Chapter One
Chapter One
Classification of Signals
Signals are represented mathematically as functions of one or more independent
variables. Signals are classified into different types and, the representation and
processing of a signal depends on its type.
Continuous- time and discrete-time signals
In the case of continuous-time signals the independent variable is continuous, and
thus these signals are defined for a continuum of values of the independent variable.
On the other hand, discrete-time signals are defined only at discrete times, and
consequently, for these signals, the independent variable takes on only a discrete set
of values.
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Dr. Emad Al-Mohammed
Chapter One
While these signals may be limited to a range of maximum and minimum values,
there are still an infinite number of possible values within that range. For example, the
analog voltage coming out of your wall socket might be clamped between -120V and
+120V, but, as you increase the resolution more and more, you discover an infinite
number of values that the signal can actually be (like 64.4V, 64.42V, 64.424V, and
infinite, increasingly precise values).
Digital signals must have a finite set of possible values. The number of values in the
set can be anywhere between two and a-very-large-number-that’s-not-infinity. Most
commonly digital signals will be one of two values – like either 0V or 5V. Timing
graphs of these signals look like square waves.
That’s the big difference between analog and digital waves. Analog waves are smooth
and continuous, digital waves are stepping, square, and discrete.
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Chapter One
A signal which repeats itself after a specific interval of time is called periodic signal.
A signal which does not repeat itself after a specific interval of time is called
aperiodic signal. A signals that repeats its pattern over a period is called periodic
signal, while signal that does not repeats its pattern over a period is called aperiodic
signal or non periodic. Both the Analog and Digital can be periodic or aperiodic.
A signal is periodic if x(t) = x(t + T0), where T0, the period, is the largest value
satisfying the equality. If a signal isn’t periodic, it’s aperiodic.
Part (a) of the following figure shows a periodic signal known as a periodic pulse
train because it has an infinite train of pulses. Each pulse has width 'τ' and the ellipsis
indicate that the pulse train continues in both directions. In part (b), a waveform with
a single isolated pulse or just a few pulses makes the signal aperiodic.
∫ ( ) = ∫ ( )
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Dr. Emad Al-Mohammed
Chapter One
∫ ( )
A signal x(n) is even-symmetric, if x(−n) = x(n) for all n. The signal is symmetrical
about the vertical axis at the origin. The cosine waveform is an example of an even-
symmetric signal. A signal x(n) is odd-symmetric, if x(−n) = −x(n) for all n. The
signal is asymmetrical about the vertical axis at the origin. For an odd-symmetric
signal, x(0) = 0. The sine waveform is an example of an odd-symmetric signal.
The terms signal energy and signal power are used to characterize a signal. They are
not actually measures of energy and power. The definition of signal energy and
power refers to any signal x(t) , including signals that take on complex values.
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Dr. Emad Al-Mohammed
Chapter One
If 0 < E < ∞ , then the signal x(t) is called an energy signal. However, there are
signals where this condition is not satisfied. For such signals we consider the power.
If 0 < P < ∞ then the signal is called a power signal. Note that the power for an
energy signal is zero (P=0) and that the energy for a power signal is infinite (E=∞).
Some signals are neither energy nor power signals.
A necessary condition for energy signal is to be a finite which means x(t)→0 as
|t|→∞, otherwise the integral will not converge.
When the amplitude of x(t) does not →0 as |t|→∞, the signal energy is infinite. In this
case, a more meaningful measure would be the time average of the energy, if it is
existing, this measure is called power of the signal.
The signal power in the signal x(t) is
Observe that the signal power 'P' is the time average (mean) of the amplitude squared
that is , the mean squared value of x(t). indeed, the squared root of 'P' is the familiar
'rms' (root mean square) of x(t).
When x(t) is periodic, x2(t) is also periodic. Hence, the power of x(t) can be computed
by averaging x2(t) over one period. Then, the power will be equal to
Example:
Determine the suitable measures of the signal size "energy or power" in the figure
shown below.
x(t)
2
/
2
2- -1 t
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Dr. Emad Al-Mohammed
Chapter One
Solution
As shown in the figure, the signal amplitude →0 as |t|→∞, therefore, the suitable
measure for this signal is its energy Ex given by:
= ( ) = 0 + 2 + 2
= 4 + 4 = 4 − 4[ − ]=4+4 =8
Example
Determine the suitable measures of the signal size "energy or power" in the figure
shown below.
x(t)
-6 -4 -2 2 4 6 t
Solution
The signal amplitude does not →0 as |t|→∞. However, it is periodic, therefore, the
power exists.
x(t) = 2.5t
1 1 1 6.25 6.25
= (2.5 ) = 6.25 = [ ] = [8 − (−8)] = 8.33
4 4 4 3 12
Example
Show that the energies of the signals in Figures a, b, c, d are 4, 1, 4/3 and 4/3
respectively. Observe that doubling a signal quadruples the energy, and time shifting
the signal has no effect on the energy. Show also that the power of the signal in Figure
e is 0.4323.
