Biosignals & Biosystems

Block 2. The z-transform

Gemma Piella
Departament de Tecnologies de la Informació i les Comunicacions
Universitat Pompeu Fabra, Barcelona, Spain
gemma.piella@upf.edu
 Review TSiS

Fourier: the basic idea

Almost every function can be expressed as a superposition of sinusoids

Fourier series – for periodic signals
Fourier transform – for aperiodic signals

Decomposition of the signal into its freq. (sinusoidal) components: Fourier analysis
Recombination of the freq. components to reconstruct the signal: Fourier synthesis
 Review TSiS

Fourier transforms

(Continuous time) Fourier Series

Signals that are continuous and periodic
Spectrum: aperiodic, discrete

Continuous Time Fourier Transform (CTFT)

Signals that are continuous and aperiodic
Spectrum: aperiodic, continuous

Discrete Time Fourier Transform (DTFT)

Signals that are discrete and aperiodic
Spectrum: periodic, continuous
sampling
Discrete Fourier Transform (DFT)
IDFT
Discrete Time Fourier Series
Signals that are discrete and periodic
Spectrum: periodic, discrete

3
Signal representation domains

discrete-time domain
x (n )

X (z ) X ( )
j
z domain
z=e frequency domain
 z-transform

• z-transform of a discrete-time signal x(n) is defined as:


X ( z) =  x (
n = −
n ) z −n
z C
z-plane

x(n)  X ( z )
  z = re j
x(n) =  x(k ) (n − k )
k = −
 X ( z) =  x (
k = −
k ) z −k

time-domain z-domain
Determine the z-transform of

➢ x ( n ) = 2 ( n ) −  ( n − 1)

➢ x ( n ) = 1,2,1,0,2

➢ x ( n ) = 1,2,1,0,2

Determine the inverse z-transform of

−1 −3 −5
➢ X ( z ) = 1 − 2 z + 3 z − z
 Region of convergence
 
x(n) =  x(k ) (n − k )
k = −
 X ( z) =  x (
k = −
k ) z −k

power series

• It exists only for those values of z for which the series

converge:
– Region of convergence (ROC): set of all values of z for which X(z) attains a finite
value

Example:
x(n) =  (n − k )  X ( z) = z −k

If k>0, ROC: entire z-plane except z=0

If k<0, ROC: entire z-plane except z=∞
 Region of convergence

X ( z) =  x ( n )z
n = −
−n

Example. The z-transform of x(n)=anu(n):

 

 a u (n) z =  ( az −1 ) n =
−n 1
X ( z) = n
for z  a
n = − n =0 1 − az −1

Example. The z-transform of x(n)= -an u(-n-1):

 
= −  ( az ) = −  (a z )
−1

 − a u (− n − 1) z −n −1 m
X ( z) = n −1 n

n = − n = − m =1

1
= for z  a
1 − az −1
 Region of convergence

• Different signals may have the same z-transform

– x(n) uniquely determined by X(z) and ROC

• For finite-duration signals, the ROC is the entire z-plane

except possibly the points z=0 and/or z=∞

• For infinite-duration
– Causal signal: the ROC is the exterior of a circle
– Anticausal signal: the ROC is the interior of a circle
– Two-sided signal: the ROC is a ring (if it exists)
 Region of convergence


• Convergence criterium: 
n = −
x(n) z − n  

  −1 


n = −
x(n) z −n
= 
n = −
x(n) z −n
= 
n = −
x(n) z −n
+  x(n) z − n
n =0

converges if z  r1 converges if z  r2

ROC: r2  z  r1

If r2  r1 , ROC does not exist.

