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There are tons of them. Most undergrad digital control systems texts will have a chapter dedicated to them. But start here on an online source at Stanford. This gets to the point of the z-transform mathematics point blank and will lead you in different directions from there.
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But fundamentally, the z-transform in the digital (discrete) domain is analogous to the Laplace transform in the continuous (analog) domain. Both allow mathematically complex operations such as convolution to occur on differential (or difference) systems without all of the complex differential math.
There are many books available for this topic.But a better bet of them will be starting directly from Z transform,Whats more important is Z transform is stemming out from Complex Variable theory which explains the ROC in Z transform through comcepts like residue theorem and analytic functions.So deal with complex variable analysis before studying Z transform.
Every DSP covers Z-Transform. Some of the good books are Signal & Systems (Oppenheim), DSPrinciples, Algorithms and Applications by Proakis etc. You can download them all from EDA board. You can try the end of chapter problems on Z-Transform (Chp. 10) in Oppenheim's text and then let me know if you have problems.
Any book on DSP pr signals and systems will give you a great idea about the Z transform. Its fundamental for digital signal processing. Hope this helps.
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