• Home
  • Textbooks
  • Higher Engineering Mathematics
  • An introduction to z-transforms

Higher Engineering Mathematics

John Bird

Chapter 79

An introduction to z-transforms - all with Video Answers

Educators


Chapter Questions

01:24

Problem 1

Determine the z-transform for the unit impulse $\left\{\delta_{k}\right\}=\{1,0,0,0, \ldots\}$
The z-transform of $\left\{\delta_{k}\right\}$ is given by:
$$
Z\left\{\delta_{k}\right\}=F(z)=\sum_{k=0}^{\infty} \frac{\delta_{k}}{z^{k}}=\frac{1}{z^{0}}+\frac{0}{z^{1}}+\frac{0}{z^{2}}+\ldots=1
$$
i.e. $\quad \mathbf{Z}\left\{\boldsymbol{\delta}_{k}\right\}=\mathbf{1}$ valid for all values of $\mathrm{z}$ )

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
02:54

Problem 2

Problem 2. Determine the z-transform for the unit step sequence $\left\{u_{k}\right\}=\{1,1,1,1, \ldots\}=\{1\}$
The z-transform of $\left\{u_{k}\right\}$ is given by:
$$
\begin{aligned}
Z\left\{u_{k}\right\} &=F(z)=\sum_{k=0}^{\infty} \frac{u_{k}}{z^{k}}=\sum_{k=0}^{\infty} \frac{1}{z^{k}} \\
&=\frac{1}{z^{0}}+\frac{1}{z^{1}}+\frac{1}{z^{2}}+\frac{1}{z^{3}}+\frac{1}{z^{4}}+\ldots
\end{aligned}
$$
i.e. $\quad \mathbf{Z}\left\{u_{k}\right\}=1+\frac{1}{z}+\frac{1}{z^{2}}+\frac{1}{z^{3}}+\frac{1}{z^{4}}+\ldots$
Using the binomial theorem for $(1+x)^{n}$, the series expansion of $\frac{1}{1-x}$ may be determined:
$$
\begin{aligned}
\frac{1}{1-x}=&(1-x)^{-1} \\
=& 1+(-1)(-x)+\frac{(-1)(-2)}{2 !}(-x)^{2} \\
&+\frac{(-1)(-2)(-3)}{3 !}(-x)^{3}+\ldots \\
&=1+x+x^{2}+x^{3}+\ldots \text { valid for }|x|<1
\end{aligned}
$$
Comparing equations (1) and (2) gives: $\mathrm{F}(\mathrm{z})=\frac{1}{1-\frac{1}{z}}$ provided $\left|\frac{1}{z}\right|<1$
$\frac{1}{1-\frac{1}{z}}=\frac{1}{\frac{z-1}{z}}=\frac{z}{z-1}$ hence, $z\left\{u_{k}\right\}=\frac{z}{z-1}$ provided $|z|>1$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
02:26

Problem 3

Show that the z-transform for the unit step sequence $\left\{x_{k}\right\}=\left\{1, a, a^{2}, a^{3}, a^{4}, \ldots\right\}=\left\{a^{k}\right\}$ is given by $\frac{z}{z-a}$
The z-transform of $\left\{x_{k}\right\}$ is given by:
$$
\begin{aligned}
&z\left\{x_{k}\right\}=z\left\{a^{k}\right\}=\sum_{k=0}^{\infty} \frac{a^{k}}{z^{k}}=\sum_{k=0}^{\infty}\left(\frac{a}{z}\right)^{k} \\
&=\left(\frac{a}{z}\right)^{0}+\left(\frac{a}{z}\right)^{1}+\left(\frac{a}{z}\right)^{2}+\left(\frac{a}{z}\right)^{3}+\left(\frac{a}{z}\right)^{4}+\ldots \\
&=1+\frac{a}{z}+\left(\frac{a}{z}\right)^{2}+\left(\frac{a}{z}\right)^{3}+\left(\frac{a}{z}\right)^{4}+\ldots
\end{aligned}
$$
Comparing this with the series expansion of $\frac{1}{1-x}=1+x+x^{2}+x^{3}+\ldots$ which is valid for $|x|<1$ i.e. equation (2) above, shows that:
$$
\begin{aligned}
F(z) &=1+\frac{a}{z}+\left(\frac{a}{z}\right)^{2}+\left(\frac{a}{z}\right)^{3}+\left(\frac{a}{z}\right)^{4}+\ldots \\
&=\frac{1}{1-\frac{a}{z}} \text { provided }\left|\frac{a}{z}\right|<1
\end{aligned}
$$
Hence, $\frac{1}{1-\frac{a}{z}}=\frac{1}{\frac{z-a}{z}}=\frac{z}{z-a}$ and $\mathbf{F}(\mathbf{z})=\frac{z}{z-a}$ provided $|z|>|a|$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
04:00

Problem 4

Determine the z-transfom for the. unit step sequence $\left\{x_{k}\right\}=\{0,1,2,3,4, \ldots,\}=(k$, and show that it is equivalent to $\frac{2}{(z-1)^{2}}$
The $z$-transform of $\left\{u_{k}\right\}$ is given by:
$$
\begin{aligned}
Z\left\{x_{k} \mid\right.&=F(z)=\sum_{k=0}^{\infty} \frac{x_{\lambda}}{z^{2}}=\sum_{k=0}^{\infty} \frac{k}{z^{k}} \\
&=\frac{0}{z^{0}}+\frac{1}{z^{1}}+\frac{2}{z^{2}}+\frac{3}{z^{3}}+\frac{4}{z^{4}}+\ldots \\
&=0+\frac{1}{z}+\frac{2}{z^{2}}+\frac{3}{z^{3}}+\frac{4}{z^{4}}+\ldots
\end{aligned}
$$
It was shown earlier, equation (2), that
$$
\frac{1}{1-x}=(1-x)^{-1}=1+x+x^{2}+x^{3}+\ldots
$$
Now $\quad \frac{d}{d x}\left(1+x+x^{2}+x^{3}+x^{4}+\ldots\right)$
$$
=1+2 x+3 x^{2}+4 x^{3}+\ldots
$$
and $\frac{d}{d x}\left[(1-x)^{-1}\right]=-(1-x)^{-2}(-1)=\frac{1}{(1-x)^{2}}$ using the function of a function rule,
i.e. $\quad 1+2 x+3 x^{2}+4 x^{3}+\ldots=\frac{1}{(1-x)^{2}}$
Comparing equations (3) and $(4)$ shows that by multiplying $F(z)$ by $z$
then $z F(z)=z\left(0+\frac{1}{z}+\frac{2}{z^{2}}+\frac{3}{z^{1}}+\frac{4}{z^{4}}+\ldots\right)$ $\quad=1+\frac{2}{z}+\frac{3}{z^{2}}+\frac{4}{z^{3}}+\ldots=\frac{1}{\left(1-\frac{1}{z}\right)^{2}}$
$$
\begin{gathered}
\begin{aligned}
F(z)=\frac{1}{z\left(1-\frac{1}{z}\right)^{2}}=& \frac{1}{z\left(\frac{z-1}{z}\right)^{2}}=\frac{1}{z \frac{(z-1)^{2}}{z^{2}}} \\
=& \frac{1}{\frac{(z-1)^{2}}{z}}=\frac{z}{(z-1)^{2}} \\
\text { Hence, } \mathbf{Z}\left(x_{2}\right)=F(z) &=0+\frac{1}{z}+\frac{2}{z^{2}}+\frac{3}{z^{3}}+\frac{4}{z^{4}}+\ldots \\
&=\frac{z}{(z-1)^{2}}
\end{aligned}
\end{gathered}
$$
From the results obtained in Problems 1 to 4 , together with some additional results, a summary of some 2 : transforms is shown in Table $79.1$, on page 828 , which may now be accepted and used.
Here are some further problems using Table 79.1.