Thus, z-transform does not exist
 Properties 
X ( z) =  x ( n )z −n

x(n)  X ( z ) n = −

• Linearity
a1 x1 ( n ) + a 2 x2 ( n )  a1 X 1 ( z ) + a2 X 2 ( z )

• Time-shifting
x(n − m)  X ( z ) z − m

• Scaling
a n x ( n )  X ( a −1 z )
• Convolution
x1 ( n ) * x2 ( n )  X 1 ( z ) X 2 ( z )
• Time-reversal
x ( − n )  X ( z −1 )
• Express the z-transform of the cross-correlation between
real signals x1(n) and x2(n), as a function of X1(z) and X2(z)

• Express the z-transform of a rectangular pulse:

elsewhere

as the z-transform of u(n)

• Compute z-transform of u(-n)

 Poles and Zeros

• If X(z) is a rational function:

M M

−1
B ( z ) b0 + b1 z +  + bM z −M
N −M
 (z − z k )  (1 − z k z −1 )
X ( z) = = = Gz k =1
=G k =1
A( z ) a0 + a1 z −1 +  + a N z − N N N

 ( z − pk )  (1 − p k z −1
)
– Zeros: values of z’s such that X(z)=0 k =1 k =1

– Poles: values of z’s such that X(z)=∞

• ROC does not include any pole

• A pole-zero plot is a graphic description of a rational X(z)

Example:
1
x(n) = a nu (n)  X ( z ) = for z  a
1 − az −1

X(z) has 1 zero at z=0 (z1=0) and 1 pole at z=a (p1=a)

o x
 Poles and Zeros

• A polinomial of degree N has N roots. If all the coefficients

of the polinomial are real, then the roots either are real or
occur in complex conjugate pairs

• Example:

2 + 2 z −1
X ( z) =
1 − z −1 + z − 2

z1 = 0, z 2 = −1

p1 = e j / 3 , p 2 = e − j / 3
 Poles and Zeros

Example:

x ( n ) = a n , 0  n  N − 1 where a0
N −1 N −1
1 − ( az −1 ) N 1 zN − aN
X ( z) =  a z n −n
=  (az ) = −1 n
−1
= N −1
n =0 n =0 1 − az z z−a

N = 20 Im
• Zeros of X(z): roots of the numerator

𝑧 𝑁 = 𝑎𝑁
N-1 zeros z =a
𝑧 𝑁 𝑒 𝑗𝜃𝑁 = 𝑎𝑁 ⇒ 𝑧 = 𝑎 𝑎𝑛𝑑 𝑒 𝑗𝜃𝑁 = 1
2𝜋𝑘
𝑗
⇒ 𝑧 = 𝑎𝑒 𝑁 𝑘 = 0, … , 𝑁 − 1
N-1 poles 2𝜋 4𝜋 2𝜋(𝑁−1)
𝑗 𝑗 𝑗
Re 𝑧 = 𝑎, 𝑎𝑒 𝑁 , 𝑎𝑒 𝑁 , … , 𝑎𝑒 𝑁

• Poles of X(z): roots of the denominator

𝑧 = 0 (𝑜𝑟𝑑𝑒𝑟 𝑁 − 1)
ROC: |z|>0 𝑧=𝑎 The zero at z=a cancels
the pole at z=a
 Inverse z-transform 
X ( z) =  x ( n )z
n = −
−n

• Formal method:
– Using a contour integral over a closed path C that encloses the origin and
lies within the ROC

• Practical methods:
– Identification (= table look up)
– Expansion into a series of terms (as function of z and z-1)
– Partial fraction expansion
 Inverse z-transform by identification

• Become familiar with the z-transform pair tables and then

“reverse engineer”

Example. Determine the anticausal sequence whose z-transform is:

1
X ( z) =
1
1 − z −1
3
x ( n ) = − ( 13 ) u ( − n − 1)
n

1
Recall that ROC : z  a is the z-transform of x(n)= -an u(-n-1)
1 − az −1
 Inverse z-transform by power series expansion

• When the z-transform is defined as a power series in the

form of 
X ( z) =  x (
n = −
n ) z −n

each term of the sequence x(n) can be determined by looking

at the coefficients of the respective power of 𝑧 −𝑛

Example. Determine the sequence whose z-transform is

5 1
𝑋 𝑧 = 𝑧2 + 𝑧+ − 𝑧 −1
2 2

5 1
𝑥 𝑛 =𝛿 𝑛+2 + 𝛿 𝑛+1 + 𝛿 𝑛 −𝛿 𝑛−1
2 2
 Inverse z-transform by partial fraction expansion
−1 −M −1 −M
B ( z ) b0 + b1 z +  + bM z b0 + b1 z +  + bM z
X ( z) = = =
A( z ) a0 + a1 z −1 +  + a N z − N a0 (1 − p1 z −1 )...(1 − p N z −1 )

