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Final Exam – 2012

ELEC 3004 / 7312:

Signals Systems & Controls

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TIME: One Hundred and Seventy Five (175) minutes for working

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 1
ELEC 3004 / 7312: Signals Systems & Controls
Final Exam – 2012

Table 1: Commonly used Formulae

The Laplace Transform Z ∞
F (s) = f (t)e−st dt
0
The Z Transform ∞
X
F (z) = f [n]z −n
n=0

IIR Filter Pre-warp  

2 ωd ∆t
ωa = tan
∆t 2
Bi-linear Transform
2(1 − z −1 )
s=
∆t(1 + z −1 )
FIR Filter Coefficients Z π/∆t
∆t
cn = Hd (ω) cos(nω∆t) dω
π 0

Table 2: Comparison of Fourier representations.

Time Periodic Non-periodic

Domain
Discrete Fourier Discrete-Time
Transform Fourier Transform
Discrete

N −1 ∞ Periodic
1 X X(ejω ) =
X
x[n]e−jωn
X̃[k] = x̃[n]e−j2πkn/N
N n=−∞
n=0
Z π
N −1 1
X ejω ejωn dω


X
j2πkn/N x[n] =
x̃[n] = X̃[k]e 2π −π
k=0
Complex Fourier Series Fourier Transform
Non-periodic

∞
Continuous

Z
T /2
x(t)e−jωt dt
Z
1 −j2πkt/T X(jω) =
X[k] = x̃(t)e dt −∞
T −T /2 Z ∞
∞ 1
X
j2πkt/T
x(t) = X(jω)ejωt dω
x̃(t) = X[k]e 2π −∞
k=−∞
Discrete Continuous Freq.
Domain

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ELEC 3004 / 7312: Signals Systems & Controls
Final Exam – 2012
Table 3: Selected Fourier, Laplace and z-transform pairs.

Signal ←→ Transform ROC

∞
X DFT 1
x̃[n] = δ[n − pN ] ←−→ X̃[k] =
p=−∞
N
DTFT
x[n] = δ[n] ←−−→ X(ejω ) = 1
∞
X FS 1
x̃(t) = δ(t − pT ) ← → X[k] =
p=−∞
T
∞ ∞
X FT 2π X
δT [t] = δ(t − pT ) ← → X(jω) = δ(ω − kω0 )
p=−∞
T k=−∞
FT
cos(ω0 t) ←
→ X(jω) = πδ(ω − ω0 ) + πδ(ω + ω0 )
FT
( sin(ω0 t) ←
→ X(jω) = jπδ(ω + ω0 ) − jπδ(ω − ω0 )
1 when |t| 6 T0 , FT 2sin(ωT0 )
x(t) = ←
→ X(jω) =
0 otherwise. ω
(
1 FT 1 when |ω| 6 |ωc |,
x(t) = sin(ωc t) ←
→ X(jω) =
πt 0 otherwise.
FT
x(t) = δ(t) ←
→ X(jω) = 1
FT
x(t) = δ(t − t0 ) ←
→ X(jω) = e−jωt0
FT 1
x(t) = u(t) ←
→
X(jω) = πδ(w) +
( jw
ωc DTFT 1 when |ω| < |ωc |,
x[n] = sinc ωc n ←−−→ X(ejω ) =
π 0 otherwise.
L
x(t) = δ(t) ←
→ X(s) = 1 all s

L 1
(unit step) x(t) = u(t) ←
→ X(s) =
s
L 1
(unit ramp) x(t) = t ←
→ X(s) = 2
s
L s0
x(t) = sin(s0 t) ←
→ X(s) =
(s2
+ s0 2 )
L s
x(t) = cos(s0 t) ←
→ X(s) = 2
(s + s0 2 )
L 1
x(t) = es0 t u(t) ←
→ X(s) = Re{s} > Re{s0 }
s − s0
z
x[n] = δ[n] ←
→ X(z) = 1 all z
z
x[n] = δ[n − m] ←
→ X(z) = z −m
z z
x[n] = u[n] ←
→ X(z) =
z−1
z 1
x[n] = z0n u[n] ←
→ X(z) = |z| > |z0 |
1 − z0 z −1
z 1
x[n] = −z0n u[−n − 1] ←
→ X(z) = |z| < |z0 |
1 − z0 z −1
z z
x[n] = an u[n] ←
→ X(z) = |z| < |a|
z−a
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ELEC 3004 / 7312: Signals Systems & Controls
Final Exam – 2012

Table 4: Properties of the Discrete-time Fourier Transform.

Property Time domain Frequency domain

Linearity ax1 [n] + bx2 [n] aX1 (ejω ) + bX2 (ejω )
dX(ejω )
Differentiation (fre- nx[n] j
dω
quency)
Time-shift x[n − n0 ] e−jωn0 X(ejω )
jω0 n
Frequency-shift e x[n] X(ej(ω−ω0 ) )
Convolution x1 [n] ∗ x2 [n] X1 (ejω )X2 (ejω )
1
Modulation x1 [n]x2 [n] X (ejω ) ~ X2 (ejω )
2π 1
Time-reversal x[−n] X(e−jω )
Conjugation x∗ [n] X ∗ (e−jω )
Symmetry (real) Im{x[n]} = 0 X(e ) = X ∗ (e−jω )
jω

Symmetry (imag) Re{x[n]} = 0 X(ejω ) = −X ∗ (e−jω )

∞ Z π
X 1 2
Parseval |x[n]|2 = X(ejω ) dω
n=−∞
2π −π

Table 5: Properties of the Fourier series.