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
00:58

Problem 5

Determine the z-transform of $5 k^{2}$
From 4 in Table 79.1, $Z\left\{k^{2}\right\}=\frac{z(z+1)}{(z-1)^{3}}$
Hence,
$$
Z\left\{5 k^{2}\right\}=5 Z\left\{k^{2}\right\}=\frac{5 z(z+1)}{(z-1)^{3}}
$$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:15

Problem 6

Determine the z-transform of
(a) $3^{k}(b)(-3)^{k}$
(a) From 6 in Table $79.1, Z\left\{a^{k}\right\}=\frac{z}{z-a}$
If $\mathrm{a}=3$, then $\quad Z\left\{3^{k}\right\}=\frac{z}{z-3}$
(b) From 6 in Table 79.1, $Z\left\{a^{k}\right\}=\frac{z}{z-a}$
If $\mathrm{a}=-3$, then $\boldsymbol{Z}\left\{(-3)^{k}\right\}=\frac{z}{z--3}=\frac{z}{z+3}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:04

Problem 7

Determine the z-transform of $2 e^{-3 k}$ From 9 in Table 79.1, $Z\left\{e^{-a k}\right\}=\frac{z}{z-e^{-a}}$ Hence, $Z\left\{2 e^{-3 k}\right\}=2 Z\left\{e^{-3 k}\right\}=\frac{2 z}{z-e^{-3}}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:08

Problem 8

Determine $Z\{\cos 3 k\}$
From 11 in Table 79.1, $Z\{\cos a k\}=\frac{z(z-\cos a)}{z^{2}-2 z \cos a+1}$
Hence, since $\mathrm{a}=3, \mathbf{Z}\{\cos 3 k\}=\frac{z(z-\cos 3)}{z^{2}-2 z \cos 3+1}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:23

Problem 9

Determine the z-transform of $3 \sin 2 \mathrm{k}$
From 10 in Table 79.1, $Z\{\sin a k\}=\frac{z \sin a}{z^{2}-2 z \cos a+1}$
Hence, since $\mathrm{a}=2, \mathbf{Z}\{3 \sin 2 k\}=3 Z\{\sin 2 k\}$
$$
\begin{aligned}
&=3\left(\frac{z \sin 2}{z^{2}-2 z \cos 2+1}\right) \\
&=\frac{3 z \sin 2}{z^{2}-2 z \cos 2+1}
\end{aligned}
$$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:32

Problem 10

Determine $Z\left\{e^{-2 k} \cos 4 k\right\}$
From 13 in Table $79.1$,
$$
Z\left\{e^{-a k} \cos b k\right\}=\frac{z^{2}-z e^{-a} \cos b}{z^{2}-2 z e^{-a} \cos b+e^{-2 a}}
$$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
04:00

Problem 11

Determine the z-transform of
$$
2\{k\}-3\left\{e^{-2 k}\right\}
$$
Now, $2 Z\{k\}=2\left\{\frac{z}{(z-1)^{2}}\right\}$ from 4 in Table $79.1$ and since $Z\left\{e^{-a k}\right\}=\frac{z}{z-e^{-a}}$ from 9 in Table $78.1$, then $Z\left\{e^{-2 k}\right\}=\frac{z}{z-e^{-2}}$
Hence, $Z\left(2\{k\}-3\left\{e^{-2 k}\right\}\right)=2 Z\{k\}-3 Z\left\{e^{-2 k}\right\} } \\{=2\left\{\frac{z}{(z-1)^{2}}\right\}-3\left\{\frac{z}{z-e^{-2}}\right\} \text { from equation (5) }} \end{array}$
$$
\begin{aligned}
&=\left\{\frac{2 z}{(z-1)^{2}}\right\}-\left\{\frac{3 z}{z-e^{-2}}\right\} \\
&=\frac{2 z\left(z-e^{-2}\right)-3 z(z-1)^{2}}{(z-1)^{2}\left(z-e^{-2}\right)}
\end{aligned}
$$
$$
\begin{aligned}
&=\frac{2 z^{2}-2 z e^{-2}-3 z\left(z^{2}-2 z+1\right)}{(z-1)^{2}\left(z-e^{-2}\right)} \\
&=\frac{2 z^{2}-2 z e^{-2}-3 z^{3}+6 z^{2}-3 z}{(z-1)^{2}\left(z-e^{-2}\right)}
\end{aligned}
$$
i.e. $2 Z\{k\}-3 Z\left\{e^{-2 k}\right\}$
$$
=\frac{-3 z^{3}+8 z^{2}-z\left(2 e^{-2}+3\right)}{(z-1)^{2}\left(z-e^{-2}\right)}
$$
3. $3\{\sin 2 k-\cos 2 k\}$
4. $2\left\{(3)^{k}\right\}+4\left\{(-3)^{k}\right\}$
5. $\left\{k+e^{-k}\right\}$
(b) First shift theorem (shifting to the left)
It may be shown by the first shift theorem (shifting to the left), that
if $\quad Z\left\{x_{k}\right\}=F(z)$
then $\boldsymbol{Z}\left\{\boldsymbol{x}_{\boldsymbol{k}+\boldsymbol{m}}\right\}$
$$
=z^{m} F(z)-\left[z^{m} x_{0}+z^{m-1} x_{1}+\ldots+z x_{m-1}\right]
$$
is the z-transform of the sequence that has been shifted by $\mathrm{m}$ places to the left.
This theorem is often needed when solving difference equations (see Section 79.4).

