ME360: Signal Processing

Lecture 02
Liangjing Yang
Assistant Professor, ZJU-UIUC Institute
[email protected]

36
 Last Lecture
• Overview of course and big picture
ME 340 ME 360
Focuses on system representations (with some analysis techniques)
Acquired measurements: “Signal” Signal Signal Processing
• Digitization
State space model: • Sampling
𝑢 # 𝑦 # • Filtering
LTI 𝑥ሶ 1 0 1 𝑥1 0
𝑥ሶ 2
=
−𝑎0 −𝑎1 𝑥2 + 1 𝑢 • Enhancement
𝑥1
𝑦 = 𝑏0 𝑏1 𝑥2
Dynamic
Input Transfer Function:
System Output Processed Signal
𝑏1 𝑠 + 𝑏𝑜
𝐻(𝑠) = 2
𝑠 + 𝑎1 𝑠 + 𝑎𝑜 • Control
• Detection
System • Estimation
System
Representation
Course Overview
Relating previous and present content
Design Solution: The big picture
Modeling

Analysis

ƒ: Active Suspension

Design
Last Lecture
• Course Scope (what)
• The big picture
• Course Motivation (why)
• A means to understand (get useful info) with signals
• Course Topics (how) Signals Systems
• Signal processing • Discrete/continuous signals ▪ System frequency response
• Real and complex Fourier series ▪ Impulse response and convolution
• Sampling theory and aliasing ▪ Fourier transform
• Signal reconstruction ▪ Linear systems, stability, filter design
• Discrete-time Fourier series and transform ▪ Transfer functions
• Discrete Fourier transform and fast Fourier transform ▪ Discrete-time systems
• Laplace transform ▪ Digital filter design
• Z-transform ▪ Feedback control systems
Lecture Overview

Focus today: ▪ Discrete- and continuous-time signals

▪ Complex numbers and properties

Today’s topics: • Analog signals

• Discrete signals
• Infinite sequences and series: geometric,
• Absolute- and square-integrability
• Complex exponential, Euler’s formula
Analog vs. Discrete Signal
• Recall that signal type can be classified based on the continuity
in time and magnitude
I. Analog
II. Sampled
III. Quantized
IV. Digital: Quantized time-discrete signal
 Recall: Quadrature Encoder
• Interested in motion (dependent variable) of the motor shaft over
time (independent variable)
• Example of signal representing shaft’s motion over time
• Motion represented as a discrete values over continuous time

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Example: Frame grabber
• A frame grabber is an electronic device that captures individual,
digital still frames from an analog video signal or a digital video
stream
• Comment on the continuity in time and magnitude
Summing up: Analog vs. Digital Signal
• Analog signal x(t): function of continuous independent variable
(typically time) taking any value in a continuous range
• Sampled signal x[n]: discrete-time signal; defined only for a set of
discrete interval
• Quantized signal xq(t): discrete set of dependent variable at any
given continuous time
• Digital signal xq[n] : Quantized discrete time signal
Sequence and Series
• Continuous Function
• takes a (complex) number and returns a(nother) complex number
• analog signal
• Sequences
• take an integer and return a (complex) number based on rule
• discrete-time signals
• Series
• sum of a sequence
Complex Analysis
• Exponential: 𝑒𝑍 = 1+𝑍+
𝑍2
2!
𝑍𝑘
…+ 𝑘! …
Complex Analysis
• Euler Formula: 𝑒 𝑗𝜃 = cos 𝜃 + 𝑗 sin 𝜃
Complex Analysis
• Complex Numbers

• Representation
• Rectangular
• Polar
• Linear Transformation Matrix

• Operation
• +, -, x, /
• Power

• Properties
• commutative, associative and
distributive laws
• z1* (z1)= |z1|2
• |z1+ z2 | ≤ |z1 | + |z2 |
• ……

52
Complex Analysis
• Complex Numbers

• Rectangular Imaginary Number, 𝑗 = −1

x + yj or Z cos  + Z sin  j

Imaginary part, Im(Z)

Real part, Re(Z)

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Complex Analysis
• Complex Numbers

• Polar

j
Z  or Z e

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Complex Analysis
• Complex Numbers

• Polar

j
Z  or Z e

Angle of Argument
Magnitude

55
Complex Analysis
• Complex Numbers

Exercise 02: Find all z for z3 = 1,

56
Complex Analysis (recall from ME 340)
• Complex Numbers

Exercise 02: Find all z for z3 = 1,

From the Textbook Example 2.6

57
Complex Analysis (recall from ME 340)
• Complex Numbers

Exercise 02: Find all z for z3 = 1,

Using factorization, ( still not very intuitive)
z3 − 1 = 0
(z − 1)(z2 + z + 1) = 0

1 12 − 4 1 1
𝑧 = 1; 𝑧=− ±
2 2
1 3 1 3
=− ± −1 = − ± 𝑗
2 2 2 2

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Complex Analysis (recall from ME 340)
• Complex Numbers

Exercise 02: Find all z for z3 = 1,

Visualizing in Polar form?

60
Complex Analysis (recall from ME 340)
• Complex Numbers

Exercise 02: Find all z for z3 = 1,

Getting z(z)(z) to be equal to 1 is actually

rotating the same amount thrice till it goes z
back to initial pose
φ
z
z=1•e0j ; z= 1•e2πj/3 and z= 1•e4πj/3
1
Conjugate pair
z

61
Complex Analysis (recall from ME 340)
Z3
• Complex Numbers
Z2
Z1
• Z3 =Z1 +Z2 =(x1+x2)+(y1+y2)j 𝜑
2
𝜑
• 1

• Z3 =Z1 (Z2) = 𝑍1 |𝑍2|𝑒 𝑗(𝜑1+𝜑2)

|Z1|Z2| Z2

𝜑 𝜑
𝜑 Z1
2
Z3 1+ 2
𝜑
1

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Complex Analysis (recall from ME 340)
• Complex Numbers

• Multiplying Z with k, scale |Z| a factor of k

• Multiplying Z with j, rotates Z by 90 degree c.c.w. on the complex plane
• Since j2=-1, multiplying j makes real term imaginary and the imaginary negatively real

kZ’ kx

Z’ x
Z
y
90o

-ky -y x
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Complex Analysis (recall from ME 340)
• Complex Numbers

• Linear Transformation Matrix

 Z cos  − Z sin  
 
 Z sin  Z cos  

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Absolutely integrable signals
• An analog signal (namely, a function of the real variable t) is
absolutely integrable when there is a finite area under the curve
i.e. +∞
න |𝑥(𝑡)|𝑑𝑡 < ∞
−∞