Z Transform 2
©Dr. James S. Kang
Professor
ECE Department
Cal Poly Pomona
1
Inverse z Transform
• Recovering the discrete-time signal x(k) from the z transform X(z) is
called inverse z-transform.
• Residue method, long division and partial-fraction expansion (PFE)
can be used for inverse z transform.
2
Residue Method
• Multiplying both sides of 𝑋𝑋 𝑧𝑧 = ∞∑∞
𝑘𝑘=−∞ 𝑥𝑥 𝑘𝑘 𝑧𝑧 −𝑘𝑘 by zm-1, we obtain
𝑋𝑋 𝑧𝑧 𝑧𝑧 𝑚𝑚−1 = � 𝑥𝑥 𝑘𝑘 𝑧𝑧 −𝑘𝑘+𝑚𝑚−1
𝑘𝑘=−∞
• Integrating both sides of this equation along a closed contour C within
the region of convergence in the counter-clockwise direction and
dividing by 2πj, we obtain ∞
1 𝑚𝑚−1
1
� 𝑋𝑋 𝑧𝑧 𝑧𝑧 𝑑𝑑𝑑𝑑 = � 𝑥𝑥 𝑘𝑘 � 𝑧𝑧 −𝑘𝑘+𝑚𝑚−1 𝑑𝑑𝑑𝑑
2𝜋𝜋𝜋𝜋 𝐶𝐶 2𝜋𝜋𝜋𝜋 𝐶𝐶
𝑘𝑘=−∞
• Let us choose C to be a circle of radius r. Then, z = rejθ, dz = jrejθdθ.
3
Residue Method
1 −𝑘𝑘+𝑚𝑚−1 𝑑𝑑𝑑𝑑 1 2𝜋𝜋 𝑗𝑗𝜃𝜃 −𝑘𝑘+𝑚𝑚−1
• ∮ 𝑧𝑧 = ∫ 𝑟𝑟𝑒𝑒 𝑗𝑗𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃 𝑑𝑑𝜃𝜃
2𝜋𝜋𝜋𝜋 𝐶𝐶 2𝜋𝜋𝜋𝜋 0
𝑟𝑟 −𝑘𝑘+𝑚𝑚 2𝜋𝜋 𝑗𝑗𝜃𝜃(−𝑘𝑘+𝑚𝑚)
•= ∫0 𝑒𝑒 𝑑𝑑𝜃𝜃
2𝜋𝜋
𝑗𝑗𝜃𝜃(−𝑘𝑘+𝑚𝑚) 2𝜋𝜋
𝑟𝑟 −𝑘𝑘+𝑚𝑚 𝑒𝑒 �0
•=
2𝜋𝜋 𝑗𝑗(−𝑘𝑘+𝑚𝑚)
𝑟𝑟 −𝑘𝑘+𝑚𝑚 𝑒𝑒 𝑗𝑗2𝜋𝜋(−𝑘𝑘+𝑚𝑚) −1
• = = 0 if m≠k
2𝜋𝜋 𝑗𝑗(−𝑘𝑘+𝑚𝑚)
𝑟𝑟 −𝑘𝑘+𝑚𝑚 2𝜋𝜋 𝑗𝑗𝜃𝜃(−𝑘𝑘+𝑚𝑚)
• If m = k, ∫0 𝑒𝑒 𝑑𝑑𝜃𝜃
2𝜋𝜋
𝑟𝑟 0 2𝜋𝜋 𝑗𝑗𝜃𝜃0
• = ∫0 𝑒𝑒 𝑑𝑑𝜃𝜃=1
2𝜋𝜋
4
Residue Method
1
• The only nonzero term in ∑∞
𝑘𝑘=−∞ 𝑥𝑥 𝑘𝑘 ∮ 𝑧𝑧 −𝑘𝑘+𝑚𝑚−1 𝑑𝑑𝑑𝑑 is x(k).
2𝜋𝜋𝜋𝜋 𝐶𝐶
1
• 𝑥𝑥 𝑘𝑘 = ∮ 𝑋𝑋 𝑧𝑧 𝑧𝑧 𝑘𝑘−1 𝑑𝑑𝑑𝑑
2𝜋𝜋𝜋𝜋 𝐶𝐶
• Residue theorem can be used to evaluate the contour integral.
