where
are are z-transforms of input sequence , output sequence and impulse response respectively. The is referred to as system function or transfer function of the system. For on the unit circle
, reduces to the frequency response of the system, provided that unit circle is in the ROC for.
A causal LTI system has impulse response such that. Thus ROC of is exterior of a circle in z-plane including. Thus a discrete time LTI system is causal if and only if ROC is exterior of a circle which includes infinity.
An LTI system is stable if and only if impulse response is absolutely summable. This is equivalent to saying that unit circle is in the ROC of.
For a causal and stable system ROC is outside a circle and ROC contains the unit circle. That means all the poles are inside the unit circle. Thus a causal LTI system is stable if and if only if all the poles inside unit circle.