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
03:09

Problem 12

Determine $Z\left\{3^{k+2}\right\}$
Since from equation (6),
$$
\begin{aligned}
&Z\left\{x_{k+m}\right\}=z^{m} F(z)-\left[z^{m} x_{0}+z^{m-1} x_{1}+\ldots+z x_{m-1}\right] \\
&\text { then } \quad Z\left\{3^{k+2}\right\}=z^{2} Z\left\{3^{k}\right\}-\left[z^{2} 3^{0}+z 3^{1}\right] \quad(7)
\end{aligned}
$$
From 6 of Table $79.1, Z\left\{a^{k}\right\}=\frac{z}{z-a}$ thus
$$
Z\left\{3^{k}\right\}=\frac{z}{z-3}
$$
Hence, substituting in equation $(7)$,
$\begin{aligned} Z\left\{3^{k+2}\right\} &=z^{2}\left(\frac{z}{z-3}\right)-\left[z^{2}+3 z\right] \\ &=\frac{z^{3}}{z-3}-\left[z^{2}+3 z\right] \\ &=\frac{z^{3}-(z-3)\left[z^{2}+3 z\right]}{z-3} \\ &=\frac{z^{3}-\left[z^{3}+3 z^{2}-3 z^{2}-9 z\right]}{z-3} \\ &=\frac{z^{3}-\left[z^{3}-9 z\right]}{z-3} \\ \text { i.e. } \quad \quad Z\left\{3^{k+2}\right\} &=\frac{9 z}{z-3} \end{aligned}$
This is the z-transform of the sequence $\{9,27,81, \ldots$ ] by shifting the sequence $\{1,3,9,27, \ldots\}$ two places to the left and losing the first two terms.

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
03:08

Problem 13

Determine $Z\left\{5^{k+3}\right\}$
Since from equation (6),
$$
\begin{aligned}
&Z\left\{x_{k+m}\right\}=z^{m} F(z)-\left[z^{m} x_{0}+z^{m-1} x_{1}+\ldots+z x_{m-1}\right] \\
&\text { then } \quad Z\left\{5^{k+3}\right\}=z^{3} Z\left\{5^{k}\right\}-\left[z^{3} 5^{0}+z^{2} 5^{1}+z 5^{2}\right]
\end{aligned}
$$
From 6 of Table 79.1, $\mathrm{Z}\left\{a^{k}\right\}=\frac{z}{z-a}$ thus
$$
\mathrm{Z}\left\{5^{k}\right\}=\frac{z}{z-5}
$$
Hence, substituting in equation ( 8$)$,
$$
\begin{aligned}
Z &\left\{5^{k+3}\right\}=z^{3}\left(\frac{z}{z-5}\right)-\left[z^{3}+5 z^{2}+25 z\right] \\
&=\frac{z^{4}}{z-5}-\left[z^{3}+5 z^{2}+25 z\right] \\
&=\frac{z^{4}-(z-5)\left[z^{3}+5 z^{2}+25 z\right]}{z-5} \\
&=\frac{z^{4}-\left[z^{4}+5 z^{3}+25 z^{2}-5 z^{3}-25 z^{2}-125 z\right]}{z-5} \\
&=\frac{z^{4}-\left[z^{4}-125 z\right]}{z-5}
\end{aligned}
$$
i.e. $\quad \mathbf{Z}\left\{5^{k+3}\right\}=\frac{\mathbf{1 2 5 z}}{z-\mathbf{5}}$
This is the z-transform of the sequence $\{125,625,3125, \ldots\}$ by shifting the sequence $\{1,5,25,125, \ldots$, three places to the left and losing the first three terms.

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:43

Problem 14

Determine $\mathrm{Z}\{k+1\}$
From 3 of Table 79.1, $Z\{k\}=\frac{z}{(z-1)^{2}}$
Since from equation (6),
$Z\left\{x_{k+m}\right\}=z^{m} F(z)-\left[z^{m} x_{0}+z^{m-1} x_{1}+\ldots+z x_{m-1}\right]$
then $\mathrm{Z}\{k+1\}=z^{1} Z(k)-\left[z^{1} x_{0}\right]$
$=z^{1}\left(\frac{z}{(z-1)^{2}}\right)-\left[z^{1} \times 0\right]$ from 3 of Table 79.1
i.e. $\quad \mathbf{Z}\{k+1\}=\frac{z^{2}}{(z-1)^{2}}$
Now try the following Practice Exercise
Practice Exercise 273 First shift theorem of z-transforms (Answers on page 899)

Use Table $79.1$ to find the z-transforms of the following:
1. $\left\{2^{k+3}\right\}$
2. $\left\{4^{k+1}\right\}$
3. $6\{k+1\}$
4. $\left\{3^{k+2}-2^{k+1}\right\}$
(c) Second shift theorem (shifting to the right)
It may be shown by the second shift theorem (shifting to the right), that
if $Z\left\{x_{k}\right\}=F(z)$
$$
\text { then } \quad \boldsymbol{Z}\left\{\boldsymbol{x}_{k-m}\right\}=z^{-m} \boldsymbol{F}(z)
$$
is the z-transform of the sequence that has been shifted by $\mathrm{m}$ places to the right.

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:01

Problem 15

Determine $Z\left\{x_{k-2}\right\}$
Since from equation (9), $Z\left\{x_{k-m}\right\}=z^{-m} F(z)$ then
$$
\begin{aligned}
\mathrm{Z}\left\{x_{k-2}\right\} &=z^{-2} F(z) \\
&=z^{-2}\left(\frac{z}{z-1}\right)
\end{aligned}
$$
since $\mathrm{Z}\left\{x_{k}\right\}=\frac{z}{z-1}$ from 2 of Table $79.1$
i.e. $\quad \mathbf{Z}\left\{x_{k-2}\right\}=\left(\frac{z^{-1}}{z-1}\right)=\frac{1}{z(z-1)}$
This is the z-transform of the sequence $\{0,0,1,1,1, \ldots\}$ by shifting the sequence $\{1,1,1,1, \ldots\}$ two places to the right and defining the first two terms as zeros.

