2.

Z-transform and theorem

Gc(z)
ZOH
GP(s)
R(z)
E(z)
M(z)
GHP(z)
Computer system
Y(z)
Plant
A/D
D/A
Gc(s)
GP(s)
R(s)
E(s)
M(s) Y(s)
Controller
Plant
2. Z-transform and theorem


time
f(t)
Time kT
f(kT)
A/D
Time kT
f(kT)
D/A
Time kT
f(kT)
2. Z-transform and theorem
How can we represent the sampled data
mathematically?
For continuous time system, we have a
mathematical tool Laplace transform. It
helps us to define the transfer function of a
control system, analyse system stability and
design a controller. Can we have a similar
mathematical tool for discrete time system?
2.1 Z-transform
For a continuous signal f(t), its sampled data can be
written as,

Then we can define Z-transform of f(t) as



where z
-1
represents one sampling period delay in
time.

=
= + + + = =
0
) ( ) 2 ( ) ( ) 0 ( ) ( ) (
n
s
nT f T f T f f kT f t f
+ + + =
= = =

2 1
0
) 2 ( ) ( ) 0 (
) ( )] ( [ )] ( [ ) (
z T f z T f f
z nT f nT f Z t f Z z F
n
n
2.1 Z-transform
Solution:
Example 1: Find the Z-transform of unit step
function.
f(t)
t
kT
f(kT)
2.1 Z-transform
Apply the definition of Z-transform, we have
1
2 1
3 2
2 1
0
1
1
1 ) (
1
1
) ( )] ( [ )] ( [ ) (

= + + + =

= + + + +
+ + + =
= = =

z
z z z F
q
a
aq aq aq a
z z
z kT f kT f Z t f Z z F
k
k

2.1 Z-transform
Another method

1
1
3 2 1 2 1 1 1
2 1
0
1
1
) ( 1 ) ( ) (
) 1 ( ) (
1
) ( )] ( [ )] ( [ ) (

= =
+ + = + + + =
+ + + =
= = =

z
z F z F z z F
z z z z z z z F z
z z
z kT f kT f Z t f Z z F
k
k

2.1 Z-transform
Example 2: Find the Z-transform of a
exponential decay.
Solution:

f(t)
t
1
2 2 1
0
1
1
) (
1
)] ( [ ) (
) (

=
+ + + =
= =
=

z e
z F
z e z e
z e kT f Z z F
e kT f
aT
aT aT
k
k akT
akT

2.1 Z-transform
Exercise 1: Find the Z-transform of a
exponential decay f(t)=e
-at
using other
method.
f(t)
t
2.1 Z-transform
Example 3: Find the Z-transform of a cosine
function.
Solution: As
2
sin ;
2
cos
sin cos ; sin cos
j
e e
t
e e
t
t j t e t j t e
t j t j t j t j
t j t j
e e e e
e e
e e
e e e e

=
+
=
= + =
2.1 Z-transform

2 1
1
2 1
1
2 1 1
1 1
1 1
1 1
1 1
1
cos 2 1
cos 1

) cos 2 1 ( 2
cos 2 2
) ( 1
) ( 2
2
1

) 1 )( 1 (
1 1
2
1
1
1
1
1
2
1
) (
1
1
] [
]) [ ] [ (
2
1
2
] [cos ) (

+

=
+

=
+ +
+
=

+
=
(

=
+ =
(

+
= =
z T z
T z
z T z
T z
z z e z e
z e z e
z e z e
z e z e
z e z e
z F
z e
e Z
e Z e Z
e e
Z kT Z z F
T j T j
T j T j
T j T j
T j T j
T j T j
aT
at
t j t j
t j t j
e
e
e
e
e e
e e
e e
e e
e e
e e
e e
2.1 Z-transform
Exercise 2: Find the Z-transform for decayed
cosine function

t e t f
at
e cos ) (

=
2 2 1
1
cos 2 1
cos 1
) (


+

=
z e T e z
T e z
z F
aT aT
aT
e
e
2.1 Z-transform
Example 4: Find the Z-transform for

