6.

003: Signals and Systems

Signals and Systems

September 10, 2009

6.003: Signals and Systems
Today’s handouts: Single package containing
• Subject Information & Calendar
• Slides from Lecture 1
• Homework Assignment 1

Lecturer: Denny Freeman (freeman@mit.edu)

Instructors: Elfar Adalsteinsson (elfar@mit.edu)
Marc Baldo (baldo@mit.edu)
TAs: Jennifer Roberts (jenmarie@mit.edu)
Dennis Wei (dwei@mit.edu)
TBA

Website: mit.edu/6.003

Text: Signals and Systems – Oppenheim and Willsky

6.003: Homework

Doing the homework is essential for understanding the content.

• where subject matter is/isn’t learned
• equivalent to “practice” in sports or music

Weekly Homework Assignments

• Conventional Homework Problems plus
• Engineering Design Problems (Python/Matlab)

Open Office Hours !

• Stata Basement (32-044)
• Mondays and Tuesdays, afternoons and early evenings
6.003: Signals and Systems

Collaboration Policy
• Discussion of concepts in homework is encouraged
• Sharing of homework or code is not permitted and will be re-
ported to the COD

Firm Deadlines
• Homework must be submitted in recitation on due date
• Late homework will NOT be accepted unless excused by the
staff, a Dean, or Physician (except for single “extension”)

Homework Extension Policy

• Every student gets one extension
• Can be used for any weekly homework assignment and for any
reason
• Simply ask your TA for an extension before 11:59 pm on the day
preceding the due date (cannot be rescinded)
6.003 At-A-Glance
Tuesday Wednesday Thursday Friday
R1: Continuous & L1: Signals and R2: Difference
Sep 8 Registration Day
Discrete Systems Systems Equations
L2: Discrete-Time HW1 R3: Discrete-Time L3: Feedback, R4: Feedback,
Sep 15
Systems due Systems Cycles, and Modes Cycles, and Modes
L4: Feedback and HW2 R5: Feedback and L5: Feedback R6: Feedback
Sep 22
Position Control due Position Control Control Schemes Control Schemes
L6: CT Systems, HW3 R7: CT Systems, L7: Laplace and Z R8: Laplace and Z
Sep 29
Differential Eqs. due Differential Eqs. Transforms Transforms
L8: CT Operator Exam 1 L9: Second-Order R9: CT Operator
Oct 6 EX4
Representations no recitation Systems Representations
Columbus Day: HW5 R10: Second-Order L10: Convolution; R11: Convolution;
Oct 13
Monday Schedule due Systems Impulse Response Impulse Response
L11: Frequency HW6 R12: Frequency L12: Bode R13: Bode
Oct 20
Response due Response Diagrams Diagrams
L13: CT Feedback Exam 2 L14: CT Feedback R14: CT Feedback
Oct 27 EX7
and Control no recitation and Control and Control
L15: CT Fourier HW8 R15: CT Fourier L16: CT Fourier R16: CT Fourier
Nov 3
Series due Series Series Series
L17: CT Fourier HW9 L18: CT Fourier R17: CT Fourier
Nov 10 Veteran’s Day
Transfm; Filtering due Transforms Transforms
L19: DT Fourier Exam 3 L20: DT Fourier R18: DT Fourier
Nov 17 EX10
Representations no recitation Representations Representations
HW11
Nov 24 L21: Sampling R19: Sampling Thanksgiving
Thanksgiving Vacation
Vacation
due
HW12
Dec 1 L22: Sampling R20: Sampling L23: Modulation R21: Modulation
due
L24: Applications Breakfast with
Dec 8 EX13 R22: Review Study Period
of 6.003 Staff

Dec 15 finals finals 21/22

Final Examination Period finals finals
6.003: Signals and Systems

Weekly meetings with class representatives

• help staff understand student perspective
• learn about teaching

One representative from each section (4 total)

Tentatively meet on Thursday afternoon

Interested? ...send email to freeman@mit.edu

The Signals and Systems Abstraction

Describe a system (physical, mathematical, or computational) by

the way it transforms an input signal into an output signal.

