Mathematical

Methods
(MA-203)

Prof. S.
Mathematical Methods (MA-203)
Mukhopadhyay
Lecture
Z-Transform

Properties of
Z-transforms by
Examples
Prof. Santwana Mukhopadhyay
Inverse
Z-transform
Department of Mathematical Sciences
Soln of
Difference IIT(BHU), Varanasi
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Z-Transform

Mathematical
Methods
(MA-203)

Prof. S.
Contents
Mukhopadhyay

Z-Transform
1 Z-Transform
Properties of 2 Properties of Z-transforms
Z-transforms

Examples 3 Examples
Inverse
Z-transform 4 Inverse Z-transform
Soln of
Difference 5 Solution of Difference equations
equations

Initial and Final

6 Initial and Final value
value

Convolution
7 Convolution
Convergence of 8 Convergence of Z-transform
Z-transform

Exercise 9 Exercise
 Z-Transform

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay
Definition
Z-Transform

Properties of
Let sequence {f (k)} is an ordered list of real or complex
Z-transforms numbers, then the Z-transform of sequence {f (k)} is denoted
Examples
as Z [{f (k)}] and it is defined as
Inverse
Z-transform
∞ ∞
f (k)
f (k)z −k =
X X
Soln of
Z [{f (k)}] = F (z) = .
Difference
equations k=−∞ k=−∞
zk
Initial and Final
value

Convolution

Convergence of
Z-transform

Exercise
 Examples
n o
1
Mathematical
Methods
Ex. 1. Find Z-transform of the sequence 2k
, −4 ≤ k ≤ 4.
(MA-203)
Sol. 4
Prof. S.
X 1 −k
Mukhopadhyay F (z) = k
z
k=−4
2
Z-Transform
1 1 1 1
Properties of =16z 4 + 8z 3 + 4z 2 + 2z + 1 + + 2+ 3+ .
Z-transforms 2z 4z 8z 16z 4
n o
Examples
Ex. 2. Find Z-transform of the sequence ak , k ≥ 0.
Inverse
Z-transform Sol. ∞
ak z −k
X
Soln of
Difference
F (z) =
equations k=0
Initial and Final
value
a a2 a3
=1 + + 2 + 3 + ....
Convolution z z z
a
Convergence of This is a Geometrical series whose sum= 1−r
Z-transform

Exercise 1 z
= a = .
1− z z −a
 Examples contd.

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of Ex. 3. Using Z-transform, show that

Z-transforms

Examples d
Inverse Z [{k p }] = −z Z [{k p−1 }], k ≥ 0 and p being a +ve integer.
Z-transform dz
Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Solution

Mathematical
Methods
Sol.
(MA-203) ∞ ∞
k p z −k = z k p−1 .k.z −(k+1)
X X
Prof. S. Z [{k p }] = (1.1)
Mukhopadhyay
k=0 k=0
Z-Transform
Changing p to p − 1, we get
Properties of
Z-transforms ∞
k p−1 z −k
X
Examples Z [{k p−1 }] =
Inverse k=0
Z-transform

Soln of
Differentiating it w.r.t. z,
Difference ∞
equations d
k p−1 (−k)z −(k+1)
X
Z [{k p−1 }] = (1.2)
Initial and Final
value
dz k=0
Convolution
Substituting (1.2) in (1.1), we obtain
Convergence of
Z-transform
d
Exercise Z [{k p }] = −z Z [{k p−1 }]
dz
 Properties of Z-transforms

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform
Linearity
Properties of
Z-transforms
If f (k) and {g(k)} are such that they can be added and a and
Examples
b are constants. Then
Inverse
Z-transform

Soln of
Z {af (k) + bg(k)} = aZ [{f (k)}] + bZ [{g(k)}].
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Properties contd.