Solution:
at
e t f

=1 ) (
| |
) 1 )( 1 (
) 1 (
1
1
1
1
) (
1
1
] [ ;
1
1
] [ ] 1 [
] [ ] 1 [ 1 )] ( [ ) (
1 1
1
1 1
1 1

= =
= = =
z e z
z e
z e z
z F
z e
e Z
z
step Z Z
e Z Z e Z kT f Z z F
aT
aT
aT
aT
at
at at
2.1 Z-transform
Exercise 3: Find the Z-transform for
at
te t f

= ) (
2 1
1
) 1 (
) (
aT
aT
e z
e Tz
z F

=
2.1 Z-transform
The functions can be given either in time
domain as f(t) or in S-domain as F(s). They
are equivalent. eg.
a) A unit step function: 1(t) or 1/s
b) A ramp function: t or 1/s
2

c) f(t)=1-e
-at
or a/(s(s+a))
etc.
2.2 Z-transform theorems
Linearity: If f(t) and g(t) are Z-transformable
and o and | are scalar, then the linear
combination of(t)+|g(t) has the Z-
transform
Z[of(t)+|g(t)]= oF(z)+ |G(z)
2.2 Z-transform theorems
Shifting Theorem:
Given that the Z-transform of f(t) is F(z), find
the Z-transform for f(t-nT).
f(t)
t
f(t-nT)
t
nT
2.2 Z-transform theorems
If f(t)=0 for t<0 has the Z-transform F(z), then



Proving: By Z-transform definition, we have

(

= +
=

1
0
) ( ) ( )] ( [
and ) ( )] ( [
n
k
k n
n
z kT f z F z nT t f Z
z F z nT t f Z

= =
= =
0
) (
0
) (
0 0
) ( ) (
) ( ) ( )] ( [
k
n k n
k
n n k
k
n n k
k
k
z nT kT f z z z nT kT f
z z nT kT f z nT kT f nT t f Z
2.2 Z-transform theorems
Defining m=k-n, we have

Since f(mT)=0 for m<0, we can rewrite the above as

Thus, if a function f(t) is delayed by nT, its Z-
transform would be multiplied by z
-n
. Or,
multiplication of a Z-transform by z
-n
has the
effect of moving the function to the right by nT
time. This is the so-called Shifting Theorem.


=

=

= =
n m
m n
k
n k n
z mT f z z nT kT f z nT t f Z ) ( ) ( )] ( [
0
) (
) ( ) ( ) ( )] ( [
0
z F z z mT f z z mT f z nT t f Z
n
m
m n
n m
m n

=

= = =

2.2 Z-transform theorems
Final value theorem:Suppose that f(t), where f(t)=0
for t<0, has the Z-transform of F(z), then the final
value of f(t) can be given by


There are other theorems for Z-transform. Please
read the study book or textbook for more details.

) ( ) 1 ( lim ) ( lim
1
1
z F z t f
z t


=

= =
0
) ( )] ( [ ) (
k
k
z kT f t f Z z F
) ( ) ( )] ( ) ( [
2 2 1 1 2 2 1 1
z F k z F k t f k t f k Z + = +
) ( )] ( [
aT at
ze F t f e Z =

) ( )] ( [
a
z
F t f a Z
t
=
) ( )] ( [ z F z kT t f Z
k
=
] ) ( ) ( [ )] ( [
1
0