• X(z) = N(z)/D(z) is a rational polynomial. Let z1, z2, …, zP be distinct
poles of D(z).
• If a pole at z = zi is a simple pole (non repeated pole), the residue is
• 𝑅𝑅𝑖𝑖 = 𝑧𝑧 − 𝑧𝑧𝑖𝑖 𝑋𝑋(𝑧𝑧)𝑧𝑧 𝑘𝑘−1 �𝑧𝑧=𝑧𝑧
𝑖𝑖
5
Residue Method
• If a pole at z = zi has multiplicity r, the residue at z = zi is
1 𝑑𝑑 𝑟𝑟−1
• 𝑅𝑅𝑖𝑖 = 𝑧𝑧 − 𝑧𝑧𝑖𝑖 𝑟𝑟 𝑋𝑋(𝑧𝑧)𝑧𝑧 𝑘𝑘−1 𝑧𝑧=𝑧𝑧𝑖𝑖
𝑟𝑟−1 ! 𝑑𝑑𝑑𝑑 𝑟𝑟−1
• The inverse z transform is the sum of residues.
• x(k) = R1 + R2 + … + RP.
6
Summary of Residue Method
• (a) If X(z) = N(z)/D(z) is expressed as a function of z-1, change to
function of z by multiplying by zm, where m is the highest order.
• (b) Multiply X(z) by zk-1.
• (c) Factor the denominator polynomial D(z). MATLAB function roots
can be used.
• (d) Find residues.
• (e) x(k) is given by the sum of residues.
7
EXAMPLE
1
• Find the inverse z transform of 𝑋𝑋 𝑧𝑧 = −1 −2 .
1−0.8𝑧𝑧 +0.15𝑧𝑧
𝑧𝑧 2
• Multiply by z2 to get 𝑋𝑋 𝑧𝑧 = 2 .
𝑧𝑧 −0.8𝑧𝑧+0.15
𝑘𝑘−1 𝑧𝑧 2 𝑧𝑧 𝑘𝑘−1 𝑧𝑧 𝑘𝑘+1
• Multiply by z : 𝑋𝑋 𝑧𝑧 𝑧𝑧
k-1 = 2 = 2 .
𝑧𝑧 −0.8𝑧𝑧+0.15 𝑧𝑧 −0.8𝑧𝑧+0.15
𝑘𝑘−1 𝑧𝑧 𝑘𝑘+1
• Factor denominator polynomial: 𝑋𝑋 𝑧𝑧 𝑧𝑧 = .
(𝑧𝑧−0.3)(𝑧𝑧−0.5)
Poles=roots([1,-0.8,0.15])
Poles =
0.5000
0.3000
8
EXAMPLE
• Residue at z = 0.3:
𝑧𝑧 𝑘𝑘+1 𝑧𝑧 𝑘𝑘+1 0.3 𝑘𝑘+1
• 𝑅𝑅1 = 𝑧𝑧 − 0.3 � = � =
𝑧𝑧−0.3 𝑧𝑧−0.5 𝑧𝑧−0.5 −0.2
𝑧𝑧=0.3 𝑧𝑧=0.3
0.3
•= (0.3)𝑘𝑘 = −1.5(0.3)𝑘𝑘
−0.2
• Residue at z = 0.5:
𝑧𝑧 𝑘𝑘+1 𝑧𝑧 𝑘𝑘+1 (0.5)𝑘𝑘+1 0.5
• 𝑅𝑅2 = 𝑧𝑧 − 0.5 � = � = = (0.5)𝑘𝑘
(𝑧𝑧−0.3)(𝑧𝑧−0.5) 𝑧𝑧=0.5 𝑧𝑧−0.3 𝑧𝑧=0.5 0.2 0.2
• = 2.5(0.5)𝑘𝑘
• The inverse z transform is the sum of the two residues.
