LECTURE NOTES Z-TRANSFORM Dr. R. Muthucumaraswamy, Ph D Professor Department of Applied Mathematics Sri Venkateswara College of Engineering Pennalur, Sriperumbudur 602 105oo ° CONTENTS . Standard results and definition . Inverse Z - Transform . Power series method Inverse Z — Transform using residue technique . Initial value theorem . Final value theorem . Convolution theorem . Time dependent sequence . Table of Z - Transform Page No 26 32 34 36 40 43Z ~ Transform Shawdend esults et (i-%) = ee ae ee ( eayle Inet eae ECO Ee aeyte lean teeta PRONE (i-ny7= pan pant $--t GHD RE ete It Xe e+ + 2 Tal aan oe i e* = |- % ee eR 7 2! nt deg lie) = (&s oridws)® = lssne +i Amad Definition If Fab be & seqrence Te, Sut Tts Z-transferm 6 oe *t Zhe) = Zz f, 2 = Fle) Froperty 1. Z- transhem ig Ainear.* Z [anda tba de) Sadat bates = i = al aa $n nS an 2 - — Blan frtbhe Ja} = [Bc] + be ze]Property Z Large} = ELE) (epeag Proterty) Ras g[anl- Sohe> Bala) re Mote Iat @™ =o Froperty 2 ZB [nga] = - = SE (Derivative f transform) Proof: We know that F(z) = = fn 2" de em) = 2§ nf = = Sh (2) “Fie ae - Zina) Property 4 Z [nk] --2afzte'l} Peek a z — (#) Zee “Ss a Z [at} = 25 ne ao) _—— 0 azo Replace ke by K+ I «) = kal osn git: Ee Differentiate wer BZ s a d kA] ss nk" En)z de z [n J _a gps ote dz = (aH) From @ and @ —® zit) = = wz 20" *]Froblems Find Z- transform of the Following (ay 1 a © Cyr © n Ena" o : is Solution (a) We Know That 2(fJ- So 2 i: at =n Zij- 2? Pee = 142 Zr7+er bale w ie. Zee 56S eee tea Eee = 4@) thi, ~0-$y = © Zlow}= Sor Zz" Za =I = |-z setae tee IStt -I-g tis “(Cy = (reper) - = og Day Zlnj= Sz" nro a plea greeter = + + 4 + a(byr--- aca) at) Lee ea ESZlaFaje -? se ( Reperby 2) Aliter We know that Zinj- Zin Je 2 zo e-zd LZ Lea) = ala ate): ee ©) We know Ihat Zinfej=-2 $£ eee = }- -2 (2- a s-z2d dz z-a = a2 (05 Aliter o a on z » (4) zinarj= ae zeus 2 i ‘i : (ay + (47098) z a See a)+3(% (aye) ~s (1-4) -2 Ge Problems Find 2 ~ transform Of Ike Seliowiny fay « & Ek” © mH! WO nm © MH ae tw & a" i nt @ n ed n+l ae 7 Ta ete e(ay re (2) Heve K ig a Costant.( ZokI= Se rn = K (1d +(2)° Sate Ua) os ® zlcwor je = Ger oh 2 S 2)" sing eer =(tk yy ao 2tk + Zz © Zine = zie) + 2b) = Ep" =e = 2+ 2(z-1) aa SZ E> 2 @® Zl )- 2[y >] =-#¢ [zo] “8 les) - ~2 f epee ale} e-pt > oe [epee] + ee © Zion }- Zz l[t+er') =Zfn) +a Zin) +209 2(z+1 2H) 4 + Ze = (2-08 e* 5 ZI® Zit) 2. z et Ey Bey ze (dy GY = ef “ on =! en ca 7 (m4) 7 zZ+Z +2 ® 2ibj- 22. 