• Assuming distinct poles  Ai ( pi ) n u ( n ) if ROC : z  pi


 − A ( p ) n
u ( − n − 1) if ROC : z  pi
– If M<N i i

( )
N
Ai
X ( z) =  −1
Ai = 1 − pi z −1 X ( z ) z = p
i =1 1 − p i z i

Remainder of B(z)/A(z)
– If M≥N inverse z-transform
M −N N
B' ( z) Ai
X ( z) = Q( z) +
A( z )
= 
i =0
Bi z + 
−i

i =1 1 − p z −1
i
Quotient of B(z)/A(z)

(
Ai = 1 − pi z −1
) B' ( z)
Bi ( n − i )
A( z ) z = pi

• If multiple-order poles: similar development

 Inverse z-transform by partial fraction expansion

1 − 2 . 1z − 1
• Determine the inverse of X ( z ) =
1 − 0.3 z −1 − 0.4 z − 2
 Relation to the Fourier transform

 
X ( ) =  x ( n )e
n = −
− j n
X ( z) =  x (
n = −
n ) z −n

X ( ) = X ( z ) z = e j z s.t. z = 1 ROC

 Review TSiS

LTI systems

x(n) y(n)
h(n)

• Let’s consider an input signal x ( n ) = Ae jn

 
y (n) = x(n) * h(n) =  x(k )h(n − k ) =  h(k ) x(n − k )
k = − k = −

=  h(k ) Ae 
k = −
j (n−k )


=  h ( k )e − j k
Ae jn • Ae jn is an autofunction of the LTI system
k = −
and H ( ) its eigenvalue
input
H ( ) • H ( ) is the DTFT of h(n)

Frequency
response
 LTI systems

x(n) y(n)
h(n)

• Let’s consider an input signal z

n

 
y (n) = x(n) * h(n) =  x(k )h(n − k ) =  h(k ) x(n − k )
k = − k = −

=  h(k ) z
k = −
n−k
• zn is an eigenfunction of the LTI system

and H(z) is its eigenvalue
=  h(k ) z
k = −
−k
zn • H(z) is the z-transform of the impulse
response h(n)
input
H (z )
System function (or transfer function)
 LTI systems

x(n) y(n)
LTI

δ(n) h(n)

Ae jn Ae jn H ( )
zn z n H (z )
• Relation between frequency response and system function:
H ( ) = H ( z ) z = e j 𝑖𝑓 𝑧 = 1 ∈ 𝑅𝑂𝐶 of 𝐻(𝑧)

Exercise:
−1 −2 −3
Given a system with H ( z ) = 1 − 2 z + 2 z − z
• determine its frequency response
• determine the output when the input is x ( n ) = 1 + e − jn / 3 + e jn / 4
 Review TSiS

Frequency response

x(n) y(n)
LTI

y ( n ) = IDTFT { X ( ) H ( )}

• The frequency response completely characterizes in the frequency

domain an LTI system in the time domain
y (n) = x(n) * h(n) Y ( ) = X ( ) H ( )

•
N M
Using a difference equation: y ( n ) = −  a k y ( n − k ) +  bk x ( n − k )
k =1 k =0

N M
Y ( )(1 +  a k e − j k
) = (  bk e − jk ) X ( )
k =1 k =0

Y ( ) b e k
− j k

H ( ) = = k =0

X ( ) N
1 +  a k e − j k
k =1
 System function
h(n)
x(n) y(n)
LTI

X (z ) H (z ) Y (z )

y (n) = x(n) * h(n)  Y ( z ) = X ( z ) H ( z )

Y ( z)
H ( z) =
X ( z)
N M

• Using a difference equation: y ( n ) = −  ak y ( n − k ) +  bk x ( n − k )

k =1 k =0

Y ( z)  k
b z −k
But we need to specify the ROC
H ( z) = = k =0
N to completely characterize the LTI
X ( z)
1 +  ak z − k system
k =1
 Review TSiS

