EE202
EE202
SIGNALS & SYSTEMS
L3. Properties of Signals (continued) & Systems
Instructor: Prof. Heejin Ahn
Original lecture notes are written by Prof. Young-Gyu Yoon 1
EE202
Review: signals
CT vs. DT Odd vs. even Periodic vs. aperiodic
Important basic signals
Sinusoidal & exponential signals Step Impulse
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Example: impulse functions
𝑎 𝛿(𝑡)
𝑥(𝑡) 𝛿(𝑡 − 𝑡0 )
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Contents
• Operations on signals
• System properties
◦ Linearity
◦ Time-invariance
◦ Causality
◦ BIBO stability
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Operation on signals: amplitude scaling
input output
signal “amplitude signal
𝑥(𝑡) scaling” 𝑦(𝑡)
𝐻: 𝑥(𝑡) ↦ 𝑦(𝑡) = 𝐾𝑥(𝑡)
• H is a function that maps 𝑥(𝑡) to 𝑦(𝑡) = 𝐾𝑥(𝑡)
• H is an operator that acts on 𝑥(𝑡) and produces 𝑦(𝑡) = 𝐾𝑥(𝑡)
• H is a system that gives output 𝑦(𝑡) = 𝐾𝑥(𝑡) for input 𝑥(𝑡)
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Operation on signals: amplitude scaling
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Operation on signals: time translation
input output
signal “time translation” signal
𝑥(𝑡) 𝑦(𝑡)
𝐻: 𝑥(𝑡) ↦ 𝑦(𝑡) = 𝑥(𝑡 − 𝑡𝑜)
Shifted to the right by 𝑡0
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Operation on signals: time translation
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Operation on signals: time scaling
input output
signal “time scaling” signal
𝑥(𝑡) 𝑦(𝑡)
𝐻: 𝑥(𝑡) ↦ 𝑦(𝑡) = 𝑥(𝑡/𝑎)
• a >1: stretch the time domain
• 0< a <1: shrink the time domain
• a <0:
*special case: a= −1 → time reverse
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Operation on signals: time scaling
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Operation on signals: combined
step-by-step
scale time-scale time-shift
Does the order-of-operation matter?
scale time-shift time-scale
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Example.
Original signal
What is this output?
Time shift
Time reversal
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Example.
Find
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Revisit: what is system
• In EE202, systems are described from input/output perspective.
• A system can be defined by the relation of the input and the output.
• A system can be represented as a function that maps a function to another function.
(e.g., 𝐻: 𝑥(𝑡) ↦ 𝑦(𝑡)).
input output
System
signal signal
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Property 1: linearity
input System output
signal H signal
𝑥1(𝑡) 𝑦1(𝑡)
𝑥2(𝑡) 𝑦2(𝑡)
input System output
signal H signal
𝛼𝑥1(𝑡) + 𝛽𝑥2(𝑡)
For arbitrary 𝛼 and 𝛽
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• Let be a set of inputs
with corresponding outputs
• Property of linear systems:
The response to the input
is
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Example: linearity
• Are the following systems linear?
*For linear systems, zero input -> zero output
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Note.
• In fact, many systems are nonlinear.
ex. Economic systems. Input: monetary policies -> output: inflation
• In EE202, we will deal with only linear systems, which are good
approximations of nonlinear systems in certain ranges.
• Linear systems can be analyzed accurately.
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Property 2: time-invariance
input System output
signal H signal
𝑥(𝑡) 𝑦(𝑡)
input System output
signal H signal
𝑥(𝑡 − 𝑡0) y(t-t0)
• Informally, a system is time-invariant (TI) if its behavior does not depend
on the choice of 𝑡 = 0.
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• A system is time-invariant if it satisfies the following:
For any input 𝑥(𝑡) (or 𝑥[𝑛] for a DT system) and
any time shift 𝑡𝑜 (or 𝑛𝑜 for a DT system),
• If the input is time-shifted by a certain amount, then the output is
also just time-shifted by the same amount ➔ time-invariant systems
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Example: time-invariance
• Which one is time-invariant?
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Example: time-invariance
• Are the following systems time-invariant?
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True or False? (1)
• If the input to a TI system is periodic, then the output is also
periodic with the same period.
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True or False? (2)
• A TI system is commutative with time translation.
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Property 3: causality
Causal: the output depends only on the present & past values of the input
• Causal system
◦ Ideal delay : 𝑦(𝑡) = 𝑥(𝑡 − 1)
◦ Integrator:
• Non-causal system
◦ Ideal predictor: 𝑦(𝑡) = 𝑥(𝑡 + 1)
◦ Moving-average filter:
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Note.
• All real-time physical systems are causal, because time only moves
forward. Effect occurs after cause.
• Causality does not apply to spatially varying signals. (We can move both
left and right, up and down.)
• Causality does not apply to systems processing recorded signals.
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Example: causality
• Are the following systems causal?
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Property 4: stability
• BIBO (Bounded input bounded output) stable
◦ A system is stable, if the input to the system is bounded, then the output
is also bounded
◦ Formal definition
for any input x(t) that satisfies | x(t) | < B for all 𝑡 with a positive B, then
there exists a constant By > 0 such that | y(t) | < By for all 𝑡
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Example: BIBO stability
• Are the following systems BIBO stable?
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Property 5: memoryless
• A system is memoryless if its output depends only on the
present input value
• Memoryless
◦ Ideal amplifier: 𝑦 𝑡 = 𝐾𝑥(𝑡)
• Not memoryless
◦ Ideal delay: 𝑦(𝑡) = 𝑥(𝑡 − 1)
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Example: memoryless
• Are the following systems memoryless?
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Summary
• Linearity: if input is linearly added or scaled, the output is also linearly
added or scaled by the corresponding factor
• Time-invariance: if the input is time shifted, the output is also time-
shifted by the same amount
• Causal: the output does not depend on the future value of input
• BIBO stable: the output has an upper bound, if the input has an upper
bound
• Memoryless: the output at present is determined by the input at present
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