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:08

Problem 16

Problem 16. Determine $Z\left\{a^{k-1}\right\}$
Since from equation (9), $Z\left\{x_{k-m}\right\}=z^{-m} F(z)$ then $\mathrm{Z}\left\{a^{k-1}\right\}=z^{-1} F(z)=z^{-1}\left(\frac{z}{z-a}\right)$ since $Z\left\{a^{k}\right\}=\frac{z}{z-a}$ from 6 of Table $79.1$ i.e. $\quad \mathbf{Z}\left\{a^{k-1}\right\}=\left(\frac{z^{-1} \times z}{z-a}\right)=\frac{1}{(z-a)}$ which is the z-transform of $\left\{a^{k}\right\}$ shifted one place to the right.
Practice Exercise 274 Second shift theorem of z-transforms (Answers on page 899)
Use Table $79.1$ to find the $z$-transforms of the following:
1. $\left\{x_{k-1}\right\}$
2. $\left\{x_{k}-3\right\}$
3. $\left\{a^{k-2}\right\}$
4. $\left\{a^{k-3}\right\}$
5. $\left\{3^{k-4}\right\}$
(d) Translation
If the sequence $\left\{x_{k}\right\}$ has the $\mathrm{z}$-transform
$$
Z\left\{a^{k} x_{k}\right\}=\mathrm{F}(\mathrm{z})
$$
then the sequence $\left\{a^{k} x_{k}\right\}$ has the z-transform $Z\left\{a^{k} x_{k}\right\}=F\left(a^{-1} z\right)$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:22

Problem 17

Determine $\mathrm{Z}\left\{3^{k} k\right\}$
Since $\mathrm{Z}(\mathrm{k})=\frac{z}{(z-1)^{2}}$ from 3 of Table $79.1$ then by the translation property,
$$
\begin{aligned}
Z\left\{3^{k} k\right\} &=F\left(3^{-1} z\right)=\frac{3^{-1} z}{\left(3^{-1} z-1\right)^{2}} \\
&=\frac{3^{-1} z}{\left[3^{-1}\left(z-\frac{1}{3^{-}}\right)\right]^{2}} \\
&=\frac{3^{-1} z}{3^{-2}(z-3)^{2}}=\frac{3^{2} z}{3^{1}(z-3)^{2}} \\
\text { i.e. } \quad \mathbf{Z}\left\{3^{k} k\right\} &=\frac{3 z}{(z-3)^{2}}
\end{aligned}
$$
(e) Final value theorem
For the sequence $\left\{x_{k}\right\}$ with the z-transform $\mathrm{F}(\mathrm{z})$, $\operatorname{Lim}_{k \rightarrow \infty} x_{k}=\operatorname{Lim}_{z \rightarrow 1}\left\{\left(\frac{z-1}{z}\right) F(z)\right\}$ provided that $\operatorname{Lim}_{k \rightarrow \infty} x_{k}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:52

Problem 18

Determine $\operatorname{Lim}_{k \rightarrow \infty}\left\{\left(\frac{1}{3}\right)^{k}\right\}$
$$
\mathrm{F}\left\{x^{k}\right\}=\frac{z}{z-1} \text { and } \mathrm{F}\left\{\left(\frac{1}{3}\right)^{k}\right\}=\frac{z}{z-\frac{1}{3}}=\frac{3 z}{3 z-1}
$$
$\begin{aligned} \text { Now } \operatorname{Lim}_{k \rightarrow \infty}\left\{\left(\frac{1}{3}\right)^{k}\right\} &=\operatorname{Lim}_{z \rightarrow 1}\left\{\left(\frac{z-1}{z}\right) F(z)\right\} \\ &=\operatorname{Lim}_{z \rightarrow 1}\left\{\left(\frac{z-1}{z}\right) \frac{3 z}{3 z-1}\right\} \\ &=\operatorname{Lim}_{z \rightarrow 1}\left\{\frac{3(z-1)}{3 z-1}\right\}=0 \\ & \operatorname{Lim}_{k \rightarrow \infty}\left\{\left(\frac{1}{3}\right)^{k}\right\}=0 \end{aligned}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:41

Problem 19

Determine $\operatorname{Lim}_{k \rightarrow \infty}\left\{\frac{33 z^{2}-25 z}{(z-1)(3 z-1)^{2}}\right\}$
By the final value theorem,
$$
\begin{gathered}
\operatorname{Lim}_{k \rightarrow \infty}\left\{\frac{33 z^{2}-25 z}{(z-1)(3 z-1)^{2}}\right\}=\operatorname{Lim}_{z \rightarrow 1}\left\{\left(\frac{z-1}{z}\right) F(z)\right\} \\
=\operatorname{Lim}_{z \rightarrow 1}\left\{\left(\frac{z-1}{z}\right) \frac{33 z^{2}-25 z}{(z-1)(3 z-1)^{2}}\right\} \\
=\operatorname{Lim}_{z \rightarrow 1}\left\{\frac{33 z-25}{(3 z-1)^{2}}\right\} \\
=\frac{33-25}{2^{2}}=\frac{8}{4}=2
\end{gathered}
$$
(f) The initial value theorem
For the sequence $\left\{x_{k}\right\}$ with the $\mathrm{z}$-transform $\mathrm{F}(\mathrm{z})$ initial value, $x_{0}=\operatorname{Lim}_{z \rightarrow \infty}\{F(z)\}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:18

Problem 20

Determine $\operatorname{Lim}_{z \rightarrow \infty}\left\{a^{k}\right\}$
$\mathrm{F}(\mathrm{z})=\mathrm{F}\left\{a^{k}\right\}=\frac{z}{z-a}$ from 6 of Table $79.1$
and
$$
\begin{aligned}
&\operatorname{Lim}_{z \rightarrow \infty}\{\boldsymbol{F}(z)\}=\operatorname{Lim}_{z \rightarrow \infty}\left\{\frac{z}{z-a}\right\} \\
&=\operatorname{Lim}_{z \rightarrow \infty}\left\{\frac{\frac{d}{d z}(z) d z}{\frac{d}{d z}(z-a) d z}\right\}=\operatorname{Lim}_{z \rightarrow \infty}\left\{\frac{1}{1}\right\}
\end{aligned}
$$
by L'Hôpital's rule (see Chapter 8) i.e.
$$
\operatorname{Lim}_{z \rightarrow \infty}\left\{a^{k}\right\}=1
$$
(g) The derivative of the transform
If $\quad Z\left\{x_{k}\right\}=\mathrm{F}(\mathrm{z})$
then $\quad-z F^{\prime}(z)=Z\left\{k x_{k}\right\}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:32