74 2 cera (Eyre - dg (id eee (ee a vey) zl See yy floraee) t+ £( £)+4GY We a. “J G) Woe thet 1 2 LL nan) n - ¥TaheJ- ZlJ-2 ee) pea eat =) Ww Zz] [Go" ve a cot = eile ayes ()--= 2”Problems Find transform of tke -follanteg (a) Gssne, ) Smne ©) a” tsne @) ar Ainnd fo dsm =) Awan z 2 Solution We Kaas tat 2 Lat)= goa (ays pub az e'® Zn ZUM = se” ropes iar) Gas ri Ane 2 eoriAne) 4. Sapiiiew Gesyniaie z (=-ws8) 4 iz Smo @ ¢iAcae] = Z| 4 (2 wse)* + site = zle-we) 4g be ee Haz se +} Ze ge sO +) Equate veal aud imaginary, Parts, we geb Z [ tosne} = 2(2- ose) _z2_ az tse +1 EZ | Anne) = 2 Awo “Poke lore +1 (© he kwo that Zao P= Fle)= 2lP) x [an corne } = Zone) 7 G (2-450) } za-az so HL, = (ae) (z2\t—ale)eaerl alnv (ea cos) ze paz bo80 a @ gla Bion | > 2f Bune}, x - (z Smo = = Smo (2-2 sso + 1 = az Aue 2 a BEE gaz wb tae © Wwe kmow tat Z [wsae]= _2(=— 498) 2 -azoot) Pak O=z Zl ws) = Be (PB) we Kknowo Rat Zl Bure] = eine zt dz ose +)Factorial Poly moma! 7 ett a? =n A? 2m (n-1) =m (net) (n-2) gpm j. 20g. Z-1 Z[Wr): 2lnJ= je Z[P]- 2[atraj) = 2lv)- ald ~ a, “ Zfa®j= Jk 2 (2-p*" TEnverse Zo transform Tope-1 + Partial fraction Melied Slept Given that Fle) Write dom Fle) z T » Perform Partial Fractions Ser a) Step 3 Muley z nd Find inverse Z-ty, Nee Z[BJe Fe) > He ZT Fe) Fore Llewne, rua inverte Z—- transSorms . w& cae cares 2 -a)(z-b) a m 22 it) ae ze (2 -)(2*41) (20.3) (240° (z40-4)lo Le Alea) + B(e4) (963) TET RY t= A (2-2) + B(z-) = 4 tL zi z-1 Zak F2)c -2 +2 z+ 2-2 z(*)= eee a e2- Zz fe ALAS -21A) fx = 2%-1 {b> Lise) Fle) = zr (2-4) (2-4) Fle) eA +e ee ae eee~ Alz-t) + Blz-a) ze A (2-b) + B(z-4) Pat zea > haw a-b feb zoek => pl 4 O-b a i ob | a-b ea wb 2-6 Flz) = a = seaee! = ab zoe a-b 2b fa = AL Zz —_> z zl J an “4a a-b z-b Fn = a a® — + i" airy ae an-k ak © Flz)= az 2p) Fe). 2 ~ A+ Bete z Sera ea ete = een ZA art 2=n(2r0 + (B22 (2-) Pub zal me Ra AA > Equote coePRiccent Of 2 Fe. 4. - (et cf = Zr ft? = = — eo |Bae t= Se a oss e 7 (Db Faye 2let eet Fe) J z+) = AL + BETS aH Gayfern 27! 2+ eye A (2D 4B2 49) (2-0 Pat z=) @ aA > [ret] Eqpate Oe G 22 OF Ata Equate vy» Cust tem |= A-—¢ {C=O Fle) _z z Zo Sh Flay. 2 — 2% Zl ay gre (— sae z © Fle= 2(s2zt) (2-0-2) (240-4) Fla) 0 gz+1 A +8 Zz Poa eae ee GG yee ee eae Pb 2202 => Oban lb D AE fut zo—o4 => Be £ Fle) | | +4 eee Ba 8 2-02 Zto-g Fle)- & _= $i = 2 2-02 5 Zt04 fn = B (oa) te (oaUnit pub eel > 2= BY) > Be ee eee 7 Co oP) 2 -b b+ +3 P-anuene a 2 2-1 2 2te Fiz) = —-t 4+ —~ +2 2 ad =-! 2 242® Ble) = e+ 4 &@ 1a)l=-p FO Lote 2 APB yp =. (243) (2-1) = zr3 2-1 ate g = A Sta) (2-)) + Be (2-1) +¢ 2 (243) Pub zzo =p [A= - 4/s| pen [EZ SEL Pb ees > ars \ 5s 4 Ia re FS - ~£4 tp ey F 25 Eee neues Bo 2 +5 Fiz = 4 + 3. = iter eeeres + 32 (3) +5 fee -t & BNE (O Fled= 22 3™ wos=rlo Fl) = 2-3 ._A +8 is E-s)(zt2) =F TF z-3< A (z+2)+ B(z-5) nee Pt z=--2 2 Be S/y fe . 