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform
Change of scale
Properties of
Z-transforms
If Z [{f (k)}] = F (z) then
Examples

z
 
Inverse
h i
k
Z-transform Z {a f (k)} = F
Soln of
a
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Proof

Mathematical
Methods
Proof. ∞
(MA-203)
f (k)z −k
X
F (z) = Z [{f (k)}] =
Prof. S.
Mukhopadhyay k=−∞
z
Z-Transform
Substituting a for z, we get
Properties of ∞  −k
z z
  X
Z-transforms
F = f (k) (2.1)
Examples a k=−∞
a
Inverse
Z-transform
But
Soln of
∞ ∞  −k
Difference h
k
i X
k −k
X z
equations
Z {a f (k)} = a f (k)z = f (k) (2.2)
Initial and Final
k=−∞ k=−∞
a
value

Convolution From (2.1) and (2.2)

Convergence of
z
 
Z-transform h i
Exercise
Z {ak f (k)} = F
a
 Properties cond.

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Damping Rule
Z-transforms
If Z [{f (k)}] = F (z) then
Examples

Inverse
h i
Z-transform Z {a−k f (k)} = F (az)
Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Proof

Mathematical
Methods
(MA-203)

Prof. S.
Proof. ∞
f (k)z −k
Mukhopadhyay
X
F (z) = Z [{f (k)}] =
Z-Transform k=−∞
Properties of
Z-transforms By definition,
Examples
h i ∞
Z {a−k f (k)} = a−k f (k)z −k
X
Inverse
Z-transform

Soln of
k=−∞
Difference ∞
f (k)(az)−k
equations
X
=
Initial and Final
value k=−∞
Convolution =F (az)
Convergence of
Z-transform

Exercise
 Properties contd.

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Shifting property
Z-transforms

Examples
If Z [{f (k)}] = F (z) then
Inverse
Z-transform Z [{f (k ± n)}] = z ±n F (z)
Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Proof

Mathematical
Methods
(MA-203)

Prof. S. Proof.
Mukhopadhyay
∞
f (k ± n)z −k
X
Z-Transform
Z [{f (k ± n)}] =
Properties of
Z-transforms k=−∞
∞
Examples ±n
f (k ± n)z −(k±n)
X
Inverse
=z (r = k ± n)
Z-transform k=−∞
Soln of ∞
=z ±n f (r )z −r
X
Difference
equations

Initial and Final

k=−∞
value ±n
=z F (z)
Convolution

Convergence of
Z-transform

Exercise
 Proof contd.

Mathematical
Methods
Case I.
(MA-203)

Prof. S.
Z [{f (k + n)}] =f (k + n)z −k , k ≥ 0
Mukhopadhyay ∞
f (k + n)z −(k+n) put r = k + n
X
Z-Transform
=z n
k=0
Properties of
Z-transforms ∞
f (r )z −r
X
Examples =z n
r =n
Inverse
Z-transform ∞ n−1
−r
f (r )z −r
X X
n n
Soln of =z f (r )z −z
Difference
equations r =0 r =0
Initial and Final
n−1
f (r )z −r
X
value =z n F (z) − z n
Convolution r =0
Convergence of n−1
Z-transform
X
=z n F (z)− f (r )z n−r
Exercise
r =0
 Proof contd.

Mathematical
Methods
Case II.
(MA-203)

Prof. S.
Z [{f (k − n)}] =f (k − n)z −k , k ≥ 0
Mukhopadhyay ∞
=z −n f (k − n)z −(k−n) put r = k − n
X
Z-Transform
k=0
Properties of
Z-transforms
∞
=z −n f (r )z −r
X
Examples
r =−n
Inverse
Z-transform ∞ −1
=z −n f (r )z −r z −r + z −n f (r )z −r
X X
Soln of
Difference
equations r =0 r =−n
Initial and Final −1
=z −n F (z)+ f (r )z −n−r put r = −m
X
value

Convolution r =−n
Convergence of n
Z-transform
=z −n F (z)+ f (−m)z −n+m
X
Exercise
m=1
 Example 1

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Z-transforms Example 1
Examples n o
Inverse
Find the Z-transform of a|k|
Z-transform

Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Solution

Mathematical
Methods Sol.
(MA-203)

Prof. S. hn oi ∞ −1 ∞
a|k| a|k| z −k = a−k z −k + ak z −k
X X X
Mukhopadhyay Z =
k=−∞ k=−∞ k=0
Z-Transform h i h i
Properties of = ... + a3 z 3 + a2 z 2 + az + 1 + az −1 + a2 z −2 + ...
Z-transforms

Examples a
Inverse
These are two G.P. and sum of G.P.= 1−r
Z-transform
az 1 az z
, |az| < 1 and |az −1 | < 1 =
Soln of
Difference = + −1
+
equations 1 − az 1 − az 1 − az z −a
Initial and Final az(z − a) + z(1 − az) az 2 − a2 z + z − az 2
value = =
Convolution
(1 − az)(z − a) (1 − az)(z − a)
2
z −a z
Convergence of
Z-transform =
Exercise
(1 − az)(z − a)
 Example 2

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Z-transforms
Example 2
Examples

Inverse Find the Z-transform of sin αk and c k sin αk, k ≥ 0.

