SIGNALS AND SYSTEMS USING MATLAB

Chapter 1 Continuoustime Signals

Luis F. Chaparro

Classification of timedependent signals

Predictability: random or deterministic

Variation of time and amplitude: continuous-time, discretetime, or digital

Energy/power: finite or infinite energy/power
Repetitive behavior: periodic or aperiodic

Symmetry with respect to time origin: even or odd

Support: Finite or infinite support (outside support signal is always zero)

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Analog to digital and digital to analog conversion

Analog to digital converter (ADC or A/D converter): converts analog signals into

digital signals
Digital to analog converter (DAC or D/A converter): converts digital to analog signals
level

x(t)

2Ts

/2

3Ts
4Ts

Ts

t
/2

x(nT )

Discretization in time and in amplitude of analog signals using sampling period Ts and
quantization level . In time, samples are taken at uniform times {nTs }, and in
amplitude the range of amplitudes is divided into a finite number of levels so that each
sample value is approximated by one of them

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1
0.8
0.6
0.4

v(t)

0.2
0
0.2
0.4
0.6
0.8
2

0.5
0.4
0.3
0.2
v(t), v(nTs)

6
t (sec)

v(nTs), vq(nTs)

1
0

10

0.5

0.5

0.1

1.45

1.5

1.55

1.5
nTs

1.55

0
0.1

0.5
e(nTs)

0.2
0.3
0.4

0.5
0.5
1.45

1.5
t, nTs

1.55

1.45

Segment of voice signal on top is sampled and quantized. Bottom left: voice segment
(continuous line) and the sampled signal (vertical samples) using a sampling period
Ts = 103 sec. Bottom-right: sampled and quantized signal at the top, and quantization
error, difference between the sampled and the quantized signals, at the bottom.

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Continuoustime signals

x(.) : R R (C)
t x(t)
Example: complex signal y (t) = (1 + j)e jt/2, 0 t 10, 0 otherwise
j(t/2+/4)
y (t) = 2e

2 [cos(t/2 + /4) + j sin(t/2 + /4)] , 0 t 10,
=
0,
otherwise
If

x(t) = 2 cos(t/2 + /4), < t <

p(t) = 1, 0 t 10, 0 otherwise then
y (t) = [x(t) + jx(t 1)]p(t)

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Basic signal operations

Given signals x(t), y (t), constants and , and function w(t):
Signal addition/subtraction: x(t) + y (t), x(t) y (t)
Constant multiplication: x(t)
Time shifting
x(t ) is x(t) delayed by
x(t + ) is x(t) advanced by
Time scaling x(t)
= 1, x(t) reversed in time or reflected
> 1, x(t) is x(t) compressed
< 1, x(t) is x(t) expanded
Time windowing x(t)w(t), w(t) window
Integration
Z
t

y (t) =

x( )d + y (t0)

t0

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z(t) = x(t) + y(t)

x(t)
+

x(t)

x(t)

x(t)

Delay

x(t )

+
y(t)

(b)

(a)

(c)

y(0)

x(t)

x(t) w(t)

w(t)

x(t)

(d)

y(t) = y(0) +

x( )d
0

(e)

Basic signal operations: (a) adder, (b) constant multiplier, (c) delay, (d) time-windowing,
(e) integrator

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Delayed, advanced and reflected signals

(a)

x(t)

(b)

(c)

x(t + )

x(t )

(d)

x(t)

Continuous-time signal (a), and its delayed (b), advanced (c), and reflected (d) versions.

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Example
x(t) =

t
0

1 t 1
otherwise

t 1 0t 2
0
otherwise

t + 1 2 t 0
advanced by 1: x(t + 1) =
0
otherwise

t 1 t 1
reflected: x(t) =
0 otherwise

t + 1 0 t 2
reflected and delayed by 1: x(t + 1) =
0 otherwise

t 1 2 t 0
reflected and advanced by 1: x(t 1) =
0 otherwise

2t 12 t 12
compressed by 2: x(2t) =
0 otherwise

t/2 2 t 2
expanded by 2: x(t/2) =
0 otherwise
delayed by 1:

x(t 1) =

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Even and odd signals

x(t) even : x(t) = x(t)
x(t) odd : x(t) = x(t)
Even and odd decomposition: For any signal y (t)

y (t) = ye (t) + yo (t)

ye (t) = 0.5 [y (t) + y (t)] even component
yo (t) = 0.5 [y (t) y (t)] odd component
Example x(t) = cos(2t + ), < t <
even x(t) = x(t) cos(2t + ) = cos(2t + ) = cos(2t )
= , or = 0,
odd x(t) = x(t) cos(2t + ) = cos(2t + ) = cos(2t + )
= cos(2t )
= , or = /2

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Example Given
x(t) =

2 cos(4t) t > 0
0
otherwise

not even or odd, its even and odd components are

2

x(t)

1
0
1
2
1

0.5

xo(t)

1
0.5

xe(t)

