Signal and Systems (MCT 307):

Module 3: Fourier Series and Transforms

Module 3 explores the fundamental concepts of Fourier Series and Fourier

Transforms, essential mathematical tools for analyzing signals in
mechatronics engineering. This module bridges theoretical foundations with
practical applications in sensor data analysis, control systems, and signal
processing.

Prepared by Col (Prof) AS Imam

Module Overview
This module introduces the fundamental concepts of Fourier analysis and its applications in mechatronics engineering. We'll
explore how these mathematical tools help engineers analyze complex signals by breaking them down into simpler components.

Throughout this module, we'll examine both theoretical foundations and practical applications, with a focus on how these
techniques solve real-world engineering problems in signal processing, control systems, and sensor data analysis.

1 Introduction to Fourier Analysis 2 Time vs Frequency Domain

Understanding the importance of frequency domain Comparing different representations of signals and their
analysis in mechatronics applications

3 Fourier Series and Transforms 4 Applications in Mechatronics

Mathematical foundations and practical implementations Real-world examples and case studies in engineering
systems
Introduction to Fourier
Analysis
In mechatronics, signals from sensors, actuators, and control systems often
contain valuable information encoded in the frequency domain. By applying
Fourier series and Fourier transforms, engineers can decompose complex
signals into sinusoidal components, identify dominant frequency
components, filter out noise, and design and analyze control systems.

Understanding signal frequency characteristics is vital for tasks such as

vibration analysis, audio processing, motor control, and feedback system
tuning.

Signal Decomposition
Breaking down complex waveforms into simple sinusoidal components
for easier analysis

Frequency Identification
Detecting dominant frequencies in signals to understand system
behavior

Noise Filtering
Separating useful signal content from unwanted noise based on
frequency characteristics

System Design
Creating and analyzing control systems based on frequency response
characteristics
Time Domain Analysis
In the time domain, a signal is represented as it varies over time, showing the amplitude of the signal at each moment. This
representation is intuitive and directly relates to physical measurements, but can make certain signal characteristics difficult to
identify.

For example, when measuring voltage from a rotary encoder over time, the signal may include mechanical jitter, electrical noise,
and sensor error, which can be challenging to distinguish in the time domain alone.

Temporal Representation Waveform Analysis Practical Application

Shows how signal amplitude changes Examines signal shape, amplitude, and In pick-and-place robotic arms, encoder
over time, providing a direct view of period to understand system dynamics signals help detect position changes in
system behavior real-time
Frequency Domain Analysis
In the frequency domain, a signal is represented in terms of the frequencies
it contains. This representation reveals patterns and characteristics that may
be hidden in the time domain, making it invaluable for signal analysis and
system design.

For example, identifying the main vibration frequency in a robotic arm using
Fast Fourier Transform (FFT) helps detect and isolate harmful resonance
frequencies that could damage the system or reduce precision.

Signal Acquisition
Collect time-domain data from sensors or systems

FFT Processing
Apply mathematical transformation to convert to frequency
domain

Spectrum Analysis
Identify key frequency components and their magnitudes

System Optimization
Adjust parameters based on frequency analysis results
Fourier Series Concept
The Fourier series is a powerful mathematical tool used to represent a periodic function as a sum of sine and cosine components.
This enables transformation of time-domain periodic signals into their frequency-domain representations, revealing the harmonic
content of the signal.

By decomposing complex periodic signals into simpler sinusoidal components, engineers can better understand system behavior,
identify important frequency components, and design appropriate filters or control strategies.

Square Wave Decomposition

A square wave can be represented as an infinite sum of sine waves at
odd harmonics with decreasing amplitudes

Triangular Wave Decomposition

A triangular wave consists of odd harmonics with amplitudes that
decrease as the square of the harmonic number

Sawtooth Wave Decomposition

A sawtooth wave contains all harmonics with amplitudes inversely
proportional to the harmonic number
Mathematical Form of Fourier Series
For a periodic function f(t) with period T, the Fourier series is given by a sum of sine and cosine terms with specific coefficients.
These coefficients determine the amplitude of each frequency component present in the original signal.

The mathematical formulation provides a rigorous way to decompose any periodic signal into its constituent frequencies, allowing
engineers to analyze and manipulate signals in the frequency domain.

1.2

0.8

0.4

0
Fundamental 3rd Harmonic 5th Harmonic 7th Harmonic 9th Harmonic

The bar chart illustrates the decreasing amplitude of harmonics in a square wave Fourier series. The fundamental frequency has
the largest contribution, while higher harmonics have progressively smaller amplitudes following a 1/n pattern, where n is the
harmonic number.
Fourier Series in Mechatronics
Analyzing the periodic signal from a stepper motor driver helps identify harmonic distortions caused by non-ideal power supply
conditions. By applying Fourier series analysis, engineers can design compensation filters that improve motor performance and
reduce unwanted vibrations.