2 +s 4 = * YY z-s 7 z+e = 2 WZ sz Fle) Bee eee eee = B22 (sy + Cay2 (dd Fle) < z ey7z2 Fe Bees eee eee eee =” ples) re Eye Zt = A(zta) +B (= 45) Pat eas => [A= Sf Pb ze -2 =[e=-%| Note, Fable Bind 2 Lesa | Fl) \ Ee ere el Er ect ‘- (ea2(eta)* ee Bee E* te aletay + B (2-2) (2434 ¢ (2-4) fuk wear => f= 254 wo [a= bee trae -s @ [e=nid Egat Coff gf 2? : on hte ol Bee J -. FRY. See eee 2 3s S22 bs BH S Gy) Preset ee ott eee 25 Sor eae ras as SE ype foe te (2%- Gay) -E nbarobs Lew Find 37a 7] zZ Laer) air Jove Mebiod se). z 7 si¢aet 17eta ee Is 27-14 2* is Ee — 45 27 +30 =z + 2) 274 Boze c 7 7 7 ret fee gaara artis ete... Beta a hate herr ate fret f.23 fge7 eeeProllemt, For difference eyration foe tee Polewing: (> U2 Ratt Bis Tne A+eas Sl. (a) fe = A 2% + B(-3)" —— © Got = A oot! 4 B(-3)"! (ons ak at — 3B (3) — @ no Cpr 2 = A 2% + B (-3) (fnr2 = 4h 2 +4 B(-3)" — @ Fon 0, B wd © Yoo 1 4 OP eee eoteeeeet | te fare + 4 my C18 HIE) oes (5) + aes (-8) =? “fate + fan —b =o ieee eeepc eee eeece reece an 2 BBE B (on) 3 Anes = 3A a" + alan) BS — @ nro = 94 ah + 4 (ner) Ba — @ “ph 1M 2 “pa Mor + Tee? han 3 Blan) |=? atheovem 7 | Sane © ze [ri fo ho. fou | » VF} = = Fm oak oH asf ate 2 or Pub M+k=™ Note Zl PJ = FO Z [Pad = z [re -f) [fare J= 2 LF -k fi] Protons Solve In falling different equations USi“g ~ bremsform. Ca) Ung +Un= (& Grn — 3 2, dor! () “nea ~ 2 for + 2 Yao» Daeg = Yat Yar erry We! 0 Form difference few for Pilenacel Sey. ar cite solute Iie Z — tons form. 4 Us =o 20,14 (a) Une t Unet , Uo=e Zl Ua d+ Zl) 20) z[ u(2)—Us) + Uz) = % Zz-t (241) V>= Zz Uy 2 (exile) Vie 4 AL py Be = Ale B(z-1) = "Gop 2-1 ZH Gyr) t= ater) +2 (2-0 Pe zoi > 1s 2A Pub ze > L=-28 > [Behe 2. U2 2 Lb Lt 1 foal 2a 2-1 2 +1 Vlep=e + 2 —+ 2 & eH1 2 eer Me > £C-ey") @> “Gov —-2% = 2, y, =! Blow) —2 2l% I z[a) zlytey-%) ~8yl)= ser (2-2) Yl) ae ee Zane = vo-az Tt? epee z-2 yid= 2 =z -2G-) (2-2)(=-2) (2-2)(2-3)yz) JE 2 ert EEA ® 20 (2-2) (=-4) 2-2 Sos = Ales) +e (#4) (2-222) zeic A (2-8) +B( 2-4) Pe z22 = [A= -! ht zea > [B22] Yn = a. (3) = 2% (> Save Ynys — 3 %fon 4 2yg co, Soon He! EL Yar) —3 ZL) + 2zL mJ =0 2? [ y(2) ~ % -4) _az2lye-%) F2y@qe° (2-32 ty) YG) ylz)=_ 2 2 zie eats ap z 4 i - a We ZB Eyer. \* 2 -) Refer Page 0. for Coneplete Abtiver.