost pole
If x [n] is anti-causal, then the ROC of X (z ) also includes z = 0

Property 10

The ROC must be a connected region

Properties of Z-Transform

Z-Transform : Properties
I

Linearity

ax1 + bx2
x1 = x2
I

aX1 + bX2
b = a

Time shifting

x [n n0 ] z n0 X (z )
I

ROC contains R1 R2

ROC=R {0, }

Scaling in the z-domain

z n x [n] X
0

z
z0

ROC= |z0 | R

If |z0 | = 1,

e j 0 n x [n] X e j 0 n z

ROC=R

Z-Transform : Properties
I

Linearity

ax1 + bx2
x1 = x2
I

aX1 + bX2
b = a

Time shifting

x [n n0 ] z n0 X (z )
I

ROC contains R1 R2

ROC=R {0, }

Scaling in the z-domain

z n x [n] X
0

z
z0

ROC= |z0 | R

If |z0 | = 1,

e j 0 n x [n] X e j 0 n z

ROC=R

Z-Transform : Properties
I

Linearity

ax1 + bx2
x1 = x2
I

aX1 + bX2
b = a

Time shifting

x [n n0 ] z n0 X (z )
I

ROC contains R1 R2

ROC=R {0, }

Scaling in the z-domain

z n x [n] X
0

z
z0

ROC= |z0 | R

If |z0 | = 1,

e j 0 n x [n] X e j 0 n z

ROC=R

Z-Transform : Properties
I

Linearity

ax1 + bx2
x1 = x2
I

aX1 + bX2
b = a

Time shifting

x [n n0 ] z n0 X (z )
I

ROC contains R1 R2

ROC=R {0, }

Scaling in the z-domain

z0n x [n] X zz
0


ROC= |z0 | R

If |z0 | = 1,

e j 0 n x [n] X e j 0 n z

ROC=R

Z-Transform : Properties
I

Time Reversal
 
1

x [n] X z
I

zk

ROC=R

Conjugation

x [n] X (z )
I

Time Expansion

x(k ) [n] X
I

ROC=

ROC=R

Convolution

x1 [n] x2 [n] X1 (z ) X2 (z )

ROC contains R1 R2

Z-Transform : Properties
I

Time Reversal
 
1

x [n] X z
I

zk

ROC=R

Conjugation

x [n] X (z )
I

Time Expansion

x(k ) [n] X
I

ROC=

ROC=R

Convolution

x1 [n] x2 [n] X1 (z ) X2 (z )

ROC contains R1 R2

Z-Transform : Properties
I

Time Reversal
 
1

x [n] X z
I

zk

ROC=R

Conjugation

x [n] X (z )
I

Time Expansion

x(k ) [n] X
I

ROC=

ROC=R

Convolution

x1 [n] x2 [n] X1 (z ) X2 (z )

ROC contains R1 R2

Z-Transform : Properties
I

Time Reversal
 
1

x [n] X z
I


ROC=R 1 k

Conjugation

x [n] X (z )
I

Time Expansion

x(k ) [n] X z k
I

ROC=

ROC=R

Convolution

x1 [n] x2 [n] X1 (z ) X2 (z )

ROC contains R1 R2

Z-Transform : Properties

Differentiation in z -domain

nx [n] z dX
dz
I

ROC=R

Initial Value Theorem

x [0]

lim

X (z )

if x [n] = x [n] u [n]

X (z ) = x [n] z n

n =0

Z-Transform : Properties

Differentiation in z -domain

nx [n] z dX
dz
I

ROC=R

Initial Value Theorem

x [0]

lim

X (z )

if x [n] = x [n] u [n]

X (z ) = x [n] z n

n =0

Causality

A discrete-time LTI system is causal iff the ROC of its system

function is the exterior of a circle, including infinity

H (z ) = h [n] z n

n=0

I
1

0.5

1
0.75

Causality
I

A discrete-time LTI system is causal iff the ROC of its system

function is the exterior of a circle, including infinity

H (z ) = h [n] z n

n=0

A discrete-time LTI system with rational system function H (z )

is causal iff
I
I

ROC is the exterior of a circle outside the outermost pole

Order of the numerator cannot be greater than the order of the
denominator
3
2
H (z ) = z z 2+2zz ++1z

Not causal

Stable : ROC must include |z | = 1

Causal+Stable : All poles must lie within the unit circle

Causality
I

A discrete-time LTI system is causal iff the ROC of its system

function is the exterior of a circle, including infinity

H (z ) = h [n] z n

n=0

A discrete-time LTI system with rational system function H (z )

is causal iff
I
I

ROC is the exterior of a circle outside the outermost pole

Order of the numerator cannot be greater than the order of the
denominator
3
2
H (z ) = z z 2+2zz ++1z

Not causal

Stable : ROC must include |z | = 1

Causal+Stable : All poles must lie within the unit circle

Causality
I

A discrete-time LTI system is causal iff the ROC of its system

function is the exterior of a circle, including infinity

H (z ) = h [n] z n

n=0

A discrete-time LTI system with rational system function H (z )

is causal iff
I
I

ROC is the exterior of a circle outside the outermost pole

Order of the numerator cannot be greater than the order of the
denominator
3
2
H (z ) = z z 2+2zz ++1z

Not causal

Stable : ROC must include |z | = 1

Causal+Stable : All poles must lie within the unit circle

Causality
I

A discrete-time LTI system is causal iff the ROC of its system

function is the exterior of a circle, including infinity

H (z ) = h [n] z n

n=0

A discrete-time LTI system with rational system function H (z )

is causal iff
I
I

ROC is the exterior of a circle outside the outermost pole

Order of the numerator cannot be greater than the order of the
denominator
3
2
H (z ) = z z 2+2zz ++1z

Not causal

Stable : ROC must include |z | = 1

Causal+Stable : All poles must lie within the unit circle

Causality
I

A discrete-time LTI system is causal iff the ROC of its system

function is the exterior of a circle, including infinity

H (z ) = h [n] z n

n=0

A discrete-time LTI system with rational system function H (z )

is causal iff
I
I

ROC is the exterior of a circle outside the outermost pole

Order of the numerator cannot be greater than the order of the
denominator
3
2
H (z ) = z z 2+2zz ++1z

Not causal

Stable : ROC must include |z | = 1

Causal+Stable : All poles must lie within the unit circle

Causality
I

A discrete-time LTI system is causal iff the ROC of its system

function is the exterior of a circle, including infinity

H (z ) = h [n] z n

n=0

A discrete-time LTI system with rational system function H (z )

is causal iff
I
I

ROC is the exterior of a circle outside the outermost pole

Order of the numerator cannot be greater than the order of the
denominator
3
2
H (z ) = z z 2+2zz ++1z

Not causal

Stable : ROC must include |z | = 1

Causal+Stable : All poles must lie within the unit circle

Inverse Z-Transform

Inspection Method

Partial Fraction Method

Power Series Method

X (z ) = x [n] z n

n=

Inverse Z-Transform

Inspection Method

Partial Fraction Method

Power Series Method

X (z ) = x [n] z n

n=

Inverse Z-Transform

Inspection Method

Partial Fraction Method

Power Series Method

X (z ) = x [n] z n

n=