signal signal
system
in out
Example: Mass and Spring
Example: Mass and Spring

x(t)

y(t)

mass &
x(t) spring y(t)
system
Example: Mass and Spring

x(t)

y(t)

x(t) y(t)

mass &
t spring t
system
Example: Tanks
r0 (t)

h1 (t)
r1 (t)

h2 (t)
r2 (t)

r0 (t)

r0 (t) tank r2 (t) t

system
Example: Tanks
r0 (t)

h1 (t)
r1 (t)

h2 (t)
r2 (t)

r0 (t) r2 (t)

tank
t t
system
Example: Cell Phone System

sound out

sound in

cell
sound in phone sound out
system
Example: Cell Phone System

sound out

sound in

sound in sound out

cell
t phone t
system
Signals and Systems: Widely Applicable

The Signals and Systems approach has broad application: electrical,

mechanical, optical, acoustic, biological, financial, ...

x(t) y(t)

mass &
t spring t
system

r0 (t)

h1 (t)
r1 (t) r0 (t) r2 (t)

h2 (t) tank
t t
system
r2 (t)

sound in sound out

cell
t phone t
system
Signals and Systems: Modular

The representation does not depend upon the physical substrate.

sound out

sound in

sound cell E/M optic E/M cell sound

tower tower
in phone fiber phone out

focuses on the flow of information, abstracts away everything else

Signals and Systems: Hierarchical

Representations of component systems are easily combined.

Example: cascade of component systems

sound cell E/M optic E/M cell sound

tower tower
in phone fiber phone out

Composite system

sound sound
cell phone system
in out

Component and composite systems have the same form, and are
analyzed with same methods.
Signals and Systems

Signals are mathematical functions.

• independent variable = time
• dependent variable = voltage, flow rate, sound pressure

x(t) y(t)

mass &
t spring t
system

r0 (t) r2 (t)

tank
t t
system

sound in sound out

cell
t phone t
system
Signals and Systems

continuous “time” (CT) and discrete “time” (DT)

x(t) x[n]

t n
0 2 4 6 8 10 0 2 4 6 8 10

Many physical systems operate in continuous time.

• mass and spring
• leaky tank

Digital computations are done in discrete time.

• state machines: given the current input and current state, what
is the next output and next state.
Signals and Systems

Sampling: converting CT signals to DT

x(t) x[n] = x(nT )

t n
0T 2T 4T 6T 8T 10T 0 2 4 6 8 10

T = sampling interval

Important for computational manipulation of physical data.

• digital representations of audio signals (e.g., MP3)
• digital representations of pictures (e.g., JPEG)
Signals and Systems

Reconstruction: converting DT signals to CT

zero-order hold

x[n] x(t)

n n
0 2 4 6 8 10 0 2 4 6 8 10

T = sampling interval

commonly used in audio output devices such as CD players

Signals and Systems

Reconstruction: converting DT signals to CT

piecewise linear

x[n] x(t)

n n
0 2 4 6 8 10 0 2 4 6 8 10

T = sampling interval

commonly used in rendering images

Check Yourself

Computer generated speech (by Robert Donovan)

f (t)

Listen to the following four manipulated signals:

f1 (t), f2 (t), f3 (t), f4 (t).
How many of the following relations are true?

• f1 (t) = f (2t)
• f2 (t) = −f (t)
• f3 (t) = f (2t)
• f4 (t) = 2f (t)
Check Yourself

Computer generated speech (by Robert Donovan)

f (t)

Listen to the following four manipulated signals:

f1 (t), f2 (t), f3 (t), f4 (t).
How many of the following relations are true?

• f1 (t) = f (2t)
• f2 (t) = −f (t)
• f3 (t) = f (2t)
• f4 (t) = 2f (t)
Check Yourself

Computer generated speech (by Robert Donovan)

f (t)

Listen to the following four manipulated signals:

f1 (t), f2 (t), f3 (t), f4 (t).
How many of the following relations are true?

• f1 (t) = f (2t)
• f2 (t) = −f (t)
• f3 (t) = f (2t)
• f4 (t) = 2f (t)
Check Yourself

Computer generated speech (by Robert Donovan)

f (t)

Listen to the following four manipulated signals:

f1 (t), f2 (t), f3 (t), f4 (t).
How many of the following relations are true?

• f1 (t) = f (2t)
• f2 (t) = −f (t)
• f3 (t) = f (2t)
• f4 (t) = 2f (t)
Check Yourself

Computer generated speech (by Robert Donovan)

f (t)

Listen to the following four manipulated signals:

f1 (t), f2 (t), f3 (t), f4 (t).
How many of the following relations are true?

