A PRACTICAL APPROACH TO SIGNALS AND SYSTEMS D.Sundararajan JohnWiley&Sons(Asia)PteLtd A PRACTICAL APPROACH TO SIGNALS AND SYSTEMS A PRACTICAL APPROACH TO SIGNALS AND SYSTEMS D.Sundararajan JohnWiley&Sons(Asia)PteLtd Copyright©2008 JohnWiley&Sons(Asia)PteLtd,2ClementiLoop,#02-01, Singapore129809 Visit our Home Page on www.wiley.com AllRightsReserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystemortransmittedinany formorbyanymeans,electronic,mechanical,photocopying,recording,scanning,orotherwise,exceptasexpressly permittedbylaw,withouteitherthepriorwrittenpermissionofthePublisher,orauthorizationthroughpaymentof theappropriatephotocopyfeetotheCopyrightClearanceCenter.Requestsforpermissionshouldbeaddressedto thePublisher,JohnWiley&Sons(Asia)PteLtd,2ClementiLoop,#02-01,Singapore129809,tel:65-64632400, fax:65-64646912,email:[email protected] Designationsusedbycompaniestodistinguishtheirproductsareoftenclaimedastrademarks.Allbrandnamesand productnamesusedinthisbookaretradenames,servicemarks,trademarksorregisteredtrademarksoftheir respectiveowners.ThePublisherisnotassociatedwithanyproductorvendormentionedinthisbook.All trademarksreferredtointhetextofthispublicationarethepropertyoftheirrespectiveowners. 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Includesbibliographicalreferencesandindex. ISBN978-0-470-82353-8(cloth) 1.Signaltheory(Telecommunication) 2.Signalprocessing. 3.Systemanalysis.I.Title. TKTK5102.9.S7962008 621.382’23–dc22 2008012023 ISBN978-0-470-82353-8(HB) Typesetin11/13ptTimesbyThomsonDigital,Noida,India. PrintedandboundinSingaporebyMarkonoPrintMediaPteLtd,Singapore. Thisbookisprintedonacid-freepaperresponsiblymanufacturedfromsustainableforestryinwhichatleasttwo treesareplantedforeachoneusedforpaperproduction. Contents Preface xiii Abbreviations xv 1 Introduction 1 1.1 TheOrganizationofthisBook 1 2 DiscreteSignals 5 2.1 ClassificationofSignals 5 2.1.1 Continuous,DiscreteandDigitalSignals 5 2.1.2 PeriodicandAperiodicSignals 7 2.1.3 EnergyandPowerSignals 7 2.1.4 Even-andOdd-symmetricSignals 8 2.1.5 CausalandNoncausalSignals 10 2.1.6 DeterministicandRandomSignals 10 2.2 BasicSignals 11 2.2.1 Unit-impulseSignal 11 2.2.2 Unit-stepSignal 12 2.2.3 Unit-rampSignal 13 2.2.4 SinusoidsandExponentials 13 2.3 SignalOperations 20 2.3.1 TimeShifting 21 2.3.2 TimeReversal 21 2.3.3 TimeScaling 22 2.4 Summary 23 FurtherReading 23 Exercises 23 3 ContinuousSignals 29 3.1 ClassificationofSignals 29 3.1.1 ContinuousSignals 29 3.1.2 PeriodicandAperiodicSignals 30 3.1.3 EnergyandPowerSignals 31 vi Contents 3.1.4 Even-andOdd-symmetricSignals 31 3.1.5 CausalandNoncausalSignals 33 3.2 BasicSignals 33 3.2.1 Unit-stepSignal 33 3.2.2 Unit-impulseSignal 34 3.2.3 Unit-rampSignal 42 3.2.4 Sinusoids 43 3.3 SignalOperations 45 3.3.1 TimeShifting 45 3.3.2 TimeReversal 46 3.3.3 TimeScaling 47 3.4 Summary 48 FurtherReading 48 Exercises 48 4 Time-domainAnalysisofDiscreteSystems 53 4.1 DifferenceEquationModel 53 4.1.1 SystemResponse 55 4.1.2 ImpulseResponse 58 4.1.3 Characterization of Systems by their Responses to Impulse andUnit-stepSignals 60 4.2 ClassificationofSystems 61 4.2.1 LinearandNonlinearSystems 61 4.2.2 Time-invariantandTime-varyingSystems 62 4.2.3 CausalandNoncausalSystems 63 4.2.4 InstantaneousandDynamicSystems 64 4.2.5 InverseSystems 64 4.2.6 ContinuousandDiscreteSystems 64 4.3 Convolution–SummationModel 64 4.3.1 PropertiesofConvolution–Summation 67 4.3.2 TheDifferenceEquationandConvolution–Summation 68 4.3.3 ResponsetoComplexExponentialInput 69 4.4 SystemStability 71 4.5 RealizationofDiscreteSystems 72 4.5.1 DecompositionofHigher-orderSystems 73 4.5.2 FeedbackSystems 74 4.6 Summary 74 FurtherReading 75 Exercises 75 Contents vii 5 Time-domainAnalysisofContinuousSystems 79 5.1 ClassificationofSystems 80 5.1.1 LinearandNonlinearSystems 80 5.1.2 Time-invariantandTime-varyingSystems 81 5.1.3 CausalandNoncausalSystems 82 5.1.4 InstantaneousandDynamicSystems 83 5.1.5 Lumped-parameterandDistributed-parameterSystems 83 5.1.6 InverseSystems 83 5.2 DifferentialEquationModel 83 5.3 Convolution-integralModel 85 5.3.1 PropertiesoftheConvolution-integral 87 5.4 SystemResponse 88 5.4.1 ImpulseResponse 88 5.4.2 ResponsetoUnit-stepInput 89 5.4.3 Characterization of Systems by their Responses to Impulse andUnit-stepSignals 91 5.4.4 ResponsetoComplexExponentialInput 92 5.5 SystemStability 93 5.6 RealizationofContinuousSystems 94 5.6.1 DecompositionofHigher-orderSystems 94 5.6.2 FeedbackSystems 95 5.7 Summary 96 FurtherReading 97 Exercises 97 6 TheDiscreteFourierTransform 101 6.1 TheTime-domainandtheFrequency-domain 101 6.2 FourierAnalysis 102 6.2.1 VersionsofFourierAnalysis 104 6.3 TheDiscreteFourierTransform 104 6.3.1 The Approximation of Arbitrary Waveforms with a Finite NumberofSamples 104 6.3.2 TheDFTandtheIDFT 105 6.3.3 DFTofSomeBasicSignals 107 6.4 PropertiesoftheDiscreteFourierTransform 110 6.4.1 Linearity 110 6.4.2 Periodicity 110 6.4.3 CircularShiftofaSequence 110 6.4.4 CircularShiftofaSpectrum 111 6.4.5 Symmetry 111 6.4.6 CircularConvolutionofTime-domainSequences 112