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Chapter 1 Signals and Systems: Mathematical Preliminaries: What Is A Signal?
Chapter 1 Signals and Systems: Mathematical Preliminaries: What Is A Signal?
Chapter 1 Signals and Systems: Mathematical Preliminaries: What Is A Signal?
What is a signal?
The concept of signal refers to the space or time variations in the physical state of an object. The quantification of this
state is used to represent, store or transmit a message. The course is not about the message but about the properties of
the signal.
Signals are represented mathematically as functions of one or more independent variables. In this course we focus our
attention on signals involving a single independent variable. For convenience, we will usually refer to this variable as
time.
-5
-10
0 10 20 30 40 50 60
continuous time
Observed signal x[n]
10
-5
-10
0 10 20 30 40 50 60
discrete time
In the figure above you can see a continuous and a discrete sine wave described by the following equations,
respectively.
• Continuous case: x (t ) = A cos(ω 0 t + φ )
• Discrete case: x[n ] = A cos(θ 0 n + ψ )
R and o m signal x (t )
1
0 .5
-0 .5
-1
0 20 40 60 80 100
R and o m b inary signal x[n ] tim e
1
0 .5
-0 .5
-1
0 20 40 60 80 100
1
Periodic and non-periodic signals
• For a continuous signal, if we can find a number T0 such that x(t + T0 ) = x(t ) for all t , then the signal is periodic.
In the case of a discrete signal we have x[n + N 0 ] = x[n ] for all n .
• If there are no such numbers T0 or N 0 the signal is non-periodic.
-2
-4
0 10 20 30 40 50 60 70 80
time
P eriodic signal x[n]
4
-2
-4
0 10 20 30 40 50 60 70 80
• For a continuous signal, if x ( −t ) = x (t ) for all t , then the signal is even. In the case of a discrete signal we have
x[− n] = x[ n] for all n .
• For a continuous signal, if x(−t ) = − x(t ) for all t , then the signal is odd. In the case of a discrete signal we have
x[− n] = − x[ n] for all n . An odd signal is 0 at t = 0 or n = 0 , since x(0) = − x(0) ⇒ x(0) = 0 .
Any signal can be broken into a sum of two signals, one of which is even and one of which is odd. This is because
1 1 1 1 1 1
x ( t ) = x ( t ) + x ( − t ) − x ( −t ) = x ( t ) + x ( t ) + x ( − t ) − x ( −t ) =
2 2 2 2 2 2
1 1 1 1 1 1
= x (t ) + x ( −t ) + x (t ) − x ( −t ) = [ x (t ) + x ( −t )] + [ x (t ) − x ( −t )]
2 2 2 2 2 2
1 1
where [ x (t ) + x ( −t )] is even signal and [ x (t ) − x ( −t )] is odd signal.
2 2
If x(t ) = 0, for t < t 0 or for discrete signals x[n] = 0, for n < n 0 then we have causal signals. The starting point t 0 or n 0
is very often taken to be the origin.
2
• Discrete case x[n] = A cos(θ 0 n + ψ )
ω0
where A is the amplitude, ω 0 is the radian frequency, θ 0 = is the normalised frequency and φ ,ψ are the phase
2π
shifts.
-5
-10
0 10 20 30 40 50 60
continuous time
Observed signal x[n]
10
-5
-10
0 10 20 30 40 50 60
discrete time
• Continuous case x (t ) = Ae −αt , t > 0 . An example is shown in the figure below with α > 0 .
• Discrete case x[n] = Bλ n , n ≥ 0 . An example is shown in the figure below with λ real and λ < 1 .
0 .9 0 .9
0 .8 0 .8
0 .7 0 .7
0 .6 0 .6
0 .5 0 .5
0 .4 0 .4
0 .3 0 .3
0 .2 0 .2
0 .1 0 .1
0 0
5 10 15 20 5 10 15 20
tim e
3
The general complex exponential signal
• Continuous case x (t ) = Aλαt where A and α are, in general complex numbers and λ is real.
• Discrete case x[n ] = Aλαn with A , α and λ as in the continuous case.
A very important class of complex exponentials is obtained by constraining α to be purely imaginary. Specifically
2π
consider the signal x (t ) = e jω0t . This is periodic with period T = . Throughout this course we will deal with this
ω0
type of signal very frequently.
