Signals & System
Lecture 1
Introduction to Signals & Variables
Dr. Tahir Zaidi
Books/Resources
Essential
AV Oppenheim, AS Willsky: Signals and Systems, 2nd Ed
D Hanselman, B Littlefield “Mastering Matlab 6: A
comprehensive tutorial and reference”
Recommended
Haykin “Signals and Systems, John Wiley and Sons, 2002
http://www.mit.edu/~6.003/ - Signals and Systems at MIT
http://dynamo.ecn.purdue.edu/~bouman/ee301/ - Signals and
Systems at Purdue
http://www.jhu.edu/~signals/index.html - on-line set of Java
applets demonstrating various signals and system concepts2
Course Syllabus
1. Concepts : Systems, signals, mathematical models.
Continuous-time and discrete-time signals. Energy and
power signals. Linear systems. Examples for use
throughout the course, use of Matlab
2. Linear systems, Convolution : Impulse response, input
signals as continuum of impulses. Convolution, discrete-
time and continuous-time properties
3. Basis functions : Concept of basis function. Fourier series
representation of time functions. Fourier transform and its
properties. Examples, transform of simple time functions.
4. Sampling Discrete-time systems : Sampling theorem,
discrete Fourier transform
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Course Syllabus (2)
5. Laplace transform : Laplace transform and Fourier
transform with convergence factor. Properties of the
Laplace transform
6. Transfer Function of Continuous-Time Systems :
Transfer function, frequency response. Physical
realizability, stability. Poles and zeros.
7. Transfer Function of a Discrete-Time Systems :
Impulse sampler, Laplace transform of impulse
sequence, z transform. Properties of the z transform.
Examples. Difference equations and differential
equations. Digital filters.
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Grading Policy
Quizzes : 10%
Assignments : 10%
Sessionals : 30%
Final Exam : 50%
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What is a Signal?
• A signal is a pattern of variation of some form
• Signals are variables that carry information
Examples of signal include:
Electrical signals : Voltages and currents in a circuit
Acoustic signals: Acoustic pressure (sound) over time
Mechanical signals: Velocity of a car over time
Video signals: Intensity level of a pixel (camera, video)
over time
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How is a Signal Represented?
Mathematically, signals are represented as a function of
one or more independent variables.
For instance a black & white video signal intensity is
dependent on x, y coordinates and time t f(x,y,t)
On this course, we shall be exclusively concerned with
signals that are a function of a single variable: time
f(t)
t
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Example: Signals in an Electrical Circuit
R vs (t ) vc (t )
i (t )
R
dv (t )
i (t ) C c
vs
+
-
i C vc dt
dvc (t ) 1 1
vc (t ) vs (t )
dt RC RC
The signals vc and vs are patterns of variation over time
Step (signal) vs at t=1
vs, vc
RC = 1
First order (exponential)
response for vc
t
Note, we could also have considered the voltage across the
resistor or the current as signals
8
Continuous-time signals
A value of signal exists at every instant of time
t
Independent
variable
t
Independent
variable
9
Discrete-time signals
The value of signal exists only at equally spaced
discrete points in time
t
Independent
variable
t
Independent
variable
10
Discrete-time signals
Why to discretize
How to discretize
How closely spaced are the samples
Distinction between discrete & digital signals
How to denote discrete signals
Is image a discrete or continuous signal
The image is generally considered to be a
continuous variable
Sampling can however be used to obtain a discrete,
two dimensional signal (sampled image)
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Notation
A continuous-time signal has independent variable
(time) in parentheses ()
xt
A discrete-time signal is represented by enclosing
the independent variable in square brackets []
xn
n 12
Continuous & Discrete-Time Signals
Continuous-Time Signals
Most signals in the real world are x(t)
continuous time, as the scale is
infinitesimally fine e.g voltage, velocity,
Denote by x(t), where the time interval
may be bounded (finite) or infinite t
Discrete-Time Signals
Some real world and many digital
signals are discrete time, as they are
sampled e.g. pixels, daily stock price x[n]
(anything that a digital computer
processes)
Denote by x[n], where n is an integer n
value that varies discretely
Sampled continuous signal
x[n] =x(nk) – k is sample time 13
Signal Properties
Particular interest in signals with certain properties:
Periodic signals: a signal that repeats itself after a fixed
period T, i.e. x(t) = x(t+T) for all t. e.g. A sin(t).
Even and odd signals: even if x(-t) = x(t), and odd if
x(-t) = -x(t). Examples are cos(t) and sin(t) signals.
Exponential and sinusoidal signals: a signal is (real)
exponential if it can be represented as x(t) = Ceat. The same
example is (complex) exponential C and a are complex.
Step and pulse signals: A pulse signal is one which is
nearly completely zero, apart from a short spike, d(t). A
step signal is zero up to a certain time, and then a constant
value after that time, u(t).
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Signal
The Speech Signal
The ECG Signal
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Signal
The image
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Signal
The image
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Signal
It is the variation pattern that conveys the
information, in a signal
Signal may exist in many forms like acoustic, image,
video, electrical, heat & light signal
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What is a System?
