3

Chapter 2

Continuous-Time Linear-Time Invariant

Systems (Chapter 3)
3.1 Using graphical methods, for each pair of signals x(t) and h(t) given in the figures below, compute the convolution y(t) = x(t) h(t).

x(t)

h(t)

(a)
x(t)

h(t)

1
21

t
1

1
2

t
1

(b)
Last Revised: May 9, 2010

c 20032010 Michael D. Adams

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CHAPTER 2. CONTINUOUS-TIME LINEAR-TIME INVARIANT SYSTEMS (CHAPTER ??)

h(t)

x(t)

2
1
0

1
1

(c)
h(t)
x(t)

1
1
1

(d)
h(t)
x(t)

(e)
x(t)

h(t)

5
4
3
2
1

4
3
2
1
3

(f)

Solution.

(c)
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Last Revised: May 9, 2010

x( )
2

h(t )

1
t 1

t +1

x( )

1
1

(e)

x( )

h(t )

(a)

1
t 1

h( )

t +1
1

(f)

x( )

h(t )

2
1

(b)

t 1
1

h( )
1

t +1

(g)

x( )

t 1

h(t )

t +1

h(t )

(c)

t 1

(h)
t +1

x( )

(d)

h(t )

1
1

t 1

t +1

(i)
First, we consider the case of t < 1. From Figure (e), we can see that
x(t) h(t) = 0.
Last Revised: May 9, 2010

c 20032010 Michael D. Adams

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CHAPTER 2. CONTINUOUS-TIME LINEAR-TIME INVARIANT SYSTEMS (CHAPTER ??)

Second, we consider the case of 1 t < 0. From Figure (f), we can see that

x(t) h(t) =

! t+1
0

(2)d

= [2 ]|t+1
0
= 2t 2.

Third, we consider the case of 0 t < 1. From Figure (g), we can see that

x(t) h(t) =

! t
0

2d +

! 1
t

(2)d

= [2 ]|t0 + [2 ]|t1
= 2t + (2 [2t])
= 4t 2.

Fourth, we consider the case of 1 t < 2. From Figure (h), we can see that

x(t) h(t) =

! 1

t1

2d

1
= [2 ]|t1

= 2 [2t 2]
= 4 2t.

Lastly, we consider the case of t > 2. From Figure (i), we can see that

x(t) h(t) = 0.

Combining the above results, we have

2t 2

4t 2
x(t) h(t) =

4 2t

for 1 t < 0
for 0 t < 1
for 1 t < 2
otherwise.

(d)
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Last Revised: May 9, 2010

2
x( )

h(t )
1
x( )
1

t +1

(e)
1

(a)

h(t )

h( )

x( )

2
t

1 t +1 2

(f)

h(t )

(b)
1

x( )

h( )
2

2 t +1 3

(g)
1

x( )

(c)

1
2

h(t )

h(t )

3 t +1

(h)

t +1

h(t )
x( )

(d)

t +1

(i)

First, we consider the case of t < 0. From Figure (e), we can see that
x(t) h(t) = 0.
Last Revised: May 9, 2010

c 20032010 Michael D. Adams

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CHAPTER 2. CONTINUOUS-TIME LINEAR-TIME INVARIANT SYSTEMS (CHAPTER ??)

Second, we consider the case of 0 t < 1. From Figure (f), we can see that
x(t) h(t) =

! t+1
1

2d

= [2 ]|t+1
1
= 2t + 2 [2]
= 2t.
Third, we consider the case of 1 t < 2. From Figure (g), we can see that
x(t) h(t) =

! 2
t

2d +

! t+1
2
2

2( + 3)d

= [2 ]|t2 + [ + 6 ]|t+1
2
= 4 2t + [(t + 1)2 + 6t + 6] [4 + 12]
= 4 2t (t 2 + 2t + 1) + 6t + 6 8
= t 2 + 2t + 1.
Fourth, we consider the case of 2 t < 3. From Figure (h), we can see that
x(t) h(t) =

! 3
t

2( + 3)d

= [ 2 + 6 ]|t3
= 9 + 18 (t 2 + 6t)
= 9 + t 2 6t
= t 2 6t + 9.
Last, we consider the case of t > 3. From Figure (i), we can see that
x(t) h(t) = 0.
Combining the above results, we have

2t

t 2 + 2t + 1
x(t) h(t) = 2
t 6t + 9

for 0 t < 1
for 1 t < 2
for 2 t < 3
otherwise.