This is a signal that is everywhere equal to zero except at the origin. This is defined as
⎧ 0 t≠0
δ (t ) = ⎨
⎩+ ∞ t = 0
It is conveniently defined as assigning the value x (τ ) to the signal x (t ) at the instant t = τ through the integral
+∞ +∞
∫ x(t )δ (t − τ )dt = ∫ x(t + τ )δ (t )dt =x(τ )
−∞ −∞
In discrete time the equivalent function is defined as
⎧0 n ≠ 0
δ [ n] = ⎨
⎩1 n = 0
and the following relationships hold.
n = +∞ n = +∞
∑ x[n ]δ [n − k ] = ∑ x[n + k ]δ [n ] = x[k ]
n = −∞ n = −∞
An important property
+∞ +∞
The relationship ∫ δ (t − τ )dt = ∫ δ (t )dt =1 holds.
−∞ −∞
Thus δ (t ) may be interpreted as the pulse (not unique) in the limit as ε → 0 (see following figure).
δ (t )
1
AREA=1 ε
−ε ε t
2 2
Comment
Observe that other functions have this property. For example consider the function
1 α
x (t ) = ( 2 2 )
π α +t
+∞
α +∞ 1 α 1 t
with α real. The area under the curve is ∫ dt = ( tan −1 ) = 1.
π −∞ α + t
2 2
π α α −∞
This is independent of α . Hence as this parameter tends to zero we have a delta function.
4
There are many other functions we encounter for instance in Systems Theory, Communications etc., such as
⎧ 1 2 ⎫
e −t / ε ⎬
2
• δ (t ) = lim ⎨
ε →0 ε π
⎩ ⎭
⎧ sin(t / ε ) ⎫
• δ (t ) = lim ⎨ ⎬
ε →0 ⎩ πt ⎭
This is defined as
⎧0 t < 0
u(t ) = ⎨
⎩1 t ≥ 0
The unit step function can be related to the unit impulse function as follows.
t
u(t ) = ∫ δ (τ )dτ
−∞
Replacing τ with t − σ we have τ → −∞, σ → +∞ , τ = t , σ = 0 and dτ = −dσ so that
0 +∞
u(t ) = ∫ δ (t − σ )( −dσ ) = ∫ δ (t − σ )dσ
+∞ 0
du(t )
δ (t ) = u ′(t ) =
dt
In discrete time the equivalent function is defined as
⎧0 n < 0
u[n ] = ⎨
⎩1 n ≥ 0
and the following relationships hold.
n +∞
u[n ] = ∑ δ [k ] = ∑ δ [n − k ]
k = −∞ k =0
δ [n ] = u[n ] − u[n − 1]
We define the power of a periodic signal to be the mean square of its values over one period, i.e.,
1 T /2 2
E= ∫ x(t ) dt
T −T / 2
Thus, if for example x(t ) represents a voltage signal, E represents the power dissipated in a resistor of 1Ω.
Examples
1 T /2 2 2 2π
1. x (t ) = A sin(ω 0 t + φ ) then E = ∫ A sin (ω 0 t + φ )dt where T = ω or equivalently
T −T / 2 0
A2 T /2
A2
E=
2T
∫ [1 − cos(2ω 0 t + 2φ )]dt = 2
−T / 2
T /2
∫ [A1 cos(ω 0 t + φ1 ) + A2 cos(2ω 0 t + φ 2 )] dt or
1
2. x(t ) = A1 cos(ω 0 t + φ1 ) + A2 cos(2ω 0 t + φ 2 ) then E = 2
T −T / 2
1 T /2 2 A2 + A22
E= ∫ [ A1 cos 2 (ω 0 t + φ1 ) + 2 A1 A2 cos(ω 0 t + φ1 ) cos(2ω 0 t + φ 2 ) + A22 cos 2 ( 2ω 0 t + φ 2 )]dt = 1
T −T / 2 2
Question: What would the answer be when
3. x (t ) = A1 cos(ω1t + φ1 ) + A2 cos(ω 2 t + φ 2 ) with ω 1 and ω 2 unrelated or
4. x(t ) = A1 cos(ω 0 t + φ1 ) + A2 cos(2ω 0 t + φ 2 ) + … + An cos(nω 0 t + φ n )
5
1
∑ x[n ]
2
E=
N samples
within
a period
Non-periodic signals
⎧⎪e −αt , t ≥ 0
For example if x(t ) = ⎨
⎪⎩0, t < 0
then
+∞
1
E = ∫ e −2αt dt =
0 2α
Signals for which E is finite are called "energy signals", or, in mathematical terms square-integrable.
