Signal and Linear

System Analysis
Gordon E. Carlson Second Edition
University of Missouri—Rolla
Rolla, Missouri

John Wiley & Sons, Inc.

ULB Darmstadt

Illllllllllllll
16390364
 Contents

Preface ix

Part I Fundamental Concepts 1

1 Signals and Systems 3
1.1 Basic Definitions 4
1.2 Mathematical Models 5
1.3 Continuous-Time and Discrete-Time Signals and Systems 7
1.4 Summary 12
Key Concepts 12

2 Signal and System Characteristics and Models 13

2.1 Basic Operations on Signals 13
2.2 Signal Characteristics 22
2.3 System Representations and Models 27
2.4 System Characteristics 32
2.5 Summary 43
Key Concepts 43
Problems 44
Problems for Computer Solution 47

Part II Continuous-Time Signals and Systems 49

3 Time-Domain Representation of Continuous-Time Signals 51
3.1 Sinusoidal and Complex Exponential Signals 51
3.2 Exponential Signals 55
3.3 Singularity Function Signals 58
3.4 Signal Energy and Power 70
3.5 Signal Representation by Generalized Fourier Series 76
3.6 Summary 85
Key Concepts 86
Problems 87
Problems for Computer Solution 90

4 Time-Domain Analysis of Continuous-Time Systems 92

4.1 System Equation Solution 92
4.2 System Impulse Response 94
4.3 Zero-State Response of Linear, Time-Invariant Systems:
The Superposition Integral 96
4.4 Continuous-Convolution Evaluation and Properties 101
4.5 Summary 120
Key Concepts 121
Problems 121
Problems for Computer Solution 125

iii
IV Contents

5 Frequency-Domain Representation of Continuous-Time

Signals 126
5.1 Spectra and Bandwidths of Continuous-Time Signals 127
5.2 Fourier Series Representation of Signals 132
5.3 Amplitude and Phase Spectra of Periodic Signals 143
5.4 The Fourier Transform and Spectra of Aperiodic Energy Signals 154
5.5 The Fourier Transform and Spectra of Nonenergy Signals 181
5.6 Summary 194
Key Concepts 195
Problems 196
Problems for Computer Solution 200

6 Frequency-Domain Analysis of Continuous-Time Systems 202

6.1 System Frequency Response 202
6.2 Frequency-Response Determination 215
6.3 Frequency Response of Electric Circuits 219
6.4 Phase Delay and Group Delay 221
6.5 Bode Plots of Amplitude and Phase Responses 228
6.6 Summary 244
Key Concepts 245
Problems 246
Problems for Computer Solution 249

7 Analysis of Continuous-Time Systems Using the

Laplace Transform 250
7.1 The Laplace Transform 250
7.2 Laplace Transform Evaluations and Theorems 255
7.3 Evaluation of Inverse Laplace Transforms 268
7.4 Laplace Transform Solutions of Linear Integrodifferential Equations 281
7.5 Laplace Transform Solutions for Electric Circuits 285
7.6 System Transfer Function 292
7.7 Use of the Transfer Function for Determining System Stability
and Frequency Response 299
7.8 Summary 305
Key Concepts 305
Problems 307
Problems for Computer Solution 312

8 Continuous-Time Filters 313

8.1 Distortionless Transmission 314
8.2 Ideal Filters 315
8.3 Approximation of Ideal Filters 321
8.4 Butterworth and Chebyshev Filter Design 334
8.5 Summary 351
Key Concepts 351
Problems 352
Problems for Computer Solution 354
Contents

9 Sampled Continuous-Time Signals 356

9.1 Ideal Sampling and the Sampling Theorem 356
9.2 Practical Sampling Effects 363
9.3 Summary 369
Key Concepts 370
Problems 370
Problems for Computer Solution 372

Part III Discrete-Time Signals and Systems 373

10 Time-Domain Representation of Discrete-Time Signals 375
10.1 Sinusoidal and Complex-Exponential Signals 376
10.2 Exponential Signals 379
10.3 Unit Step, Unit Ramp, and Unit Pulse Signals 381
10.4 Signal Energy and Power 386
10.5 Summary 389
Key Concepts 389
Problems 390
Problems for Computer Solution 392

11 Time-Domain Analysis of Discrete-Time Systems 393

11.1 System Equation Solution 393
11.2 Recursive Solution of System Equation 394
11.3 System Unit Pulse Response 396
11.4 Zero-State Response of Linear, Time-Invariant Systems:
The Superposition Sum 398
11.5 Discrete Convolution Evaluation and Properties 401
11.6 Summary 416
Key Concepts 417
Problems 417
Problems for Computer Solution 420

12 Frequency-Domain Representation of Discrete-Time

Signals 422
12.1 Spectra and Bandwidths of Discrete-Time Signals 422
12.2 The Discrete-Time Fourier Series and Spectra of Periodic Signals 428
12.3 The Discrete-Time Fourier Transform and Spectra of Energy Signals 444
12.4 The Discrete-Time Fourier Transform and Spectra of Nonenergy Signals 472
12.5 Summary 483
Key Concepts 485
Problems 486
Problems for Computer Solution 490

13 Frequency-Domain Analysis of Discrete-Time Systems 491

13.1 System Frequency Response 491
13.2 Frequency-Response Determination 503
13.3 Summary 511
vi Contents

Key Concepts 512

Problems 513
Problems for Computer Solution 516

14 Analysis of Discrete-Time Systems Using the z-Transform 518

14.1 The z-Transform 518
14.2 z-Transform Evaluations and Theorems 523
14.3 Evaluation of Inverse z-Transforms 535
14.4 z-Transform Solutions of Linear Difference Equations 545
14.5 The System Transfer Function 551
14.6 Use of the Transfer Function for Determining
System Stability and Frequency Response 561
14.7 Summary 565
Key Concepts 566
Problems 567
Problems for Computer Solution 570

15 Discrete-Time System Realizations

and Discrete-Time Filters 572
15.1 System Types 572
15.2 System Realizations 573
15.3 IIR Filter Design 582
15.4 FIR Filter Design 612
15.5 Summary 637
Key Concepts 638
Problems 639
Problems for Computer Solution 642

16 The Discrete Fourier Transform 644

16.1 The Discrete Fourier Transform and Inverse Discrete Fourier Transform 645
16.2 Discrete Fourier Transform Characteristics and Properties 666
16.3 Use of Windows in DFT Computation 675
16.4 Discrete Fourier Transform Parameter Selection 682
16.5 Discrete Fourier Transform Theorems 684
16.6 Discrete Convolution Computation Using DFTs 688
16.7 Discrete-Time Signal Filtering Using the DFT 695
16.8 The Fast Fourier Transform 703
16.9 Summary 715
Key Concepts 716
Problems 718
Problems for Computer Solution 721

Appendixes 725

A Sum of Periodic Signals 725

Contents vii

B Mathematical Tables 727

B.I Trigonometric Identities 727
B.2 Derivatives 728
B.3 Indefinite Integrals 729
B.4 Definite Integrals 730
B.5 Series 731

C Transform Tables 732

C.I Fourier Transform Theorems 732
C.2 Fourier Transform Pairs 733
C.3 Laplace Transform Theorems 734
C.4 Laplace Transform Pairs 735
C.5 Discrete-Time Fourier Transform Theorems 736
C.6 Discrete-Time Fourier Transform Pairs 737
C.7 z-Transform Theorems 738
C.8 z-Transform Pairs 739
C.9 Discrete Fourier Transform (DFT) Theorems 740

Index 741