Chapter-6

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
A Causal Function and it’s Laplace
Transform (Fig. 6.1)

x(t) = eat u(t)

t
0

Im{s}

Re{s}
a 0

 at 1
e u (t ) L
with ROC: Re{s}  a
sa

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 A Non-causal Function and it’s Laplace
Transform (Fig. 6.2)

x(t) = eat u(t)

t
0

Im{s}

Re{s}
a 0

1
e  at u (t ) 
L
 with ROC: Re{s}  a
sa

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 Laplace Transform Table (Table 6.1)

Laplace Transform
Region of Convergence

x(t) (ROC)
 x(t )e
 st
X (s)  dt


1. x(t) = (t) 1 Entire s-plane

1 Re{s} > 0
2. x(t) = u(t )
s
3. x(t) = u(t)  u(t  a) 1
s
1  e   as Re{s} > 0

1 Re{s} > a
4. x(t) = eat u(t) a s
1 Re{s} > 0
5. x(t) = t u(t)
s2
n! Re{s} > 0
6. x(t) = tn u(t) s n 1

1 Re{s} > a
7. x(t) = t eat u(t)  a s  2
n! Re{s} > a
8. x(t) = tn eat u(t)
 a s  n 1

s Re{s} > 0
9. x(t) = cos(0t) u(t) 02  s 2

0 Re{s} > 0
10. x(t) = sin(0t) u(t)
0  s 2
2

a s Re{s} > a
11. x(t) = exp(at) cos(0t) u(t) ( a  s ) 2  02
0 Re{s} > a
12. x(t) = exp(at) sin(0t) u(t) 2
(a s)  02

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 Laplace Spectra (Fig. 6.3)

1
x(t )  e 3t u (t ); X ( s) 
s3
1 
X (s)  ;  X ( s )   tan 1
(  3) 2   2  3

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 CTFT Spectra (Fig. 6.4)

x(t )  e 3t u (t )
1 
X ( )  ;  X ( )   tan1

9 2 3

1/4 X ()


0

< X()
/2


0
/2

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 Causal Function in Example
6.8 (Fig. 6.5)

g(t)
4

t
4 3 2 1 0 1 2 3 4

 14 for s  0
G s    4

 s 2 1  e s
 se 4 s
 for s  0.

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
Causal Function in Example 6.9
(Fig. 6.6)

h(t)
3

t
4 3 2 1 0 1 2 3 4

 9 for s  0
H  s    1.5

 s 2 1  e 2 s
 2 se 4 s
 for s  0.

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
Waveform f(t) in Example 6.10
(Fig. 6.7)

f(t)
6

t
1    3 4 5 6 7

 18 for s  0

H  s  
 s 2 e  e  2se  for s  0
3 3 s 5 s 7 s

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 Laplace Transform Properties
(Table 6.2)

CTFT: Laplace Transform

Properties in the  

  x(t )e
 st
time domain X ( j)  x(t )e  jt dt X ( s)  dt
 

Linearity: a1 X 1 ( s )  a 2 X 2 ( s )
a1 X 1 ()  a2 X 2 ()
a1 x1 (t )  a2 x2 (t ) ROC : at least R1  R2
Time Scaling: 1 X ( as )
1
|a|
X ( a ) | a|
x( at ) with ROC : aR
Time Shifting: e  st0 X ( s )
x (t  t0 ) e  j0t X ()
with ROC : R
Frequency / s-domain Shifting: X ( s  s0 )
X (   0 )
x(t )e j0t or x(t )e s0t with ROC : R  Re{s 0 }
Time Differentiation: jX () sX ( s)  x 0   
dx / dt with ROC : R
t X (s)
X ( )
Time Integration: 

x ( )d j
 X (0)() s
with ROC : R  Re{s}  0 ,
Frequency / s-domain
 jdX / d dX / ds
Differentiation: ( t ) x(t )
Duality:
2 x () Not applicable
X (t )
Time Convolution: X 1 ( s) X 2 (s )
X 1 () X 2 ()
x1 (t )  x2 (t ) ROC includes R1  R2
1
Frequency / s-domain 2
X 1 ( s)  X 2 ( s )
1 X 1 ()  X 2 ()
Convolution: x1 (t ) x2 (t ) 2
ROC includes R1  R2
 