Also the energy expended over the time interval t1 ≤ t ≤ t 2 may be defined as
t2
2
E = ∫ x (t ) dt
t1
In the discrete time the total energy of a non-periodic signal may be defined as
n = +∞
E = ∑ x[n ]
2
n = −∞
or the energy expended over the time interval n1 ≤ n ≤ n 2 as
n = n2
E = ∑ x[ n ]
2
n = n1
A system operates on a signal (the input) to modify, transform or re-express it in another form (the output) which may
be more desirable.
Example of system
The input voltage E (t ) produces an output voltage V 0 (t ) .
C
E (t ) V 0 (t )
input output
A continuous-time system is a system in which continuous-time input signals are applied and result in continuous-time
output signals. A discrete-time system is a system in which discrete-time input signals are applied and result in discrete-
time output signals.
Interconnection of systems
System 1 System 2
Input 6 Output
• Parallel interconnection. The same input signal is applied to Systems 1 and 2.
System 1
Input + Output
System 2
System 1 System 2
System 4
Input + Output
System 3
• Feedback interconnection. The output of System 2 is fed back and added to the external input to produce the
actual input to System 1.
System 2
Examples
1. Consider the memoryless system described by the input-output relationship y[n ] = αx[n ], α ≠ 0 . This is
1
invertible with inverse x[n ] = y[n ] .
α
7
n
2. Consider the system with memory y[n] = ∑ x[k ] , which is called accumulator or summer. This is invertible
k = −∞
n n −1
with inverse x[n] = y[n] − y[n − 1] . This is because y[n ] = ∑ x[k ] = ∑ x[k ] + x[n ] ⇒ x[n ] = y[n ] − y[n − 1] .
k = −∞ k = −∞
• Non-invertible systems. A system is called non-invertible, if no system exists that, when cascaded with the original
system, yields an output equal to the input to the first system.
Examples
1. Consider the memoryless system described by the input-output relationship y[n] = 0 . This is non-invertible.
2. Consider the memoryless system y[n] = x 2 [ n] . This is non-invertible, since from knowledge of the output we
cannot determine the sign of the input.
• Stable systems. A stable system is one in which all bounded inputs lead to bounded outputs. For example consider
the system y[n] = e x[ n ] . Let B be an arbitrary positive number, and let x[n] an arbitrary signal bounded by B ,
i.e., x[ n] < B or − B < x[n] < B for all n . In that case e − B < e x[ n ] < e B , i.e., it is guaranteed that if the input is
bounded by a positive number B , the output is bounded by a positive number e B . Thus, the system is stable.
• Unstable systems. An unstable system is one in which not all bounded inputs lead to bounded outputs. For example
n
consider the system y[n] = ∑ u[ k ] = ( n + 1)u[ n] , with u[n ] the unit step function. In that case the input u[n] = 1
k = −∞
but the output y[n] increases without bound as n increases.
• Time-invariant (TI) systems. A TI system is one in which if y[n] is the output when the input x[n] is applied, then
y[n − n 0 ] is the output when x[ n − n 0 ] is applied. For continuous-case we would have the signals
y (t ), x(t ), y (t − t 0 ), x(t − t 0 ) respectively. Conceptually, a system is TI if the behaviour and the characteristics of
the system are fixed over time. For example the system y[n] = αx[ n] .
• Time-varying systems. A time-varying system is one in which if y[n] is the output when the input x[n] is applied,
then y[n − n 0 ] is not necessarily the output when x[n − n 0 ] is applied. For example consider the system
y[n] = nx[n] . In that case if y1 [n] is the output to the input x1 [n] , then the output to the input x 2 [n ] = x1 [n − n0 ]
is y 2 [n] = nx 2 [n] = nx1 [ n − n 0 ] ≠ ( n − n 0 ) x1 [n − n 0 ] = y1 [ n − n 0 ] . Thus, the system is not time-invariant.
• Linear systems. A linear system is one that possesses the property of superposition, i.e., if the input consists of the
weighted sum of several signals, then the output is the weighted sum of the responses of the system to each of
those signals. Thus, a linear system possesses the following two properties.
1. Additivity property. If the response to x1 (t ) is y1 (t ) and the response to x 2 (t ) is y 2 (t ) then the response to
the signal x1 (t ) + x 2 (t ) is y1 (t ) + y 2 (t ) .
2. Homogeneity property. If the response to x1 (t ) is y1 (t ) , then the response to the signal αx1 (t ) is αy1 (t ) .
• Non-linear systems. At least one of the above properties does not hold.