Z-transform

Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Solution

Mathematical
Methods
(MA-203) Sol.
Prof. S. ∞ ∞
Mukhopadhyay e iαk − e −iαk −k
sin αkz −k =
X X
Z [{sin αk}] = z
Z-Transform k=0 k=0
2i
Properties of ∞ ∞
1 1
e iαk z −k − e −iαk z −k
Z-transforms
X X
=
Examples 2i k=0
2i k=0
Inverse ∞  ∞ 
Z-transform 1 X k 1 X k
= e iα z −1 − e iα z −1
Soln of
Difference
2i k=0 2i k=0
equations
1
    2 
Initial and Final = 1 + e iα z −1 + e iα z −1 + ...
value 2i
1
 2 
Convolution   
− 1 + e −iα z −1 + e iα z −1 + ...
Convergence of
Z-transform
2i
Exercise
 Solution contd.

Mathematical
Methods
These are G.P.
(MA-203)
1 1 1 1 1 z 1 z
Prof. S. = −1
− −iα −1
= −
Mukhopadhyay 2i 1−e z iα 2i 1 − e z 2i z − e iα 2i z − e −iα
1 z z 1 z(z − e −iα ) − z(z − e iα )
 
Z-Transform
= − =
Properties of 2i z − e iα z − e −iα 2i (z − e iα )(z − e −iα )
Z-transforms
1 iα
z(e − e ) −iα z sin α
Examples
= 2 iα −iα
= 2
Inverse 2i z − z(e + e ) + 1 z − 2z cos α + 1
Z-transform

Soln of Hence
Difference z sin α
equations Z [{sin αk}] =
Initial and Final
z 2 − 2z cos α + 1
value
By applying the formula of change of scale we get
Convolution
z
Convergence of hn oi sin α
Z-transform Z c k sin αk = z 2


c
z


Exercise c −2 c cos α + 1
 Inverse Z-transform

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform Definition
Properties of
Z-transforms Finding the sequence {f (k)} from F (z) is defined as inverse
Examples Z-transform. It is denoted as
Inverse
Z-transform
Z −1 F (z) = {f (k)}
Soln of
Difference
equations Z −1 is the inverse Z-transform
Initial and Final
value

Convolution

Convergence of
Z-transform

Exercise
 Property

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform
Theorem
Properties of
Z-transforms If {f (k)} = F (z), {g(k)} = G(z), and a and b are constant.
Examples Then
Inverse
Z-transform

Soln of
Z −1 [aF (z) + bG(z)] = aZ −1 [F (z)] + bZ −1 [G(z)]
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Example

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Z-transforms
Example
Examples
1
Inverse
Find the inverse Z-transform of z−2 .
Z-transform

Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Solution

1
Mathematical
Methods
Sol. F (z) = z−2
(MA-203) Case I.
Prof. S. 2 1 1
Mukhopadhyay If < 1, F (z) =
z z 1 − 2z −1
Z-Transform
=z −1 (1 − 2z −1 )−1
Properties of
Z-transforms =z −1 [1 + 2z −1 + 22 z −2 + ...]
Examples
=z −1 + 2z −2 + 22 z −3 + ...
Inverse

{f (k)} ={2k−1 }, k ≥ 1
Z-transform

Soln of
Difference
equations Case II. −1
2 1 1 1 −1 z

Initial and Final If < 1, F (z) = =− z = 1−
value z z −2 21− 2 2 2
Convolution " #
1 z z2
Convergence of =− 1 + + 2 + ...
Z-transform
2 2 2
Exercise
{f (k)} ={−2k−1 }, k≤0
 Solution of Difference equations