 
2 2
Parsevals Relationship: x (t ) dt  21 X ( ) d Not applicable
 

 lim sX ( s )
Initial value: s 
x(0+) if it exists
1
2  X ()d provided s = ∞ is included

in the ROC of sX(s).
lim sX ( s )
Final value: s0
Not applicable
x(∞) if it exists provided s = 0 is included
in the ROC of sX(s).

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 Pole-Zero Plot in Example 6.18
(Fig. 6.8):
( s  4 )( s 5) Im{s}
H1 (s)  s 2 ( s  2 )( s  2 )
double poles at s = 0.

x xx x Re{s} (a)
8 6 4 2 0 2   

( s 4) Im{s}
H 2 ( s)  s 3 5 s 2 17 s 13

x j3

x Re{s}
8 6 4 2 0 2   
x j3

H 3 ( s)  1
s
e 10 Im{s}
(b)
x j3

x j
Re{s}
8 6 4 x2 0 2
j   

x j3

“Continuous and Discrete Time Signals and Systems” (c)

by Mandal and Asif © Cambridge University Press
 Stability Analysis in Laplace
Domain (Fig. 6.9)

Im{s}

(,2) (0,2) (2)

(,) (0,) ()

(,0) (0,0) (,0)

Re{s}

The plots represent the impulse response arising from

the corresponding pole.

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 Output of Stable and Unstable Systems
(Fig. 6.10)
H ( s)  2
25
s  25

y1(t)

2
x1 (t )  u  t 

y1 (t )  1  cos(5t )  u  t 
1

t
0 0.4 0.8 1.2 1.6 2.0 2.4 2.8

y2(t)
x2 (t )  sin(5t ) u  t 
25

12.5

y2 (t )  0.5 
 sin(5t )  5t cos(5t )  u(t ) 0 0.4 0.8 1.2 1.6 2.0 2.4 2.8
t

12.5

25

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
Pole-zero plot of an Allpass
System (Fig. 6.11)
( s  a  jb)
H ap ( s ) 
( s  a  jb)

Im{s}

x jb

Re{s}
a 0 a

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
Cascade (Series) Connection (Fig. 6.12)

W (s )
X ( s) H1 ( s ) H 2 (s) Y (s)

X (s) H ( s )  H1 ( s ) H 2 ( s ) Y (s)

L
h(t )  h1 (t )  h2 (t )  H ( s )  H 1 ( s ) H 2 ( s )

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 Parallel Connection (Fig. 6.13)

Y1 ( s )
H1 ( s )


X ( s)  Y (s)


H 2 ( s)
Y2 ( s)

X (s) H ( s )  H1 ( s )  H 2 ( s ) Y (s)

L
h(t )  h1 (t )  h2 (t )  H ( s )  H 1 ( s )  H 2 ( s )

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 Feedback Connection (Fig. 6.14)

 E (s)
X (s)  H1 ( s ) Y (s)

W (s )

H 2 ( s)

H1 ( s )
X (s) H ( s)  Y (s )
1  H1 ( s ) H 2 ( s )

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 Interconnection Examples
(Fig. 6.15 (a+b))

h(t )

x(t )  y (t )


(t  1) h(t )

h1 (t )  (t  1)  h(t )

ha (t )  h(t )  h (t  1).

x(t )  y (t )



 (t  T )

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press
 Interconnection Example
(Fig. 6.15(c))

h23 (t )  h2 (t )  h3 (t )

h2 (t )


x(t ) h1 (t )   y (t )

 
h3 (t )

h4 (t )

hc (t )  h1 (t )  h2 (t )  h1 (t )  h3 (t )  h4 (t )

“Continuous and Discrete Time Signals and Systems”

by Mandal and Asif © Cambridge University Press