This application demonstrates how Fourier analysis bridges theoretical mathematics with practical engineering solutions in
mechatronic systems.

System Optimization
Improved performance through targeted frequency compensation

Filter Design
Creating compensation filters based on harmonic analysis

Harmonic Analysis
Identifying frequency components in motor signals

Signal Acquisition
Measuring stepper motor driver waveforms
Fourier Transform Concept
The Fourier transform extends the principles of Fourier series to non-periodic signals, providing a continuous frequency spectrum
rather than discrete harmonics. This powerful mathematical tool allows engineers to analyze transient signals, impulses, and other
non-repeating waveforms common in mechatronic systems.

Unlike Fourier series which is limited to periodic signals, the Fourier transform can be applied to any signal that satisfies certain
mathematical conditions, making it an essential tool for comprehensive signal analysis.

Continuous Spectrum
Non-Periodic Signals
Provides a continuous frequency
Analyzes signals that don't repeat, such as
representation rather than discrete
impulses or transients
harmonics

Filter Design Impulse Response

Facilitates creation of advanced filters for Enables analysis of system responses to
signal processing sudden inputs
Mathematical Form of Fourier
Transform
The continuous Fourier transform is defined by an integral equation that
converts a time-domain signal into its frequency-domain representation.
This mathematical formulation provides the foundation for numerous signal
processing techniques used in mechatronics.

The transform pair allows engineers to move between time and frequency
domains, providing different perspectives on the same signal and enabling
various analysis and design approaches based on the specific requirements
of the application.

> e^-jËt
Integration Limits Complex Exponential
The transform integrates over all The kernel function that enables the
time, capturing the complete signal time-to-frequency conversion
information

F(Ë)
Frequency Domain
The resulting function represents
amplitude and phase at each
frequency
Mechatronics Applications of
Fourier Transform
Analyzing accelerometer data in drone stabilization systems using FFT
(discrete approximation of Fourier transform) helps identify external
disturbances and enables real-time adaptive control. This application
demonstrates how theoretical concepts translate into practical engineering
solutions.

By examining the frequency content of vibration signals, engineers can

distinguish between normal operation patterns and anomalies caused by
wind gusts, mechanical imbalances, or other disturbances, allowing the
control system to respond appropriately.

Data Collection
Accelerometers measure vibration in multiple axes

FFT Processing
Onboard processors transform data to frequency domain

Pattern Recognition
Algorithms identify normal vs. abnormal frequency patterns

Adaptive Control
Motor parameters adjust based on frequency analysis
Discrete Fourier Transform and FFT
The Discrete Fourier Transform (DFT) adapts continuous Fourier transform principles for digital signal processing, making it suitable
for implementation on microcontrollers and digital signal processors. The Fast Fourier Transform (FFT) is an efficient algorithm for
computing the DFT, dramatically reducing computational requirements.

In motor fault diagnosis systems, FFT is applied to current signals to detect unbalance, misalignment, or bearing faults, enabling
predictive maintenance and preventing costly failures.

Computational Efficiency
FFT reduces complexity from O(N²) to O(N log N)

Digital Implementation
Suitable for embedded systems and real-time processing

Fault Detection
Identifies specific frequency signatures of mechanical
problems
Filtering in the Frequency Domain
Filters can be designed to block or pass specific frequency components, making them ideal for noise reduction in sensor signals.
By understanding the frequency characteristics of both the desired signal and unwanted noise, engineers can design optimal filters
for various applications.

For example, using a low-pass filter on a temperature sensor in an HVAC system helps remove high-frequency electrical noise
while preserving the slower temperature variations that are being monitored.

These filter response curves illustrate how different filter types selectively pass or block frequency components. Low-pass filters
allow low frequencies while attenuating high frequencies, high-pass filters do the opposite, band-pass filters allow a specific
frequency range, and notch filters block a narrow frequency band.
Conclusion and Future Directions
Fourier analysis is a powerful tool in mechatronics for understanding and manipulating signals. It plays a crucial role in control
systems, diagnostics, communication, and signal processing, forming the foundation for many advanced engineering techniques.

Future courses and applications will explore advanced signal analysis techniques such as wavelet transforms and their application
in embedded systems and real-time monitoring, extending these fundamental concepts to address more complex engineering
challenges.

Signal Analysis Filtering

Understanding frequency content of Removing noise and isolating important
complex signals components

Diagnostics System Design

Identifying system faults through Creating optimal control systems
frequency analysis based on frequency response