Académique Documents
Professionnel Documents
Culture Documents
See Oppenheim and Schafer, Second Edition pages 893, or First Edition
pages 879.
1 Discrete-time signals
A discrete-time signal is represented as a sequence of numbers:
x D fxng;
1 < n < 1:
1 < n < 1:
...
t
x[1]
For this reason, although xn is strictly the nth number in the sequence, we
often refer to it as the nth sample. We also often refer to the sequence xn
when we mean the entire sequence.
Discrete-time signals are often depicted graphically as follows:
x[3]
x[2]
x[4]
x[1]
x[4]
x[0]
1
...
4
...
2
1 0
4
x[1]
x[3]
x[2]
(This can be plotted using the MATLAB function stem.) The value xn is
undefined for noninteger values of n.
Sequences can be manipulated in several ways. The sum and product of two
sequences xn and yn are defined as the sample-by-sample sum and product
respectively. Multiplication of xn by a is defined as the multiplication of
each sample value by a.
A sequence yn is a delayed or shifted version of xn if
yn D xn
n0 ;
with n0 an integer.
The unit sample sequence
1
n
0
is defined as
n D
8
<0
n0
:1
n D 0:
a4
a0
...
...
1
1 0
n
4
a1
a3
a2
can be represented as
xn D a
4 n
C 4 C a
3 n
C 3 C a
Ca1 n
2 n
1 C a2 n
C 2 C a
2 C a3 n
1 n
C 1 C a0 n
3 C a4 n
1
X
xkn
k:
kD 1
n
0
is defined as
un D
8
<1
n0
:0
n < 0:
4:
un D
k:
kD 1
1 C n
2 C D
1
X
k:
kD0
Conversely, the unit sample sequence can be expressed as the first backward
difference of the unit step sequence
n D un
un
1:
For 1 < < 0 the sequence alternates in sign, but decreases in magnitude.
For jj > 1 the sequence grows in magnitude as n increases.
A sinusoidal sequence
...
0
n
...
for all n;
for k an integer:
2k
;
N
k D 0; 1; : : : ; N
1:
!0 D 0
1
0
1
!0 D
8
1
0
1
!0 D
4
1
0
1
!0 D
1
0
!0 D 15
8
!0 D 7
4
1
1
0
1
1
0
1
8
2 Discrete-time systems
A discrete-time system is defined as a transformation or mapping operator that
maps an input signal xn to an output signal yn. This can be denoted as
yn D T fxng:
T fg
x[n]
y[n]
nd W
x[n]
...
...
n
3
y[n]=x[n2]
...
...
n
1
kD M1
y[3]
x[n]
...
...
n
1
y[2]
yn D xn
nd is not unless nd D 0.
n
X
kD 1
10
xk
2.4 Causality
A system is causal if the output at n depends only on the input at n and earlier
inputs.
For example, the backward difference system
yn D xn
xn
xn
is not.
2.5 Stability
A system is stable if every bounded input sequence produces a bounded output
sequence:
Bounded input: jxnj Bx < 1
Bounded output: jynj By < 1.
For example, the accumulator
yn D
n
X
kD 1
11
xn
k at
kD 1
1
X
xkT fn
kg D
kD 1
1
X
xkhk n:
kD 1
1
X
xkhn
k is
k:
kD 1
This expression is called the convolution sum. Therefore, a LTI system has
the property that given hn, we can find yn for any input xn. Alternatively,
yn is the convolution of xn with hn, denoted as follows:
yn D xn hn:
12
The previous derivation suggests the interpretation that the input sample at
n D k, represented by xkn k, is transformed by the system into an
output sequence xkhn k. For each k, these sequences are superimposed
to yield the overall output sequence:
hn
xn
1
1 0
x 1hn C 1
x 1n C 1
1 0
x1n
x1hn
1
0
yn D x 1hn C 1 C x1hn
13
h[k]
2
Reflect
h[k]
0
k
2
Shift
h[nk]
n5
The sequence hn
to k D n.
n+2
to the input xn D an un. To find the output at n, we must form the sum over
all k of the product xkhn k.