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Example
Z-transforms

Examples
Solve the difference equation
Inverse
Z-transform yk+1 − 2yk−1 = 0, k ≥ 1, y(0) = 1
Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Solution

Mathematical
Methods
Sol. yk+1 − 2yk−1 = 0 (5.1)
(MA-203)

Prof. S. Taking the Z-transform of both sides of (5.1), we get

Mukhopadhyay
Z [yk+1 − 2yk−1 ] =0
Z-Transform

Properties of
Z [yk+1 ] − 2Z [yk−1 ] =0
Z-transforms
zY (z) − y0 z − 2Y (z) =0 (y0 = 1)
Examples

Inverse
(z − 2)Y (z) − z =0
Z-transform z
Y (z) =
Soln of
Difference
z − 2
z 1
equations
  
{y(k) } =Z −1 = Z −1
Initial and Final
value z −2 1 − 2z −1
Convolution =Z −1 [1 − 2z −1 ]−1
Convergence of
Z-transform =1 + 2z −1 + (2z −1 )2 + ...
Exercise
={2k }, k ≥ 0
 Multiplication by k

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform
Theorem
Properties of
Z-transforms
If Z [{f (k)}] = F (z), then
Examples

Inverse d
Z-transform Z [{kf (k)}] = −z F (z)
Soln of
dz
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Proof

Mathematical
Methods
(MA-203)
Proof.
Prof. S.
Mukhopadhyay ∞ ∞
kf (z)z −k = −z −kf (k)z −k−1
X X
Z [{kf (k)}] =
Z-Transform
k=−∞ k=−∞
Properties of
Z-transforms
∞
f (k)(−kz −k−1 )
X
Examples
=−z
k=−∞
Inverse
Z-transform ∞ ∞
d −k d
f (k)z −k
X X
Soln of =−z f (k) (z ) = −z
Difference
k=−∞
dz dz k=−∞
equations

Initial and Final d

value =−z F (z)
dz
Convolution
 n
d
Convergence of
Z-transform In general Z [{k n f (k)}] = −z dz F (z)
Exercise
 Division by k

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform
Theorem
Properties of
Z-transforms If Z [{f (k)}] = F (z), then
Examples
Z z
f (k)
 
Inverse
Z-transform Z =− z −1 F (z)dz
Soln of
k
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Proof

Mathematical
Methods
Proof.
(MA-203) ∞ ∞
f (k) f (z) −k 1 −1
X X  
Prof. S. Z [{ }] = z = f (k) z
Mukhopadhyay k k=−∞
k k=−∞
k
Z-Transform
∞ Z z
z −k−1 dz
X
Properties of
=− f (k)
Z-transforms k=−∞
Examples Z z ∞
f (k)z −k−1 dz
X
Inverse =−
Z-transform
k=−∞
Soln of Z z ∞
Difference
z −1 f (k)z −k dz
X
equations =−
Initial and Final k=−∞
value Z z
Convolution =− z −1 F (z)dz
Convergence of
Z-transform Z z
f (k)
 
Exercise Z =− z −1 F (z)dz
k
 Initial value

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Theorem
Z-transforms
If Z [{f (k)}] = F (Z ), k ≥ 0 then
Examples

Inverse
Z-transform f (0) = lim F (z).
z→∞
Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Proof

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay Proof.
Z-Transform ∞
f (k)z −k = F (z)
X
Properties of Z [{f (k)}] =
Z-transforms
k=0
Examples
f (0)+f (1)z −1 + f (2)z −2 + ... = F (z)
Inverse
Z-transform

Soln of Taking the limit, z → ∞, we get

Difference
equations

Initial and Final f (0) = lim F (z)

value
z→∞

Convolution

Convergence of
Z-transform

Exercise
 Final value

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Z-transforms
Theorem
Examples

Inverse lim f (k) = lim (z − 1)F (z)

