Z -transform

Dr. Juhi Kesarwani Dr. Ashish Kumar Kesarwany

Mathematics Division, School of Advanced Sciences and Languages

VIT Bhopal University, Bhopal-Indore Highway, Kothrikalan, Sehore, Madhya Pradesh, 466114, India

April 1, 2025

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 Table of Contents

1 Introduction

2 Properties of Z -transform

3 Inverse transform by partial fractions

4 Convolution and Convolution theorem

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 Introduction

The sequences {un } that are to be Z -transformed, must be defined for n ≥ 0.

However, the values of un for n < 0, if any, do not effect the Z -transform. It is
noteworthy that Z -transforms have properties quite similar to Laplace transforms.
For almost every result in Laplace transform there is a corresponding result in z-
transform.

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 Definition(Z -transform)
The Z -transform of a sequence un defined for discrete values n = 0, 1, 2, . . . (and
un = 0 for n < 0) is denoted by Z (un ) or U(z) and is defined as
∞
X
Z (un ) = un z −n = U(z) (1)
n=0

where U is a function of z. The Z -transform of a sequence un exists only when the

infinite series in (1) is convergent.

The Inverse Z -transform is denoted by Z −1 (U(z)) = un determines the sequence

un which generates the given Z -transform.

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 Existence of Z -transform

Result
Let {un } be a sequence of exponential form, that is, there exist numbers N > 0,
t0 > 0 and n0 > 0 such that
|un | < Ne nt0 ,
for all n ≥ n0 , then the Z -transform of un exists. Therefore, every sequence {un } of
exponential order has Z -transform. This is a necessary as well as sufficient condition
for the existence of Z -transform.

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 Z -transform of some standard sequences (or functions)

Example
z
Show that Z (1) = z−1 .

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 Z -transform of some standard sequences (or functions)

Example
z
Show that Z (1) = z−1 .

Solution
By definition
∞
X 1 1 1 z
Z (1) = z −n = 1 + + 2 + ··· = =
n=0
z z 1 − 1/z z −1

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 Example
z
Show that Z (an ) = z−a .

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 Example
z
Show that Z (an ) = z−a .

Solution
By definition
∞
X a a2 1 z
Z (an ) = z −n = 1 + + 2 + ··· = =
n=0
z z 1 − a/z z −a

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 Recurrence formula

Example(Recurrence formula)
d
Show that Z (np ) = −z Z (np−1 ), p being a positive integer.
dz

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 Solution
By definition
∞
X
Z (np ) = np z −n (2)
n=0

Replacing p by p − 1, we get
∞
X
Z (np−1 ) = np−1 z −n (3)
n=0

Differentiating (3) with respect to z, we get

"∞ # ∞
d  d X p−1 −n X
p−1
np−1 (−n)z −n−1

Z (n ) = n z =
dz dz n=0 n=0
∞
X
= −z −1 np z −n
n=0
−1
= −z Z (np ) using (2)

Thus
d
Z (np ) = −z Z (np−1 ).
dz
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 In particular, we have the following formulae

z
☛ Z (1) =
z −1

z
☛ Z (n) =
(z − 1)2

z2 + z
☛ Z (n2 ) =
(z − 1)3

z 3 + 4z 2 + z
☛ Z (n3 ) =
(z − 1)4

z 4 + 11z 3 + 11z 2 + z
☛ Z (n4 ) =
(z − 1)5

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 Example
 
1 1
Show that Z = ez.
n!

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 Example
 
1 1
Show that Z = ez.
n!

Solution
By definition
  ∞
1 X 1 −n 1 1 1 1 1 1
Z = z =1+ + 2
+ 3
+ ··· = ez
n! n=0
n! z 2! z 3! z

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 Example
z
Show that the Z -transform of unit step function is z−1 , i.e., show that
z
Z (un ) = ,
z −1
(
1 if n ≥ 0
where un = .
0 if n < 0

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 Example
z
Show that the Z -transform of unit step function is z−1 , i.e., show that
z
Z (un ) = ,
z −1
(
1 if n ≥ 0
where un = .
0 if n < 0

Solution
By definition
∞ ∞
X X 1 1 1 z
Z (un ) = un z −n = 1 · z −n = 1 + + 2 + ··· = =
n=0 n=0
z z 1 − 1/z z −1

