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Module 5 - Impulse Response

Class Note for Impulse Response

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21 views12 pages

Module 5 - Impulse Response

Class Note for Impulse Response

Uploaded by

bahaa91919
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Tex as A& M University

ECEN 314– Spring 2022


Signals and Systems

Module 5

Impulse Responses
Learning Objectives

Given a linear, time-invariant system, be able to determine


the impulse response of the system.
Once its impulse response is found, be able to find the
output of an LTI system to any input.
Impulse Responses
Previously we found that the output, 𝑦𝑦(𝑡𝑡), of an LTI system due to an input, 𝑥𝑥(𝑡𝑡) is
given by a convolution
∞ ∞
𝑦𝑦 𝑡𝑡 = 𝑥𝑥 𝑡𝑡 ∗ ℎ 𝑡𝑡 = � 𝑥𝑥 𝑣𝑣 ℎ 𝑡𝑡 − 𝑣𝑣 𝑑𝑑𝑑𝑑 = � ℎ 𝑣𝑣 𝑥𝑥 𝑡𝑡 − 𝑣𝑣 𝑑𝑑𝑣𝑣 .
−∞ −∞
Fundamental in this relationship is the impulse response of the system, ℎ(𝑡𝑡), which
is the output that will appear when the input is a unit delta function, 𝛿𝛿(𝑡𝑡).

But how does one find the impulse response of an LTI system? We’ll start with a
few examples and then try to generalize as much as possible.

Example 1: 𝑦𝑦 𝑡𝑡 = 𝑥𝑥(𝑡𝑡 − 𝑡𝑡𝑜𝑜 )  System delays the input by 𝑡𝑡𝑜𝑜 .


In this case if the input is 𝑥𝑥 𝑡𝑡 = 𝛿𝛿(𝑡𝑡), then the output is 𝑦𝑦 𝑡𝑡 = ℎ 𝑡𝑡 = 𝛿𝛿(𝑡𝑡 − 𝑡𝑡𝑜𝑜 ).

𝑡𝑡
Example 2: 𝑦𝑦 𝑡𝑡 = ∫−∞ 𝑥𝑥 𝑣𝑣 𝑑𝑑𝑑𝑑  Output is the integral of the input.
In this case if the input is 𝑥𝑥 𝑡𝑡 = 𝛿𝛿(𝑡𝑡), then the output is
𝑡𝑡 1, 𝑡𝑡 > 0,
𝑦𝑦 𝑡𝑡 = ∫−∞ 𝛿𝛿 𝑣𝑣 𝑑𝑑𝑣𝑣 = �
0, 𝑡𝑡 < 0.
ℎ 𝑡𝑡 = 𝑢𝑢(𝑡𝑡).
Impulse Responses
𝑡𝑡
Example 3: 𝑦𝑦 𝑡𝑡 = ∫𝑡𝑡−𝑡𝑡 𝑥𝑥 𝑣𝑣 𝑑𝑑𝑑𝑑  Output is the integral of the input over a window
𝑜𝑜
of duration 𝑡𝑡𝑜𝑜 .
𝑡𝑡 𝑡𝑡−𝑡𝑡
Note that in this case: 𝑦𝑦 𝑡𝑡 = ∫−∞ 𝑥𝑥 𝑣𝑣 𝑑𝑑𝑑𝑑 − ∫−∞ 𝑜𝑜 𝑥𝑥 𝑣𝑣 𝑑𝑑𝑣𝑣.

