Fundamentals of Signals and Systems , Using the Web and MATLAB(
Third Edition
Edward W. Kamen Bonnie S. Heck
School of Electrical and Computer Engineering Georgia Institute of Technology
PEARSON
Prentice Hall
Upper Saddle River, NJ 07458
Contents
Preface
ix
CHAPTER 1 1.1 1.2 1.3 1.4 1.5 1.6
Fundamental Concepts Continuous-Time Signals 1 Discrete-Time Signals 11 Systems 21 Examples of Systems 24 Basic System Properties 31 Chapter Summary 37 Problems 37'
CHAPTER 2 2.1 2.2 2.3 2.4 2.5 2.6 2.7
Time-Domain Models of Systems
44 44
Input/Output Representation of Discrete-Time Systems Convolution of Discrete-Time Signals 49 Difference Equation Models 55 Differential Equation Models 64 Solution of Differential Equations 69 Convolution Representation of Continuous-Time Systems Chapter Summary 84 Problems 85 The Fourier Series and Fourier Transform 96
75
CHAPTER 3 3.1 3.2 3.3 3.4
Representation of Signals in Terms of Frequency Components Trigonometric Fourier Series 101 Complex Exponential Series 108 Fourier Transform 114
96
vi
Contents
3.5 3.6 3.7 3.8 3.9 CHAPTER 4 4.1 4.2 4.3 4.4 4.5 4.6 CHAPTER 5 5.1 5.2 5.3 5.4 5.5 5.6 5.7 CHAPTER 6 6.1 6.2 6.3 6.4 6.5 6.6 6.7 CHAPTER 7 7.1 7.2 7.3
Spectral Content of Common Signals 122 Properties of the Fourier Transform 126 Generalized Fourier Transform 141 Application to Signal Modulation and Demodulation Chapter Summary 152 Problems 154 Fourier Analysis of Discrete-Time Signals Discrete-Time Fourier Transform 166 Discrete Fourier Transform 179 DFT of Truncated Signals 188 FFT Algorithm 195 Application to Data Analysis 206 Chapter Summary 216 Problems 217 Fourier Analysis of Systems 222 166
144
Fourier Analysis of Continuous-Time Systems 222 Response to Periodic and Nonperiodic Inputs 228 Analysis of Ideal Filters 237 Sampling 242 Fourier Analysis of Discrete-Time Systems 249 Application to Lowpass Digital Filtering 254 Chapter Summary' 262 Problems 263 The Laplace Transform and the Transfer Function Representation 279 Laplace Transform of a Signal 279 Properties of the Laplace Transform 285 Computation of the Inverse Laplace Transform 296 Transform of the Input/Output Differential Equation 316 Transform of the Input/Output Convolution Integral 323 Direct Construction of the Transfer Function 330 Chapter Summary 341 Problems 342 The z-Transform and Discrete-Time Systems z-Transform of a Discrete-Time Signal Properties of the z-Transform 357 Computation of the Inverse z-Transform 352 367 352
7.4 7.5 7.6
Transfer Function Representation System Analysis Using the Transfer Function Representation 388 Chapter Summary 400 Problems 401
377
CHAPTER 8
Analysis of Continuous-Time Systems by Use of the Transfer Function Representation 411
Stability and the Impulse Response 411 Routh-Hurwitz Stability Test 414 Analysis of the Step Response 419 Response to Sinusoids and Arbitrary Inputs Frequency Response Function 443 Causal Filters 463 Chapter Summary 478 Problems 479 Application to Control 489
8.1 8.2 8.3 8.4 8.5 8.6 8.7
437
CHAPTER 9 9.1 9.2 9.3 9.4 9.5
Introduction to Control 489 Tracking Control 497 Root Locus 508 Application to Control System Design Chapter Summary 525 Problems 526
516
CHAPTER 10 10.1 10.2 10.3 10.4 10.5 10.6
Design of Digital Filters and Controllers
536
Discretization 536 Design of IIR Filters 543 Design of IIR Filters Using MATLAB Design of FIR Filters 556 Design of Digital Controllers 568 Chapter Summary 577 Problems 578 State Representation 584
549
CHAPTER 11 11.1 11.2 11.3 11.4
State Model 584 Construction of State Models 587 Solution of State Equations 595 Discrete-Time Systems 604
viii
Contents
11.5 11.6 11.7
Equivalent State Representations 612 Discretization of State Model 618 Chapter Summary 622 Problems 623 Brief Review of Complex Variables Brief Review of Matrices 644 638 633
Appendix A Appendix B Bibliography Index 645
Springer