• x(k) = R1 + R2 = [-1.5(0.3)k + 2.5(0.5)k]u(k)
9
MATLAB
clear all; v=
1/z
syms z v k X=
v=z^-1 1/(3/(20*z^2) - 4/(5*z) + 1)
x=
X=1/(1-0.8*v+0.15*v^2) (5*(1/2)^k)/2 - (3*(3/10)^k)/2
x=iztrans(X,k) / 1 \k / 3 \k
5 | - | 3 | -- |
pretty(x) \2/ \ 10/
-------- - ---------
vpa(x,8) 2 2
% ans =
b=1;a=[1,-0.8,0.15]; 2.5*0.5^k - 1.5*0.3^k
[R,P,Q]=residuez(b,a) R=
2.5000
-1.5000
P=
0.5000
0.3000
Q=
[]
10
EXAMPLE
1
• Find the inverse z transform of 𝑋𝑋 𝑧𝑧 = .
1−0.5𝑧𝑧 −1 2 1−0.8𝑧𝑧 −1
𝑧𝑧 3
• Multiply by z3 to get 𝑋𝑋 𝑧𝑧 = 2 .
𝑧𝑧−0.5 𝑧𝑧−0.8
𝑧𝑧 3 𝑧𝑧 𝑘𝑘−1 𝑧𝑧 𝑘𝑘+2
• Multiply by zk-1: 𝑋𝑋 𝑧𝑧 𝑧𝑧 𝑘𝑘−1 = = .
𝑧𝑧−0.5 2 𝑧𝑧−0.8 𝑧𝑧−0.5 2 𝑧𝑧−0.8
• The denominator is already factored.
• Residue at z = 0.8:
𝑧𝑧 𝑘𝑘+2 𝑧𝑧 𝑘𝑘+2 0.8 𝑘𝑘+2
• 𝑅𝑅1 = 𝑧𝑧 − 0.8 � = � =
𝑧𝑧−0.5 2 𝑧𝑧−0.8 𝑧𝑧=0.8 𝑧𝑧−0.5 2 𝑧𝑧=0.8 0.3 2
0.64 64
•= (0.8)𝑘𝑘 = (0.8)𝑘𝑘
0.09 9
11
EXAMPLE
• Residue at z = 0.5:
𝑑𝑑 𝑧𝑧−0.5 2 𝑧𝑧 𝑘𝑘+2 𝑑𝑑 𝑘𝑘+2 −1 �
• 𝑅𝑅2 = � = 𝑧𝑧 𝑧𝑧 − 0.8
𝑑𝑑𝑑𝑑 𝑧𝑧−0.5 2 (𝑧𝑧−0.8) 𝑧𝑧=0.5 𝑑𝑑𝑑𝑑 𝑧𝑧=0.5
= (𝑘𝑘 + 2)𝑧𝑧 𝑘𝑘+1 𝑧𝑧 − 0.8 −1 + 𝑧𝑧 𝑘𝑘+2 (−1) 𝑧𝑧 − 0.8 −2
�
𝑧𝑧=0.5
= (𝑘𝑘 + 2)(0.5)𝑘𝑘+1 0.5 − 0.8 −1 + (0.5)𝑘𝑘+2 (−1) 0.5 − 0.8 −2
5 𝑘𝑘
10 𝑘𝑘
25 𝑘𝑘
5 𝑘𝑘
55
= − 𝑘𝑘 0.5 − 0.5 − 0.5 = − 𝑘𝑘 0.5 − 0.5 𝑘𝑘
3 3 9 3 9
• The inverse z transform is the sum of the two residues.