(dO, 1, 2, 8, SB, IB, at Gnee = Ut Mr 7 Mo 20, Yet “ave ~ Yner ~ Yoee 2 [Yae) - EL tn) - 2b) 2 e2[yle)-% - 4%} _2[fy@-%} 7° @- z-1) yz) —2 =° yi2) = Ze z2-2-1 Y= = 2 gee? “EStEW a ee z ylo . | - A - +B (2) l --: We. tp eh yloe —- 4-7 a, 4:22 p Problems Solve |Ke Flowing wing 2 ~ trovsferr Yoni, v=o (Nov 2005) 4 Uap FAM TOY Coy Gore” Yarn + Fel Y= % =P © ora 7 V0 on Mowe, WS! GUase — 2 08% Mor Un =o, qlee eolution eslubion (0) ZI eet —4 Zt le + elvee 2 Lye -%— “| _4 2[yter- He] +4 Wled=0 zo a zQ (2-42 re) yle- = +f yl2) = w-4z pe t4 Y2 ~ 2-4 Ze —_—~ (2-27 zeae Ale-20 + B® par nos» [EES] Equde Weff- gz: eA WZ) _ I —_2 z zk ea Yi2a= 7 - a = zoe @-a)?SCE 22 ( tn t+ Yn =1 , You Y=o ZL) t+ Z0%]> 2b) (1) Me a i= By eG Fy (2= 2 , (e-p(2) > & wh + Bete T= EG) Fa SH J= ACD +(B=te) (2-0 Pab zat => [Aa Crate coeffieent G 27: Os Ate » » Yle) Const. berm 2 tft - ex | yo. 2 (2 ~~ 35) a me b(t bss OH _ Ante) Oo Me — Ya = 2 | Mone, Wel Zee] — Zl) = BL") eT ye- ew] ~ Ye = = Sayye-e = = (22-0) yled= zat Z(> Yos2 =r 2 He = (2-2) (221) | = A(et!) + BC#~2) Pt 2-2 > [Azle Pol zat > Bet Unger = 205K Ung + Un =o, Yo=l, Wea bord Z 1 Mars) — 2a ZlUnn] + Z 1%] oe 27[ Ulz) — Yo -4 J —2tosa 2 [ Ulz)~ue) tule) =0 (2° a2 Usk 41) Ulz) ~ 2° 2 WK $42 CHK =0 Zl]: Ulz) = 2*~ = toe zr azissa + Un Corned. _ Problem Fd z'[+¢( (5) st ged a Joy (2-0) ~ bey (244) Wwe Kmow a alm -* 2A a-zZ are hep (20> ]Z[ohj= = z Zrb oe eine z[ Sz) ~ Zz" 4] nfr- (by — a’ n Try Yor SelP Solve Ire along Using trams (a) Umgo —7Unp + 12 Un = 2°, Yeyno ins: 201 3° 4 4™ z > Fea) +3 Fla) — FF (ara) 0, 174 oven Vat ftoy=3, P=-2 Noles Wwe rewrite by chomping 1 inte 42 Ly, + 3 dun — 4 faze, Pons be -2 Pina, fn 2 + (49° © “Gare —# Yan + 2% = 2.n*, Yur =D boas B+ 5 3" 2° n?¢e8)2b Tnvevse 2- bramstorm Sng vesidne,_Lechnige fimy = -L § ft Bde = one \ F(z) dz é ami c not = Sum Gall residues of fiz) Zab ts poles Notegyrp za is @ Simple pole oF Pole af order | Wer Ro Die (2-0) Fle) zoe (iy If zea is @ Pole of order m thew get dh am Se" Fees} “11 zee deo _ 2_z2+a) Pro es by z(etetar Previews (a) 2 ae w 2 em(=-9 Hy z* © gp attte | @ 2° oa) e-» oat eee era ees Sabie (ay 2 Ltsce) fie { Pree a ele on jee 2ne ple 2 (@-ale+) Pole are SEabeey Re Den (2-4) ent : net z36 (2 fe) ab Ree Dim (ze) SM are (2 -a) (2-4) ab Pind = Jam 4 all ve si dunes, amet Pee a-b gop ecto (zhane tA) (2H) (24% fine Lf zitoz) 2h 4g, aw Jen) (2-)* ek mre gly gz Saleen cea ee (2H) (2 3)" ee ze oo pg az" (24) (2-)* : The por ane Ze =U) Rie be (en) (2% 2 rae2") ot En (e-)* =k fem cot 2c) = (4% [ cot (-1) +2] = (" 428 Mat Wwe know L de ou Se" prod Re Bera gent (ma)! Here m= 2 (pole of order 2) Ab Z=! eras a) R 2 dm ny" Ee 271 cee (2+) (2-)* ede do ) ome oP 4 az” zor dz PEE