Property Time domain Frequency domain

Linearity ax̃1 (t) + bx̃2 (t) aX1 [k] + bX2 [k]
dx̃(t) j2πk
Differentiation X[k]
dt T
(time)
Time-shift x̃(t − t0 ) e−j2πkt0 /T X[k]
Frequency-shift ej2πk0 t/T x̃(t) X[k − k0 ]
Convolution x̃1 (t) ~ x̃2 (t) T X1 [k]X2 [k]
Modulation x̃1 (t)x̃2 (t) X1 [k] ∗ X2 [k]
Time-reversal x̃(−t) X[−k]
Conjugation x̃∗ (t) X ∗ [−k]
Symmetry (real) Im{x̃(t)} = 0 X[k] = X ∗ [−k]
Symmetry (imag) Re{x̃(t)} = 0 X[k] = −X ∗ [−k]
Z T /2 ∞
1 X
Parseval |x̃(t)|2 dt = |X[k]|2
T −T /2 k=−∞

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ELEC 3004 / 7312: Signals Systems & Controls
Final Exam – 2012

Table 6: Properties of the Fourier transform.

Property Time domain Frequency domain

Linearity ax̃1 (t) + bx̃2 (t) aX1 (jω) + bX2 (jω)
Duality X(jt) 2πx(−ω)
dx(t)
Differentiation jωX(jω)
Z t dt
1
Integration x(τ ) dτ jω
X(jω) + πX(j0)δ(ω)
−∞
Time-shift x(t − t0 ) e−jωt0 X(jω)
Frequency-shift ejω0 t x(t) X(j(ω − ω0 ))
Convolution x1 (t) ∗ x2 (t) X1 (jω)X2 (jω)
1
Modulation x1 (t)x2 (t) X (jω) ∗ X2 (jω)
2π 1
Time-reversal x(−t) X(−jω)
Conjugation x∗ (t) X ∗ (−jω)
Symmetry (real) Im{x(t)} = 0 X(jω) = X ∗ (−jω)
∗
Symmetry (imag) Re{x(t)} = 0 X(jω) = −X   (−jω)
1 jω
Scaling x(at) X
Z ∞ Z ∞ |a| a
1
Parseval |x(t)|2 dt = |X(jω)|2 dω
−∞ 2π −∞

Table 7: Properties of the z-transform.

Property Time domain z-domain ROC

Linearity ax1 [n] + bx2 [n] aX1 (z) + bX2 (z) ⊆ Rx1 ∩ Rx2
Time-shift x[n − n0 ] z −n0 X(z) Rx†
Scaling in z z0n x[n] X(z/z0 ) |z0 |Rx
dX(z)
Differentiation in z nx[n] −z Rx†
dz
Time-reversal x[−n] X(1/z) 1/Rx
Conjugation x∗ [n] X ∗ (z ∗ ) Rx
Symmetry (real) Im{x[n]} = 0 X(z) = X ∗ (z ∗ )
Symmetry (imag) Re{X[n]} = 0 X(z) = −X ∗ (z ∗ )
Convolution x1 [n] ∗ x2 [n] X1 (z)X2 (z) ⊆ Rx1 ∩ Rx2
Initial value x[n] = 0, n < 0 ⇒ x[0] = lim X(z)
z→∞

†
z = 0 or z = ∞ may have been added or removed from the ROC.

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ELEC 3004 / 7312: Signals Systems & Controls
Final Exam – 2012

Table 8: Commonly used window functions.

20 log10 |Wrect(e )|
jω
−20
Rectangular: (
1 when 0 6 n 6 M , −40
wrect [n] =
0 otherwise. −60

−80
0 0.5 1
ω (× π)
0
Bartlett (triangular):

20 log10 |Wbart(e )|
jω
−20

2n/M
 when 0 6 n 6 M/2, −40
wbart [n] = 2 − 2n/M when M/2 6 n 6 M , −60

0 otherwise.

−80
0 0.5 1
ω (× π)
0

20 log10 |Whann(e )|
Hanning:

jω
−20
(
1
2 − 12 cos (2πn/M ) when 0 6 n 6 M , −40
whann [n] = −60
0 otherwise.
−80
0 0.5 1
ω (× π)
20 log10 |Whamm(e )|
jω 0
Hamming: −20
(
−40
0.54 − 0.46 cos (2πn/M ) when 0 6 n 6 M ,
whamm [n] = −60
0 otherwise.
−80
0 0.5 1
ω (× π)
0
20 log10 |Wblack(e )|

Blackman:
jω

−20

0.42 − 0.5 cos (2πn/M )


when 0 6 n 6 M , −40
wblack [n] = + 0.08 cos (4πn/M )
−60
0 otherwise.

−80
0 0.5 1
ω (× π)

Peak Side-Lobe Amplitude Approximate Width Peak Approximation Error,

Type of Window (Relative; dB) of Main Lobe 20 log10 δ (dB)
Rectangular −13 4π/(M + 1) −21
Bartlett −25 8π/M −25
Hanning −31 8π/M −44
Hamming −41 8π/M −53
Blackman −57 12π/M −74

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