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 The Z -transform is analogous to Laplace transform
Since the Laplace transform of a continuous(or piecewise continuous) function f (t)
Z ∞
is defined as f (t)e −st dt, where s > 0 and t ≥ 0, on similar lines, Z -transform
0
of the function un is defined for discrete values
P∞n = 0, 1, 2 . . . better known as
−n
sequence (un ) where un = 0 for n < 0, as n=0 un z provided it converges.
There are following fundamental differences in Laplace transform and Z -transform

Sr. No. Laplace transform Z-transform

1 The Laplace transform definition The z-transform definition in-
involves an integral volves a summation
2 Applying the Laplace transform to The z-transform converts certain
certain ordinary differential equa- difference equations to algebraic
tions turns them into simpler (al- equations
gebraic) equations
3 Use of the Laplace transform gives Use of the z-transform gives rise to
rise to the basic concept of the the concept of the transfer func-
transfer function of a continuous tion of discrete (or digital) sys-
(or analog) system. tems.

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 Properties of Z -transform

Linearity property

If un , vn are Z -transformable functions and a, b are any two constants then

Z (aun + bvn ) = aZ (un ) + bZ (vn ).

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 Properties of Z -transform

Linearity property

If un , vn are Z -transformable functions and a, b are any two constants then

Z (aun + bvn ) = aZ (un ) + bZ (vn ).

Change of scale or damping rule

If Z (un ) = U(z) then Z (a−n un ) = U(az). In particular, Z (an un ) = U Z

a .

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 Some standard results (using damping rule)
The application of damping rule leads to the following standard results:

Example
Show that

az
(i) Z (nan ) =
(z − a)2

az 2 + a2 z
(ii) Z (n2 an ) =
(z − a)3

z(z − cos θ) z sin θ

(iii) Z (cos nθ) = and Z (sin nθ) = 2
z2 − 2z cos θ + 1 z − 2z cos θ + 1

z(z − a cos θ) az sin θ

(iv) Z (an cos nθ) = and Z (an sin nθ) = 2 .
z2 − 2az cos θ + a 2 z − 2az cos θ + a2

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 Solution
z
(i) We know that Z (n) = (z−1)2 . Applying damping rule, we get

a−1 z az
Z (nan ) = U(a−1 z) = = .
(a−1 z − 1)2 (z − a)2
z 2 +z
(ii) We know that Z (n2 ) = (z−1)3 . Applying damping rule, we have

(a−1 z)2 + a−1 z a(z 2 + az)

Z (n2 an ) = U(a−1 z) = = .
(a−1 z − 1)3 (z − a)3
z
(iii) We know that Z (1) = z−1 . Applying damping rule yields

ze iθ z z
Z (e −inθ ) = Z ((e iθ )−n · 1) = = =
ze iθ − 1 z − e −iθ [(z − cos θ) + i sin θ]
z[(z − cos θ) − i sin θ]
=
[(z − cos θ) + i sin θ][(z − cos θ) − i sin θ]
z 2 − z cos θ sin θ
= 2 −
z − 2z cos θ + 1 z 2 − 2z cos θ + 1

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 Solution cont. . .
Thus
z 2 − z cos θ sin θ
Z (cos θ − i sin θ) =
2
− 2
z − 2z cos θ + 1 z − 2z cos θ + 1
Applying Linearity property yields
z 2 − z cos θ sin θ
Z (cos nθ) − i(sin nθ) = −
z 2 − 2z cos θ + 1 z 2 − 2z cos θ + 1
Equating real and imaginary parts, we get

z(z − cos θ)
Z (cos nθ) = .
z 2 − 2z cos θ + 1

and

z sin θ
Z (sin nθ) = .
z2 − 2z cos θ + 1

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 Solution cont. . .
z(z − cos θ) z sin θ
(iv) We know that Z (cos nθ) = and Z (sin nθ) = 2 .
− 2z cos θ + 1 z2 z − 2z cos θ + 1
Applying damping rule, we get
a−1 z(a−1 z − cos θ) z(z − a cos θ)
Z (an cos nθ) = = 2
(a−1 z)2 − 2a−1 z cos θ + 1 z − 2az cos θ + a2

z(z − a cos θ)
=⇒ Z (an cos nθ) =
z 2 − 2az cos θ + a2

and
a−1 z sin θ az sin θ
Z (an sin nθ) = = 2
(a−1 z)2 − 2a−1 z cos θ + 1 z − 2az cos θ + a2

az sin θ
=⇒ Z (an sin nθ) =
z2 − 2az cos θ + a2

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 Shifting property

(a) Shifting un to the right: If Z (un ) = U(z) then

Z (un−k ) = z −k U(z)

for k > 0.

