Digital signal processing: Lecture 5
z-transformation - I
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• Fourier transform & inverse Fourier transform: – Time domain & Frequency domain representations • Understand the “true face” (latent factor) of some physical phenomenon. – Key points: • Definition of Fourier transformation. • Definition of inverse Fourier transformation. • Condition for a signal to have FT.
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• The sampling theorem – If the highest frequency component contained in an
analog signal is f0, the sampling frequency (the Nyquist rate) should be 2xf0 at least.
• Frequency response of an LTI system: – The Fourier transformation of the impulse response – Physical meaning: frequency components to keep (~1) and those to remove (~0). – Theoretic foundation: Convolution theorem.
Produced by Qiangfu Zhao (Since 1995), All rights reserved © DSP-Lec05/3 Topics of this lecture Chapter 6 of the textbook
• The z-transformation. • z-変換 • Convergence region of z- • z-変換の収束領域 transform. -変換とフーリエ変換 • Relation between z- • z transform and Fourier • z-変換と差分方程式 transform. • 伝達関数 or システム • Relation between z- 関数 transform and difference equation. • Transfer function (system function).
Produced by Qiangfu Zhao (Since 1995), All rights reserved © DSP-Lec05/4 z-transformation(z-変換) • Laplace transformation is important for analyzing analog signal/systems. • z-transformation is important for analyzing discrete signal/systems. • For a given signal x(n), its z-transformation is defined by
∞ Z[x(n)] = X (z) = ∑ x(n)z−n (6.3) n=0
where z is a complex variable.
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• The z-transform defined above is called one- sided z-transform (片側z-変換). • One-sided z-transform is meaningful for causal signals (因果的信号). • For non-causal signals, the summation should start from minus infinity, and the z-transform so defined is called two-sided z-transform. • We study only one-sided z-transform here.
Produced by Qiangfu Zhao (Since 1995), All rights reserved © DSP-Lec05/6 Convergence region 収束領域 • Fourier transform exists (converges) if and only if the signal is absolutely summable. • z-transform exists for some value of z. • The region in which the z-transform exists is called the convergence region. • z-transformation is a more powerful tool for analyzing signals (see Fig. 6.1 in p. 89).
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Z[δ (n)] = δ (0) + δ (1)z−1 + ... + δ (n)z−n + ... = 1, for any z
−1 −n Z[u0 (n)] = u0 (0) + u0 (1)z + ... + u0 (n)z + ...
− − 1 z = 1+ z 1 + ... + z n + ... = = , for | z |> 1 1− z−1 z −1
Z[α n ] = 1+ α1z−1 + ... + α n z−n + ... 1 z = = , for | z |> α 1−αz−1 z −α
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• Fourier transform is the z- z-plane j transform on the unit circle. • The values of the z-transform on the unit circle equals to those of the Fourier transform -1 0 1 of the same signal.
-j
jω = ω X (e ) X (z) |z=e j or |z|=1 (6.16)
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• It is important to specify the convergence region in the results. • If we use the right table, we can find the z-transform of more complicated signals.
r(n) is the ramp signal
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Linearity: z - transform is a linear transform ∀a,b
if Z[x1(n)] = X1(z)
and Z[x2 (n)] = X 2 (z)
then Z[ax1(n) + bx2 (n)] = aX1(z) + bX 2 (z)
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Translation : if x(n) = 0 for n < 0 and Z[x(n)] = X (z) then m−1 Z[x(n + m)] = z m[X (z) − ∑ x(n)z −n ] n=0 Z[x(n − m)] = z −m X (z) The second equation is especially useful for system analysis, as will seen later
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Given : y(n) = −a1 y(n −1) − a2 y(n − 2) + b0 x(n) + b1x(n −1) + b2 x(n − 2)
From linearity and translation property of z - transform, we have
−1 −2 −1 −2 Y (z) = −a1z Y (z) − a2 z Y (z) + b0 X (z) + b1z X (z) + b2 z X (z)
−1 −2 b0 + b1z + b2 z Y (z) = −1 −2 X (z) (6.21) 1+ a1z + a2 z
Produced by Qiangfu Zhao (Since 1995), All rights reserved © DSP-Lec05/13 Remarks
• The purpose of this example is to show how to find the z-transform of the system output when the system is given as a difference equation. • The linearity and the translation properties of z- transform are used here. • It is interesting to see another way to relate the input and the output of a system. • Actually, z-transform is one way for solving the constant coefficient difference equations.
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• Signal multiplied by an exponential signal – If X(z) is the z-transformation of x(n), then Z[anx(n)]=X(a-1z) • Example 6.5 z−1 sinω Z[sinωn ⋅u (n)] = 0 1− 2z−1 cosω + z−2
z − ( ) 1 sinω n α Z[α sinωn ⋅u0 (n)] = z − z − 1− 2( ) 1 cosω + ( ) 2 α α
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• Differentiation of X(z) – If X(z) is the z-transformation of x(n), then dX (z) Z[nx(n)] = −z dz • Example 6.6
d 1 z−1 Z[r(n)] = Z[nu (n)] = −z [ ] = 0 dz 1− z−1 (1− z−1)2
Produced by Qiangfu Zhao (Since 1995), All rights reserved © DSP-Lec05/16 Properties of z-transform (5) Convolution theorem again
• Convolution theorem Matlab6.3 (revised) for z-transformation syms a n x z; h=a^n; H=ztrans(h,n,z) y(n) = x1(n)* x2 (n) x=1; ⇒ = X=ztrans(x,n,z) Y (z) X1(z)X 2 (z) HX=H*X y=symsum(h*x,0,n) Y=ztrans(y,n,z) • See Example 6.7 and simplify(Y) == Example 6.8. simplify(HX)
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• Initial value
x(0) = limz→∞ X (z)
• Final value
−1 x(∞) = limn→∞ x(n) = limz→1(1− z )X (z)
• See example 6.9.
Produced by Qiangfu Zhao (Since 1995), All rights reserved © DSP-Lec05/18 The System function of an LTI system (or transfer function 伝達関数) system input : x(n) ⇒ X (z) system output : y(n) ⇒ Y (z) impulse response : h(n) ⇒ H (z) time domain : y(n) = x(n)*h(n) z - plane : Y(z) = X (z)H (z)
• H(z)=Y(z)/X(z) is called the transfer function or system function of the system (p. 102). • H(z) is the z-transform of h(n).
Produced by Qiangfu Zhao (Since 1995), All rights reserved © DSP-Lec05/19 HOMEWORK (1) Find the z-transforms of the following discrete signals:
(2) (2) Suppose that the difference equation is given by (T=1とする)
y(n) = x(n) - a1y(n-1)
Find the transfer function of the corresponding digital filter. (hint: see Example 6.4)
(3) Confirm Example 6.8 using the program (with revisions) given in p. 96 of the textbook.
Produced by Qiangfu Zhao (Since 1995), All rights reserved © DSP-Lec05/20 Quiz and Self-evaluation
• Quizzes: T1 – For a given signal x(n), what is the 1.2 one-sided z-transformation of 1 x(n)? 0.8
0.6
T5 0.4 T2
– What is the relation between z- 0.2
transform and Fourier transform? 0
– What is the transfer function (伝達 関数) of a digital filter?
T4 T3
Name: Student ID: .