• Systems process input signals to produce output signals
Examples:
A circuit involving a capacitor can be viewed as a
system that transforms the source voltage (signal) to
the voltage (signal) across the capacitor
A CD player takes the signal on the CD and transforms
it into a signal sent to the loud speaker
A communication system is generally composed of
three sub-systems, the transmitter, the channel and the
receiver. The channel typically attenuates and adds
noise to the transmitted signal which must be processed
by the receiver
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System
An entity that responds to a signal
input system output
Examples
Circuit
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System
The camera
Image
The Speech Recognition System
Identified
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System
The audio CD-player
Block Diagram representation of a system
Visual representation of a system
Input Signal Output Signal
system
Shows inter-relations of many signals involved in
the implementation of a complex system
Look at everything around and try to identify the
signals and systems !!
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How is a System Represented?
A system takes a signal as an input and transforms it
into another signal
Input signal Output signal
System
x(t) y(t)
In a very broad sense, a system can be represented as
the ratio of the output signal over the input signal
That way, when we “multiply” the system by the
input signal, we get the output signal
This concept will be firmed up in the coming weeks
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Example: An Electrical Circuit System
R vs (t ) vc (t )
i (t )
R
dv (t )
i (t ) C c
vs
+
-
i C vc dt
dvc (t ) 1 1
vc (t ) vs (t )
dt RC RC
Simulink representation of the electrical circuit
vs, vc
vs(t) vc(t)
first order t
system
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Continuous & Discrete-Time Models
Continuous-Time Systems
dvc (t ) 1 1
Most continuous time systems vc (t ) vs (t )
dt RC RC
represent how continuous
dv(t )
signals are transformed via m v(t ) f (t )
dt
differential equations. e.g.
First order differential equations
circuit, car velocity
Discrete-Time Systems
Most discrete time systems
represent how discrete signals y[n] 1.01y[n 1] x[n]
are transformed via difference
equations e.g. bank account, First order difference equations
discrete car velocity system
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Properties of a System
• Causal: a system is causal if the output at a time, only
depends on input values up to that time.
• Linear: a system is linear if the output of the scaled sum of
two input signals is the equivalent scaled sum of outputs
• Time-invariance: a system is time invariant if the system’s
output is the same, given the same input signal, regardless
of time.
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Introduction to Matlab/Simulink (1)
Click on the Matlab Variable Command
icon/start menu browser window
initialises the Matlab
environment:
The main window is
the dynamic command
interpreter which
allows the user to issue
Matlab commands
The variable browser
shows which variables
currently exist in the
workspace
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Introduction to Matlab/Simulink (2)
Type the following at the Matlab command prompt
>> simulink
The following Simulink library should appear
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Introduction to Matlab/Simulink (3)
Click File-New to create a new workspace, and drag
and drop objects from the library onto the workspace.
Selecting Simulation-Start from the pull down menu
will run the dynamic simulation. Click on the blocks to
view the data or alter the run-time parameters
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How Are Signal & Systems Related?
How to design a system to process a signal in particular ways?
Design a system to restore or enhance a particular signal
– Remove high frequency background communication noise
– Enhance noisy images from spacecraft
Assume a signal is represented as
x(t) = d(t) + n(t)
Design a system to remove the unknown “noise” component n(t),
so that y(t) d(t)
x(t) = d(t) + n(t) System y(t) d(t)
?
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How Are Signal & Systems Related?
How to design a system to extract specific pieces of
information from signals
– Estimate the heart rate from an electrocardiogram
– Estimate economic indicators (bear, bull) from
stock market values
Assume a signal is represented as: x(t) = g(d(t))
Design a system to “invert” the transformation g(), so
that y(t) = d(t)
x(t) = g(d(t)) System y(t) = d(t) = g-1(x(t))
?
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How Are Signal & Systems Related?
How to design a (dynamic) system to modify or control the
output of another (dynamic) system
– Control an aircraft’s altitude, velocity, heading by
adjusting throttle, rudder, ailerons
– Control the temperature of a building by adjusting the
heating/cooling energy flow.
Assume a signal is represented as: x(t) = g(d(t))
Design a system to “invert” the transformation g(), so that
y(t) = d(t)
x(t) dynamic y(t) = d(t)
system ?
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Lecture 1: Summary
Signals and systems are important for:
– Electrical circuits
– Physical models and control systems
– Digital media (music, voice, photos, video)
Study of signals and systems helps in:
– Design systems to remove noise/enhance
measurement from audio and picture/video data
– Investigate stability of physical structures
– Control the performance mechanical and electrical
devices
This will be the foundation for studying systems and
signals as a generic subject on this course.
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Lecture 1: Exercises
Read Text Chapter 1. (This contains the material
for lectures 1-3)
Questions 1.1, 1.2, 1.4, 1.5, 1.6
In lecture 2, we’ll look at signals in more depth
and look at how they can be represented in
Matlab/Simulink
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