Signals and Systems

(IGS 2137 & SME 2011)

Lecture 4

Prof. Hakil(Hale) Kim

김 학일
스마트모빌리티공학 / 정보통신공학
ISE, SGCS / 미래자동차 융합전공
Description of Continuous-
Time Systems

Chapter 4 –Part 2
 Goals
 To introduce nomenclature that describes
important system properties
 To illustrate the modeling of systems with
the differential and difference equations and
block diagrams
 To develop techniques for classifying systems
according to their properties

9/30/2023 Signals and Systems 3

 Contents
 System Modeling
– Block diagram
– Differential equations
– Difference equations
 System Properties
– Homogeneity, Time Invariance, Additivity,
– Linearity and Superposition, Stability, Causality,
– Memory, Static nonlinearity, Invertibility

9/30/2023 Signals and Systems 4

 Homogeneity
 Definition:
o In a homogeneous system, multiplying the
excitation by any constant (including complex
constants), multiplies the response by the same
constant.

9/30/2023 Signals and Systems 5

 Homogeneity
 How to test:
To test a system for homogeneity use this
logical process. Apply a signal g (t ) as the
excitation and find the system response y1 (t ).
Then apply the signal K g (t ) where K is a
constant and find the system response y 2 (t ).
If y 2 (t ) = K y1 (t ) for any arbitrary g (t ) and K ,
then the system is homogeneous

H
If g(t )  → y1 ( t ) and K g(t ) 
H
→ K y1 ( t ) ⇒ H is Homogeneous

9/30/2023 Signals and Systems 6

 Homogeneity
 Exercise 1:
Let y 𝑡𝑡 = exp x 𝑡𝑡 . Is this system homogeneous?

Let x1 𝑡𝑡 = g 𝑡𝑡 . Then y1 𝑡𝑡 = exp g 𝑡𝑡 .

𝐾𝐾
Let x2 𝑡𝑡 = 𝐾𝐾 g 𝑡𝑡 . Then y2 𝑡𝑡 = exp 𝐾𝐾 g 𝑡𝑡 = exp g 𝑡𝑡
In order for the system to be homogeneous,
y2 𝑡𝑡 = 𝐾𝐾 y1 𝑡𝑡 = 𝐾𝐾 exp g 𝑡𝑡 ⇒ y2 𝑡𝑡 ≠ 𝐾𝐾 y1 𝑡𝑡 ,
Hence, Not homogeneous

Response by Kx(t)

Ky(t)

10/1/2023 Signals and Systems 7

 Homogeneity
 Exercise 2:
Let y 𝑡𝑡 = x 𝑡𝑡 + 2. Is this system homogeneous?

Let x1 𝑡𝑡 = g 𝑡𝑡 . Then y1 𝑡𝑡 = g 𝑡𝑡 + 2.
Let x2 𝑡𝑡 = 𝐾𝐾 g 𝑡𝑡 . Then y2 𝑡𝑡 = 𝐾𝐾 g 𝑡𝑡 + 2
𝐾𝐾 y1 𝑡𝑡 = 𝐾𝐾 g 𝑡𝑡 + 2𝐾𝐾 ⇒ y2 𝑡𝑡 ≠ 𝐾𝐾 y1 𝑡𝑡 ,
Hence, Not homogeneous

10/1/2023 Signals and Systems 8

 Time Invariance
 Definition:
o If an excitation causes a response and delaying the
excitation simply delays the response by the same
amount of time, regardless of the amount of delay,
then the system is time-invariant

H
If g(t )  → y1 ( t ) and g(t − t0 ) 
H
→ y1 ( t − t0 ) ⇒ H is Time Invariant
This test must succeed for any g and any t0 .

9/30/2023 Signals and Systems 9

 Time Invariance
 Exercise 1:
Let y 𝑡𝑡 = exp x 𝑡𝑡 . Is this system time invariant?
Replacing x(t)
Let x1 𝑡𝑡 = g 𝑡𝑡 . Then y1 𝑡𝑡 = exp g 𝑡𝑡 . in y(t) by x(t-t0)

Let x2 𝑡𝑡 = g 𝑡𝑡 − 𝑡𝑡0 . Then y2 𝑡𝑡 = exp g 𝑡𝑡 − 𝑡𝑡0

y1 𝑡𝑡 − 𝑡𝑡0 = exp g 𝑡𝑡 − 𝑡𝑡0 ⇒ y2 𝑡𝑡 = y1 𝑡𝑡 − 𝑡𝑡0 ,
Replacing t in
Hence, Time Invariant y(t) by (t-t0)

10/1/2023 Signals and Systems 10

 Time Invariance
 Exercise 2:
Let y 𝑡𝑡 = x 𝑡𝑡/2 . Is this system time invariant?
Replacing x(t)
Let x1 𝑡𝑡 = g 𝑡𝑡 . Then y1 𝑡𝑡 = g 𝑡𝑡/2 . in y(t) by x(t-t0)
Let x2 𝑡𝑡 = g 𝑡𝑡 − 𝑡𝑡0 . Then y2 𝑡𝑡 = g 𝑡𝑡/2 − 𝑡𝑡0
y1 𝑡𝑡 − 𝑡𝑡0 = g 𝑡𝑡 − 𝑡𝑡0 /2 ⇒ y2 𝑡𝑡 ≠ y1 𝑡𝑡 − 𝑡𝑡0 ,
Hence, Time 𝐕𝐕𝐕𝐕𝐕𝐕𝐕𝐕𝐕𝐕𝐕𝐕𝐕𝐕 Replacing t in
y(t) by (t-t0)

10/1/2023 Signals and Systems 11

 Additivity
 Definition:
o If one excitation causes a response and another excitation causes
another response and if, for any arbitrary excitations, the sum of the
two excitations causes a response which is the sum of the two
responses, the system is said to be additive

H
If g(t )  → y1 ( t ) and h(t ) 
H
→ y2 (t )
and g ( t ) + h ( t ) 
H
→ y1 ( t ) + y 2 ( t ) ⇒ H is Additive

9/30/2023 Signals and Systems 12

 Additivity
 Exercise 1:
( ) ( ( ))
Let y t = u x t . Is this system additive?
Let x (t )= g (t ). Then y (t )= u (g (t )).
1 1

Let x (t )= h (t ). Then y (t )= u (h (t )).

