Module 5 - Impulse Response
Module 5 - Impulse Response
Module 5
Impulse Responses
Learning Objectives
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.
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 )
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 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 .
−∞
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
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 → ∞?