= +
n
k
k k
z kT f z F z kT t f Z
) ( ) 1 ( )] 1 ( ) ( [
1
z F z t f t f Z

=
1
0
1
) (
) (

=
(

}
z
z F
d f Z
t
t t
) ( ) 1 ( lim ) (
1
1
z F z f
z

=
) ( lim ) 0 ( z F f
z
=
Theorem

Name

Definition

Linearity

Multiply by e
-at


Multiply by a
t


Time Shift 1

Time Shift 2

Differentiation

Integration

Final Value

Initial Value

s
1
1
1
1

z
2
1
s
2 1
1
) 1 (

z
Tz
a s +
1
1
1
1

z e
aT
) ( a s s
a
+
) 1 )( 1 (
) 1 (
1 1
1




z e z
z e
aT
aT
a b
e e
bt at

) )( (
1
b s a s + +
|
|
.
|

\
|

) 1 )( 1 (
) ( 1
1 1
1
z e z e
z e e
a b
bT aT
bT aT
2 2
e
e
+ s
2 1
1
cos 2 1
sin

+ z T z
T z
e
e
2 2
e + s
s
2 1
1
cos 2 1
cos 1

+

z T z
T z
e
e
2 2
) ( e
e
+ + a s
2 2 1
1
cos 2 1
sin


+ z e T e z
T e z
aT aT
aT
e
e
2 2
) ( e + +
+
a s
a s
2 2 1
1
cos 2 1
cos 1


+

z e T e z
T e z
aT aT
aT
e
e
f(t)

F(s)

F(z)

o(t)

1

1

u(t)

t


e
-at


1 e
-at


sinet

coset

e
-at
sinet

e
-at
coset

2.3 Z-transform examples
Example 1: Assume that f(k)=0 for k<0, find the Z-
transform of f(k)=9k(2
k-1
)-2
k
+3, k=0,1,2.
Solution: Obvious f(k) is a combination of three
sub-function 9k(2
k-1
), 2
k
and 3. Therefore, first we
can apply linearity theorem to f(k). Second, sub-
function 9k(2
k-1
) can be considered as a product of
k and 2
-1
2
k
, then we can apply the theorem of
multiply by a
k
. Finally, we can find the answer by
combining these three together.
2.3 Z-transform examples

) 1 ( ) 2 1 (
2
1
3
2 1
1
) 2 1 (
9
] 3 [ ] 2 [ )] 2 ( 9 [ ) (
) 2 1 (
9
1) - (z/2
) 2 / (
2
9
] 2 [
2
9
] 2 2 9 [ )] 2 ( 9 [
2 1
1
1 2 /
2 /
] 1 2 [ ] 2 [
) 1 ( ) 1 (
Tz
Z[t] ;
1 z - 1
1
Z[1] ; )] ( [
] 3 [ ] 2 [ )] 2 ( 9 [ ] 3 2 ) 2 ( 9 [ ) (
1 2 1
2
1 1 2 1
1
1
2 1
1
2
1 1
1
2 2 1
1 -
1 -
1 1

+
=

= + =

= = = =

= =

= =
|
.
|

\
|
=
+ = + =
z z
z
z z z
z
Z Z k Z z F
z
z z
k Z k Z k Z
z z
z
Z Z
z
Tz
z z
z
a
z
F t f a Z
Z Z k Z k Z z F
k k
k k k
k k
t
k k k k
2.3 Z-transform examples
Example 2: Obtain the Z-transform of the
curve x(t) shown below.
0
1
2
3 4 5 6 7 8
1
t
f(t)
2.3 Z-transform examples
Solution: From the figure, we have
K 0 1 2 3 4 5 6
f(k) 0 0 0 1/3 2/3 1 1
Apply the definition of Z-transform, we have

) 1 ( 3 1 3
2 z

) 1 (
3
2 z

3
2
3
0 0 0 ) ( ) (
1
5 4 3
1
5 4 3 -
2 1 5
4 3 -
6 5
4 3
0

+ +
=

+
+
=
+ + + +
+
=
+ + + + + + + = =

z
z z z
z
z z
z z z
z
z z
z z
z k f z F
k
k

2.3 Z-transform examples

Example 3: Find the Z-transform of
Solution: Apply partial fraction to make F(s) as a
sum of simpler terms.