• f1 (t) = f (2t)
• f2 (t) = −f (t)
• f3 (t) = f (2t)
• f4 (t) = 2f (t)
Check Yourself

Computer generated speech (by Robert Donovan)

f (t)

Listen to the following four manipulated signals:

f1 (t), f2 (t), f3 (t), f4 (t).
How many of the following relations are true?

• f1 (t) = f (2t)
• f2 (t) = −f (t)
• f3 (t) = f (2t)
• f4 (t) = 2f (t)
Check Yourself

Computer generated speech (by Robert Donovan)

f (t)

Listen to the following four manipulated signals:

f1 (t), f2 (t), f3 (t), f4 (t).
How many of the following relations are true?

• f1 (t) = f (2t)
• f2 (t) = −f (t)
• f3 (t) = f (2t)
• f4 (t) = 2f (t)
Check Yourself

Computer generated speech (by Robert Donovan)

f (t)

Listen to the following four manipulated signals:

f1 (t), f2 (t), f3 (t), f4 (t).
How many of the following relations are true?

• f1 (t) = f (2t)
• f2 (t) = −f (t)
• f3 (t) = f (2t)
• f4 (t) = 2f (t)
Check Yourself

Computer generated speech (by Robert Donovan)

f (t)

Listen to the following four manipulated signals:

f1 (t), f2 (t), f3 (t), f4 (t).
How many of the following relations are true? 2
√
• f1 (t) = f (2t)
• f2 (t) = −f (t) X
• f3 (t) = f (2t) √
X
• f4 (t) = 2f (t)
Check Yourself
y f (x, y)

250
0
−250
−250 0 250
x

How many images match the expressions beneath them?

y y y
250

250

250
0

0
−250

−250

−250
−250 0 250
x −250 0 250
x −250 0 250
x
f1 (x, y) = f (2x, y) ? f2 (x, y) = f (2x−250, y) ? f3 (x, y) = f (−x−250, y) ?
Check Yourself
y y y y
250

250

250

250
0

0
−250

−250

−250

−250
−250 0 250
x −250 0 250
x −250 0 250
x −250 0 250
x
f (x, y) f1 (x, y) = f (2x, y) ? f2 (x, y) = f (2x−250, y) ? f3 (x, y) = f (−x−250, y) ?

√
x=0 → f1 (0, y) = f (0, y)
x = 250 → f1 (250, y) = f (500, y) X
√
x=0 → f2 (0, y) = f (−250, y) √
x = 250 → f2 (250, y) = f (250, y)

x=0 → f3 (0, y) = f (−250, y) X

x = 250 → f3 (250, y) = f (−500, y) X
Check Yourself
y f (x, y)

250
0
−250
−250 0 250
x

How many images match the expressions beneath them?

y y y
250

250

250
0

0
−250

−250

−250
−250 0 250
x −250 0 250
x −250 0 250
x
f1 (x, y) = f (2x, y) ? f2 (x, y) = f (2x−250, y) ? f3 (x, y) = f (−x−250, y) ?
The Signals and Systems Abstraction

Describe a system (physical, mathematical, or computational) by

the way it transforms an input signal into an output signal.

signal signal
system
in out
Example System: Bank Account

Transactions (deposits/withdrawals) recorded daily (DT)

Deposits are an input (of money) into the system. How

are withdrawals represented in the framework of signals
and systems?

1. as an input signal
2. as an output signal
3. none of the above
Example System: Bank Account

Transactions (deposits/withdrawals) recorded daily (DT)

Deposits are an input (of money) into the system. How

are withdrawals represented in the framework of signals
and systems?