Integrator
𝑥𝑥(𝑡𝑡) ℎ 𝑡𝑡 = 𝑢𝑢(𝑡𝑡) + 𝑦𝑦(𝑡𝑡)
_
+
Integrator Delay by 𝑡𝑡𝑜𝑜
ℎ 𝑡𝑡 = 𝑢𝑢(𝑡𝑡) ℎ 𝑡𝑡 = 𝛿𝛿(𝑡𝑡 − 𝑡𝑡𝑜𝑜 )

The two systems in series can be replaced


by a single equivalent system with impulse ℎ 𝑡𝑡 = 𝑢𝑢(𝑡𝑡)
response 𝑥𝑥(𝑡𝑡) + 𝑦𝑦(𝑡𝑡)
ℎ 𝑡𝑡 = 𝑢𝑢 𝑡𝑡 ∗ 𝛿𝛿 𝑡𝑡 − 𝑡𝑡𝑜𝑜 = 𝑢𝑢(𝑡𝑡 − 𝑡𝑡𝑜𝑜 ). _+
ℎ 𝑡𝑡 = 𝑢𝑢(𝑡𝑡 − 𝑡𝑡𝑜𝑜 )
Then the two parallel systems can be
replaced by a single equivalent system with ℎ(𝑡𝑡)
an impulse response 𝑡𝑡
𝑡𝑡−𝑡𝑡 /2
ℎ 𝑡𝑡 = 𝑢𝑢 𝑡𝑡 − 𝑢𝑢 𝑡𝑡 − 𝑡𝑡𝑜𝑜 = rect 𝑡𝑡 𝑜𝑜 .
𝑜𝑜 𝑡𝑡𝑜𝑜
Impulse Responses
Suppose we wish to find the impulse response of an LTI system described by a
generic first order ODE,
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑏𝑏1 + 𝑏𝑏0 𝑦𝑦 𝑡𝑡 = 𝑎𝑎1 + 𝑎𝑎0 𝑥𝑥 𝑡𝑡 .
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

Taking L.T.s of both sides of the ODE (ignoring ICs) results in


𝑏𝑏1 𝑠𝑠 + 𝑏𝑏0 𝑌𝑌(𝑠𝑠) = 𝑎𝑎1 𝑠𝑠 + 𝑎𝑎0 𝑋𝑋(𝑠𝑠)
𝑎𝑎1 𝑠𝑠 + 𝑎𝑎0
𝑌𝑌(𝑠𝑠) = � 𝑋𝑋(𝑠𝑠)
𝑏𝑏1 𝑠𝑠 + 𝑏𝑏0
𝑎𝑎1 𝑠𝑠 + 𝑎𝑎0
𝑦𝑦 𝑡𝑡 = ℒ −1 � 𝑋𝑋(𝑠𝑠) .
𝑏𝑏1 𝑠𝑠 + 𝑏𝑏0

If the input is a delta function, then 𝑋𝑋 𝑠𝑠 = 1 and the resulting impulse response is
𝑎𝑎1 𝑠𝑠 + 𝑎𝑎0 𝑎𝑎1 𝑎𝑎0 𝑎𝑎1 𝑏𝑏0 1
ℎ 𝑡𝑡 = ℒ −1 = ℒ −1 + − 2 �
𝑏𝑏1 𝑠𝑠 + 𝑏𝑏0 𝑏𝑏1 𝑏𝑏1 𝑏𝑏1 𝑠𝑠 + 𝑏𝑏0 /𝑏𝑏1
𝑎𝑎1 𝑎𝑎0 𝑎𝑎1 𝑏𝑏0 𝑏𝑏0 𝑡𝑡
ℎ 𝑡𝑡 = 𝛿𝛿 𝑡𝑡 + − 𝑒𝑒𝑒𝑒𝑒𝑒 − 𝑢𝑢(𝑡𝑡).
𝑏𝑏1 𝑏𝑏1 𝑏𝑏12 𝑏𝑏1
Impulse Responses of a
General Class of LTI Systems
We can follow the same procedure to find the impulse response of any LTI described
by a differential equation of any order
𝑑𝑑 𝑛𝑛 𝑦𝑦 𝑑𝑑 2 𝑦𝑦 𝑑𝑑𝑑𝑑 𝑑𝑑 𝑚𝑚 𝑥𝑥 𝑑𝑑 2 𝑥𝑥 𝑑𝑑𝑑𝑑
𝑏𝑏𝑛𝑛 𝑛𝑛 + ⋯ + 𝑏𝑏2 2 + 𝑏𝑏1 + 𝑏𝑏0 𝑦𝑦 𝑡𝑡 = 𝑎𝑎𝑚𝑚 𝑚𝑚 + ⋯ + 𝑎𝑎2 2 + 𝑎𝑎1 + 𝑎𝑎0 𝑥𝑥 𝑡𝑡 .
𝑑𝑑𝑡𝑡 𝑑𝑑𝑡𝑡 𝑑𝑑𝑑𝑑 𝑑𝑑𝑡𝑡 𝑑𝑑𝑡𝑡 𝑑𝑑𝑑𝑑