64 𝑘𝑘 5 𝑘𝑘 55 𝑘𝑘
• x(k) = R1 + R2 = 0.8 − 𝑘𝑘 0.5 − 0.5 𝑢𝑢(𝑘𝑘)
9 3 9
12
MATLAB
clear all; v=
1/z
syms z v k X=
-1/((1/(2*z) - 1)^2*(4/(5*z) - 1))
v=z^-1 x=
X=1/((1-0.5*v)^2*(1-0.8*v))
(64*(4/5)^k)/9 - (70*(1/2)^k)/9 - (5*(1/2)^k*(k - 1))/3
x=
x=iztrans(X,k) (64*(4/5)^k)/9 - (55*(1/2)^k)/9 - (5*(1/2)^k*k)/3
/ 4 \k / 1 \k / 1 \k
x=expand(x) 64 | - | 55 | - | 5 | - | k
\5/ \2/ \2/
pretty(x) --------- - --------- - ----------
9 9 3
vpa(x,7) ans =
% 7.111111*0.8^k - 6.111111*0.5^k - 1.666667*0.5^k*k
R=
b=1;a=poly([0.5,0.5,0.8]); 7.1111
[R,P,Q]=residuez(b,a)
-4.4444
-1.6667
P=
0.8000
0.5000
0.5000
Q=
[]
13
MATLAB
7.1111 4.4444 1.6667
• 𝑋𝑋 𝑧𝑧 = − −
1−0.8𝑧𝑧 −1 1−0.5𝑧𝑧 −1 1−0.5𝑧𝑧 −1 2
𝑘𝑘 1
• 𝑍𝑍 (𝑘𝑘 + 1)𝑎𝑎 𝑢𝑢(𝑘𝑘) =
1−𝑎𝑎𝑧𝑧 −1 2
• 𝑥𝑥 𝑘𝑘 = 7.1111 0.8 𝑘𝑘 − 4.4444 0.5 𝑘𝑘 −
1.6667 𝑘𝑘 + 1 0.5 𝑘𝑘 𝑢𝑢(𝑘𝑘)
• = [7.1111 0.8 𝑘𝑘 − 4.4444 0.5 𝑘𝑘 − 1.6667 0.5 𝑘𝑘 −
1.6667𝑘𝑘 0.5 𝑘𝑘 ]𝑢𝑢(𝑘𝑘)
• 𝑥𝑥 𝑘𝑘 = 7.1111 0.8 𝑘𝑘 − 6.1111 0.5 𝑘𝑘 − 1.6667𝑘𝑘 0.5 𝑘𝑘 𝑢𝑢(𝑘𝑘)
64 𝑘𝑘 55 𝑘𝑘 5 𝑘𝑘
• 𝑥𝑥 𝑘𝑘 = 0.8 − 0.5 − 𝑘𝑘 0.5 𝑢𝑢(𝑘𝑘)
9 9 3
14
EXAMPLE
5+0.5𝑧𝑧 −1 −𝑧𝑧 −2
• Find the inverse z transform of 𝑋𝑋 𝑧𝑧 = −1 .
1−0.5𝑧𝑧
−1 2
• Dividing N(z) by D(z), we obtain 𝑋𝑋 𝑧𝑧 = 3 + 2𝑧𝑧 + .
1−0.5𝑧𝑧 −1
2𝑧𝑧 −1 + 3
−0.5𝑧𝑧 −1 + 1 −𝑧𝑧 −2 + 0.5𝑧𝑧 −1 + 5
−𝑧𝑧 −2 + 2𝑧𝑧 −1
−1.5𝑧𝑧 −1 + 5
−1.5𝑧𝑧 −1 + 3
2
• The inverse z transform is x(k) = 3δ(k) + 2δ(k-1) + 2(0.5)ku(k).
15
MATLAB
clear all; v=
1/z
syms z v k X=
-(1/(2*z) - 1/z^2 + 5)/(1/(2*z) - 1)
v=z^-1 x=
2*kroneckerDelta(k - 1, 0) + 2*(1/2)^k +
X=(5+0.5*v-v^2)/(1-0.5*v) 3*kroneckerDelta(k, 0)
x=iztrans(X,k) /1\k
2 kroneckerDelta(k - 1, 0) + 2 | - | + 3 kroneckerDelta(k, 0)
pretty(x) \2/
% kroneckerDelta(m,n) returns 1 if m==n and 0 if m~=n.
16
Partial Fraction Expansion
• If the degree of the denominator polynomial is greater than the
degree of the numerator polynomial, a rational polynomial is called
proper rational polynomial.
• A proper rational polynomial X(z) = N(z)/D(z) can be expanded as a
sum of proper rational polynomials whose denominators are the
factors of D(z).
• If the degree of N(z) is greater than or equal to the degree of D(z),
then divide N(z) by D(z) to get quotient Q(z) and remainder R(z). The
rational polynomial R(z)/D(z) is proper and can be expanded as a sum
of proper rational polynomials of smaller degrees.
17
Simple Poles
• Suppose that D(z) contains a simple factor (1 – pz-1). p is a pole.
