5.4.

Inverse Z Transforms of Complex Poles

Just as with the Laplace transforms, we will have occasion to look for the inverse Z
transforms of complex conjugate pairs. Once again, we will start with the cosine method
because it follows intuitively. But it will prove more efficient to use the sine method.
5.4.1 The Cosine Method
Suppose I want to find the inverse Z transform of
( )
2
2
2
3 1
z
F z
z z

+
. (5.4.1)
I start by rewriting
( )
*
* 2
2
3 1
F z z c c
z z p z p z z
+
+
(5.4.2)
We find the ps by solving
3 3 4 3 1 2 30
1 30
2 2 2 2
o
o
p j
+
+
*
3 1
1 30
2 2
o
p j
{e!e!ber" We follow the #onvention that $%& is always #al#'lated 'sing the %l's sign on the
i!aginary ter!.(
We find c by
*
3 1
2 2
2
.
3 1 3 1
2 2 2 2
3 4 30
2 )0 .
1 *0
z p
o
o
o
j
z
c
z p
j j
j
j

_
2 +

,

_ _
+

, ,
+

+ot s'r%risingly, when we solve c

*
we get the #o!%le- #on.'gate"
*
*
3 1
2 2
2
3 1 3 1
2 2 2 2
3 4 30
2 )0 .
1 *0
z p
o
o
o
j
z
c
z p
j j
j
j

_
2

,

_ _
+

, ,



5.4 /o!%l e- Invers e )0302014 1
+ow go ba#1 and %'t the two together
( )
0 0
0 0
* )0 )0
*
30 30
2 2
j j
j j
F z c c e e
z z p z p
z e z e

+ +


,
or
( )
0 0
0 0
)0 )0
30 30
2 2
j j
j j
z e z e
F z
z e z e

+

.
2he inverse 3 transfor! gives
[ ]
( ) ( )
[ ]
( )
( ) ( )
[ ]
( ) ( ) [ ]
0 0 0 0
0 0 0 0
)0 30 )0 30
30 )0 30 )0
0 0
2 2
2 1
4 1 #os 30 )0
k k
j j j j
j k j k k
k
f k e e e e u k
e e u k
k u k


+
1
+
1
]

2he generali4ation of this for!'la wo'ld be
[ ] ( ) 2 #os
k
f k c p k p c +
5.4.2 The Sine Method
In loo1ing at inverse 5a%la#e transfor!s with #on.'gate #oeffi#ients, we fo'nd a short#'t that
we referred to as the $sine& !ethod. 5et6s see if we #an find a si!ilar short#'t here. 7irst, loo1
ba#1 on the #al#'lation of c
* *
2 2 3 4 30
.
1 *0
o
o
z p
z p j
c
z p p p j

+


2he n'!erator is a %'re i!aginary n'!ber, be#a'se when we ta1e the differen#e of a n'!ber
and its #o!%le- #on.'gate, we will always get two ti!es the i!aginary %art of the original
n'!ber
( ) ( )
*
2 p p j j j + .
8nowing this, let6s see if we #an find a short9#'t. 7irst, write c as
*
2 2 4 30
2 2 2
o
z p
z d p
c
z p j j j

.
:in#e we 1now the
j2
will always be in the deno!inator, we #o'ld have .'st solved for
2 3 4 30
o
z p
d z j

+
.
:i!ilarly
*
*
*
2 2 3 4 30
2 2 2
o
z p
z p j
c
z p j j j

+


,
5.4 /o!%l e- Invers e )0302014 2
or we #o'ld have .'st #al#'lated
2 3 4 30
o
z p
d z j

+
,
where we had #al#'lated
1 / 2
. When we ta1e the inverse of the two ter!s we get
[ ] ( ) ( )
( ) ( )
( ) ( )
30 30
1
2 2 2 2
2
1
2 2 sin 30
4 2 sin 30 .
o o k k
j j p j j p
k o
k o
f k e e e e
j
k p
k p

1

1
]
1
+
]
+
We #an #o!%are this with o'r %revio's res'lt by
[ ] ( ) ( )
( ) ( )
4 2 sin 30 *0 *0 30
4 2 #os 30 )0
k o o o o
k o o o
f k k
k
+ +

2he generali4ation of this !ethod is
[ ] ( )
1
sin
k
f k d p k p d

+
2he advantage of this $sine !ethod& is that the #al#'lation of d is slightly si!%ler than c.
5.4.3. Summary
2o find the inverse of the #o!%le- #on.'gate #o!%onent of a f'n#tion li1e
( ) ( ) ( )
( ) ( )
1 1
2 *
F z F z F z
z z bz c z p z p