1
0.5
0
0.5

0.5

1
1

0.5

0.5

0.5

1
1

If signal is 2 at t = 0
x1(t) =

0.5

0.5

2 cos(4t) t 0
0
otherwise

the odd component is same as before, and the even component is 2 at t = 0 and same as
before otherwise

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Periodic and aperiodic signals

x(t) is periodic if
(i) x(t) defined in < t < , and
(ii) there is T0 > 0, the fundamental period of x(t),
such that x(t + kT0) = x(t), integerk
Example x(t) = e j2t and y (t) = e jt
x(t) = cos(2t) + j sin(2t) periodic with T0 = 2/2 =

y (t) = cos(t) + j sin(t) periodic with T1 = 2/ = 2

z(t) = x(t) + y (t) is not periodic as T0 /T1 6= M/N where M, N integers

w (t) = x(t)y (t) = e j(2+)t = cos(2 t) + j sin(2 t), 2 = 2 + w (t) periodic

with T2 = 2/(2 + )
p(t) = (1 + x(t))(1 + y (t)) = 1 + x(t) + y (t) + x(t)y (t) not periodic

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Finiteenergy and finite-power signals

Z

|x(t)|2dt,

Z T
1
Power of x(t) : Px = lim
|x(t)|2dt
T 2T T
Energy of x(t) : Ex =

x(t) is finiteenergy, or square integrable, if Ex <

x(t) is finitepower if Px <

Example
x(t) = e at , a > 0, t 0 and 0 otherwise is finite energy and zero power
y (t) = (1 + j)e jt/2 , 0 t 10, and 0 otherwise is finite energy and zero power
Z 10
Z 10
dt = 20
Ey =
|(1 + j)e jt/2|2dt = 2
0

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Power of periodic signal

x(t) period of fundamental period T0 is

1
Px =
T0

t0 +T0

x 2(t)dt

t0

for any t0, i.e., the average energy in a period of the signal Let T = NT0, integer N > 0:
Z T
Z NT0
1
1
x 2(t)dt = lim
x 2(t)dt
Px = lim
N 2NT0 NT0
T 2T T
 Z T0

Z T0
1
1
= lim
N
x 2(t)dt =
x 2(t)dt
N 2NT0
2T0 T0
T0
Z t0+T0
1
x 2(t)dt
=
T0 t0

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Basic signals
Complex exponential

e0.5 t

e0.5 t

x(t) = Ae at = |A|e j e (r +j0)t

= |A|e rt [cos(0t + ) + j sin(0t + )]

2
1
0
t

0
t

4
e0.5 t cos(2 t)

4
e0.5 t cos(2 t)

2
1

2
0
2
4

<t <

0
t

2
0
2
4

0
t

Analog exponentials: decaying exponential (top left), growing exponential (top right),
modulated exponential decaying and growing (bottom left and right).

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 Sinusoid

A cos(0t + ) = A sin(0t + + /2)

<t <

Modulation systems
A(t) cos((t)t + (t))
Amplitude modulation or AM:A(t) changes according to the message, frequency
and phase constant,
Frequency modulation or FM: (t) changes according to the message, amplitude
and phase constant,
Phase modulation or PM: (t) changes according to the message, amplitude and
frequency constant

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 Unit-impulse signal

p (t)

u (t)

1/

1
0.5

/2

/2

(t)

/2

/2

u(t)

(1)
t

Unit-impulse (t) and unitstep u(t) as 0 in pulse p(t) and its integral u(t).
Unit-impulse

0
(t) =
undefined

Z t
1
( )d =
0

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t 6= 0
t=0
t>0
otherwise

 Unitstep signal

u(t) =

1 t>0
0 t0

Ramp signal

r (t) = tu(t) =
Relations

t t0
0 t<0

dr (t)
d 2r (t)
= u(t),
= (t)
2
dt
dt
du(t)
= (t)
dt
Z t
Z
( )d = u(t),

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u( )d = r (t)

Example Triangular pulse

t
t + 2
(t) =

0t1
1<t2
otherwise

= r (t) 2r (t 1) + r (t 2)

Derivative

1
d (t)
1
=

dt
0

0t1
1<t2
otherwise

= u(t) 2u(t 1) + u(t 2)

(t)

d(t)
dt

0
1

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Example Causal train of pulses

(t) =

X
k=0

Derivative

s(t 2k),

s(t) = u(t) 2u(t 1) + u(t 2)

k=1

k=1

X
X
d (t)
= (t) + 2
(t 2k) 2
(t 2k + 1)
dt
(t)

d(t)
dt

(2)

(1)

2
(2)

t
(2)

The number in () is area of the corresponding delta signal and it indicates the jump at
the particular discontinuity, positive when increasing and negative when decreasing

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Generic representation of signals

Sifting property of (t)

f (t)(t )dt =

f ( )(t )dt = f ( )

f (t)

(t t0 )

(t )dt = f ( ), for any

=
(f (t0 ))

x(t) =

f (t0 )(t t0 )

Generic representation

t0

t0

x( )(t )d

x(t)
x (t)

x()

x(0)

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+
2 t