(b) Shifting un to the left: If Z (un ) = U(z) then

h u1 u2 uk−1 i
Z (un+k ) = z k U(z) − u0 − − 2 − · · · − k−1 .
z z z

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 Shifting property

(a) Shifting un to the right: If Z (un ) = U(z) then

Z (un−k ) = z −k U(z)

for k > 0.

(b) Shifting un to the left: If Z (un ) = U(z) then

h u1 u2 uk−1 i
Z (un+k ) = z k U(z) − u0 − − 2 − · · · − k−1 .
z z z

In Particular, we have
☛ Z (un+1 ) = z[U(z) − u0 ]

☛ Z (un+2 ) = z 2 [U(z) − u0 − u1 z −1 ]

☛ Z (un+3 ) = z 3 [U(z) − u0 − u1 z −1 − u2 z −2 ].
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 Example
   
1 1 1


Show that Z n! = e 1/z . Hence evaluate Z (n+1)! and Z (n+2)! .

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 Example
   
1 1 1


Show that Z n! = e 1/z . Hence evaluate Z (n+1)! and Z (n+2)! .

Solution
We have
  ∞
1 X 1 −n 1 1 1 1 1 1
Z = z =1+ + 2
+ 3
+ · · · = e 1/z
n! n=0
n! 1! z 2! z 3! z

1
Shifting un = n! one unit to the left gives
     
1 1
Z =z Z − 1 = z(e 1/z − 1).
(n + 1)! n!
1
Similarly, Shifting un = n!two units to the left gives
 
1
Z = z 2 (e 1/z − 1 − z −1 ).
(n + 2)!
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 Multiplication by n property

☛ If Z -transform of un is U(z), i.e., Z (un ) = U(z) then

dU(z)
Z (nun ) = −z
dz

☛ If Z -transform of un is U(z), i.e., Z (un ) = U(z) then

d p U(z)
Z (np un ) = (−z)p
dz p

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 Example
Find the Z -transform of

1 n sin nθ 2 n2 e nθ

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 Example
Find the Z -transform of

1 n sin nθ 2 n2 e nθ

Solution
We know that Z (nun ) = −z dU(z)
dz and Z (sin nθ) = z sin θ
z 2 −2z cos θ+1 . Therefore

d
Z (n sin nθ) = −z [Z (sin nθ)]
dz  
d z sin θ
= −z
dz z 2 − 2z cos θ + 1
z(z 2 − 1) sin θ
= 2
(z − 2z cos θ + 1)2

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 Solution cont. . .

z
We know that Z (e nθ ) = z−e θ
. Therefore

d2 
Z (n2 e nθ ) = (−z)2 Z (e nθ )

dz 2
2
 
2 d z
=z
dz 2 z − e θ
z(z + e θ )e θ
=
(z − e θ )3

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 Two Basic Theorems

Initial and Final value theorem

In applications, we often need the values of un for n = 0 or as n → ∞
without requiring complete knowledge of un . The Initial value and final
value theorems determine the values of un for n = 0 and for n → ∞
without the complete knowledge of un . The precise relationship is given by
the following initial and final value theorems:

☛ Initial value theorem: If Z (un ) = U(z), then u0 = limz→∞ U(z).

☛ Final value theorem: If Z (un ) = U(z), then

lim (un ) = lim (z − 1)U(z).

n→∞ z→1

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 Proof of initial value theorem

We know that
∞
X u1 u2
U(z) = Z (un ) = un z −n = u0 + + 2 + ···
n=0
z z

Taking limits as z → ∞, we have

lim U(z) = u0 .
z→∞

Similarly, additional initial values can be found successively, giving

u1 = lim z[U(z) − u0 ]
z→∞
h u1 i
u2 = lim z 2 U(z) − u0 −
z→∞ z
3
h u1 u2 i
u3 = lim z U(z) − u0 − − 2
z→∞ z z
and so on.