LTI systems

• Subdivision according to the duration of h(n)

– Finite-duration impulse response (FIR) system

Causal FIR:
M M
y (n) =  h(k ) x(n − k ) =  b k x(n − k )
k =0 k =0

– Infinite-duration impulse response (IIR) system

Causal IIR:

y (n) =  h(k ) x(n − k )
• Practical implementation impossible

• IIR are more conveniently described by

k =0 difference equations
 System function

•
M M
For a FIR system: y ( n ) =  b k x ( n − k ) → h(n) =  b k  (n − k )
k =0 k =0

M
H ( z ) =  bk z − k Polynomial
k =0

N M

• For an IIR system: y ( n ) = −  ak y ( n − k ) +  bk x ( n − k )

k =1 k =0

 k
b z −k

H ( z) = k =0
N Rational function
1 +  ak z − k
k =1
 Poles and Zeros of H(z)

• H(z) is characterized by its pole-zero locations up to a scale factor

ς𝑀 −1
𝑘=1(1 − 𝑧𝑘 𝑧 ) Im
𝐻(𝑧) = 𝐴 𝑁
ς𝑘=1(1 − 𝑝𝑘 𝑧 −1 )
p1
e j 0
Example:
Z1 (2 zeros)
Re
(𝑧 − 𝑧1 )2
𝐻(𝑧) =
(𝑧 − 𝑝1 )(𝑧 − 𝑝2 ) p2
(𝑒 𝑗𝜔0 − 𝑧 )2
1
𝐻(𝑒 𝑗𝜔0 ) = 𝑗𝜔
(𝑒 0 − 𝑝1 )(𝑒 𝑗𝜔0 − 𝑝2 ) Pole-zero plot for z1=0 (double) and p1=p2*=0.8 ej𝜋/4
 Poles and Zeros of H(z)

• For a rational system function, the number of poles equals the

number of zeros (when including those at the origin and at
infinity)

Examples:

– y(n)=0.5y(n-1)+2x(n)
2 2z
H ( z) = = one zero at z=0 and one pole at z=0.5
1 − 0.5 z −1 z − 0.5

– y(n)= 0.5y(n-1)+3x(n-1)
3 z −1 3
H ( z) = = one zero at z=∞ and one pole at z=0.5
1 − 0.5 z −1 z − 0.5

– y(n)=x(n)-2x(n-1)+2x(n-2)-x(n-3)
j / 3 − j / 3
−1 −2 −3 z 3 − 2 z 2 + 2 z − 1 ( z − 1)( z − e )( z − e )
H ( z) = 1 − 2z + 2z −z = =
z3 z3
Zeros: z1=1, z2=ejπ/3= z*3
Poles: three at z=0
 Zeros of H(z) on the unit circle

Example:

H ( z ) = 1 − 2 z −1 + 2 z −2 − z −3
z =1
z = e j / 3
z = e − j / 3

The zeros that lie on the unit circle correspond to frequencies at which the
gain of the system is zero (i.e., the frequency response is zero for
those frequencies)
 Zeros of a FIR linear phase filter

• If z0 is a zero of a (real coefficient) FIR linear-phase filter H(z), so

are its conjugate, its inverse, and its conjugate inverse, i.e.,

𝑧0 , 𝑧0∗ , 1/𝑧0 , 1/𝑧0∗

are all zeros of H(z)

𝑏𝑘 = ±𝑏𝑀−𝑘 𝑘 = 0, . . . , 𝑀 Linear-phase FIR

ℎ(𝑛) = ±ℎ(𝑀 − 𝑛)

𝐻(𝑧) = ±𝑧 −𝑀 𝐻(1/𝑧) If z0 is a zero, so is 1/ z0

If filter’s coefficients are real, zeros

occur in complex conjugate pairs
 Zeros of a FIR linear phase filter

Example:
 Review TSiS

Causality and stability in LTI systems

• An LTI system is causal iff h(n) = 0 for all n < 0

• An LTI system is stable iff σ𝑛 h(n) < ∞

E.g.: The system with h(n)=u(n) is causal but not stable

 Causality and stability in LTI systems

• An LTI system is causal iff the ROC of the system function is the
exterior of a circle of radius r<∞ , including z= ∞