Z-transform k→∞ z→1
Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Proof

Mathematical
Methods
Proof. ∞
[f (k + 1) − f (k)] z −k
X
(MA-203)
Z [{f (k + 1) − f (k)}] =
Prof. S. k=0
Mukhopadhyay
n
[f (k + 1) − f (k)]z −k
X
Z-Transform zF (z) − f (0) − F (z) = lim
n→∞
Properties of k=0
Z-transforms
[f (k + 1) − f (k)]z −k
X
lim (z − 1)F (z) = f (0) + lim lim
Examples z→1 z→1n→∞
Inverse
Z-transform
By changing the order of limits, we get
Soln of
n
lim [f (k + 1) − f (k)]z −k
X
Difference lim (z − 1)F (z) =f (0) + lim
equations z→1 n→∞ z→1
k=0
Initial and Final
n
" #
value X
Convolution = lim f (0)+ {f (k + 1) − f (k)}
n→∞
Convergence of k=0
Z-transform
=lim [f (0) − f (0) + f (1) − f (1) + ... + f (n + 1) −
Exercise
= lim f (n + 1) = lim f (n) = lim f (k)
n→∞ n→∞ k→∞
 Partial sum

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform Theorem
Properties of
Z-transforms If Z [{f (k)}] = F (z), then
Examples
k
"( )#
Inverse X F (z)
Z-transform Z =
Soln of n→−∞
1 − z −1
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Proof

Mathematical
Methods
Proof. Let {g(k)} be a sequence such that
(MA-203)
k
Prof. S. X
Mukhopadhyay g(k) = f (n)
n=−∞
Z-Transform

Properties of we are required to find Z [{g(k)}],We know that

Z-transforms

Examples k
X k−1
X
Inverse g(k) − g(k − 1) = f (n)− f (n) = f (k)
Z-transform
n=−∞ n=−∞
Soln of
Difference Z [{g(k)} − {g(k − 1)}] = Z [{f (k)}]
equations

Initial and Final Z [{g(k)} − Z [{g(k − 1)}] = F (z)

value

Convolution
G(z) − z −1 G(z) = F (z)
k
Convergence of
Z-transform
X F (z)
f (k) = G(z) =
Exercise n=−∞
1 − z −1
 Convolution

Mathematical
Methods
(MA-203)
Definition
Prof. S.
Mukhopadhyay Let two sequences be {f (k)} and {g(k)} and the convolution
of {f (k)} and {g(k)} be {h(k)} and denoted as
Z-Transform

Properties of
Z-transforms {h(k)} = {f (k)}∗ {g(k)}
Examples

Inverse
Z-transform where
Soln of
Difference ∞
X
equations
{h(k)} = f (n)g(k − n) (7.1)
Initial and Final n=−∞
value
∞
g(n)f (k − n) = {g(k)}∗ {f (k)}
Convolution
X
=
Convergence of
Z-transform n=−∞
Exercise
 Proof

Mathematical
Methods
(MA-203) Proof. Z-transform of (7.1) is
Prof. S.
∞ ∞
!
Mukhopadhyay
f (n)g(k − n) z −k
X X
Z {h(k)} =
Z-Transform
k=−∞ n=−∞
Properties of ∞ ∞
Z-transforms
f (n)g(k − n)z −k
X X
Examples
=
n=−∞k=−∞
Inverse
Z-transform ∞ ∞
f (n)z −n g(k − n)z −(k−n)
X X
Soln of =
Difference
equations
n=−∞ k=−∞
" ∞ #
Initial and Final
−n
X
value = f (n)z G(z)
Convolution n=−∞
Convergence of
Z-transform
=F (z)G(z)
Exercise
 Example

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform Example
Properties of
Z-transforms Evaluate the Z-transform of the sequence
Examples
∞ ∞
Inverse X X
k
Z-transform {f (k)} = 2 3k
Soln of k=0 k=0
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Solution

Mathematical
Methods
(MA-203)

Prof. S.
Sol.
Mukhopadhyay hn oi 1
Z 2k = 1 + 2z −1 + 22 z −2 + 23 z −3 + ... =
Z-Transform 1 − 2z −1
Properties of
Z-transforms
Similarly
Examples

Inverse
hn oi 1
Z-transform Z 3k =
Soln of
1 − 3z −1
Difference
n on o 1 1
equations Z [{f (k)}] =Z 2k 3k = −1
.
Initial and Final
1 − 2z 1 − 3z −1
value 1
=
Convolution (1 − 2z −1 ) (1 − 3z −1 )
Convergence of
Z-transform