) (
) (
2
2
a s s
a
s F
+
=
) 1 ( ) 1 (
] ) 1 ( ) 1 [(
1
1
1
1
) 1 (
]
1
[ ]
1
[ ] [ )] ( [ ) (
1 1
) (
) (
1 2 1
1 1
1 1 2 1
1
2
2
3 2
2
1
2
2

+ +
=

=
+
+ = =
+
+

+ =
+
+ + =
+
=
z e z
z z aTe e e aT
z e z z
aTz
a s
Z
s
Z
s
a
Z s F Z z F
a s s s
a
a s
k
s
k
s
k
a s s
a
s F
aT
aT aT aT
aT
2.4 Inverse Z-transform
The inverse Z-transform: When F(z), the Z-
transform of f(kT) or f(t), is given, the operation
that determines the corresponding time sequence
f(kT) is called as the Inverse Z-transform. We
label inverse Z-transform as Z
-1
.
(

+ + +
+ + +
= =
+ + +
+ + +
= = =





n
n o
m
m o
n
n o
m
m o
z a z a z a
z b z b z b b
Z z F Z kT f
z a z a z a
z b z b z b b
t f Z kT f Z z F

2
1
1
2
2
1
1
1 1
2
1
1
2
2
1
1
1
)] ( [ ) (
1
)] ( [ )] ( [ ) (
2.4 Inverse Z-transform

Z-transform
=
Inverse Z-transform
=
2.4 Inverse Z-transform
The inverse Z-transform can yield the
corresponding time sequence f(kt) uniquely.
However, it says nothing about f(t). There might
be numerous f(t) for a given f(kT).
f(t)
t
0
T 2T 3T 4T 5T 6T
2.4 Inverse Z-transform

x(kT)
f(t)
Zero-order
Hold
Low-pass
Filter
2.5 Methods for Inverse Z-transform
How can we find the time sequence for a
given Z-transform?
1) Z-transform table
Example 1: F(z)=1/(1-z
-1
), find f(kT).
F(z)=1+z
-1
+z
-2
+z
-3
+
f(kT)=Z
-1
[F(z)]=1, for k=0, 1, 2,
2.5 Inverse Z-transform examples
Example 2: Given ,
Find f(kT).
Solution: Apply partial-fraction-expansion to
simplify F(z), then find the simpler terms from
the Z-transform table.


Then we need to determine k
1
and k
2

) 1 )( 1 (
) 1 (
) (
1 1
1




=
z e z
z e
z F
aT
aT
1
2
1
1
1 1
1
1 1 ) 1 )( 1 (
) 1 (
) (

=


=
z e
k
z
k
z e z
z e
z F
aT aT
aT
2.5 Inverse Z-transform examples



Multiply (1-z
-1
) to both side and let z
-1
=1, we have
1
2
1
1
1 1
1
1 1 ) 1 )( 1 (
) 1 (
) (

=


=
z e
k
z
k
z e z
z e
z F
aT aT
aT
1
1
) 1 (
1
) 1 (
1
) 1 (
1 1
) 1 (
) 1 )( 1 (
) 1 (
) 1 (
1
1
1
1
1
2
1
1
1
1
1
2
1
1
1
1 1
1
1
1
=

+ =

|
.
|

\
|

z
aT
aT
aT aT
aT
aT aT
aT
z e
z e
k
z e
k z
k
z e
z e
z e
k
z
k
z
z e z
z e
z
2.5 Inverse Z-transform examples
Similar as the above, we let multiply (1-e
-aT
z
-1
) to
both side and let z
-1
=e
aT
, we have



Finally, we have
1
1
) 1 (
1
) 1 (
1
) 1 (
1 1
) 1 (
) 1 )( 1 (
) 1 (
) 1 (
1
1
1
2 2
1
1
1
1
1
1
2
1
1
1
1 1
1
1
=