𝑁𝑁(𝑧𝑧) 𝐴𝐴 𝑁𝑁1 (𝑧𝑧)
• 𝑋𝑋 𝑧𝑧 = = +
1−𝑝𝑝𝑧𝑧 −1 𝐷𝐷1 (𝑧𝑧) 1−𝑝𝑝𝑧𝑧 −1 𝐷𝐷1 (𝑧𝑧)
1−𝑝𝑝𝑧𝑧 −1 𝑁𝑁(𝑧𝑧) 1−𝑝𝑝𝑧𝑧 −1 𝐴𝐴 1−𝑝𝑝𝑧𝑧 −1 𝑁𝑁1 (𝑧𝑧)
• Multiply by 1 − 𝑝𝑝𝑧𝑧 −1 : = +
1−𝑝𝑝𝑧𝑧 −1 𝐷𝐷1 (𝑧𝑧) 1−𝑝𝑝𝑧𝑧 −1 𝐷𝐷1 (𝑧𝑧)
𝑁𝑁(𝑧𝑧) 1−𝑝𝑝𝑧𝑧 −1 𝑁𝑁1 (𝑧𝑧)
• = 𝐴𝐴 + .
𝐷𝐷1 (𝑧𝑧) 𝐷𝐷1 (𝑧𝑧)
𝑁𝑁(𝑧𝑧)
• Set z = p: 𝐴𝐴 = �
𝐷𝐷1 (𝑧𝑧) 𝑧𝑧=𝑝𝑝
18
EXAMPLE
0.5−0.3𝑧𝑧 −1
• Find the inverse z transform of 𝑋𝑋 𝑧𝑧 = .
1−0.5𝑧𝑧 −1 +0.06𝑧𝑧 −2
0.5−0.3𝑧𝑧 −1 𝐴𝐴 𝐵𝐵
• Factor D(z): 𝑋𝑋 𝑧𝑧 = = +
1−0.2𝑧𝑧 −1 1−0.3𝑧𝑧 −1 1−0.2𝑧𝑧 −1 1−0.3𝑧𝑧 −1
−1 0.5−0.3𝑧𝑧
−1 1−0.2𝑧𝑧 −1 𝐵𝐵
• Multiply (1 − 0.2𝑧𝑧 ): = 𝐴𝐴 +
1−0.3𝑧𝑧 −1 1−0.3𝑧𝑧 −1
0.3
0.5−0.3𝑧𝑧 −1 0.5− −1
• Set z = 0.2: 𝐴𝐴 = −1 � = 0.2
0.3 = =2
1−0.3𝑧𝑧 𝑧𝑧=0.2 1− −0.5
0.2
0.3
0.5−0.3𝑧𝑧 −1 0.5−0.3 −0.5
• Similarly, 𝐵𝐵 = � = 0.2 = 1 = −1.5
1−0.2𝑧𝑧 −1 𝑧𝑧=0.3 1−0.3 3
• x(k) = [2(0.2)k – 1.5(0.3)k]u(k)
19
MATLAB
clear all; v=
1/z
syms z v k X=
-(3/(10*z) - 1/2)/(3/(50*z^2) - 1/(2*z) + 1)
v=z^-1 x=
2*(1/5)^k - (3*(3/10)^k)/2
X=(0.5-0.3*v)/(1-0.5*v+0.06*v^2) / 3 \k
3 | -- |
x=iztrans(X,k) / 1 \k \ 10/
2 | - | - ---------
pretty(x) \5/ 2
vpa(x,8) ans =
% 2.0*0.2^k - 1.5*0.3^k
R=
b=[0.5,-0.3];a=[1,-0.5,0.06]; -1.5000
2.0000
[R,P,Q]=residuez(b,a) P=
0.3000
0.2000
Q=
[]
20
EXAMPLE
1+0.5𝑧𝑧 −1
• Find the inverse z transform of 𝑋𝑋 𝑧𝑧 = 5 .