14
x[n]
0.5
0
10
0
k
n(N1) 0
k
10
10
h[nk]
0.5
0
10
Since the sequences are non-overlapping for all negative n, the output must be
zero:
yn D 0;
For 0 n N
follows that
n < 0:
n
X
ak ;
0nN
k D ak , so it
1:
kD0
Finally, for n > N 1 the product terms are xkhn k D ak as before, but
the lower limit on the sum is now n N C 1. Therefore
yn D
n
X
ak ;
kDn N C1
15
n>N
1:
1
X
xkhn
k:
kD 1
x[n]
h1 n
h2 n
h2 n
y[n]
h1 n
y[n]
yn D hn xn D h1 n h2 n xn D h2 n h1 n xn.
Parallel connection:
h1 n
x[n]
y[n]
h2 n
yn D .h1 n C h2 n/ xn D hp n xn.
Additional important properties are:
A LTI system is stable if and only if S D
16
P1
kD 1
delay system hn D n
average system
M2
X
1
hn D
n k
M1 C M2 C 1
kD M1
8
1
<
M1 n M2
M1 CM2 C1
D
:0
otherwise;
n
X
kD 1
8
<1
:0
n0
n<0
D un
is unstable since S D
P1
nD0
un D 1.
A LTI system is causal if and only if hn D 0 for n < 0. The ideal delay
system is causal if nd 0; the moving average system is causal if
M1 0 and M2 0; the accumulator and backward difference systems
are causal; the forward difference system is noncausal.
Systems with only a finite number of nonzero values in hn are called Finite
duration impulse response (FIR) systems. FIR systems are stable if each
impulse response value is finite. The ideal delay, the moving average, and the
forward and backward difference described above fall into this class. Infinite
impulse response (IIR) systems, such as the accumulator system, are more
difficult to analyse. For example, the accumulator system is unstable, but the
17
IIR system
hn D an un;
jaj < 1
is stable since
SD
1
X
ja j
1
X
jajn D
nD0
nD0
1
1
jaj
<1
Onesample
delay
which has
hn D .n C 1
n/ n
D n
1 n C 1
D n
1
1 n
1:
Onesample
delay
Backward
difference
Here a non-causal system has been converted to a causal one by cascading with
a delay. In general, any non-causal FIR system can be made causal by
cascading with a sufficiently long delay.
Consider the system consisting of an accumulator followed by a backward
difference:
18
Backward
difference
Accumulator
1/ D un
un
1 D n:
The output is therefore equal to the input because xn n D xn. Thus the
backward difference exactly compensates for (or inverts) the effect of the
accumulator the backward difference system is the inverse system for the
accumulator, and vice versa. We define this inverse relationship for all LTI
systems:
hn hi n D n:
ak yn
k D
M
X
bm xn
m:
mD0
kD0
y[n]
Backward
difference
x[n]
19
1 C xn
y[n]
Onesample
delay
1
.un
M2 C 1
un
M2
1/:
k;
kD0
1
.n
M2 C 1
M2
1/ un
so
Attenuator
x[n]
x1 n
1=.M2 C 1/
.M2 C 1/
sample delay
20
Accumulator
y[n]
yn
1 D
M2
1
.xn
M2 C 1
xn
M2
1/;
1,
ak yh n
k D 0:
kD0
It can be shown that there are N nonzero solutions to this equation, so a set of
N auxiliary conditions are required for a unique specification of yn for a
given xn.
If a system is LTI and causal, then the initial conditions are initial rest
conditions, and a unique solution can be obtained.
6 Frequency-domain representation of
discrete-time signals and systems
The Fourier transform considered here is strictly speaking the discrete-time
Fourier transform (DTFT), although Oppenheim and Schafer call it just the
21
Fourier transform. Its properties are recapped here (with examples) to show
nomenclature.
Complex exponentials
xn D e j!n ;
1<n<1
1
X
hke j!.n
k/
1
X
D e j!n
kD 1
hke
j!k
kD 1
Defining
H.e
j!
/D
1
X
j!k
hke
kD 1
j! /
j!nd
j!