= +

|
.
|

\
|

aT
e z
aT aT aT
aT
aT
aT
aT
aT
z
z e
k k
z
k z e
z
z e
z e
k
z
k
z e
z e z
z e
z e
0,1,2, k , 1 ) (
1
1
1
1
) 1 )( 1 (
) 1 (
) (
1 1 1 1
1
= =

=


=

akT
aT aT
aT
e kT f
z e z z e z
z e
z F
2.5 Inverse Z-transform examples
Exercise 4: Given the Z-transform


Determine the initial and final values of f(kT), the
inverse Z-transform of F(z), in a closed form.
Hint: Partial-fraction-expansion, then use Z-
transform table, and finally applying initial &
final value theorems of Z-transform.
) 4 . 0 3 . 1 1 )( 1 (
) (
2 1 1
1

+ +
=
z z z
z
z F
2.5 Inverse Z-transform examples
2) Direct division method
Example 1: F(z)=1/(1+z
-1
), find f(kT).

1

1
1 1
1
1
1

+
+
-z
z
z
1
2
2 1
1
1
1
1



1
1 1

+

+
+
z
z
z z
-z
z
z
-
+
+

+
+

2 1
2
2 1
1
1
1
1



1
1 1
z z
z
z z
-z
z
z
-
2.5 Inverse Z-transform examples
Finally, we obtain: F(z)=1-z
-1
+z
-2
-z
-3
+
K = 0 1 2 3
F(kT)= 1 -1 1 -1

Example 2: Given ,
Find f(kT).
Solution: Dividing the numerator by the
denominator, we obtain
2 1
1
) 1 (
2 1
) (

+
=
z
z
z F

+ + +

+
+ +










2 1
5 4
5 4 3
4 3
4 3 2
3 2
3 2 1
2 1
2 1
1 2 1
7 4 1

10 13
10 20 10
7 10
7 14 7
4 7
4 8 4
4
2 1
2 1 2 1
z z
z z
z z z
z z
z z z
z z
z z z
z z
z z
z z z
2.5 Inverse Z-transform examples
Finally, we obtain: F(z)=1+ 4z
-1
+ 7z
-2
+ 10z
-3
+
K = 0 1 2 3
F(kT)= 1 4 7 10

Exercise 5: ,
Find f(kT).
Ans. :k 0 1 2 3 4 5
f(kT) 0 0.3679 0.8463 1 1 1
2 1
4 3 2 1
3679 . 0 3679 . 1 1
05659 . 0 02221 . 0 343 . 0 3679 . 0
) (


+
+
=
z z
z z z z
z F
2.5 Inverse Z-transform examples
3) Computational method using Matlab
Example: Given find f(kT).

Solution:
num=[1 2 0]; den=[1 2 1]
Say we want the value of f(kT) for k=0 to 30
u=[1 zeros(1,30)]; F=filter(num, den, u)
1 4 7 10 13 16 19 22 25 28 31
2 1
1
) 1 (
2 1
) (

+
=
z
z
z F
1 2
2
) 1 (
2
) 1 (
2 1
) (
2
2
2
2
2 1
1
+
+
=

+
=

+
=

z z
z z
z
z z
z
z
z F
2.5 Inverse Z-transform examples
Exercise 6: Given the Z-transform


Use 1) the partial-fraction-expansion method and 2)
the Matlab to find the inverse Z-transform of
F(z).
Answer: x(k)=-8.3333(0.5)
k
+8.333(0.8)
k
-2k(0.8)
k-1

x(k)=0;0.5;0.05;0.615;1.2035;-1.6257;-1.8778
2 1 1
1 1
) 8 . 0 1 )( 5 . 0 1 (
) 5 . 0 (
) (




=
z z
z z
z F
Reading
Study book
Module 2: The Z-transform and theorems

Textbook
Chapter 2 : The Z-transform (pp23-50)