1−𝑧𝑧 −1 +16𝑧𝑧 −2
1+0.5𝑧𝑧 −1 𝐴𝐴 𝐵𝐵
• 𝑋𝑋 𝑧𝑧 = = +
1−(0.5+𝑗𝑗𝑗.25)𝑧𝑧 −1 1−(0.5−𝑗𝑗𝑗.25)𝑧𝑧 −1 1−(0.5+𝑗𝑗𝑗.25)𝑧𝑧 −1 1−(0.5−𝑗𝑗𝑗.25)𝑧𝑧 −1
1+0.5𝑧𝑧 −1 17 −𝑗𝑗𝑗.3258 𝑜𝑜
• 𝐴𝐴 = � = 0.5 − 𝑗𝑗𝑗 = 𝑒𝑒 = 2.0616𝑒𝑒 −𝑗𝑗75.96
1−(0.5−𝑗𝑗𝑗.25)𝑧𝑧 −1 𝑧𝑧=0.5+𝑗𝑗𝑗.25 2
𝑜𝑜 5 𝑗𝑗𝑗.4637
• 𝐵𝐵 = 𝐴𝐴∗ = 2.0616𝑒𝑒 𝑗𝑗75.96 , 0.5 + 𝑗𝑗𝑗.25 = 𝑒𝑒 = 0.5590𝑒𝑒 𝑗𝑗𝑗.4637 , 0.5 − 𝑗𝑗𝑗.25 =
5 −𝑗𝑗𝑗.4637 4
𝑒𝑒 = 0.5590𝑒𝑒 −𝑗𝑗𝑗.4637
4
𝑜𝑜 𝑘𝑘 𝑜𝑜 𝑘𝑘
• 𝑥𝑥 𝑘𝑘 = 2.0616𝑒𝑒 −𝑗𝑗75.96 0.5590𝑒𝑒 𝑗𝑗𝑗.4637 + 2.0616𝑒𝑒 𝑗𝑗75.96 0.5590𝑒𝑒 −𝑗𝑗𝑗.4637
𝑘𝑘 𝑗𝑗 0.4637𝑘𝑘−75.96𝑜𝑜 𝑗𝑗 −0.4637𝑘𝑘+75.96𝑜𝑜
• 𝑥𝑥(𝑘𝑘) = 2.0616 0.5590 𝑒𝑒 + 𝑒𝑒 𝑢𝑢 𝑘𝑘
• 𝑥𝑥(𝑘𝑘) = 4.1231 0.5590 𝑘𝑘 𝑐𝑐𝑐𝑐𝑐𝑐 0.4637𝑘𝑘 − 75.96𝑜𝑜 𝑢𝑢(𝑘𝑘)
21
MATLAB
clear all; R=
0.5000 - 2.0000i
syms z v k 0.5000 + 2.0000i
v=z^-1 P=
0.5000 + 0.2500i
X=(1+0.5*v)/(1-v+(5/16)*v^2) 0.5000 - 0.2500i
Q=
x=iztrans(X,k) []
pretty(x) Rp =
2.0616 -75.9638 -1.3258
x=vpa(x,7) 2.0616 75.9638 1.3258
% Pp =
0.5590 26.5651 0.4636
b=[1,0.5];a=[1,-1,5/16]; 0.5590 -26.5651 -0.4636
A=
[R,P,Q]=residuez(b,a) 4.1231
Rp=R2P(R)
Pp=R2P(P)
A=2*Rp(1)
22
Repeated Poles
• Suppose that D(z) contains a repeated factor 1 − 𝑝𝑝𝑧𝑧 −1 𝑟𝑟 , r poles at z
= p.
• Then,
𝑁𝑁(𝑧𝑧) 𝐴𝐴1 𝐴𝐴2 𝐴𝐴𝑟𝑟 𝑁𝑁1 (𝑧𝑧)
• 𝑋𝑋 𝑧𝑧 = = + + ⋯+ +
1−𝑝𝑝𝑧𝑧 −1 𝑟𝑟 𝐷𝐷1 (𝑧𝑧) 1−𝑝𝑝𝑧𝑧 −1 1−𝑝𝑝𝑧𝑧 −1 2 1−𝑝𝑝𝑧𝑧 −1 𝑟𝑟 𝐷𝐷1 (𝑧𝑧)
• Let v = z-1 = 1/z. Then, z = v-1 = 1/v.