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 Example
2z 2 + 5z + 14
If U(z) = , evaluate u2 and u3 .
(z − 1)4

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 Example
2z 2 + 5z + 14
If U(z) = , evaluate u2 and u3 .
(z − 1)4

Solution
By initial value theorem

2z 2 + 5z + 14
u0 = lim U(z) = lim = 0.
z→∞ z→∞ (z − 1)4

Similarly,

2z 2 + 5z + 14
u1 = lim z[U(z) − u0 ] = lim = 0.
z→∞ z→∞ (z − 1)4
h u1 i 2z 2 + 5z + 14
u2 = lim z 2 U(z) − u0 − = lim z 2 =2
z→∞ z z→∞ (z − 1)4
 
3
h u1 u2 i 3 2
u3 = lim z U(z) − u0 − − 2 = lim z U(z) − 2 = 13
z→∞ z z z→∞ z
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 Table 1: STANDARD Z -TRANSFORMS

Sr. No. Sequence: un (for n ≥ 0) U(z): Z -transform

z
1 n (z−1)2
2
z +z
2 n2 (z−1)3
d
3 np (Recurrence formula) −z dz [Z (np−1 ]
z
4 an z−a
d
5 nun (Multiplication by n) −z dz [Z (un )]

z


6 an un (Damping rule) U a

7 un+1 z[U(z) − u0 ]
u1
2
 
8 un+2 z U(z) − u0 − z

u1 u2
 
9 un+3 z 3 U(z) − u0 − z − z2

10 un−k z −k Z (un )
z sin θ
11 sin nθ z 2 −2z cos θ+1

z(z−cos θ)
12 sin nθ z 2 −2z cos θ+1
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 Example
Find the Z -transform of 2n + 5 sin nπ 4
4 − 3a .

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 Example
Find the Z -transform of 2n + 5 sin nπ 4
4 − 3a .

Solution
By linearity property
 nπ   nπ 
Z 2n + 5 sin − 3a4 = 2Z (n) + 5Z sin − 3a4 Z (1)
4 4
2z 5z sin π4 z
= + 2 − 3a4
(z − 1)2 z − 2z cos π4 + 1 z −1
2z 5z √12 3a4 z
= 2
+ √ −
(z − 1) z 2 − 2z + 1 z − 1

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 Example
Find Z [(cos θ + i sin θ)n ].

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 Example
Find Z [(cos θ + i sin θ)n ].

Solution

Z [(cos θ + i sin θ)n ] = Z [(e iθ )n ]

= Z (e inθ )
z
=
z − e iθ
z
Since Z (an ) = z−a .

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 Example
Find Z [(n + 1)2 ].

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 Example
Find Z [(n + 1)2 ].

Solution

Z [(n + 1)2 ] = Z (n2 + 2n + 1)

= Z (n2 ) + 2Z (n) + Z (1) [Linearity property]
2
z +z 2z z
= + +
(z − 1)3 (z − 1)2 z −1
z3 + z2
=
(z − 1)3
z 2 +z
Another Method(Using shifting property): We know that Z (n2 ) = (z−1)3 and
Z (un+k ) = z k U(z) − u0 − uz1 − zu22 − · · · − zuk−1
 
k−1 . Therefore

z3 + z2
Z [(n + 1)2 ] = z[Z (n2 ) − 0] = .
(z − 1)3
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 Example
Find Z (e −an sin nθ)

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 Example
Find Z (e −an sin nθ)

Solution
z sin θ
We know that Z (sin nθ) = . Now
Z 2 − 2z cos θ + 1

Z (e −an sin nθ) = Z [(e a )−n sin nθ].

Applying damping rule Z [a−n un ] = U(az), we get

e a z sin θ e a z sin θ
Z (e −an sin nθ) = = 2a 2 .
(e a z)2 a
− 2e z cos θ + 1 e z − 2e a z cos θ + 1

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 Example
Find Z (n cos nθ).