2
2
1
t t t
1
(a) 1 1
(b) (c)
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Dr. Emad Al-Mohammed
Chapter One
x(t) x(t)
t t
1- -1 1 2
(d) (e)
Solution
(a) =∫ 2 = 4[ ] = 4[1 − 0] = 4
(b) =∫ 1 = 1[ ] = 1[1 − 0] = 1
(c) = ∫ (2 ) = 4[ ] = [1 − 0] =
(d) = ∫ (2 + 2) = ∫ (4 + 8 + 4) =[ + +4 ] = − +
4=
Signal Operation
Time Shifting
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Dr. Emad Al-Mohammed
Chapter One
Note
If T is positive, the shift means delay, while if T is negative the shift means advance.
Example
An exponential function shown in Figure below is delayed by 1 sec, sketch and
mathematically describe the delayed function. Repeat the problem with x(t) advanced
by 3 sec.
x(t)
4
4
Solution
For delay by 1
x(t)→x(t-T) = x(t-1)
x(t-1)
4
( )
4
t
1
x(t) = 4 ≥0
0 <0
so, the xd(t) "delayed signal" , this x(t-1)
( )
xd(t) = x(t)|t→t-1 = x(t-1) = 4 −1≥0
0 −1 <0
xd(t) = 4 ≥1
0 <1
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Dr. Emad Al-Mohammed
Chapter One
x(t+3)
( ) 4
4
t
-3
( )
xa(t) = x(t)|t→t+3 = x(t+3) = 4 +3 ≥0
0 +3<0
xa(t) = 4 ≥ −3
0 < −3
Time Scaling
Replacing the independent variable t in x(t) by at, (a ≠ 0), results in the time-scaled
signal x(at). With |a| > 1, we get a time-compressed version of x(t). With |a| < 1, we
get a time-expanded version. The value of x(t) at t = to occurs at t = to/a in x(at). The
signal x(t) = cos(π8t), shown in Figure below by a solid line, completes two cycles
during 32 s. The time-compressed version with a = 2, x(2t) = cos(π8(2t)), shown in
Figure below by a dashed line, completes four cycles during 32 s. The value of the
signal x(t) at t occurs at t/2 in x(2t).
Note
Signal time compressed by factor 'b' means x(bt), while signal time expanded by
factor 'b' means x(t/b).
Example
Figure below shows a signal x(t). sketch and describe mathematically how this signal
compressed by factor 3. Repeat the solution for the same signal but expanded by
factor 2.
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Dr. Emad Al-Mohammed
Chapter One
x(t)
2
/
2
-1.5 3
Solution
/
/ 2
2
-0.5 1 -3 6
2 − 1.5 ≤ <0
( )= 2 /
0≤ <3
0 ℎ
2 − 0.5 ≤ <0
(3 ) = 2 /
0≤ <1
0 ℎ
2 −3≤ <0
( /2) = 2 /
0≤ <6
0 ℎ
Time Reversal
Replacing the independent variable t in x(t) by−t results in the time-reversed or folded
signal x(−t). The value of x(t) at t = to occurs at t = −to in x(−t). The signal and its
time-reversed version are mirror images of each other.
x(t) x(t)
2 2
t -3 2 t
2- 3
1- -1
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Dr. Emad Al-Mohammed
Chapter One
Example
For the signal x(t) shown in Figure below, sketch x(-t) which is time reversed of x(t).
x(t) x(-t)
/ /
t t
Solution
/
x(t) = − 1 ≥ > −5
0 ℎ
/
x(-t) = 1≤ <5
0 ℎ
Combined Operation
The most general operation involving all the three previous operations is x(at-b) and
could be realized in two possible sequences of operations
Note: In either case, if 'a' is negative, time scaling will involve time reversal.