Taking LTs of both sides and ignoring ICs produces


𝑛𝑛 𝑚𝑚
∑𝑚𝑚
𝑘𝑘=0 𝑎𝑎𝑘𝑘 𝑠𝑠
𝑘𝑘
� 𝑏𝑏𝑘𝑘 𝑠𝑠 𝑘𝑘 𝑌𝑌 𝑠𝑠 = � 𝑎𝑎𝑘𝑘 𝑠𝑠 𝑘𝑘 𝑋𝑋 𝑠𝑠 → 𝑌𝑌 𝑠𝑠 = 𝑋𝑋 𝑠𝑠 .
∑𝑛𝑛𝑘𝑘=0 𝑏𝑏𝑘𝑘 𝑠𝑠 𝑘𝑘
𝑘𝑘=0 𝑘𝑘=0

Define the polynomials, 𝑏𝑏 𝑠𝑠 = ∑𝑛𝑛𝑘𝑘=0 𝑏𝑏𝑘𝑘 𝑠𝑠 𝑘𝑘 and 𝑎𝑎 𝑠𝑠 = ∑𝑚𝑚 𝑘𝑘


𝑘𝑘=0 𝑎𝑎𝑘𝑘 𝑠𝑠 . Then
𝑎𝑎(𝑠𝑠)
𝑌𝑌 𝑠𝑠 = 𝑋𝑋 𝑠𝑠 .
𝑏𝑏(𝑠𝑠)
If the input is an impulse, 𝑥𝑥 𝑡𝑡 = 𝛿𝛿 𝑡𝑡 → 𝑋𝑋 𝑠𝑠 = 1, then the output is the impulse
response
𝑎𝑎(𝑠𝑠) −1
𝑎𝑎(𝑠𝑠)
𝐻𝐻 𝑠𝑠 = → ℎ 𝑡𝑡 = ℒ .
𝑏𝑏(𝑠𝑠) 𝑏𝑏(𝑠𝑠)
Using partial fractions and Tables of L.T.’s the impulse response can be found for any
system described by a differential equation.
Example
Example 4: Find the impulse response of a 2nd order system described by the ODE
𝑦𝑦 ′′ 𝑡𝑡 + 3𝑦𝑦 ′ 𝑡𝑡 + 2𝑦𝑦 𝑡𝑡 = 𝑥𝑥 𝑡𝑡 .

Taking L.T.’s,
𝑠𝑠 2 + 3𝑠𝑠 + 2 𝑌𝑌 𝑠𝑠 = 𝑋𝑋(𝑠𝑠)
𝑋𝑋(𝑠𝑠)
𝑌𝑌 𝑠𝑠 = 2
𝑠𝑠 + 3𝑠𝑠 + 2
1 1 1 1
𝐻𝐻 𝑠𝑠 = 2 = = −
𝑠𝑠 + 3𝑠𝑠 + 2 (𝑠𝑠 + 1)(𝑠𝑠 + 2) 𝑠𝑠 + 1 𝑠𝑠 + 2
ℎ 𝑡𝑡 = 𝑒𝑒 −𝑡𝑡 − 𝑒𝑒 −2𝑡𝑡 𝑢𝑢 𝑡𝑡 .

Example 5: Find the impulse response of a 2nd order system describe by the ODE
𝑦𝑦 ′′ 𝑡𝑡 + 2𝑦𝑦 ′ 𝑡𝑡 + 2𝑦𝑦 𝑡𝑡 = 𝑥𝑥 𝑡𝑡 .