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 Example
Find Z (n cos nθ).

Solution
We know that
dU(z)
Z (nun ) = −z .
dz
Here un = cos nθ and

z(z − cos θ)
Z (un ) = U(z) =
z 2 − 2z cos θ + 1
Therefore
 
d z(z − cos θ)
Z (n cos nθ) = −z
dz z 2 − 2z cos θ + 1
z 3 cos θ − 2z 2 + z cos θ
=
(z 2 − 2z cos θ + 1)2

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 Example
z z
Find Z (un+2 ) if Z (un ) = z−1 + z 2 +1 .

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 Example
z z
Find Z (un+2 ) if Z (un ) = z−1 + z 2 +1 .

Solution
By shifting theorem, We know that
h u1 i
Z (un+2 ) = z 2 U(z) − u0 − .
z
Here, we need to compute u0 and u1 . By initial value theorem, we have
 
z z
u0 = lim U(z) = lim + 2 =1
z→∞ z→∞ z − 1 z +1
2z 2 − z + 1
u1 = lim z[U(z) − u0 ] = lim z · =2
z→∞ z→∞ (z − 1)(z 2 + 1)

Therefore
z(z 2 − z + 2)
 
2 z z 2
Z (un+2 ) = z + 2 −1− =
z −1 z +1 z (z − 1)(z 2 + 1)
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 Exercise 1:
Find the Z -transform of the following functions
√
nπ

(3 − 5a)z + 5az 2 2 2z
(i) 3n − 4 sin 4 + 5a Ans. − √
(z − 1)2 z 2 − 2z + 1
z 2 (2z + 1)
(ii) (n + 1)2 Ans.
(z − 1)3
z 2 sin 5 − z sin 2
(iii) sin(3n + 5) Ans.
z 2 − 2z cos 3 + 1

Exercise 2:
Find the Z -transforms of the following
z
(i) e an Ans.
z − ea
eaz
(ii) ne an Ans.
(z − e a )2
ze a (z + e a )
(iii) n2 e an Ans.
(z − e a )3
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 Exercise 3:
Find the Z -transforms of the following
ez sin 2
(i) e n sin 2n Ans.
z2 − 2ez cos 2 + e 2
z(z − c cos α)
(ii) c n sin nα Ans.
z2 − 2cz cos α + c 2

Exercise 4:
Find the Z -transforms of the following
z(z − 1)
(i) cos nπ π


2 + 4 Ans. √
2(z 2 + 1)

z 2 cosh θ − z cosh π2 − θ


nπ


(ii) cosh +θ Ans.
2 z 2 − 2z cosh( π2 ) + 1

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 Exercise 5:
1
(a) 1
(n+2)! Ans. z 2 (e z − 1 − z −1 )
z(z−cosh θ)
(b) cosh nθ Ans. z 2 −2z cosh θ+1
az cosh θ
(c) an sinh θ Ans. z 2 −2az cosh θ+a2
−a n −1
e a −1)
(d) n! Ans. e a(z
2
z sin θ
(e) sin(n + 1)θ Ans. z 2 −2z cos θ+1
 
1 z
(f) n+1 Ans. z ln z+1

Exercise 6:
2z 2 +5z+14
Find u2 , u3 if U(z) = (z−1)4 . Ans. u0 = 0, u1 = 0, u2 = 2, u3 = 13

Exercise 7:
(5z 2 +3z+12)
Find u2 , u3 when U(z) = (z−1)4 . Ans. u0 = 0, u1 = 0, u2 = 5, u3 = 23

Exercise 8:
(2z 2 +3z+4)
Determine u2 where U(z) = (z−3)3 Ans. u0 = 0, u1 = 2, u2 = 21

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 36 / 58
 Example
Find the inverse Z -transform of

z
 z
(a) ln (b)
z +1 (z + 1)2

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 37 / 58
 Solution
(a)
     
z z +1 1
ln = − ln = − ln 1 +
z +1 z z
 
1 1 1
=− − 2 + 3 + ···
z 2z 3z
∞
X (−1)n −n
= z
n=1
n
∞
(
X 0 if n = 0
= un z −n where un = (−1)n
n=0 n if n > 0
 
z
=⇒ ln = Z (un )
z +1

Taking inverse Z -transform of both sides yields

   (
−1 z 0 if n = 0
Z ln = un = (−1)n .
z +1 n if n > 0

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 38 / 58
 (b)
 −2
z 1 1
= 1+
(z + 1)2 z z