+ +
'se one of the following two !ethods"
Sine method (preferred):
1. ;eter!ine the %ole with the %ositive i!aginary %art
2
4
2
b b c
p j p p
+
+
, (5.4.3 a)
2. /al#'late
( )
1
z p
d F z d d

, (5.4.3 b)
3. 2hat %art of the ti!e do!ain f'n#tion d'e to the #o!%le- #on.'gate %air is
[ ] ( )
1
sin
k
f k d p k p d

+
. (5.4.3 #)
5.4 /o!%l e- Invers e )0302014 3
Cosine method:
1. ;eter!ine p (sa!e as above)
2. /al#'late
( )
( )
1
1
*
z p
F z
c c c
z p

3. 2hat %art of the ti!e do!ain f'n#tion d'e to the #o!%le- #on.'gate %air is
[ ] ( ) 2
k
f k c p cos k p d +
2here is a very si!%le !ethod to %ra#ti#e 'sing these !ethods. 5oo1 at the de#aying
sine and #osine f'n#tions in the table of 3 transfor!s, %'t so!e n'!bers in the!, and !a1e
s're yo' #an get ba#1 to the original ti!e do!ain f'n#tions.
---------------------------------------------------------------------------------------------------------------
Exampe 5.4.!. 5et 's start with a ter! fro! the table and see if the !ethod really wor1s.
( )
( )
( )
2 2
sin
sin
2 #os
k
za T
Z a T k
z a T z a

1
]
+
.
:ol'tion
e!e!ber, T is an angle! 2a1e a < 0.=, 30
o
T . 2hat gives 's
( )
( )
( )
( ) ( ) ( )
2 2 2
2
sin 0.=(0.5)
2 #os
0.= 0.=)) 0.=
za T z
F z
z a T a a
z

+
so we will solve
( )
( )
2
2
0.4
1.3=5 0.=
F z
z
z z

+
.
>sing the sine !ethod"
1. 7ind the root with the %ositive i!aginary %art
( ) ( )
2
1.3=5 1.3=5 4 0.)4)
2
1.3=5 1.*2 2.5)
0.)*2 0.4 0.= 30
2
o
p
j
+

+
+
2.
( )
1
0.4 0
o
z p
d F z


3. 2he ti!e9do!ain f'n#tion is
5.4 /o!%l e- Invers e )0302014 4
[ ] [ ] [ ]
( ) [ ]
sin
0.4
0.= sin 30
0.4
k
s
k
o
d
f k p p k d u k
k u k

+
1
]
---------------------------------------------------------------------------------------------------------------
Exampe 5.4.2. e%eat the above e-a!%le 'sing the #osine ter!
( )
( )
( )
2
2 2
#os
#os
2 #os
k
z za T
Z a T k
z a T a a

1
]

.
:ol'tion
( )
( ) ( ) ( )
2
2
0.=(0.==))
0.= 0.=)) 0.=
F z z
z
z

?bvio'sly the %oles will be the sa!e.
( )
( )
1
0.)*3
0.)*2 0.4 0.)*3 0.4 *0
z p z p
o
d F s z
j



[ ] [ ] [ ]
( ) [ ]
sin
0.4
0.= sin 30 *0
0.4
k
s
k
o o
d
f k p p k d u k
k u k

+
1 +
]
---------------------------------------------------------------------------------------------------------------
Example 5.4.3. Find the inverse Z transform of
( )
( ) ( )
2
2
0.5 2 5
z z
F z
z z z

+ +
.
Solution
( )
( ) ( )
( )
( )
2 2
1
.5 0.5 2 5 2 5
F z z A M
z z z z z z z

+
+ + + +
.
We find A in the usual manner:
( )
2
10 2
1 10 2 1 4 2
0.0=
10 4 1 5 2 25 25 2 5
z
z
A
z z



+ + + +
.
We find the second term using the sine method. (Note: the M in the numerator of the
second term has no significant meaning. It is just a place holder.
5.4 /o!%l e- Invers e )0302014 5
2
2 2 4 5
1 1 5 1 2 5 11@
2
o
p j
+
+ +
.
Note that
2
.
( )
1 2
1 2 2 2 2 135
1.13 =
0.5 1.5 2 2.5 12@
o
o
o
p j
z j
d
z j
+
+

+
Sine term
[ ] ( )
( )
[ ]
1.13
0.0= 0.5 5 sin 11@ =
2
k
k
o o
f k k u k

1 + +
' ;
]

.
-----------------------------------------------------------------------------------------------------------------
-
Example 5.4.4. Find the inverse Z transform
3 2
1
( )
2 2
F z
z z