ee eee eP Eee zt = Af Cemfetion eset] (24> Pee eet oe anna e (2n)* = £ [Ors -6n) tan) —£ (1 td oa Lf anti | -+ =n (a) = (itn t 2g nee 2 1 Pita) = + | Aztee 3M ani (ez)? at an a AaZM+ AZ gl an J. =ene ty Be, He fetes t (2-2)? | aA 222 {2 i el Ls df alten 2" +40 = 2 zor de See ee 3 Le L an (an) at 4e a-1p a J m1 a nn = n(n) 2 + n(n) 2 soe [ae + eI Pray = nm 2” ob 7 (en a Foo Lf fm 2 de = t. a 2rtl de ant J 2 Gra(244) Fley= 2"! Ene) The eles ome B= 2, #220 Re te (era Zi Zo-2 (epee Re = fas (e~2i) ae StS feaiyett He (2+) (ep) (=-2i) “ai (2921) = 2m 4 ) gilt = 2C1-i) 4" le n = 2" (2) (ws +i5mE) “e = 2° (-) (tos x et Au) e ade (eee) 2" Re fas OO reall ae (—4') @-2i) = 2 it (4 8 2 = 28 (ety 0" g = at (ine) gE) e Fta) = oF + 2 (set Ac ) = Rte +RAl Recall likat (asin = [7 lose wine) = yn (ws oe Sma) Whe re [att be o = tac! (2) ge de [eo peer (2-cHJLe+n) = ey” Cust) (-140)* Frere at eet a Lin (att pe de + sa Re oe at) E- oy fe- aay ler) LL Cirid a-™ 2Bz. Cui: GEL tx(n-Z) 94 (™§) = vz)" (4% ann +t Am ast) n Ci" = (EY (wan 0g = 2)" (0s an — 1 An sat ) Rte = Le "hs p Avr 1 Ry Ln) 2 (wsann re 4 on ) a ey rs ( sear -i Ansan ) Sy 2 (wornx An?) Initial Value Weovem rP gf fj Fl) Jrine $a = YF No Za Rad’. we wm that ZLHJ= Si 2” rine bth thee Zz 2 Dr pfay 2 De Fre Be) zo zoe =f ode No dws Be ae Fle) noey initial Valve theorems for the Folionng (ay a® (by ma” Solution fay deo p, 2 Do pe) no iodnauee Baz Vim gt 2 are n2o0 le die fe(e) = bie 2[ar] ~ he 2 =a Za etd elt 238 [La lus Dat pg 2 Ine na = 634 Final Value Meevew If Z[fu}~ te) them Shun ieee Qui (2-1) Fe) Nao Proof. ase enove Teak 70 Sande z[rt- &) zl hj; Fle) Subtracting, we jet fe Fte - fh = Z [fe - ZTAJ = 5 (Sen - RE Taking Limit as =>! A [e-) Fle) ~f = E( (Fon - Fe) = fob trh-At + fa Sie fo + ht el + Ban - fe be ts 7) 4d. (e-Fla-f = Pn - fe (2-1) Fle = 7 Fu3S Feroblew, : F Vewi fy Fal Value Weoven fr fen Sel Zn]. Fle) = Las (F=1)2 Wee ny = So fee Beis Ae (eyes, = de 1) = a de €- D> - ds 2 => 2) = 0 "nee f= Je (= -1) Fle). Comelnien, The convelution of two Seqrenna { fa3 and {fn} ts denoted by fn In a i ww) F(n-xv) (Casual Sat te = Zs £m 7a ase 7 s $tey Flav) ( Bilaert ) Bilatere| form “"" fatgae 2. FO JH tan Y= 0 tote 3p T is the Anwntling Pered ip 4 FH # (b= = $e goer Nie Z[h]- Sf 2 (bilateral) n=36 TF Zlfa] = Ree) ond Zl Go]= 4 Mew ZlGrxqnd= Fe) a Proof ye Know that fa % Qn = St Feo yor") Yo -0 Zihen)- S Grew a = (= $v g-r) ) =" nea \ Tene id 8 = = fm 3S fon =" v= 08 N=-co Pub n-yem = NaThm When naa => MA —o » neh MEO B i: oe = 5S fm Bt” aoe) hoe =o : S44 z=") FS fe =) (i