Problem 21

Determine the derivative of $Z\left\{k a^{k}\right\}$ $\mathrm{F}(\mathrm{z})=\mathrm{F}\left\{a^{k}\right\}=\frac{z}{z-a}$ from 6 of Table $79.1$
Now $Z\left\{k x_{k}\right\}=-z F^{\prime}(z)$ from above
i.e. $Z\left\{k x_{k}\right\}=-z F^{\prime}\left(\frac{z}{z-a}\right)$
$=-z\left[\frac{(z-a)(1)-z(1)}{(z-a)^{2}}\right]$ using the quotient rule $=-z\left[\frac{z-a-z}{(z-a)^{2}}\right]=-z\left[\frac{-a}{(z-a)^{2}}\right]=\frac{a z}{(z-a)^{2}}$
$\left.=-z\left[\frac{z-a-z}{(z-a)^{2}}\right]=-z\left[\frac{-a}{(z-a)^{2}}\right]=\frac{a z}{(z-a)^{2}}\right)$ e. the derivative of $\mathbf{Z}\left\{k a^{k}\right\}=-z F^{\prime}(z)=\frac{a z}{(z-a)^{2}}$ which confirms result 7 in Table $79.1$
Now try the following Practice Exercise
Practice Exercise 275 Properties of z-Transforms (Answers on page 899)
1. Determine $Z\left\{2^{k} k\right\}$
2. Determine $Z\left\{4^{k} k\right\}$
3. Determine $\operatorname{Lim}_{k \rightarrow \infty}\left\{\left(\frac{1}{2}\right)^{k}\right\}$
4. Determine $\operatorname{Lim}_{k \rightarrow \infty}\left\{\frac{15 z^{2}+5 z}{(z-1)(4 z-1)^{2}}\right\}$
5. Determine $\operatorname{Lim}_{z \rightarrow \infty}\left\{3^{k}\right\}$
6. Determine the derivative of $Z\left\{k(2)^{k}\right\}$
79.3 Inverse z-transforms
If the sequence $\left\{x_{k}\right\}$ has a $Z$ transform $Z\left\{x_{k}\right)=F(z)$,
$$
Z^{-1} \mathrm{~F}(z)=\left\{x_{k} \mid\right.
$$
In the following problems, some inverses may be determined directly from Table 79.1, albeit with a little manipulation; others sometimes require the use of partial fractions - just as with inverse Laplace transforms.

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
00:58

Problem 22

Determine the inverse $\mathrm{z}$-transform. of $F(z)=\frac{z}{z+5}$
From 6 in Table 79.1, $\mathrm{Z}\left\{a^{k}\right\}=\frac{z}{z-a}$ hence $\quad Z^{-1}\left\{\frac{z}{z-a}\right\}=a^{k}$
Comparing $\frac{z}{z+5}$ with $\frac{z}{z-a}$ shows that $\mathrm{a}=-5$ Thus, $\quad \boldsymbol{Z}^{-1}\left\{\frac{z}{z+5}\right\}=(-\mathbf{5})^{k}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:19

Problem 23

Determine the inverse z-transform of
$$
F(z)=\frac{2 z}{2 z+1}
$$
$$
\frac{2 z}{2 z+1}=\frac{2 z}{2\left(z+\frac{1}{2}\right)}=\frac{z}{z+\frac{1}{2}}
$$
From 6 in Table 79.1, $Z\left\{a^{k}\right\}=\frac{z}{z-a}$ hence $\quad Z^{-1}\left\{\frac{z}{z-a}\right\}=a^{k}$
Comparing $\frac{z}{z+\frac{1}{2}}$ with $\frac{z}{z-a}$ shows that $\mathrm{a}=-\frac{1}{2}$ Thus, $Z^{-1}\left\{\frac{2 z}{2 z+1}\right\}=Z^{-1}\left\{\frac{z}{z+\frac{1}{2}}\right\}=\left(-\frac{1}{2}\right)^{k}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:17

Problem 24

If $\mathrm{F}(\mathrm{z})=\frac{3 z}{3 z-1}$ determine $Z^{-1} \mathrm{~F}(\mathrm{z})$
$$
\frac{3 z}{3 z-1}=\frac{3 z}{3\left(z-\frac{1}{3}\right)}=\frac{z}{z-\frac{1}{3}}
$$
From 6 in Table 79.1, $\mathrm{Z}\left\{a^{k}\right\}=\frac{z}{z-a}$ hence $\quad Z^{-1}\left\{\frac{z}{z-a}\right\}=a^{k}$
Comparing $\frac{z}{z-\frac{1}{3}}$ with $\frac{z}{z-a}$ shows that $\mathrm{a}=\frac{1}{3}$
Thus, $\quad Z^{-1}\left\{\frac{3 z}{3 z-1}\right\}=Z^{-1}\left\{\frac{z}{z-\frac{1}{3}}\right\}=\left(\frac{1}{3}\right)^{k}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:18

Problem 25

Determine the inverse z-transform of $F(z)=\frac{z}{z-e^{2}}$
From 9 in Table 79.1, $Z\left\{e^{-a k}\right\}=\frac{z}{z-e^{-a}}$ hence $\quad Z^{-1}\left\{\frac{z}{z-e^{-a}}\right\}=e^{-a k}$ Comparing $\frac{z}{z-e^{2}}$ with $\frac{z}{z-e^{-a}}$ shows that $\mathrm{a}=-2$ Thus, $\quad Z^{-1}\left\{\frac{z}{z-e^{2}}\right\}=e^{--2 k}=e^{2 k}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:27

Problem 26

If $F(z)=\frac{z}{z^{2}+1}$ determine $Z^{-1} F(z)$
In Table $79.1$, results 10 and 11 have $z^{2}$ in their denominators.