Example
x(t)
1
t
-2 4
Solution
1. Time shift by 6
4 6 10
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Dr. Emad Al-Mohammed
Chapter One
Then scaling
x(2t-6)
2 3 5
2. Scaling by 2
-1 2
Then shifting by b/a=6/2=3
x(2(t-3))
2 3 5
The unit-step signal is an all-one sequence for positive values of its argument and
is an all-zero sequence for negative values of its argument. Using scaled and shifted
unit-step signals, any signal, described differently over different intervals, can be
specified, for easier mathematical analysis, by a single expression. Mathematically,
unit step function can be described as below:
( )= 1 ≥0
0 <0
x(t)
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Dr. Emad Al-Mohammed
Chapter One
( )= ( )
x(t)
( )= ≥0
0 <0
The reversal of U(t) is U(-t) and used for ending the signals. This could be illustrated
by the figure below
x(t)
Example
Solution
4U(t-3)
t
3
U(-t-2)
t
-2
U(t+2)
1
t
-2
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Dr. Emad Al-Mohammed
Chapter One
U(t)-U(t-4)
t
4
( )= 1 =0
t
0 ≠0
The unit-impulse signal is an all-zero sequence except that it has a value of one when
its argument is equal to zero. A time-shifted unit-impulse signal δ(n − m), with
argument (n − m), has its only nonzero value at n = m. Therefore, ∑ ( ) ( − )
= x(m) is called the sampling or shifting property of the impulse. Note that,
∫ ( ) =1 and ∫ ( ) ( ) = (0)
The integration operation, with respect to t, sums all these impulses to form x(t). It
should be emphasized that the integral, in this instance, represents a sum of a
continuum of impulses (not an evaluation of an area). Therefore, the signal x(t) is
represented by the sum of scaled and shifted continuum of impulses with the strength
of the impulse at any t being x(t)dt. The unit-impulse is the basis function and x(t)dt is
its coefficient. As the area enclosed by the integrand is nonzero only at the point t = k,
the integral is effective only at that point.
Note
A function, which is the derivative of the unit-step function, must have its integral
equal to zero for t < 0 and one for t > 0. Therefore, such a function must be defined
to have unit area at t = 0 and zero area elsewhere.
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Dr. Emad Al-Mohammed
Chapter One
Example
Find
( + 3) ( ) = (0 + 3) ( ) = 3 ( )
sin − ( )=− ( )
( − 1) = ( − 1) = ( − 1)
∫ ( ) = =1
∫ ( − 2) cos = cos =0
( ) (2 − ) ( )
∫ =
∫ ( − 3) =
∫ ( + 3) =0
∏(t)
Unit Gate Function ∏(t) or rect(t)
The unit gate function is defined as 1
1 | |<
∏( ) = t
1/2- 1/2
0 | |>
∏(t)
A
τ
t
to
Example
Solution
∏(t)
4
2
t
15 2 3 4
Dr. Emad Al-Mohammed
Chapter One
∏(t)
-6 -5 -4 t
2
Example
Sketch 2∏ + 5∏( )
Solution
2∏(t/3) 5∏(t/6)
5
2
t t
1.5- 1.5 3- 3
3- 1.5- 1.5 3
Example
4 6
Solution
( )=4 +6 ( )
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Dr. Emad Al-Mohammed
Chapter One
Or ( ) = 10 +4 ( )
Or ( ) = 10 −6 ( )
Example
( ) = 10 −4 ( )
Solution
By graph
+1 +3
10 4 ( )
6 2
10
4
t t
4- 2 4- -2
x(t)
10
6
t
4- -2 2
By equation
−3 + 1 −3 + 3 1
(−3) = 10 −4 = 10 − −4 (0)
6 2 3
= 10 ∗ 1 − 4 ∗ 1 = 6
0+1 0+3 1 3
(0) = 10 −4 = 10 −4
6 2 6 2
= 10 ∗ 1 − 4 ∗ 0 = 10
3+1 3+3 4
(3) = 10 −4 = 10 −4 (3)
6 2 6
= 10 ∗ 0 − 4 ∗ 0 = 0
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Dr. Emad Al-Mohammed
Chapter One
Example
x(t)
Solution 2 3
x2(t) x1(t)
x1(t) = t
x2(t) = -2t+6 2 2
2 3 2
by using U(t)
1 − 2| | | | < 1/2
∆( ) =
0 ℎ
to t
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Dr. Emad Al-Mohammed
Chapter One
Example
Solution
−2 +1
3∆( ) −2∆( )
4 3
3
3
2 -2.5 1- 0.5
t t
4
Example
-5 -4 -3
4 4.5 5
-2
.
2∆ − 2∆( )
Another important function in the signals analyzing is the exponential function est
where 's' is complex in general and defined by:
S = σ + Jω
∗
= ( − )
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Dr. Emad Al-Mohammed
Chapter One
∗
And = [ + ], where S is called complex frequency. Now, let's
study some special cases for complex frequency.