1 1
𝐻𝐻 𝑠𝑠 = =
𝑠𝑠 2 + 2𝑠𝑠 + 2 (𝑠𝑠 + 1)2 +1

ℎ 𝑡𝑡 = 𝑒𝑒 −𝑡𝑡 sin(𝑡𝑡)𝑢𝑢(𝑡𝑡)
Finding Outputs of LTI systems
Recall that the input and output of any LTI system are related through a convolution
operation involving the impulse response of the system

𝑦𝑦 𝑡𝑡 = � 𝑥𝑥 𝑣𝑣 ℎ 𝑡𝑡 − 𝑣𝑣 𝑑𝑑𝑑𝑑 .
−∞

Suppose we take L.T.’s of both sides of this equation


∞ ∞ ∞
𝑌𝑌 𝑠𝑠 = � 𝑦𝑦(𝑡𝑡)𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑 = � � 𝑥𝑥 𝑣𝑣 ℎ 𝑡𝑡 − 𝑣𝑣 𝑑𝑑𝑑𝑑 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑
0 0 −∞
∞ ∞
= � 𝑥𝑥 𝑣𝑣 � ℎ 𝑡𝑡 − 𝑣𝑣 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
−∞ 0

Using the shifting property of L.T.’s, the inner integral becomes 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝐻𝐻(𝑠𝑠) so that

𝑌𝑌 𝑠𝑠 = 𝐻𝐻 𝑠𝑠 � 𝑥𝑥 𝑣𝑣 𝑒𝑒 −𝑠𝑠𝑠𝑠 𝑑𝑑𝑑𝑑 = 𝐻𝐻 𝑠𝑠 𝑋𝑋(𝑠𝑠)
−∞
(assuming 𝑥𝑥 𝑡𝑡 = 0 for 𝑡𝑡 < 0). This suggest an alternative method to compute
convolutions using Laplace Transforms:
 Step 1: Take L.T.’s of 𝑥𝑥 𝑡𝑡 , ℎ 𝑡𝑡 → 𝑋𝑋 𝑠𝑠 , 𝐻𝐻(𝑠𝑠)
 Step 2: Multiply to get L.T. of output, 𝑌𝑌 𝑠𝑠 = 𝑋𝑋 𝑠𝑠 𝐻𝐻(𝑠𝑠)
 Step 3: Take inverse L.T. of 𝑌𝑌 𝑠𝑠 to get 𝑦𝑦 𝑡𝑡 .
Example
Example 6: Find 𝑦𝑦 𝑡𝑡 = 𝑥𝑥 𝑡𝑡 ∗ ℎ(𝑡𝑡) with 𝑥𝑥 𝑡𝑡 and ℎ(𝑡𝑡) as shown below.
𝑥𝑥(𝑡𝑡) ℎ(𝑡𝑡)
1 1
𝑡𝑡 𝑡𝑡
1 2

Transform Domain Approach:


1 1 −𝑠𝑠
𝑥𝑥 𝑡𝑡 = 𝑢𝑢 𝑡𝑡 − 𝑢𝑢 𝑡𝑡 − 1 ↔ 𝑋𝑋 𝑠𝑠 = − 𝑒𝑒 .
𝑠𝑠 𝑠𝑠
1 1
ℎ 𝑡𝑡 = 𝑢𝑢 𝑡𝑡 − 𝑢𝑢 𝑡𝑡 − 2 ↔ 𝐻𝐻 𝑠𝑠 = − 𝑒𝑒 −2𝑠𝑠 .
𝑠𝑠 𝑠𝑠
1 1 −𝑠𝑠 1 1 −2𝑠𝑠 1
𝑌𝑌 𝑠𝑠 = 𝑋𝑋 𝑠𝑠 𝐻𝐻 𝑠𝑠 = − 𝑒𝑒 − 𝑒𝑒 = 2 1 − 𝑒𝑒 −𝑠𝑠 − 𝑒𝑒 −2𝑠𝑠 + 𝑒𝑒 −3𝑠𝑠 .
𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠
1
Noting that 2 ↔ 𝑡𝑡𝑡𝑡(𝑡𝑡) and using the time shifting property of L.T.’s (F(𝑠𝑠)𝑒𝑒 −𝑠𝑠𝑡𝑡𝑜𝑜 ↔
𝑠𝑠
𝑓𝑓(𝑡𝑡 − 𝑡𝑡𝑜𝑜 )) results in
𝑦𝑦 𝑡𝑡 = 𝑡𝑡𝑡𝑡 𝑡𝑡 − 𝑡𝑡 − 1 𝑢𝑢 𝑡𝑡 − 1 − 𝑡𝑡 − 2 𝑢𝑢 𝑡𝑡 − 2 + 𝑡𝑡 − 3 𝑢𝑢 𝑡𝑡 − 3 .
Example
Direct Convolution Approach:

𝑦𝑦 𝑡𝑡 = � 𝑥𝑥 𝑣𝑣 ℎ 𝑡𝑡 − 𝑣𝑣 𝑑𝑑𝑑𝑑 .
−∞
𝑥𝑥(𝑣𝑣) ℎ(𝑡𝑡 − 𝑣𝑣)
1
1
𝑣𝑣 𝑣𝑣
1 𝑡𝑡 − 2 𝑡𝑡
𝑥𝑥 𝑣𝑣 , ℎ(𝑡𝑡 − 𝑣𝑣)
1
Case 1: 𝑡𝑡 < 0, 𝑦𝑦 𝑡𝑡 = 0.
𝑣𝑣
𝑡𝑡 − 2 𝑡𝑡 1

𝑥𝑥 𝑣𝑣 , ℎ(𝑡𝑡 − 𝑣𝑣)
Case II: 0 < 𝑡𝑡 < 1, 1
𝑡𝑡
𝑦𝑦 𝑡𝑡 = � 𝑑𝑑𝑑𝑑 = 𝑡𝑡 . 𝑣𝑣
0 𝑡𝑡 − 2 𝑡𝑡 1
Example
Direct Convolution Approach (continued): 𝑥𝑥 𝑣𝑣 , ℎ(𝑡𝑡 − 𝑣𝑣)
1
1
Case III: 1 < 𝑡𝑡 < 2, 𝑦𝑦 𝑡𝑡 = ∫0 𝑑𝑑𝑑𝑑 = 1. 𝑣𝑣
𝑡𝑡 − 2 1 𝑡𝑡
𝑥𝑥 𝑣𝑣 , ℎ(𝑡𝑡 − 𝑣𝑣)
1
Case IV: 2 < 𝑡𝑡 < 3,
1 𝑣𝑣
𝑦𝑦 𝑡𝑡 = � 𝑑𝑑𝑑𝑑 = 3 − 𝑡𝑡 . 𝑡𝑡 − 2 1 𝑡𝑡
𝑡𝑡−2
𝑥𝑥 𝑣𝑣 , ℎ(𝑡𝑡 − 𝑣𝑣)
1
Case V: 𝑡𝑡 > 3, 𝑦𝑦 𝑡𝑡 = 0.
𝑣𝑣
1 𝑡𝑡 − 2 𝑡𝑡

𝑦𝑦(𝑡𝑡)
0, 𝑡𝑡 < 0, 𝑡𝑡 > 3,
1
𝑡𝑡, 0 < 𝑡𝑡 < 1,
𝑦𝑦 𝑡𝑡 = 𝑡𝑡
1, 1 < 𝑡𝑡 < 2,
3 − 𝑡𝑡, 2 < 𝑡𝑡 < 3. 1 2 3
Example
Example 7: Find the output of an LTI system described by the differential equation
𝑦𝑦 ′ 𝑡𝑡 + 𝑦𝑦 𝑡𝑡 = 𝑥𝑥(𝑡𝑡)
when the input is 𝑥𝑥 𝑡𝑡 = 𝐴𝐴cos 𝜔𝜔𝜔𝜔 𝑢𝑢(𝑡𝑡). What does the output behave like as 𝑡𝑡 → ∞?

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