If the numerator is to be $\mathrm{z}$ in result 10 , then $\sin$ a has to equal 1, i.e. $\mathrm{a}=\frac{\pi}{2}$

From 10 in Table 79.1, $\mathrm{Z}\{\sin a k\}=\frac{z \sin a}{z^{2}-2 z \cos a+1}$ hence $Z^{-1}\left\{\frac{z \sin a}{z^{2}-2 z \cos a+1}\right\}=\sin$ ak
When $\mathrm{a}=\frac{\pi}{2}, \frac{z \sin a}{z^{2}-2 z \cos a+1}=\frac{z \sin \frac{\pi}{2}}{z^{2}-2 z \cos \frac{\pi}{2}+1}$ $=\frac{z}{z^{2}+1}$
Thus, $\quad Z^{-1}\left\{\frac{z}{z^{2}+1}\right\}=\sin \frac{\pi}{2} k$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
02:41

Problem 27

Determine the inverse z-transform of $F(z)=\frac{z}{z^{2}-7 z+12}$
Using partial fractions, let
$$
\begin{aligned}
\frac{z}{z^{2}-7 z+12}=\frac{z}{(z-4)(z-3)} &=\frac{A}{(z-4)}+\frac{B}{(z-3)} \\
&=\frac{A(z-3)+B(z-4)}{(z-4)(z-3)}
\end{aligned}
$$
from which, $z=A(z-3)+B(z-4)$
Letting $z=4$ gives: $4=A$
Letting $z=3$ gives: $3=-B$ i.e. $B=-3$
Hence, $F(z)=\frac{z}{z^{2}-7 z+12}=\frac{4}{(z-4)}-\frac{3}{(z-3)}$
The nearest transform in Table $79.1$ to either of these partial fractions is $Z\left\{a^{k}\right\}=\frac{z}{z-a}$
Rearranging gives: $F(z)=\frac{4}{(z-4)}-\frac{3}{(z-3)}$
$$
\begin{gathered}
=\frac{4}{z} \times \frac{z}{(z-4)}-\frac{3}{z} \times \frac{z}{(z-3)} \\
=4 \times z^{-1} Z\left\{4^{k}\right\}-3 \times z^{-1} Z\left\{3^{k}\right\}
\end{gathered}
$$Hence, $Z^{-1} F(z)=4 \times\left\{4^{k-1}\right\}-3 \times\left\{3^{k-1}\right\}$ by the second shift theorem
$$
=\left\{4^{k}\right\}-\left\{3^{k}\right\}=\left\{4^{k}-3^{k}\right\}
$$
i.e. the sequence is $x_{k}=4^{k}-3^{k}$
With the denominator of $F(z)=\frac{z}{z^{2}-7 z+12}$ being $\mathrm{z}$, there is an alternative, and more straight-forward method of determining the inverse transform,
i.e. by initially rearranging as: $\frac{\mathrm{F}(\mathrm{z})}{z}=\frac{1}{z^{2}-7 z+12}$
Using partial fractions,
$$
\begin{aligned}
&\frac{1}{z^{2}-7 z+12}=\frac{1}{(z-4)(z-3)} \\
&=\frac{A}{(z-4)}+\frac{B}{(z-3)}=\frac{A(z-3)+B(z-4)}{(z-4)(z-3)}
\end{aligned}
$$
from which, $1=\mathrm{A}(\mathrm{z}-3)+\mathrm{B}(\mathrm{z}-4)$
Letting $z=4$ gives: $1=A$
Letting $z=3$ gives: $1=-B$ i.e. $B=-1$
Hence, $\frac{\mathrm{F}(\mathrm{z})}{z}=\frac{1}{z^{2}-7 z+12}=\frac{1}{(z-4)}-\frac{1}{(z-3)}$
and $\quad F(z)=\frac{z}{(z-4)}-\frac{z}{(z-3)}$
and $z^{-1} F(z)=\left\{4^{k}\right\}-\left\{3^{k}\right\}=\left\{4^{k}-3^{k}\right\}$ from 6 in Table $90.1$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
02:05

Problem 28

Determine the inverse z-transform of $F(z)=\frac{z}{z^{2}-3 z+2}$

Since $\mathrm{F}(\mathrm{z})=\frac{z}{z^{2}-3 z+2}$ then $\frac{F(z)}{z}=\frac{1}{z^{2}-3 z+2}$ Using partial fractions, let
$$
\begin{aligned}
\frac{1}{z^{2}-3 z+2}=\frac{1}{(z-1)(z-2)} &=\frac{A}{(z-1)}+\frac{B}{(z-2)} \\
&=\frac{A(z-2)+B(z-1)}{(z-1)(z-2)}
\end{aligned}
$$
from which, $1=\mathrm{A}(\mathrm{z}-2)+\mathrm{B}(\mathrm{z}-1)$
Letting $z=1$ gives: $1=-A$ i.e. $A=-1$
Letting $z=2$ gives: $1=B$
Hence,
$$
\frac{F(z)}{z}=\frac{-1}{(z-1)}+\frac{1}{(z-2)}=\frac{1}{(z-2)}-\frac{1}{(z-1)}
$$ and $\quad F(z)=\frac{z}{(z-2)}-\frac{z}{(z-1)}$
Thus,
$$
\begin{aligned}
Z^{-1} \mathrm{~F}(\mathrm{z}) &=Z^{-1}\left\{\frac{z}{(z-2)}-\frac{z}{(z-1)}\right\} \\
&=Z^{-1}\left\{\frac{z}{(z-2)}\right\}-Z^{-1}\left\{\frac{z}{(z-1)}\right\}
\end{aligned}
$$
From 6 in Table 79.1, $\boldsymbol{Z}^{-1} \mathbf{F}(\mathbf{z})=(2)^{k}-(1)^{k}=(\mathbf{2})^{k}-\mathbf{1}$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
01:17

Problem 29

and $\quad F(z)=\frac{z}{(z-2)}-\frac{z}{(z-1)}$
Thus,
$$
\begin{aligned}
Z^{-1} \mathrm{~F}(\mathrm{z}) &=Z^{-1}\left\{\frac{z}{(z-2)}-\frac{z}{(z-1)}\right\} \\
&=Z^{-1}\left\{\frac{z}{(z-2)}\right\}-Z^{-1}\left\{\frac{z}{(z-1)}\right\}
\end{aligned}
$$
From 6 in Table 79.1, $\boldsymbol{Z}^{-1} \mathbf{F}(\mathbf{z})=(2)^{k}-(1)^{k}=(\mathbf{2})^{k}-\mathbf{1}$
829 ), and the method of solution is explained through the following problems.