Tutorial
Exercise: The frequency spectrum of a continuous-
time signal is shown below.
1) What is the minimum sampling frequency for
this signal to be sampled without aliasing.
2) If the above process were to be sampled at 10
Krad/s, sketch the resulting spectrum from 20
Krad/s to 20 Krad/s.
-8 -4 4 8
e Krad/s
F(e)
Tutorial
Solution: 1) From the spectrum, we can see that the
bandwidth of the continuous signal is 8 Krad/s.
The Sampling Theorem says that the sampling
frequency must be at least twice the highest
frequency component of the signal. Therefore,
the minimum sampling frequency for this signal
is 2*8=16 Krad/s.
-8 -4 4 8
e Krad/s
F(e)
Tutorial
2) Spectrum of the sampled signal is formed by
shifting up and down the spectrum of the
original signal along the frequency axis at i
times of sampling frequency. As e
s
=10 Krad/s,
for i =0, we have the figure in bold line. For i=1,
we have the figure in bold-dot line.
4 8
e Krad/s
F(e)
12 2 6 14 18 16 10 -4 -8
Tutorial
For I=-1, 2, we have
4 8
e Krad/s
12 2 6 14 18 16 10
-18
F(e)
4 8
e Krad/s
12 2 6 14 18 16 10 -2 -4 -6 -8 -14
Tutorial
Exercise 1: Find the Z-transform of a
exponential decay f(t)=e
-aT
using other
method.

f(t)
t
Tutorial


1
1
3 3 2 2 1
2 2 1 1 1
2 2 1
0
1
1
) ( 1 ) ( ) (

) 1 ( ) (
1
) ( )] ( [ )] ( [ ) (

= =
+ + =
+ + + =
+ + + =
= = =

z e
z F z F z e z F
z e z e z e
z e z e z e z F z e
z e z e
kT f kT f Z t f Z z F
aT
aT
aT aT aT
aT aT aT aT
aT aT
k

Tutorial
Exercise 2: Find the Z-transform for a
decayed cosine function
Solution 1:

t e t f
at
e cos ) (

=
| |
2 2 1
1
2 1
1
2 1
1
cos 2 1
cos 1
cos 2 1
cos 1
] cos [
) ( )] ( [ ); ( )] ( [
) (
cos 2 1
cos 1
cos


=

+

=
+

=
= =
=
+

=
z e T z e
T z e
z T z
T z
t e Z
ze F t f e F z F t f Z
z F
z T z
T z
t Z
aT aT
aT
z e z
at
aT at
aT
e
e
e
e
e
e
e
e
Tutorial
Solution 2:

2 2 1
1
1 1
1
cos 2 1
cos 1

1
1
1
1
2
1
) (
1
1
] [
]) [ ] [ (
2
1

2
] cos [ ) (


+

+
+

+

=
(

=

=
+ =
(

+
= =
z e T z e
T z e
z e z e
z F
z e
e Z
e Z e Z
e e
Z t e Z z F
aT aT
aT
T j aT T j aT
aT
at
t j at t j at
t j at t j at
at
e
e
e
e e
e e
e e
Tutorial
Exercise 3: Find the Z-transform for

Solution:
at
te t f

= ) (
| |
2 1
1
2 1
1
2 1
1
) 1 (
) 1 (
] [
) ( )] ( [ ); ( )] ( [
) (
) 1 (


=

=
= =
=

=
z e
z Te
z
Tz
te Z
ze F t f e F z F t f Z
z F
z
Tz
t Z
aT
aT
z e z
at
aT at
aT
Tutorial
Exercise 4: Given the Z-transform


Determine the initial and final values of f(kT), the
inverse Z-transform of F(z), in a closed form.
Solution: Apply the initial value theorem and the
final value theorem respectively, we have
) 4 . 0 3 . 1 1 )( 1 (
) (
2 1 1
1

+ +
=
z z z
z
z F
Tutorial
) ) 8 . 0 ( 4 ) 5 . 0 ( 3 1 (
27
1
) (
8 . 0 1
48 . 1
5 . 0 1
11 . 1
1
37 . 0
8 . 0 1 5 . 0 1 1