yoo = Fle) Glz) Zl foe Gol = Fle) =4 37 Nee 2 [re aes 2 fe gian v=0 Problema Find Ine inverse 2 bransfeon Using Convelaction lteovens Canis Persie ced steed ie | 16) eee (@ +a)* (2-2 (2-2) (Az D424) Solubion ol e = Saal 2A a We know Thal zz = (ave fn Hee fre Jaz (-a)" Z" [ee Ger] = 3S, fe jo) Y=. = Cay (Has Yeo x n -St~ = Car ! Zz Le5.] = (nn) (a Ce zZ eatw | Zz ‘lax iin aa he bows Mat FTE Jaatek Z [Ateze, 2 ae (c-aeay )* 2 7 ee f (ete + (By) We enema lat bY bem to ten b= en a-} (4) ae a -1 By | nH be att Mt pes eee ptt (a-b) = amon ‘ i " 2 [sone Tew | rete) he Know Wat 7! ae J= a (4)*= dn Pl eee 38Play fq) ZO ea 4 SEY CY ote2 a) if ere '-(-3) -4 fe (-coryy) a 2(5) + (by B29 Fate el ere) cee Find Zz Convolrlinn Weoren 4 eli rR] -2ida 4) -20G" "GY EZ -slZe} 2-4 =(ty_ (4y40 dependent Seqronee 0, T 27, BT)--9 MT where Tis Called The Soowepling Pevied. Tt is Clea Inat t=nv Problems Fred the Zo transom af te fallow (ay Et WH Coswk © + ( t* © aero ® wt QD sucerr) WD ef) ww else Solution (9) Zé sot -2{ é aorr] -2 te) = oz a ee 2{a =) (® Ff wot] = Ef tavonr J _ z(z-tse) eae z | wan] © pr aae cse +! — Pur O=loT z (2- ts wT) zl (swt |= zrt—az wseT +1 © Zftl- zf ur] -TrZzl)} = Ta — (- .z[ty-te, [r= desAe w zp ue Zio’) = 1 Zin’) 2 2CzH) (2 -y* e) z ( ert m]. eo 2 pet} = et 2[e") =@ 220") QD Zfewrej= Zl le wraty £ aby +4 else] z +k z& - Wsar ) a eo 2 2-\ ar—az ws2Ttt (Dz [ Sin (ert) ] = 2? { Sunt lest + lest SAT] ost 2 Aunt) + SAT Ef usar] 4+ Smt. 2(2- oT) fost Z SraT gaazesst! pigs mst +! az Sint ee az ot +hWw zlam e"”) a - & 2frne = é'Z [ar evet env) + apace) + Te eer) - fetal ele ez , Te =, © zee ~@- ee” = v2 yiguasLiaed eee (et = ye + TF (ee = Tz et EneEraeenC a zeT—1) +zZet Zz [arn orn] = bey ro) zl ety: Zz pe") =a cer’) espeeee . es a fatten + Zo ftmar—iinat) 7 z[(2-csar) “toner = a (entaan) -¥ ©") & ~ aT)? + Surat & teat BeatCosne Sinne a tosne a” Sinne wf (2-1)* sanewennaes pecan (2-* az (@ -a)* z(z-Gse) eee eee Zz - 22s +1 2 Sind 2? 22 tsO+1 z(Z2-ats68) 2*— daz se +a> az Sind wz daz OS6 +0>REFERENCES 1. T.K.Manickavasagom Pillai, S. Narayanan and G.Ramaniah, “Advanced Mathematics for Engineering students, Vol-III, Viswanathan Publishers, Chennai. 2. Egingard Muth, Intergral Transform and its applications, MeGraw Hill Publishers, New York. 3. T.Veerarajan, Engineering Mathematics, Third Edition, Tata McGraw Hill Publishers, New Dethi. 4. P.Kandasamy, K.Thilagavathy and K.Gunayathy; Engineering Mathematics, Vol-IUI, Sultan Chand & Company, New Delhi. 5, R.Muthukumaraswamy, Lecture Notes on Z-Transform, Old version, 1991.