1 (−2) (−2)(−2 − 1) (−2)(−2 − 1)(−2 − 2)
= 1+ + + + ···
z z 2!z 2 3!z 3
1 2 3 4
= − 2 + 3 − 3 + ···
z z z z
∞
X
= (−1)n−1 nz −n
n=0
z
=⇒ = Z [(−1)n−1 n]
(z + 1)2

Taking inverse Z -transform of both sides, we get

 
z
Z −1 = (−1)n−1 n.
(z + 1)2

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 39 / 58
 Solution cont. . .

Another Solution: We know that

z
Z [(−1)n ] =
z +1
Therefore
   
d z z +1−z z
Z [(−1)n n] = −z = −z =−
dz z + 1 (z + 1)2 (z + 1)2
z
=⇒ Z [(−1)n n] = −
(z + 1)2

Taking inverse Z -transform both sides, we have

 
z
Z −1 = (−1)n−1 n.
(z + 1)2

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 40 / 58
 Finding inverse Z -transform using partial fraction method

This method is similar to that of finding the inverse Laplace transforms using par-
U(z)
tial fractions. The method consists of decomposing into partial fractions,
z
multiplying the resulting expansion by z and then inverting the same.

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 41 / 58
 Example
Find the inverse Z -transform of U(z) given by
z 7z − 11z 2
(a) U(z) = (b) U(z) =
(Z + 4)(z + 5) (z − 1)(z − 2)(z − 3)

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 42 / 58
 Example
Find the inverse Z -transform of U(z) given by
z 7z − 11z 2
(a) U(z) = (b) U(z) =
(Z + 4)(z + 5) (z − 1)(z − 2)(z − 3)

Solution
U(z)
We resolve z into partial fraction first.
(a)
U(z) 1 1 1
= = − .
z (Z + 4)(z + 5) z +4 z +5
Hence
z z
U(z) = −
z +4 z +5
Therefore
   
−1 −1 z −1 z
Z (U(z)) = Z −Z = (−4)n − (−5)n
z +4 z +5
Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 42 / 58
 Solution cont. . .

(b)
U(z) 7 − 11z 2 15 13
= =− + − .
z (z − 1)(z − 2)(z − 3) z −1 z −2 z +3
Hence
2z 15z 13z
U(z) = − + −
z −1 z −2 z −3
Therefore
     
z z z
Z −1 (U(z)) = −2Z −1 + 15Z −1 − 13Z −1
z −1 z −2 z −3
= −2 + 15(2)n − 13(3)n

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 43 / 58
 Example
4z 2 − 2z
Find the inverse Z -transform of .
z 3 − 5z 2 + 8z − 4

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 44 / 58
 Example
4z 2 − 2z
Find the inverse Z -transform of .
z 3 − 5z 2 + 8z − 4

Solution
Consider
4z 2 − 2z 2z − 1 U(z) 2(2z − 1)
U(z) = = 2z · =⇒ = .
z3 − 5z 2 + 8z − 4 (z − 1)(z − 2)2 z (z − 1)(z − 2)2

By partial fractions

U(z) 2z − 1 A B C
= 3 2
= + +
z z − 5z + 8z − 4 z − 1 z − 2 (z − 2)2
=⇒ 2(2z − 1) = A(z − 2)2 + B(z − 1)(z − 2) + C (z − 1)

Putting z = 1 gives A = 2 and putting z = 2 gives C = 6. Comparing the constant

term on both sides of above expression yields

−1 = 4A + 2B − C =⇒ B = −2
Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 44 / 58
 Solution cont. . .

Therefore
U(z) 2 2 6
= − +
z z − 1 z − 2 (z − 2)2
2z 2z 6z
=⇒ U(z) = − +
z − 1 z − 2 (z − 2)2

Thus
4z 2 − 2z
   
2z 2z 6z
Z −1 = Z −1
− +
z 3 − 5z 2 + 8z − 4 z − 1 z − 2 (z − 2)2
     
z z 2z
= 2Z −1 − 2Z −1 + 3Z −1
z −1 z −2 (z − 2)2
= 2 · 1 − 2 · 2n + 6n2n
= 2 − 2n+1 + 3n2n
2z
Since Z (n2n ) = (z−2)2 .