Exercise
 Inverse of Z-transform by binomial expansion and
partial fraction
Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Z-transforms
Example
Examples
4z
Inverse
Find the inverse Z-transform of z−a
Z-transform

Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Solution

Mathematical
Methods
(MA-203)

Prof. S.
Sol. case I. |z| > |a|
Mukhopadhyay
−1
4z 4z 1 a

Z-Transform = a =4 1−
Properties of
z −a z 1− z z
Z-transforms " #
a a2 a3
Examples =4 1 + + 2 + 3 + ...
Inverse
z z z
Z-transform

Soln of
=4 + 4az −1 + 4a2 z −2 + ... + 4ak z −k + ...
Difference
equations ={4ak }z −k
4z
Initial and Final
 
value
Z −1 ={4ak }
Convolution z −a
Convergence of
Z-transform

Exercise
 Solution contd.

Mathematical
Methods
(MA-203)

Prof. S.
Case II. |z| < |a|
Mukhopadhyay
−1
4z 4 z −4z z

Z-Transform =− a =

1−
Properties of z −a a 1− z a a
Z-transforms " #
−4z z z2 z3
Examples = 1 + + 2 + 3 + ...
Inverse a a a a
Z-transform " #
Soln of z z2 z3
Difference =4 − − 2 − 3 − ...
equations a a a
4 4 4 4 −4
   
Initial and Final
value {f (k)} = ... − 4 , − 3 , − 2 , − =
Convolution
a a a a ak
Convergence of
Z-transform

Exercise
 Convergence of Z-transform

Mathematical
Methods
(MA-203) (1) Z-transform operation is performed on a sequence {f (k)}
Prof. S.
Mukhopadhyay
which may exist in the range of integers −∞ < k < ∞, and
we write ∞
Z-Transform
f (k)z −k
X
Properties of
F (z) = (8.1)
Z-transforms k=−∞
Examples
where {f (k)} represents a number in the sequence for n = an
Inverse
Z-transform integer. The region of the z-plane in which (8.1) converges
Soln of absolutely is known as the region of convergence (ROC) of
Difference
equations F (z).
Initial and Final Here the sequence is always right-sided and the ROC is always
value

Convolution
outside a prescribed circle say |z| > |a| Fig. 1. For a
Convergence of
left-handed sequence, the ROC is always inside any prescribed
Z-transform contour |z| < |b|. (Fig. 2).
Exercise
 Convergence of Z-transform contd.

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay
(2) Two-sided Z-transform of {f (k)} is defined by

Z-Transform ∞
f (k)z −k
X
Properties of F (z) = (8.2)
Z-transforms k=−∞
Examples

Inverse In this case, the sequence is two-sided and the region of

Z-transform
convergence for (8.2) is the annular region |b| < |z| < |c| (Fig.
Soln of
Difference 3). The inner circle bounds the terms in negative powers of z
equations
and the outer circle bounds the terms in positive powers of z.
Initial and Final
value The shaded annulus of convergence is necessary for the two
Convolution sided sequence and its Z-transform to exist.
Convergence of
Z-transform

Exercise
 Convergence of Z-transform contd.

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Z-transforms

Examples

Inverse
Z-transform

Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Convergence of Z-transform contd.

Mathematical
Methods
(MA-203)

Prof. S.
Mukhopadhyay

Z-Transform

Properties of
Z-transforms

Examples

Inverse
Z-transform

Soln of
Difference
equations

Initial and Final

value

Convolution

Convergence of
Z-transform

Exercise
 Exercise

Mathematical
Methods Exercise
(MA-203)

Prof. S.
Mukhopadhyay
1 Find the Z-transform of {f (k)} where
(
Z-Transform
5k , k<0
Properties of f (k) =
Z-transforms 3k , k≥0
Examples

Inverse
Z-transform
2 Find the Z-transform of c k coshαk. (k ≥ 0).
Soln of 3 Using Z-transform, solve yk+2 − y k+1 + yk = 2k with
Difference
equations y(0) = 2, y(1) = 1.
Initial and Final
value
4 Using convolution theorem, evaluate
Convolution
" #
z2
Convergence of Z −1
Z-transform (z − 1)(z − 3)
Exercise