𝑁𝑁 𝑣𝑣 −1 𝑁𝑁 𝑧𝑧
• 𝐴𝐴𝑟𝑟 = � or 𝐴𝐴𝑟𝑟 = �
𝐷𝐷1 𝑣𝑣 −1 𝑣𝑣=𝑝𝑝−1 𝐷𝐷1 𝑧𝑧 𝑧𝑧=𝑝𝑝
1 𝑑𝑑 𝑟𝑟−𝑖𝑖 𝑁𝑁 𝑣𝑣 −1
• 𝐴𝐴𝑖𝑖 = 𝑟𝑟−𝑖𝑖 𝑟𝑟−𝑖𝑖 −1 �
𝑟𝑟−𝑖𝑖 ! −𝑝𝑝 𝑑𝑑𝑑𝑑 𝐷𝐷1 𝑣𝑣 𝑣𝑣=𝑝𝑝−1
23
EXAMPLE
1
• Find the inverse z transform of 𝑋𝑋 𝑧𝑧 = .
1−0.2𝑧𝑧 −1 2 1−0.3𝑧𝑧 −1
𝐴𝐴1 𝐴𝐴2 𝐵𝐵
• 𝑋𝑋 𝑧𝑧 = −1 + −1 2 +
1−0.2𝑧𝑧 1−0.2𝑧𝑧 1−0.3𝑧𝑧 −1
1 1
• 𝐵𝐵 = � = 0.2 2
=9
1−0.2𝑧𝑧 −1 2 𝑧𝑧=0.3 1− 0.3
1 1
• 𝐴𝐴2 = � = 0.3 = −2
1−0.3𝑧𝑧 −1 𝑧𝑧=0.2 1−
0.2
1 𝑑𝑑 1 𝑑𝑑 −1 |
• 𝐴𝐴1 = � = −5 1 − 0.3𝑣𝑣 𝑣𝑣=0.2 −1 =
−0.2 𝑑𝑑𝑑𝑑 1−0.3𝑣𝑣 𝑣𝑣=0.2 −1 𝑑𝑑𝑑𝑑
−2 0.3 −2
(−5)(−1) 1 − 0.3𝑣𝑣 −0.3 |𝑣𝑣=0.2−1 = 5 1 − −0.3 = −6
0.2
24
EXAMPLE
−6 −2 9
• 𝑋𝑋 𝑧𝑧 = + +
1−0.2𝑧𝑧 −1 1−0.2𝑧𝑧 −1 2 1−0.3𝑧𝑧 −1
𝑘𝑘 1
• 𝑍𝑍 (𝑘𝑘 + 1)𝑎𝑎 𝑢𝑢(𝑘𝑘) =
1−𝑎𝑎𝑧𝑧 −1 2
• 𝑥𝑥 𝑘𝑘 = −6 0.2 𝑘𝑘 − 2 𝑘𝑘 + 1 0.2 𝑘𝑘 + 9 0.3 𝑘𝑘 𝑢𝑢(𝑘𝑘)
• 𝑥𝑥 𝑘𝑘 = −6 0.2 𝑘𝑘 − 2𝑘𝑘 0.2 𝑘𝑘
− 2 0.2 𝑘𝑘 + 9 0.3 𝑘𝑘 𝑢𝑢(𝑘𝑘)
• 𝑥𝑥 𝑘𝑘 = −2𝑘𝑘 0.2 𝑘𝑘 − 8 0.2 𝑘𝑘 + 9 0.3 𝑘𝑘 𝑢𝑢(𝑘𝑘)
25
MATLAB
clear all; x=9*(3/10)^k - 10*(1/5)^k - 2*(1/5)^k*(k - 1)
syms z v k / 3 \k / 1 \k / 1 \k
x=9 | -- | - 8 | - | - 2 | - | k
v=z^-1 \ 10 / \5/ \5/
X=1/((1-0.2*v)^2*(1-0.3*v)) x = 9.0*0.3^k - 8.0*0.2^k - 2.0*0.2^k*k
x=iztrans(X,k) R=
9.0000
x=expand(x) -6.0000
-2.0000
pretty(x) P=
0.3000
x=vpa(x,7) 0.2000
0.2000
% Q=
[]
b=1;a=poly([0.2,0.2,0.3]);
[R,P,Q]=residuez(b,a)
26