3.2 For each pair of signals x(t) and h(t) given below, compute the convolution y(t) = x(t) h(t).
(a) x(t) = eat u(t) and h(t) = eat u(t) where a is a nonzero real constant;
(b) x(t) = e j0 t u(t) and h(t) = e j0 t u(t) where 0 is a strictly positive real constant;
(c) x(t) = u(t 2) and h(t) = u(t + 3);
(d) x(t) = u(t) and h(t) = e2t u(t 1);
(e) x(t) = u(t 1) u(t 2) and h(t) = et u(t).
Solution.
c 20032010 Michael D. Adams
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Last Revised: May 9, 2010

(a) We have
y(t) = x(t) h(t)
=
=
=

= eat
= eat

x( )h(t )d
ea u( )ea(t ) u(t )d
ea u( )eat ea u(t )d
!

! t

e2a u( )u(t )d

e2a d

0
at 1 2a t
= e [ 2a e ]|0
1 at 2a t
= 2a
e [e ]|0
1 at 2at
= 2a e [e 1]
1 at
= 2a
[e eat ].

for t 0
for a &= 0

Thus, we have that

y(t) =
=

&

1 at
2a [e

1 at
2a [e

eat ] for t 0
otherwise

eat ]u(t).

(c) We have
y(t) = x(t) h(t)
=
=
=

x( )h(t )d
u( 2)u(t + 3)d

! t+3
2

for t 1

= [ ]|t+3
2
= t +32
= t + 1.
Thus, we have that
&
t + 1 for t 1
y(t) =
0
otherwise
= [t + 1]u(t + 1).

Last Revised: May 9, 2010

c 20032010 Michael D. Adams

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CHAPTER 2. CONTINUOUS-TIME LINEAR-TIME INVARIANT SYSTEMS (CHAPTER ??)

(d) We have
x(t) h(t) =
=

x( )h(t )d
u( )e2(t ) u(t 1)d

&
'
e2t 0t1 e2 d
=
0
= [u(t 1)]e2t
= [u(t 1)]e2t

! t1
0

for t > 1
otherwise
e2 d

)*t1
*
0
( 2 )*t1
*
e

2
2e

(1

= 12 [u(t 1)]e2t

= 12 [u(t 1)]e2t [e2t2 1]

= 21 [u(t 1)][e2 e2t ]

= [ 21 e2t + 12 e2 ]u(t 1).

(e) We have
x(t) h(t) =
=

x( )h(t )d
[u( 1) u( 2)]et u([t ])d .

In order to evaluate the above integral, we can see that there are three cases to consider: i) t < 1, ii) 1 t < 2,
and iii) t 2. First, we consider the case of t < 1. We have
x(t) h(t) =
=

! 2
1

! 2
1

= et

et u( t)d
et (1)d

! 2

e d
(
)*2
= et e *1
1

= et [e2 + e1 ]
= et [e1 e2 ]

= et1 et2 .
Second, we consider the case of 1 t < 2. We have
x(t) h(t) =
=

! 2
1

! 2
t

= et

et u( t)d
et (1)d

! 2

e d
(
)*2
= et e *t
t

= et [e2 + et ]

= 1 et2 .
c 20032010 Michael D. Adams
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Last Revised: May 9, 2010

11

Third, we consider the case of t 2. We have

x(t) h(t) =
=

! 2
1

! 2
1

et u( t)d
et (0)d

= 0.
Combining these results, we have

t1
t2

e e
x(t) h(t) = 1 et2

for t < 1
for 1 t < 2
for t 2.

3.3 Let y(t) = x(t) h(t). Given that

v(t) =

x( b)h( + at)d ,

where a and b are constants, express v(t) in terms of y(t).