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
02:14

Problem 30

Solve the difference equation $x_{k+1}-2 x_{k}=0$ given the initial condition that $x_{0}=3$
Taking the z-transform of each term gives:
$$
\left.Z\left\{x_{k+1}\right\}-2 Z\left\{x_{k}\right\}=Z \mid 0\right\}
$$
Since from equation (6),
$Z\left\{x_{k+m}\right\}=z^{m} F(z)-\left[z^{m} x_{0}+z^{m-1} x_{1}+\ldots+z x_{m-1}\right]$
then $\quad\left(z^{1} Z\{k\}-\left[z^{1}(3)\right]\right)-2 Z\left\{x_{k}\right\}=0$
i.e. $\left.\quad z Z\left\{x_{k}\right\}-3 z-2 Z \mid x_{k}\right\}=0$
i.e. $\quad(z-2) Z\left\{x_{k}\right\}=3 z$
and $\quad Z\left\{x_{k}\right\}=\frac{3 z}{z-2}$
Taking the inverse $z$-transform gives:
$$
\left\{x_{k}\right\}=Z^{-1}\left(\frac{3 z}{z-2}\right)=3 Z^{-1}\left(\frac{z}{z-2}\right)
$$
i.e. $\quad\left\{x_{k}\right\}=3\left(2^{k}\right)$ from 6 of Table $79.1$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
04:35

Problem 31

Solve the difference equation: $x_{k+2}-3 x_{k+1}+2 x_{k}=1$ given that $x_{0}=0$ and $x_{1}=2$
Taking the z-transform of each term gives:
$$
Z\left\{x_{k+2}\right\}-3 Z\left\{x_{k+1}\right\}+2 Z\left\{x_{k}\right\}=Z\{1\}
$$
Since from equation (6),
$$
\begin{aligned}
&Z\left\{x_{k+m}\right\}=z^{m} F(z)-\left[z^{m} x_{0}+z^{m-1} x_{1}+\ldots+z x_{m-1}\right] \\
&\left(z^{2} Z\left\{x_{k}\right\}-\left[z^{2}(0)+z^{1}(2)\right]\right) \\
&\quad-3\left(z^{1} Z\left\{x_{k}\right\}-\left[z^{1}(0)\right]\right)+2 Z\left\{x_{k}\right\}=\frac{z}{z-1}
\end{aligned}
$$
i.e. $\quad z^{2} Z\left\{x_{k}\right\}-2 z-3 z Z\left\{x_{k}\right\}+2 Z\left\{x_{k}\right\}=\frac{z}{z-1}$
$$
\text { and } \begin{aligned}
\left(z^{2}-3 z+2\right) Z\left\{x_{k}\right\}=\frac{z}{z-1}+2 z \\
=\frac{z+2 z(z-1)}{z-1}=\frac{2 z^{2}-z}{z-1}=\frac{z(2 z-1)}{z-1}
\end{aligned}
$$
from which, $Z\left\{x_{k}\right\}=\frac{z(2 z-1)}{(z-1)\left(z^{2}-3 z+2\right)}$
$$
=\frac{z(2 z-1)}{(z-1)(z-2)(z-1)}
$$ $$
\text { or } \begin{aligned}
\frac{Z\left\{x_{k}\right\}}{z} &=\frac{(2 z-1)}{(z-1)(z-2)(z-1)} \\
&=\frac{(2 z-1)}{(z-1)^{2}(z-2)}
\end{aligned}
$$
Using partial fractions, let
$$
\begin{array}{r}
\frac{(2 z-1)}{(z-1)^{2}(z-2)}=\frac{A}{(z-1)}+\frac{B}{(z-1)^{2}}+\frac{C}{(z-2)} \\
=\frac{A(z-1)(z-2)+B(z-2)+C(z-1)^{2}}{(z-1)^{2}(z-2)}
\end{array}
$$
and $2 \mathrm{z}-1=A(z-1)(z-2)+B(z-2)+C(z-1)^{2}$
Letting $z=1$ gives: $\quad 1=-B$ i.e. $B=-1$
Letting $z=2$ gives: $\quad 3=C$
Equating $z^{2}$ coefficients gives: $0=\mathrm{A}+\mathrm{C}$ i.e. $\mathrm{A}=-3$
Hence, $\frac{Z\left\{x_{k}\right\}}{z}=\frac{(2 z-1)}{(z-1)^{2}(z-2)}=\frac{-3}{(z-1)}+\frac{-1}{(z-1)^{2}}$
$$
+\frac{3}{(z-2)}
$$
Therefore, $Z\left\{x_{k}\right\}=3\left(\frac{z}{(z-2)}\right)-3\left(\frac{z}{(z-1)}\right)$
$$
-\frac{z}{(z-1)^{2}}
$$
Taking the inverse z-transform gives:
$\left\{x_{k}\right\}=3 Z^{-1}\left(\frac{z}{(z-2)}\right)-3 Z^{-1}\left(\frac{z}{(z-1)}\right)$ $\quad-Z^{-1}\left(\frac{z}{(z-1)^{2}}\right)$ $=3(2)^{k}-3(1)^{k}-k$ from 6 and 3 of Table 79.1. i.e. $\left\{x_{k}\right\}=3\left(2^{k}\right)-3-k$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
04:32