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 45 / 58
 Example
z2
Find the inverse Z -transform of .
z2 + 1

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 46 / 58
 Example
z2
Find the inverse Z -transform of .
z2 + 1

Solution
Let
z2
U(z) =
z2 + 1
     
U(z) z z 1 1 1
=⇒ = 2 = = +
z z +1 (z + i)(z − i) 2 z +i z −i
 
1 z z
=⇒ U(z) = +
2 z +i z −i

Therefore
       
1 z z 1 z z
Z −1 (U(z)) = Z −1 + = Z −1 + Z −1
2 z +i z −i 2 z +i z −i
(−i)n + i n
=
2
Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 46 / 58
 Example
2z
Find the inverse Z -transform of .
(z − 1)(z 2 + 1)

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 47 / 58
 Example
2z
Find the inverse Z -transform of .
(z − 1)(z 2 + 1)

Solution
Let
2z U(z) 2
U(z) = 2
=⇒ =
(z − 1)(z + 1) z (z − 1)(z 2 + 1)
By partial fractions
2 A Bz + C
= + 2
(z − 1)(z 2 + 1) z −1 z +1
2 = A(z 2 + 1) + (Bz + C )(z − 1)

Putting z = 1 gives A = 1. Rearranging the similar terms, we have

2 = (A + B)z 2 + (−B + C )z + A − C

Comparing the coefficients of Z 2 gives A + B = 0 =⇒ B = −1. Comparing the

coefficients of z gives −B + C = 0 =⇒ C = −1.
Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 47 / 58
 Solution cont. . .

Therefore
U(z) 2 1 z +1
= = −
z (z − 1)(z 2 + 1) z − 1 z2 + 1
Thus
z z +1
U(z) = −z ·
z −1 z2 + 1
 
z z 1
= −z · 2 +
z −1 z + 1 z2 + 1
 
z z 1
= −z · +
z −1 (z + i)(z − i) (z + i)(z − i)
    
z 1 1 1 1 1 1
= −z · + + −
z −1 2 z +i z −i 2i z + i z −i
       
z 1 z 1 z 1 z 1 z
= − − − +
z −1 2 z +i 2 z −i 2i z + i 2i z − i

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 48 / 58
 Solution cont. . .

Therefore
        
z 1 z 1 z 1 z 1 z
Z −1 (U(z)) = Z −1 − − − +
z −1 2 z +i 2 z −i 2i z + i 2i z − i
     
z 1 z 1 z
= Z −1 − Z −1 − Z −1 −
z −1 2 z +i 2 z −i
   
1 −1 z 1 z
Z + Z −1
2i z +i 2i z −i
1 1 1 1
= 1 − (−i)n − i n − (−i)n + i n
2 2 2i 2i
(−i)n + i n (−i)n − i n
=1− −
2 2i

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 49 / 58
 Exercise 9:
Find the inverse Z -transform of
z 3 + 2z 2 + 29z
(a) U(z) = Ans. Z −1 (U(z)) = −n(−3)n
(z − 1)(z + 3)2
2z 2 + 3z
(b) V (z) = Ans. Z −1 (V (z)) = 11 n
6 (4 ) + 16 (−2)n
(z + 2)(z + 4)
2z 2 + 3z 1 11
(c) F (z) = Ans. Z −1 (F (z)) = (−2)n + 4n
(z + 2)(z − 4) 6 6
z 3 − 20z
(d) G (z) = Ans. Z −1 (G (z)) = 2n−1 + n2 2n − 4n
(z − 2)3 (z − 4)

Exercise 10:
1
Find the inverse Z -transform of .
(z − 5)3
n(n−2)5n−3
  (
1 if n ≥ 3
Ans. Z −1 = 2
(z − 5)3 0 if n < 3

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 50 / 58
 Convolution

Convolution

If {un } and {vn } are two sequences then their convolution is denoted by
un ∗ vn and is defined as
n
X
{un ∗ vn } = uk vn−k = u0 vn + u1 vn−1 + · · · + un v0
k=0