• An LTI system is stable iff the ROC of the system function includes
the unit circle

• A causal LTI system is stable iff all poles are inside the unit circle
 Causality and stability in LTI systems

Causal systems: ROC extends outward Stable systems: ROC includes the unit circle
from the outermost pole
Im Im

Re Re

ROC ROC
 Causality and stability in LTI systems

Example. Consider the causal system characterized by

y ( n) = ay ( n − 1) + x ( n)

1
H ( z) = for z  a Im
1 − az −1

h( n) = a n u ( n) 1

Re
a
Not stable for |a|≥1
 Causality and stability in LTI systems

Example: (as in slide 15)

h(n) = a n , 0  n  N −1
N −1 N −1
1 − ( az −1 ) N 1 zN − aN
H ( z ) =  a n z − n =  ( a z −1 ) n = = N −1
n =0 n =0 1 − az −1 z z−a
Zero z=0 cancels
Im the pole at z=a

N-1 zeros
ROC: |z|>0
ROC does not include any pole
N-1 poles
Re
Causal and stable
 Example: moving average filter
Moving average filter
𝐿−1 𝐿−1
1 1
𝑦(𝑛) = ෍ 𝑥(𝑛 − 𝑘) ℎ(𝑛) = ෍ 𝛿(𝑛 − 𝑘)
𝐿 𝐿
𝑘=0 𝑘=0

(particular case of previous slide with a=1, N=L, and scaled by L)

𝐿−1 −𝐿 𝐿−1
1 1 1 − 𝑧 1 𝑧 ROC: |z|>0
𝐻(𝑧) = ෍ 𝑧 −𝑘 = ⋅ = ⋅
𝐿 𝐿 1 − 𝑧 −1 𝐿 𝑧 𝐿−1 (𝑧 − 1)
𝑘=0

𝐿−1 𝜔
1 1 1 − 𝑒 −𝑗𝜔𝐿
1 sin 2 𝐿 −𝑗𝜔(𝐿−1)
𝐻(𝜔) = ෍ 𝑒 −𝑗𝜔𝑘 = ⋅ −𝑗𝜔
= ⋅ 𝜔 𝑒 2
𝐿 𝐿 1−𝑒 𝐿 sin
𝑘=0 2

H ( ) = H ( z ) z = e j (ROC includes the unit circle)

 Example: moving average filter

For L=11: H ( )


1 z L −1
H ( z ) =  L −1
L z ( z − 1)
• Zeros of H(z): roots of the numerator
2 k
j
L=11
zL =1 z = e L
k = 0,  , L − 1
2 4 2 ( L −1)
j j j
z = 1, e L
,e L
, , e L

• Poles of H(z): roots of the denominator

z = 0 (order L − 1)
z =1
 Review TSiS

Block diagram representation of a difference equation

addition

delay

multiplier

N M
Direct form to implement a system defined by a difference equation: y ( n ) = −  ak y ( n − k ) +  bk x ( n − k )
k =1 k =0
 Block diagram representation of a difference equation

• All the unit delays become z-1 operators in the z-transform domain

Example. Block diagram of an LTI system with y(n)=x(n)-x(n-1)

_ y(n)
x(n)

Example. Block diagram of an LTI system with y(n)=0.9y(n-1)+x(n)

x(n) y(n)

0.9
 Review TSiS

Cascaded LTI systems

X ( ) Y ( )
H 1 ( ) H 2 ( )

X ( ) Y ( )
H 1 ( ) H 2 ( )

h ( n ) = IDTFT {H 1 ( ) H 2 ( )}
y ( n ) = IDTFT { X ( ) H 1 ( ) H 2 ( )}
 Cascaded LTI systems
H ( ) = H ( z ) z = e j

X (z ) Y (z )
H1 ( z) H 2 ( z)