+ +
Solution
Looking back to Eq. (5.4.1) and Eq. (5.4.2), we see that implicit to the sine or cosine
method is a z term in the numerator. Similar to what we did in section 5.3, we multiply the Z-
domain term by
1
z z

to provide us with the needed z. Then the

1
z

results in an application
of the right shift theorem at the end. So we start by writing:
1 3
2
( ) 1
2 2
F z
z
z z z

' ;
+ +

.
Now we use the sine method, Eq. (5.4.3):
i.
2
2 2 4 2
1 2 135
2
o
p j
+
+
ii. 1 d
iii. [ ]
( )
[ ] [ ]
3
1
A 2 sin 135
1
k
f k k u k .
Now we apply the right shift theorem, which results in a delay of one:
[ ]
( )
( ) [ ]
1
3
2 sin 135 1 1
k
f k k u k

1
]
.
---------------------------------------------------------------------------------------------------------------
Example 5.4.5. (problem 5.12b from Gazijc)
Find the inverse Z transform of
5.4 /o!%l e- Invers e )0302014 )
( ) ( )
2
2
2 2
( )
10 4 10 *
z
F z
z z

+ +
.
Solution
We will start by assuming
2
z
is the parameter of interest. Begin by writing
( ) ( ) ( ) ( )
2
2 2 2 2 2
( ) 1
10 4 10 * 10 4 10 *
F z A B
z z z z z
+
+ + + +
( )
( ) ( )
2
2
10 4
1 1 1 3)
10 4 10 * * 4 0 3) 5 10 *
z
A
z


+ + +
( )
2
2
10 *
1 3)
5 10 4
z
B
z


+
.
Check:
2 2
3) 1 3) 1 4 *
1
5 * 5 4 5 5
z z
_ _
+ + + +

, ,
Look at the transform pair
( ) [ ] #os
k
a Tk u k
( )
( )
2
2 2
#os
2 #os
z az T
z az T a

+
If *0
o
T , then the transform pair becomes
( ) [ ] #os *0
k o
a k u k
2
2 2
z
z a +
So with a = the
( )
( ) [ ]
2
1
2
1
#os *0
2 10 4
k
o
z
k u k
z

1
_
1

+ , 1
]
Z
.
And if a = 1/3
( )
( ) [ ]
2
1
2
1
#os *0
* 10 *
k
o
z
k u k
z

1
_
1

+ , 1
]
Z
So
[ ] ( ) [ ] ( ) [ ]
3) 1 3) 1
#os *0 #os *0
5 3 5 2
k k
o o
f k k u k k u k
_ _


, ,
---------------------------------------------------------------------------------------------------------------
5.4 /o!%l e- Invers e )0302014 @
Example 5.4.6 (Problem 5.19) Derive the formula for the Z-transform of a periodic discrete-
time signal defined by [ ] [ ] f k f k N +
Solution
( ) [ ] [ ]
( ) ( ) ( )
1
0 0 0
1 1
0
1
N
k k nN
k n k
N
n
N
N
n
F z f k z f k z z
z
F z z F z
z

---------------------------------------------------------------------------------------------------------------
Examp e 5. 4. ". 7ind the invers e 3 transfor ! of
( )
2
3 2
2 2
2 4
z z
F z
z z
+ +

+
:ol'tion
If we loo1 in the tabl e of 3 transfor !s, ther e is no ter ! that is se#ond
order in 4 in the n'!er at or and deno!i nat or. 2herefor e, st art by dividing
the n'!er at or by the deno!i nat or.
( )
2
3 2 2
2 2 4 2
1
2 4 2 4
z z z
F z
z z z z
+ +
+
+ +
.
We a%%ly the sine !et hod to the se#ond ter !, b't noti#e that we will also
have to a%%ly the right shift at the end"
2 4 4(4)
1 3 2 )0
2
o
p j
+
+
1 3
4 2 2 4 3 @.2 @4
o
z j
d z j
+
+
[ ] [ ] ( ) ( ) [ ]
1
3
@.2
2 sin )0 1 @4 1
3
k
o o
f k k k u k

1 + +
]
.
---------------------------------------------------------------------------------------------------------------
#ro$ e ms
5.4. 1. 7ind the invers e 3 transfor !s of the following"
a). ( )
1 2
2 5
z
F z
z z

+ +
b). ( )
2 2
1
0.5
F z
z z

+
#).
( )
2
3 2
2 2
2 4
z z
F z
z z
+ +

+
5.4 /o!%l e- Invers e )0302014 =
d). ( )
1 2
5
.4 0.0=
F z
z z

+
.
e).
( )
( )
5
2
1
2 3
F z
z z z

+
5.4. 2 :olve for yB1C. Dss'!e all initial #onditions are 4ero.
[ ] [ ] [ ] [ ]
1 1
2 1
2 =
y k y k y k u k + + +
5.4 /o!%l e- Invers e )0302014 *