Shift Property of z-Transform
Lecture 16
If
then
which is delay causal signal by 1 sample period.
More z-Transform
(Lathi 5.2,5.4-5.5)
Peter Cheung
Department of Electrical & Electronic Engineering
Imperial College London
If we delay x[n] first:
If we ADVANCE x[n] by 1 sample period:
URL: www.ee.imperial.ac.uk/pcheung/teaching/ee2_signals
E-mail: p.cheung@imperial.ac.uk
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E2.5 Signals & Linear Systems
L5.2 p508
Lecture 16 Slide 1
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Convolution property of z-transform
E2.5 Signals & Linear Systems
Lecture 16 Slide 2
More Properties of z-Transform
If h[n] is the impulse response of a discrete-time LTI system, then
For all these cases, we assume:
Scaling Property:
Multiply by n property:
Time reversal property:
Initial value property:
then
If
Then
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:
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E2.5 Signals & Linear Systems
Lecture 16 Slide 3
L5.2 p512
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E2.5 Signals & Linear Systems
Lecture 16 Slide 4
Summary of z-transform properties (1)
Summary of z-transform properties (2)
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Lecture 16 Slide 5
E2.5 Signals & Linear Systems
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Discrete LTI System and Difference Equation
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]
Take z-transform on both sides and assume zero-state condition:
Y ( z ) 5z 1Y ( z ) + 6 z 2Y ( z ) = X ( z ) + 3z 1 X ( z ) + 5z 2 X ( z )
1
(1 5z + 6 z )Y ( z ) = (1 + 3z + 5z ) X ( z )
The general transfer function H(z) can be realised using Direct Form I as
follows:
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
=
b + b1 z 1 + ...... + bN 1 z N +1 + bN z N ) X [ z ]
1
N +1
N ( 0
+
+
+
+
a
z
a
z
a
z
1
......
1
N 1
N
Y [ z] = H [ z] X [ z] =
1
=
1
N +1
+
+
+
+ aN z N
a
z
a
1
......
1
N 1 z
Y ( z)
1 + 3z 1 + 5 z 2
= H ( z) =
X ( z)
1 5 z 1 + 6 z 2
Lecture 16 Slide 6
Realization of LTI System Direct Form I
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].
E2.5 Signals & Linear Systems
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
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L5.4 p525
Lecture 16 Slide 7
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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:
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
N +1
+
+
+
+ aN z N
a
z
a
1
......
1
N 1 z
Or the transposed version:
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
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 ]
Y [ z] = H [ z] 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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L5.4 p525
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E2.5 Signals & Linear Systems
Lecture 16 Slide 9
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Examples
Direct Form II
H [ z] =
H [ z] =
Lecture 16 Slide 10
E2.5 Signals & Linear Systems
Frequency Response of Discrete-time Systems
Transposed
2
2 z 1
=
z + 5 1 + 5 z 1
4 z + 28 4 + 28 z 1
=
z +1
1 + z 1
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
cos t
(.) continuous-time
Continuous-time
System H(j)
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]).
= TS where TS is the sampling period.
1
H [ z] =
4 z + 28
4 + 28 z
=
z + 6 z + 5 1 + 6 z 1 + 5 z 2
e j n
cos n
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E2.5 Signals & Linear Systems
Lecture 16 Slide 11
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H [e j ]e jn
Discrete-time
System H [ej]
[.] discrete-time
H [e j ] cos(n + H [e j ])
L5.5 p531
E2.5 Signals & Linear Systems
Lecture 16 Slide 12
Frequency Response Example (1)
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:
zY [ z ] 0.8Y [ z ] = zX [ z ]
Frequency Response Example (2)
H [ z] =
Therefore the frequency response is:
Amplitude response
Phase response
Y [ z]
z
1
=
=
X [ z ] z 0.8 1 0.8 z 1
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Lecture 16 Slide 13
E2.5 Signals & Linear Systems
L5.5 p533
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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
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
+1
js / 2
1
js / 2
z-plane
+1
js / 2
Re( s) =
= T +1
Re( z )
Re( s) =
js / 2
j
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E2.5 Signals & Linear Systems
Lecture 16 Slide 14
E2.5 Signals & Linear Systems
Lecture 16 Slide 15
= T
+1
Re( z )
j
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E2.5 Signals & Linear Systems
Lecture 16 Slide 16
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
+1
js / 2
Re( s) =
js / 2
= T +1
Re( z )
j
PYKC 10-Mar-11
E2.5 Signals & Linear Systems
Lecture 16 Slide 17