X (z ) Y (z )
H1 ( z) H 2 ( z)

h ( n ) = ITZ {H 1 ( z ) H 2 ( z )}
y ( n ) = ITZ { X ( z ) H 1 ( z ) H 2 ( z )}
 LTI systems - relationship among the n, z and ω domain

discrete-time domain
h (n ) Impulse response

System function H (z )
j
H ( ) Frequency response
(or transfer function)
z domain z=e frequency domain
 Review
LTI systems - relationship among the n, z and ω domain
 Review
Some transforms and properties
 Review
Some properties
 Preparing seminar 1

• BEFORE seminar 1:
– Read/study the lectures notes (both block 1 & 2) and complement them
with bibliography (chapter 3 of book of reference). Key ideas.
– Exercises 1, 2 and 3 of SEMINAR 1
– First four exercises of QUIZZES
– Solve whatever doubt that may arise

• AFTER seminar 1 (and BEFORE seminar 2):

– Study the lectures notes and complement them with bibliography. Go into
details.
– Remainder of exercises of SEMINAR 1
– Remainder of exercises of QUIZZES
– Ask any remainder doubt!
Quizzes
1. Given the z-transform of two signals:

𝑥1 (𝑛) ↔ 𝑋1 (𝑧) = 3 + 2𝑧 −1 𝑥2 (𝑛) ↔ 𝑋2 (𝑧) = 1 − 𝑧 −2

Calculate the z-transform of 𝑦(𝑛) = −𝑥1 (𝑛) + 2𝑥2(𝑛 − 1)

2. Given a system whose transfer function is

𝐻(𝑧) = 1 + 5𝑧 −1 − 3𝑧 −2 + 2.5𝑧 −3 + 4𝑧 −8

– Write the difference equation that relates the output of the system to the
input x(n)
– Determine the impulse response
 Solution:

1.
𝑌 𝑧 = −𝑋1 𝑧 +2𝑋2 𝑧 𝑧 −1 = −(3 + 2𝑧 −1 )+2·(1 − 𝑧 −2 ) 𝑧 −1 = - 3 - 2 𝑧 −3

2. 𝑦 𝑛 = 𝑥 𝑛 + 5𝑥 𝑛 − 1 − 3𝑥 𝑛 − 2 + 2.5𝑥 𝑛 − 3 + 4𝑥 𝑛 − 8

ℎ 𝑛 = 𝛿 𝑛 + 5𝛿 𝑛 − 1 − 3𝛿 𝑛 − 2 + 2.5𝛿 𝑛 − 3 + 4𝛿 𝑛 − 8
• Compute the convolution of the signals
1 0  n  5
x1 ( n ) = 1,−2,1 x2 ( n ) = 
0 elsewhere
in two different ways:

➢ directly in the time domain

➢ using the z-transform

Solution: x1 ( n ) * x2 ( n ) = 1,−1,0,0,0,0,−1,1
• Determine the z-transform and ROC of

➢ x ( n ) = 2 n u ( n ) + 3n u ( − n − 1)

➢ x ( n ) = 3n u ( n ) + 2 n u ( − n − 1)

Solution:
1 1
For the first signal: 𝑋 𝑧 = − 𝑅𝑂𝐶: 2 < 𝑧 < 3
1 − 2𝑧 −1 1 − 3𝑧 −1

For the second signal, the z-transform does not exist

• Determine the z-transform and ROC of

➢ x ( n ) = (cos  0 n )u ( n )

➢ x ( n ) = (sin  0 n )u ( n )

Hint: use Euler’s formula

Solution: (solved at reference book)

➢ X ( z) = 1 1 1 1 1 − z −1
cos  0
+ = ROC : z  1
2 1 − e j0 z −1 2 1 − e − j0 z −1 1 − 2 z −1 cos  0 + z − 2

➢ X ( z) = z −1
sin  0
ROC : z  1
1 − 2 z −1 cos  0 + z − 2
• Determine the z-transform and ROC of

➢ x ( n ) = a n (cos  0 n )u ( n )

➢ x ( n ) = a (sin  0 n )u ( n )
n

Hint: use results from previous slide and the scaling property

Solution: (solved at reference book)