/D
1
X
nd e
nd ,
j!n
De
j!nd
nD 1
22
nd :
!nd :
The frequency response of a LTI system is essentially the same for continuous
and discrete time systems. However, an important distinction is that in the
discrete case it is always periodic in frequency with a period 2:
H.e
j.!C2/
/D
D
D
1
X
nD 1
1
X
nD 1
1
X
hne
j.!C2/n
hne
j!n
hne
j!n
j 2 n
D H.e j! /:
nD 1
A system will therefore respond in exactly the same way to both sequences.
Example: ideal frequency selective filters
The frequency response of an ideal lowpass filter is as follows:
23
Hlp .e j! /
2
!c
!c
2
Highpass
!c
!c
j!
1 Hbs .e /
Bandstop
!b
!a
1
!a
Hbp .e j! /
!b
Bandpass
!b
!a
!a
!b
In these cases it is implied that the frequency response repeats with period 2
outside of the plotted interval.
Example: frequency response of the moving-average system
24
is given by
H.e j! / D
1
e j!.M2 CM1 C1/=2 e j!.M2 CM1 C1/=2
e
M1 C M2 C 1
1 e j!
j!.M2
M1 C1/
j!.M2 M1 /
2
For M1 D 0 and M2 D 4,
jH.e j! /j
2
2
5
2
5
2
2
^H.e j! /
!
0
2
!
This system attenuates high frequencies (at around ! D ), and therefore has
the behaviour of a lowpass filter.
25
j!
/D
1
X
xne
j!n
nD 1
This is also called the forward transform or analysis equation. The inverse
Fourier transform, or synthesis formula, is given by the Fourier integral
Z
1
xn D
X.e j! /e j!n d!:
2
The Fourier transform is generally a complex-valued function of !:
X.e j! / D XR .e j! / C jXI .e j! / D jX.e j! /je j ^X.e
j! /
The quantities jX.e j! /j and ^X.e j! / are referred to as the magnitude and
phase of the Fourier transform. The Fourier transform is often referred to as
the Fourier spectrum.
Since the frequency response of a LTI system is given by
H.e
j!
/D
1
X
hke
j!k
kD 1
26
j!
j!
/:
27
Sequence xn
Transform X.e j! /
x n
X .e
j!
x n
X .e j! /
Refxng
Xe .e j! /
j Imfxng
Xo .e j! /
xe n
XR .e j! /
xo n
jXI .e j! /
Most of these properties can be proved by substituting into the expression for
the Fourier transform. Additionally, for real xn the following also hold:
Transform X.e j! /
Real sequence xn
xn
X.e j! / D X .e
xn
XR .e j! / D XR .e
xn
XI .e j! / D
xn
jX.e j! /j D jX.e
xn
^X.e j! / D
j!
j!
j!
^X.e
XR .e j! /
xo n
jXI .e j! /
j!
XI .e
xe n
/
/
/j
j!
28
Sequences xn, yn
Transforms X.e j! /, Y .e j! /
Property
axn C byn
aX.e j! / C bY .e j! /
Linearity
xn
nd
j!nd
X.e j! /
e j!0 n xn
X.e j.!
x n
X.e
nxn
xn yn
X.e
1
2
xnyn
R
!0 /
j!
Time shift
Frequency shift
Time reversal
dX.e j! /
Frequency diff.
d!
j!
/Y .e
j!
X.e j /Y .e j.!
Convolution
/
/d
Modulation
Fourier transform
n0
1 . 1 < n < 1/
an un .jaj < 1/
un
.n C 1/an un .jaj < 1/
sin.!c n/
n
xn D
8
<1
:0
j!n0
P1
kD 1 2.! C 2k/
1
1 ae j!
P1
1
C
kD 1 .! C 2k/
1 e j!
1
8.1 ae j! /2
X.e
j!
/D
<1
:0
0nM
j!j < !c
!c < j!j
sin!.M C1/=2
e j!M=2
sin.!=2/
otherwise
P1
e j!0 n
kD 1
29
2.!
!0 C 2k/