) 5 . 0 1 )( 8 . 0 1 )( 1 ( ) 4 . 0 3 . 1 1 )( 1 (
) (
7 . 2
1
) 4 . 0 3 . 1 1 )( 1 (
) 1 (
)] ( ) 1 [( ) (
0
) 4 . 0 3 . 1 1 )( 1 (
) ( ) 0 (
1 1 1 1
3
1
2
1
1
1 1 1
1
2 1 1
1
2 1 1
1 1
1
1
2 1 1
1
lim lim
lim lim
k k
z z
z z
k f
z z z z
k
z
k
z
k
z z z
z
z z z
z
z F
z z z
z z
z F z f
z z z
z
z F f
+ =
+

+
+

=
+
+
+
+

=
+ +
=
+ +
=
=
+ +

= =
=
+ +
= =

Tutorial
Exercise 5: Given


Find f(kT) using direct-division method.
Solution:
2 1
4 3 2 1
3679 . 0 3679 . 1 1
05659 . 0 02221 . 0 343 . 0 3679 . 0
) (


+
+
=
z z
z z z z
z F
1
4 3 2
3 2 1
4 3 2 1 2 1
3679 . 0
0565 . 0 1576 . 0 0.8463
1354 . 0 5033 . 0 3679 . 0
0565 . 0 02221 . 0 343 . 0 3679 . 0 3679 . 0 3679 . 1 1





+
+ +
z
z z z
z z z
z z z z z z
Tutorial
Continuous

+ + + + =
+ + +

+

+
+ +









4 3 2 1
4 3 2 1
5 4
5 4 3
4 3
4 3 2
4 3 2
3 2 1
4 3 2 1 2 1
8463 . 0 3679 . 0 ) (
8463 . 0 3679 . 0

3679 . 0
3679 . 0 3679 . 1
3679 . 0
3114 . 0 1576 . 1 8463 . 0
0565 . 0 1576 . 0 0.8463
1354 . 0 5033 . 0 3679 . 0
0565 . 0 02221 . 0 343 . 0 3679 . 0 3679 . 0 3679 . 1 1
z z z z k f
z z z z
z z
z z z
z z
z z z
z z z
z z z
z z z z z z
Tutorial
Exercise 6: Given the Z-transform


Use 1) the partial-fraction-expansion method and 2)
the Matlab to find the inverse Z-transform of
F(z).
Solution1: To make the expanded terms more
recognizable in the Z-transform table, we
usually expand F(z)/z into partial fractions.
2 1 1
1 1
) 8 . 0 1 )( 5 . 0 1 (
) 5 . 0 (
) (




=
z z
z z
z F
2
) 5 . 0 (
1 5 . 0
5 . 0
) 8 . 0 (
5 . 0
) 8 . 0 (
5 . 0
1 5 . 0
8 . 0 ) 8 . 0 ( ) 5 . 0 (
) 8 . 0 (
) 8 . 0 )( 5 . 0 (
1 5 . 0
) 8 . 0 (
333 . 8
) 8 . 0 (
1 5 . 0
0.5 z let
8 . 0
) 5 . 0 (
) 8 . 0 (
) 5 . 0 (
) 8 . 0 (
1 5 . 0
8 . 0 ) 8 . 0 ( ) 5 . 0 (
) 5 . 0 (
) 8 . 0 )( 5 . 0 (
1 5 . 0
) 5 . 0 (
8 . 0 ) 8 . 0 ( ) 5 . 0 ( ) 8 . 0 )( 5 . 0 (
1 5 . 0 ) (
) 8 . 0 )( 5 . 0 (
) 1 5 . 0 (
) 8 . 0 1 )( 5 . 0 1 (
) 5 . 0 (
) (
8 . 0
2
3
2
2
1
3
2
2 1
2
2
2
5 . 0
2
1
3
2
2
1
2
3
2
2 1
2
3
2
2 1
2
2 2 1 1
1 1
=