S=0
t
σt
2. A monotonic exponential x(t) = e , where S=σ and ω=0.
σ is positive
σ is negative
σ = 10
σ=3
The term ejωt is the complex sinusoid with unit magnitude and zero phase. Its complex
(amplitude) coefficient is Aejθ. The amplitude and phase of the sinusoid is represented
by the single complex number Aejθ. By adding its complex conjugate,
Ae-j(ωt+θ) and dividing by two we get
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Dr. Emad Al-Mohammed
Chapter One
real exponential. Sinusoids, x(t) = e-0.1t cos( 2π8 t) and x(t) = e0.1t cos( 2π8 t), with
exponentially varying amplitudes are shown, respectively, in Figures below:
jω
Constant σ
Sinusoid
Example
Sketch the S-plane for x(t). x(t) = 10 e-5t cos 3t + 2 – 4 e3t + 2 sin 2t
Solution Jω
S1,2 = σ + jω = -5 ± J3
S1 (-5, 3)
S3 = 0 •
• S5 (0, 2)
S4 = 3
S3 (0, 0) S4 (3, 0) σ
S5,6 = ± J2 • •
• S6 (0, -2)
S2 (-5,- 3)
•
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Dr. Emad Al-Mohammed
Chapter One
Where 'Vm' is the peak or amplitude, 'ωo' is the radian frequency and 'ϕ' is the pahse
angle. V(t) repeats itself with repetition period 'To' which equal to 2π/ωo
V(t)
A
ϕ t
then, = and =
( ) ( )
cos( + )= +
( )
V is the Phasor representation of the sinusoid v(t). Note that could be
represented as in the figure below
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Dr. Emad Al-Mohammed
Chapter One
A
Phasor
to = 0
θ ωo = 0
Example
Solution
fo = ωo/2π = 1/To = 1 Hz
3
-60o fo = 10 Hz
3
٣
3 2
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Dr. Emad Al-Mohammed
Chapter One
has components with amplitudes of 4 and 2 and phases of –π/4 and π at frequencies of
15 and 20 Hz. The amplitude and phase spectra can be plotted either as single-sided
or double-sided. The double-sided spectrum results from the representation of the
signal component
The amplitude spectrum contains the value A1/2 at frequencies f1 and - f1. The phase
spectrum contains the values θ1 and - θ1 at frequencies f1 and - f1, respectively. Thus,
the double-sided spectra for f> 0 looks like the single-sided spectra except that
amplitude values for f> 0 are one-half as large. If a DC component exists (that is, a
component at f = 0) then the amplitude spectrum value for this component is the same
for both the single-sided and double-sided spectrum. The figure shown below
represents the double -sided amplitude and phase spectra, respectively.
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Dr. Emad Al-Mohammed
Chapter One
Note
1. In frequency spectrum, the independent variable could be either frequency "f"
or radian frequency "ω".
2. The phase of signal "θ" or "ϕ" will be measured with respect to cosine wave,
therefore, if there is sine wave, then it should be converted to cosine using the
trigonometric relation:
sin ωt = cos (ωt-90)
3. The Amplitude is always positive. If there is negative sign before the
amplitude, it should be absorbed in the phase using the relation:
-A cos ωt = A cos (ωt±180o)
Note that the phase should not exceed 180o.
Example
Plot the single-sided spectrum of the following signals:
V1(t) = 2 cos (2π*10 t -30o)
Amplitude Phase
10
f f
10
-30o
Amplitude Phase
10
2
20
f f
20
-60o
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Dr. Emad Al-Mohammed
Chapter One
Amplitude Phase
2 45
1 o
20
f f
10 20 10
-120o
Example
2 2
0.5 0.5
f
4- 2- 2 4
Phase
o
60o
30
4- 2 f
2- 4
-30o
-60o
Example
Sketch the single sided and double sided spectrum of the signals below:
V1(t) = 3 + 10 cos (2π *30 t + 120o) + 4 cos (2π*50 t) + 8 cos (2π*60 t - 80o)
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Dr. Emad Al-Mohammed
Chapter One
Solution
V1(t) = 3 + 10 cos (2π *30 t + 120o) + 4 cos (2π*50 t) + 8 cos (2π*60 t - 80o)
Amplitude Phase
8
10
120o
4
3
60 f
f
30 50 60 30
-80o
Amplitude
5 5
4 4
3 2
2
f
60- 50- 30- 30 50 60
Phase
80o 120o
30- 60 f
60- 30
-80o
-120o
Amplitude Phase
5 180o 90o
1
f (KHz) f (KHz)
2.5 25
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Dr. Emad Al-Mohammed
Chapter One
Amplitude
5
0.5 0.5
f (KHz)
2.5- 2.5
Phase
180o 90o
2.5- f (KHz)
2.5
-90o
Then, V3(t) = 8 [0.5 cos (2π *1100 t) + 0.5 cos (- 2π*900 t)]
Amplitude
4 4
f
900 1100
Amplitude
5
2 2 2 2
f
-1100 -900 900 1100
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Dr. Emad Al-Mohammed
Chapter One
Amplitude Phase
7 180o
2
f 200 f
200
-60o
Amplitude
7
1 1
f
200- 200
Phase
o
60
200
f
200-
-60o
H.W.
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Dr. Emad Al-Mohammed