Solution.
From the definition of v(t), we have
v(t) =

x( b)h( + at)d .

Now, we employ a change of variable. Let = b so that = b and d = d . Applying this

change of variable and simplifying, we obtain
v(t) =
=
=

!
!

x( )h([ b] + at)(1)d

x( )h(at b )d
x( )h([at b] )d

= [x( ) h( )]| =atb

= y(at b).
Therefore, we have that v(t) = y(at b).
3.4 Consider the convolution y(t) = x(t) h(t). Assuming that the convolution y(t) exists, prove that each of the
following assertions is true:
(a) If x(t) is periodic then y(t) is periodic.
(b) If x(t) is even and h(t) is odd, then y(t) is odd.
Solution.
(a) From the definition of convolution, we have
y(t) = x(t) h(t)
=

Last Revised: May 9, 2010

x( )h(t )d .

c 20032010 Michael D. Adams

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CHAPTER 2. CONTINUOUS-TIME LINEAR-TIME INVARIANT SYSTEMS (CHAPTER ??)

Suppose that x(t) is periodic with period T . Then, we have x(t) = x(t + T ) and we can rewrite the above integral
as
y(t) =

x( + T )h(t )d .

Now, we employ a change of variable. Let = + T so that = T and d = d . This yields

y(t) =
=
=

x( )h(t [ T ])d

x( )h(t + T )d

x( )h([t + T ] )d

= [x(v) h(v)]|v=t+T
= y(v)|v=t+T
= y(t + T ).
Therefore, y(t) is periodic with period T .
3.7 Find the impulse response of the LTI system characterized by each of the equations below. In each case, the
input and output of the system are denoted as x(t) and y(t), respectively.
(a) y(t) =
(b) y(t) =
(c) y(t) =
(d) y(t) =
Solution.

! t+1
!

!
t
!
t

t1

x( )d ;

x( + 5)e t+1 u(t 2)d ;

x( )v(t )d and
x( )d .

(a) Let h(t) denote the impulse response of the system.

! t+1

( )d

&
1 for t > 1
=
0 for t < 1

h(t) =

= u(t + 1).

(b) Let h(t) denote the impulse response of the system.

h(t) =

( + 5)e t+1 u(t 2)d

5t+1

=e

t4

=e

u(t [5] 2)

u(t + 3).

(c) Let h(t) denote the impulse response of the system. We have
h(t) =

c 20032010 Michael D. Adams

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! t

( )v(t )d .

Last Revised: May 9, 2010

13

Now, we employ a change of variable. Let = t so that = + t and d = d . Applying this change of
variable, we obtain
h(t) =
=

! 0

! 0

( + t)v(t [ + t])d
( + t)v( )d .

From the equivalence property of the unit-impulse function, we can write

h(t) =

! 0

= v(t)

( + t)v(t)d
! 0

( + t)d

= v(t)u(t).

Last Revised: May 9, 2010

c 20032010 Michael D. Adams

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33

Chapter 12

MATLAB (Appendix E)
E.103 Let F( ) denote the complex-valued function of the real variable given by

F( ) =

1
.
j + 1

Write a program to plot |F( )| and arg F( ) for in the interval [10, 10]. Use subplot to place both plots
on the same figure.

Solution.

w = linspace ( -10 , 10 , 500);

f = (j * w + 1) . ( -1);
subplot (2 , 1, 1);
plot (w , abs (f ));
title ( Magnitude );
xlabel ( \ omega );
ylabel ( |F (\ omega )| );
subplot (2 , 1, 2);
plot (w , unwrap ( angle (f )));
title ( Argument );
xlabel ( \ omega );
ylabel ( arg F (\ omega ) );

Last Revised: May 9, 2010

c 20032010 Michael D. Adams

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34

CHAPTER 12. MATLAB (APPENDIX ??)

Magnitude
1

|F()|

0.8
0.6
0.4
0.2
0
10

10

10

Argument
1.5
1

arg F()

0.5
0
0.5
1
1.5
10

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Last Revised: May 9, 2010