2 2

Let x (t )= g (t )+ h (t ). Then y (t )= u (g (t )+ h (t ))
3 3

y (t )+ y (t )= u (g (t ))+ u (h (t ))≠ u (g (t )+ h (t )). Not additive.

1 2

(For example, at time t = 3, if g (3)= 4 and h (3)= 2,

y (3)+ y (3)= u (4 )+ u (2 )= 1+ 1 = 2. But y (3)= u (4 + 6 )= 1.)
1 2 3

9/30/2023 Signals and Systems 13

 Linearity and LTI Systems
 If a system is both homogeneous and additive it is
linear.

Linearity = Homogeneity + Additivity

Superposition in
Electric circuits

K1x1(t)+K2x2(t)
K1 K1y1(t)+K2y2(t)

K2

10/1/2023 Signals and Systems 14

 Linearity and LTI Systems
 If a system is both linear and time-invariant it is
called an LTI system

 Some systems which are non-linear can be accurately

approximated for analytical purposes by a linear
system for small excitations
Non-linear Linear
Linearization System
system
(Approximated)

10/1/2023 Signals and Systems 15

 Linearity and LTI Systems
 Decomposition of Input:
o In an LTI system, the analysis of the effect of an
excitation on a system can be found by breaking the
excitation into pieces, finding the responses to those
pieces individually and then adding those responses.

Ex: Let x 𝑡𝑡 = rect 𝑡𝑡/4 .

 x 𝑡𝑡 = u 𝑡𝑡 + 2 − u 𝑡𝑡 − 2

rect(t/4)
Time-
scaling

-2 2

10/1/2023 Signals and Systems 16

 Stability
 Any system for which the response is bounded for
any arbitrary bounded excitation, is called a
bounded-input-bounded-output (BIBO) stable
system
Examples of Bounded output?

10/1/2023 Signals and Systems 17

 Stability
 A system described by a differential equation
is stable if the eigenvalues of the solution of
the characteristic equation have negative
real parts.
𝐴𝐴𝑒𝑒 𝜆𝜆𝜆𝜆 = 𝐴𝐴𝑒𝑒 𝜎𝜎+𝑗𝑗𝑗𝑗 𝑡𝑡 (t > 0)
𝐴𝐴𝑒𝑒 𝜆𝜆𝜆𝜆 (t > 0)

For real 𝜆𝜆, For complex 𝜆𝜆,

𝜆𝜆 < 0 for Decaying exponential 𝜎𝜎 < 0 for Decaying sinusoid
10/1/2023 Signals and Systems 18
 Causality
 Any system for which the response occurs
only during or after the time in which the
excitation is applied is called a causal system.
 Strictly speaking, all real physical systems are
causal

x(t)

t
t=0 t=0

10/1/2023 Signals and Systems 19

 Memory
 If a system’s response at any arbitrary time
depends only on the excitation at that same
time and not on the excitation or response at
any other time is called a static system and
is said to have no memory
 A system whose response at some arbitrary
time does depend on the excitation or
response at another time is called a dynamic
system and is said to have memory
 Any system containing an integrator has
memory

9/30/2023 Signals and Systems 20

 Static Non-Linearity
 Many real systems are non-linear because the
relationship between excitation amplitude and
response amplitude is non-linear

 Statically nonlinear system is one without memory

for which the input-output relationship is a nonlinear
function
V-I Diagram for a V-I Diagram for a Diode
Linear Resistor

9/30/2023 Signals and Systems 21

 Static Non-Linearity
 For an analog multiplier, if the two excitations are
the same single excitation signal, the response signal
is the square of that single excitation signal and
doubling the excitation would cause the response
to increase by a factor of 4

 Such a system is not homogeneous and therefore

not linear

9/30/2023 Signals and Systems 22

 Invertibility
 A system is said to be invertible if unique
excitations produce unique responses.
 In other words, if a system is invertible,
knowledge of the response is sufficient to
determine the excitation

9/30/2023 Signals and Systems 23

 Incremental Linearity
 If a system can be modeled as a linear
system with an offset added to its response,
it is called an incrementally linear system

Ex: 𝑦𝑦 𝑡𝑡 = 𝑎𝑎𝑎𝑎 𝑡𝑡 + 𝑏𝑏 (𝑏𝑏 ≠ 0)

9/30/2023 Signals and Systems 24

 Exercises
 Show that a system with excitation x(t) and response
y(t) described by
y(t) = x(t -5) -x(3-t)
is linear but not causal and not invertible.

9/30/2023 Signals and Systems 25

 Exercises
 Show that a system with excitation x(t) and response
y(t) described by
y(t ) = x(t / 2)
is linear, time-variant and non-causal.

10/1/2023 Signals and Systems 26

 Summary
 A system that is both homogenous and additive is
linear
 A system that is both linear and time-invariant is
classed an LTI system
 The total response of any LTI system is the sum of
its zero-input and zero-state response
 Often nonlinear systems can be analyzed with linear
system techniques through an approximation called
linearization
 A system is said to be BIBO stable if arbitrary
bounded input signals always produce bounded
output signals

9/30/2023 Signals and Systems 27