1. as an input signal
2. as an output signal
3. none of the above
Example System: Bank Account

Transactions (deposits/withdrawals) recorded daily (DT)

x[n] y[n]

account
n $0.00 n

$ deposited today current balance

Example System: Bank Account

Transactions (deposits/withdrawals) recorded daily (DT)

x[n] y[n]

account
n $1.00 n

$ deposited today current balance

Example System: Bank Account

Transactions (deposits/withdrawals) recorded daily (DT)

x[n] y[n]

account
n $1.00 n

$ deposited today current balance

Example System: Bank Account

Transactions (deposits/withdrawals) recorded daily (DT)

x[n] y[n]

account
n $2.00 n

$ deposited today current balance

Example System: Bank Account

Transactions (deposits/withdrawals) recorded daily (DT)

x[n] y[n]

account
n $3.00 n

$ deposited today current balance

Example System: Bank Account

Transactions (deposits/withdrawals) recorded daily (DT)

x[n] y[n]

account
n $5.00 n

$ deposited today current balance

Example System: Bank Account

Transactions (deposits/withdrawals) recorded daily (DT)

x[n] y[n]

account
n $6.00 n

$ deposited today current balance

Example System: Bank Account

Transactions (deposits/withdrawals) recorded daily (DT)

x[n] y[n]

account
n $6.00 n

$ deposited today current balance

Example System: Bank Account

Withdrawals are negative deposits (e.g., an input signal)./

x[n] y[n]

account
n $0.00 n

$ deposited today current balance

Example System: Bank Account

Withdrawals are negative deposits (e.g., an input signal)./

x[n] y[n]

account
n $1.00 n

$ deposited today current balance

Example System: Bank Account

Withdrawals are negative deposits (e.g., an input signal)./

x[n] y[n]

account
n $2.00 n

$ deposited today current balance

Example System: Bank Account

Withdrawals are negative deposits (e.g., an input signal)./

x[n] y[n]

account
n $1.00 n

$ deposited today current balance

Example System: Bank Account

Withdrawals are negative deposits (e.g., an input signal)./

x[n] y[n]

account
n $3.00 n

$ deposited today current balance

Example System: Bank Account

Withdrawals are negative deposits (e.g., an input signal)./

x[n] y[n]

account
n $2.00 n

$ deposited today current balance

Example System: Bank Account

Withdrawals are negative deposits (e.g., an input signal)./

x[n] y[n]

account
n $1.00 n

$ deposited today current balance

Example System: Bank Account

Withdrawals are negative deposits (e.g., an input signal)./

x[n] y[n]

account
n $1.00 n

$ deposited today current balance

Example System: Bank Account

Compound interest./

x[n] y[n]

account
n $1.00 n

$ deposited today current balance

Example System: Bank Account

Compound interest./

x[n] y[n]

account
n $1.05 n

$ deposited today current balance

Example System: Bank Account

Compound interest./

x[n] y[n]

account
n $1.10 n

$ deposited today current balance

Example System: Bank Account

Compound interest./

x[n] y[n]

account
n $1.16 n

$ deposited today current balance

Example System: Bank Account

Compound interest./

x[n] y[n]

account
n $1.22 n

$ deposited today current balance

Example System: Bank Account

Compound interest./

x[n] y[n]

account
n $1.28 n

$ deposited today current balance

Example System: Bank Account

Compound interest./

x[n] y[n]

account
n $2.34 n

$ deposited today current balance

Example System: Bank Account

Compound interest./

x[n] y[n]

account
n $1.41 n

$ deposited today current balance

Example System: Bank Account

Early Retirement? How soon can you retire if

• rate of savings: $10,000 per year (prior to retirement)
• living expenses: $25,000 per year (before and after retirement)
• 5% annual interest (before and after retirement)
• live off your savings till age 80?
Check Yourself

Which curve shows the correct shape for the retirement

account?

y1 [n]

n
y2 [n]

n
y3 [n]

n
Check Yourself

Which curve shows the correct shape for the retirement

account? y1 [n]

y1 [n]

n
y2 [n]

n
y3 [n]

n
Population Growth
Population Growth

Statement of the problem (1202 AD):

A certain man put a pair of rabbits in a place surrounded on all sides

by a wall. How many pairs of rabbits can be produced from that
pair in a year, if it is supposed that every month, each pair begets a
new pair, which, from the second month on, becomes productive?
Population Growth
Population Growth
Population Growth
Population Growth
Population Growth
Population Growth
Population Growth
Population Growth
Population Growth
Population Growth
Population Growth

How does the number of pairs of rabbits grow?

1. logarithmic (f [n] ∝ log n)

2. polynomial (f [n] ∝ nk for some k)
3. exponential (f [n] ∝ z n for some z)
Population Growth

How does the number of pairs of rabbits grow?

1. logarithmic (f [n] ∝ log n)

2. polynomial (f [n] ∝ nk for some k)
3. exponential (f [n] ∝ z n for some z)