☛ {un ∗ vn } = {vn ∗ un }

☛ {(un ∗ vn ) ∗ wn } = {un ∗ wn } + {vn ∗ wn }

☛ {un ∗ vn } ∗ {wn } = {un } ∗ {vn ∗ wn }

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 51 / 58
 Convolution Theorem

Convolution theorem

If {un } and {vn } are two sequences such that Z (un ) and Z (vn ) exists. Then

Z (un ∗ vn ) = Z (un )Z (vn )

In other words, if Z (un ) = U(z) and Z (vn ) = V (z) then

Z −1 [U(z)V (z)] = un ∗ vn

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 52 / 58
 Example
z2
 
−1
Use convolution theorem to evaluate Z . Also, find Z (an ∗ an ).
(z − a)(z − b)

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 53 / 58
 Example
z2
 
−1
Use convolution theorem to evaluate Z . Also, find Z (an ∗ an ).
(z − a)(z − b)

Solution
   
We know that Z −1 z−az
= an and Z −1 z−b z
= b n . Therefore by convolution
theorem
z2
 
−1
Z = an ∗ b n
(z − a)(z − b)
k
X
= ak b n−k
k=0
k
X n
X
= bn ak b −k = b n (ab −1 )n
k=0 k=0
−1 n+1
an+1 − b n+1
 
1 − (ab )
= bn =
1 − ab −1 a−b
Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 53 / 58
 Solution cont. . .
Further,
∞
X n
X
an ∗ an = ak an−k = an 1 = (n + 1)an
k=0 k=0
n z
Here Z (a ) = z−a . Therefore

z2
Z (an ∗an ) = Z (an )(an ) =
(z − a)2

If we put the value of an ∗ an then we get

z2
Z [(n + 1)an ] =
(z − a)2

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 54 / 58
 Example
2n
   
1 1
(a) Applying convolution, show that ∗ = .
n! n! n!

(b) Verify convolution theorem for {un } = {n} and {vn } = {n2 }.

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 55 / 58
 Solution
(a) By definition of convolution
  n
1 1 X 1 1
∗ =
n! n! k! (n − k)!
k=0
1 1 1 1
= + + + ··· +
n! 1!(n − 1)! 2!(n − 2)! n!
1 n n(n − 1) n!
= + + + ··· +
n!  1!n! 2!n! n!n!

1 n n(n − 1)
= 1+ + + ··· + 1
n! 1! 2!
1 n
= [ C0 +n C1 +n C2 + · · · +n Cn ]
n!
(1 + 1)n
=
n!
2n
=
n!

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 56 / 58
 Solution cont. . .
(b) Here we have {un } = {n} and {vn } = {n2 }, therefore
n
X n
X n
X
u n ∗ vn = k 2 (n − k) = n k2 − k3
k=0 n=0 k=0
n2 (n + 1)2 n4 − n2
 
n(n + 1)(2n + 1)
=n − =
6 4 12
Thus
1 1
Z (n2 ∗ n) = Z (n4 ) − Z (n2 )
12 12
1 z(z 3 + 11z 2 + 11z + 1) 1 1 z2 + z z3 + z2
= 5
− − 3
=
12 (z − 1) 12 12 (z − 1) (z − 1)5
Also, we have
z2 + z z z3 + z2
Z (n2 )Z (n) = 3
· 2
=
(z − 1) (z − 1) (z − 1)5

Thus, convolution theorem Z (n2 ∗ n) = Z (n2 )Z (n) has been verified.

Dr. Juhi Kesarwani & Dr. Ashish Kesarwany (VITB) Z -transform April 1, 2025 57 / 58
 Exercise 11:  3
z
Using convolution theorem, find the inverse Z -transform of . Deduce
z −a
 3
z
for . Hint: Apply the convolution theorem twice.
z − 1"
 3 # " 3 #
−1 z n(n + 1) n −1 z n(n + 1)
Ans. Z = a and Z =
z −a 2 z −1 2

Exercise 12:
Using the convolution theorem, find the Z -transform of the following
z2
(a)
(z − 1)(z − 3)
 2
z
(b) .
z −a

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