Problem 32

Solve the difference equation: $x_{k+2}-x_{k}=1$ given that $x_{0}=0$ and $x_{1}=-1$
Taking the $\mathrm{z}$-transform of each term gives:
$$
Z\left\{x_{k+2}\right\}-Z\left\{x_{k}\right\}=Z\{1\}
$$
Since from equation ( 6$)$,
$$
\begin{gathered}
Z\left\{x_{k+m}\right\}=z^{m} F(z)-\left[z^{m} x_{0}+z^{m-1} x_{1}+\ldots+z x_{m-1}\right] \\
z^{2} Z\left\{x_{k}\right\}-\left[z^{2}(0)+z^{1}(-1)\right]-Z\left\{x_{k}\right\}=\frac{z}{z-1}
\end{gathered}
$$
i.e. $\quad z^{2} Z\left\{x_{k}\right\}+z-Z\left(x_{k}\right\}=\frac{z}{z-1}$
and $\left(z^{2}-1\right) Z\left\{x_{k}\right\}=\frac{z}{z-1}-z=\frac{z-z(z-1)}{z-1}$
$$
=\frac{2 z-z^{2}}{z-1}
$$
from which, $Z\left\{x_{k}\right\}=\frac{2 z-z^{2}}{(z-1)\left(z^{2}-1\right)}$
$$
=\frac{2 z-z^{2}}{(z-1)(z-1)(z+1)}=\frac{2 z-z^{2}}{(z-1)^{2}(z+1)}
$$
and $\frac{Z\left\{x_{k}\right\}}{z}=\frac{2-z}{(z-1)^{2}(z+1)}$
Using partial fractions, let
$$
\begin{array}{r}
\frac{2-z}{(z-1)^{2}(z+1)}=\frac{A}{(z-1)}+\frac{B}{(z-1)^{2}}+\frac{C}{(z+1)} \\
=\frac{A(z-1)(z+1)+B(z+1)+C(z-1)^{2}}{(z-1)^{2}(z+1)}
\end{array}
$$
and $2-\mathrm{z}=A(z-1)(z+1)+B(z+1)+C(z-1)^{2}$
Letting $z=1$ gives: $1=2 B$ i.e. $B=1 / 2$
Letting $z=-1$ gives: $3=4 C$ i.e. $C=3 / 4$
Equating $z^{2}$ coefficients gives: $0=\mathrm{A}+\mathrm{C}$ i.e.
$$
A=-3 / 4
$$
Hence, $\frac{Z\left\{x_{k}\right\}}{z}=\frac{2-z}{(z-1)^{2}(z+1)}$
$$
=\frac{-3 / 4}{(z-1)}+\frac{1 / 2}{(z-1)^{2}}+\frac{3 / 4}{(z+1)}
$$
Therefore, $Z\left\{x_{k}\right\}=-\frac{3}{4}\left(\frac{z}{z-1}\right)+\frac{1}{2}\left(\frac{z}{(z-1)^{2}}\right)$
$$
-\frac{3}{4}\left(\frac{z}{z+1}\right)
$$
Taking the inverse z-transform gives:
$$
\begin{aligned}
\left\{x_{k}\right\}=-\frac{3}{4} Z^{-1}\left(\frac{z}{(z-2)}\right)+\frac{1}{2} Z^{-1} &\left(\frac{z}{(z-1)^{2}}\right) \\
-\frac{3}{4} Z^{-1}\left(\frac{z}{z+1}\right)
\end{aligned}
$$
i.e. $\left\{x_{k}\right\}=-\frac{3}{4}\left(2^{k}\right)+\frac{1}{2} k-\frac{3}{4}(-1)^{k}$ from 6 and 3 of
Table $79.1$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator
04:27

Problem 33

Solve the difference equation: $x_{k+2}-3 x_{k+1}+2 x_{k}=1$ given that $x_{0}=0$ and $x_{1}=1$
Taking the z-transform of both sides of the equation gives:
$$
Z\left\{x_{k+2}-3 x_{k+1}+2 x_{k}\right\}=Z\{1\}
$$
i.e. $\quad Z\left\{x_{k+2}\right\}-3 Z\left\{x_{k+1}\right\}+2 Z\left\{x_{k}\right\}=Z\{1\}$
$\begin{aligned}\left(z^{2} F(z)-z^{2} x_{0}-z x_{1}\right)-3\left(z F(z)-z x_{0}\right)+2 F(z) \\ &=\frac{z}{z-1} \end{aligned}$
$x_{0}=0$ and $x_{1}=1$, hence $\left(z^{2} F(z)-z^{2}(0)-z(1)\right)-$
$$
\begin{aligned}
&3(z F(z)-z(0))+2 F(z)=\frac{z}{z-1} \\
&z^{2} F(z)-z-3 z F(z)+2 F(z)=\frac{z}{z-1}
\end{aligned}
$$
i.e.
$$
\text { and } \begin{gathered}
\left(z^{2}-3 z+2\right) F(z)=\frac{z}{z-1}+z=\frac{z}{z-1}+\frac{z}{1} \\
=\frac{z+z(z-1)}{z-1}=\frac{z+z^{2}-z}{z-1}=\frac{z^{2}}{z-1}
\end{gathered}
$$
Hence, $F(z)=\frac{z^{2}}{\left(z^{2}-3 z+2\right)(z-1)}$
$$
=\frac{z^{2}}{(z-2)(z-1)(z-1)}=\frac{z^{2}}{(z-2)(z-1)^{2}}
$$
and
$$
\frac{F(z)}{z}=\frac{z}{(z-2)(z-1)^{2}}
$$
Using partial fractions, let
$$
\begin{gathered}
\frac{z}{(z-2)(z-1)^{2}}=\frac{A}{(z-2)}+\frac{B}{(z-1)}+\frac{C}{(z-1)^{2}} \\
=\frac{A(z-1)^{2}+B(z-2)(z-1)+C(z-2)}{(z-2)(z-1)^{2}}
\end{gathered}
$$
from which, $\mathrm{z}=A(z-1)^{2}+B(z-2)(z-1)+C(z-2)$
Letting $z=2$ gives: $2=A(1)^{2}$ i.e. $A=2$
Letting $z=1$ gives: $1=C(-1)$ i.e. $C=-1$
Equating $z^{2}$ coefficients gives: $0=A+B$ i.e. $B=-2$
Therefore, $\frac{F(z)}{z}=\frac{2}{(z-2)}-\frac{2}{(z-1)}-\frac{1}{(z-1)^{2}}$
or
$$
F(z)=\frac{2 z}{(z-2)}-\frac{2 z}{(z-1)}-\frac{z}{(z-1)^{2}}
$$
Taking the inverse z-transform of $F(z)$ gives:
$$
\begin{aligned}
Z^{-1} F(z)=2 Z^{-1}\left(\frac{z}{(z-2)}\right)-2 Z^{-1}\left(\frac{z}{(z-1)}\right) \\
&-Z^{-1}\left(\frac{z}{(z-1)^{2}}\right) \\
&=2\left(2^{k}\right)-2(1)-k
\end{aligned}
$$
from 2,6 and 7 of Table $79.1$ i.e.
$$
\left.\mid x_{k}\right\}=2^{k+1}-2-k
$$

Varsha Aggarwal
Varsha Aggarwal
Numerade Educator