1 − az −1 cos  0
➢ X ( z) = ROC : z  a
1 − 2 az −1 cos  0 + a 2 z − 2
az −1 sin  0
➢ X ( z) = ROC : z  a
1 − 2 az −1 cos  0 + a 2 z − 2
• Consider the LTI system

y ( n ) = 2 y ( n − 1) − y ( n − 2) + x ( n ) + x ( n − 1)

– Find the system function

– Plot the pole-zero diagram
– Find the impulse response and write it as h ( n ) = A cos( 0 n +  )u ( n )

Solution:
1 + z −1
H ( z) =
1 − 2 z −1 + z − 2
 3
h ( n ) = 2.62 cos( n − )u ( n )
4 8
(see next slide for resolution of last question)
From H(z), we use partial fraction expansion to obtain h(n):
• Compute the inverse z-transform of

3 + z −1 + z −2
X ( z) =
1 − 2.5 z −1 + z − 2

59
Solution:

Three possible solutions depending on the ROC:

x ( n ) =  ( n ) + 5  2 n u ( n ) − 3  0 .5 n u ( n ) ROC : z  2

x ( n ) =  ( n ) − 5  2 n u ( − n − 1) − 3  0.5 n u ( n ) ROC : 0.5  z  2

x ( n ) =  ( n ) − 5  2 n u ( − n − 1) + 3  0.5 n u ( − n − 1) ROC : z  0.5

• Match the pole-zero plot to the frequency response
Solution: A2, B4, C1, D6, E3

This can be deduced by thinking how poles and zeros affect the frequency
response.

A pole will push up the frequency response, and a zero will pull it down.
Furthermore, a zero on the unit circle will force the frequency response to be
zero at the frequency corresponding to the angular position of the zero
• Consider the system:

– Determine the difference equation of the system and its impulse response
– Determine the system function and the frequency response
– When ω0 = π/2, determine the output y(n) to the input:
𝜋 𝜋
𝑥(𝑛) = 3 cos( 𝑛 + )
3 6
Solution:

• Difference equation: 𝑦 𝑛 = 𝑥 𝑛 − 2 cos 𝜔0 𝑥 𝑛 − 1 + 𝑥(𝑛 − 2)

• Impulse response: ℎ(𝑛) = 𝛿 𝑛 − 2 cos 𝜔0 𝛿 𝑛 − 1 + 𝛿(𝑛 − 2)

• System function: 𝐻(𝑧) = 1 − 2 cos 𝜔0 𝑧 −1 + 𝑧 −2

• Frequency response: 𝐻(𝜔) = 1 − 2 cos 𝜔0 𝑒 −𝑗𝜔 + 𝑒 −𝑗2𝜔

• Output: 𝜋 𝜋 𝜋 𝜋 𝜋 𝜋
𝑦 𝑛 = 3 |H |cos( 3 𝑛 + 6 + 3 ) = 3cos( 3 𝑛 + 2 )
3
• Which of the following system functions correspond to a causal
system?

• Which is the system function and ROC of a memoryless

system? (A memoryless system only depends on the current input sample )

• Identify to what type of filter (FIR, IIR) the following plot-zero

plots correspond
Solutions

• Only the middle one is causal. For the right one: , which has a
pole at z=∞

• An LTI system is memoryless if and only if its impulse response h(n)=bδ(n).

Thus, H(z) has no poles or zeros, and ROC= ℂ

•
• Consider two causal systems with pole-zero diagrams depicted
below. For each, write the corresponding transfer function, the
ROC, and justify whether it is stable.

2𝜋/7
𝜋/6

• The causal system with pole-zero diagram depicted above on

the left is a FIR filter, justify whether the phase is linear

67
Solutions

• Causal systems
𝐺 1−𝑧 −7
– For system 1 (similar diagram than in slide 15 & 38): 𝐻 𝑧 = 1−𝑧 −1
.
ROC: |z|>0. Stable.
1
– For system 2: 𝐻 𝑧 = 𝐺 𝑗𝜋 𝑗𝜋 . ROC: |z|>1 Not stable.
−
1−𝑒 6 𝑧 −1 1−𝑒 6 𝑧 −1

• The filter has linear phase (see slide 32 for justification)

68
Thanks for your
attention!