+ +

|
|
.
|

\
|

= =

+ =

|
|
.
|

\
|

=


=


=


=
=
=


z
z
z
z
k
z
z k
k
z
z k
z
z
z
k
z
k
z
k
z
z z
z
z
z
z
k
z
z k
z
z k
k
z
z
z
k
z
k
z
k
z
z z
z
z
z
k
z
k
z
k
z z
z
z
z F
z z
z z
z z
z z
z F
k k k
z
z
k f
z z
z
z
z F
z z z z z
z
z
z F
z
z z
z
z
k
z
z
z k z k
z
z k
z
z
derivative
z
z k
k
z
z k
z
z
z
k
z
k
z
k
z
z z
z
z
) 8 . 0 ( 333 . 8 ) 8 . 0 ( 2 ) 5 . 0 ( 333 . 8 ) (
8 . 0 1
333 . 8
) 8 . 0 1 (
2
) 5 . 0 1 (
333 . 8
) (
8 . 0
333 . 8
) 8 . 0 (
2
) 5 . 0 (
333 . 8
) 8 . 0 )( 5 . 0 (
1 5 . 0 ) (
333 . 8
3 . 0
6 . 0 3 . 0 * 5 . 0
) 5 . 0 (
) 1 5 . 0 ( ) 5 . 0 ( 5 . 0
5 . 0
1 5 . 0
8 . 0 let ;
) 5 . 0 (
) 8 . 0 ( ) 5 . 0 (
0
5 . 0
) 8 . 0 (
5 . 0
1 5 . 0
5 . 0
) 8 . 0 (
5 . 0
) 8 . 0 (
5 . 0
1 5 . 0
8 . 0 ) 8 . 0 ( ) 5 . 0 (
) 8 . 0 (
) 8 . 0 )( 5 . 0 (
1 5 . 0
) 8 . 0 (
1
1 2 1
1
1
2 2
2
8 . 0
2
8 . 0
'
3
3 3
'
2
1
'
3
2
2
1
3
2
2 1
2
2
2
+ =

+

=


=
=
+
=

=
|
.
|

\
|

=
=

+ +
|
|
.
|

\
|

=
|
.
|

\
|

+ +

|
|
.
|

\
|

=
=
Tutorial
Partial fraction for inverse Z-transform



If F(z)/z involve s a multiple pole, eg. P
1
, then

i
p z
i i
n
n
n
m m
m m
n n
n n
m m
m m
z
z F
p z a
p z
a
p z
a
p z
a
p z p z p z
b z b z b z b
a z a z a z
b z b z b z b
z
z F
=

=

+ + +
=
+ + +
+ + +
=
) (
) ( ;
) ( ) )( (
) (
2
2
1
1
2 1
1
1
1 0
1
1
0
1
1
1 0

1
1
) (
) ( ;
) (
) ( ;
) (
) (
) ( ) ( ) ( ) (
) (
2
1 2
2
1 1
3
3
1
2
2
1
1
3
2
1
1
1
1 0
p z
p z p z
i i
n
n
n
m m
m m
z
z F
p z
dz
d
c
z
z F
p z c
z
z F
p z a
p z
a
p z
a
p z
c
p z
c
p z p z p z
b z b z b z b
z
z F
i
=
= =

= = =

=

+ + +
=

Tutorial
Solution 2: Expand F(z) into a polynomial form


Num=[0 0.5 1 0];
Den=[1 2.1 1.44 0.32];
U==[1 zeros(1,40)];
F=filter(Num, den,U)
0 0.5 0.05 -0.615 -1.2035
3 2 1
2 1
2 1 1
1 1
32 . 0 44 . 1 1 . 2 1
5 . 0
) 8 . 0 1 )( 5 . 0 1 (
) 5 . 0 (
) (




+

=


=
z z z
z z
z z
z z
z F