What if the response of a system to a

Out 1st Method of Decomposition: particular type of input was just a scaled
Using IMPULSES version of the input signal?
Simple Function SF(t) Simple Function Response
SFR(t)
Decompose input Allows us to predict the
t Simple Function
signal into an infinite output using superposition t3 Response
t
t1 t2 t1 t2 t3
sum of closely-spaced as an infinite sum of SFR(t)
impulses: impulse responses: Input Output
x (t) t y (t)

Sum Weighted Shifted Sum Equally Equally SFR(t) = H SF(t)

Weighted Shifted Scale Factor (could be complex!)
IMPULSES IMPULSE RESPONSES
If this is true, then the simple input signal is known as an
Convolution Eigensignal or Eigenfunction for our system.

The (complex) scale factor Hk is known as an Have we seen anything like this so far??
Eigenvalue or System Function for our system. Forced Responses of LTI Systems to
yF(t) = H x(t) x(t) = est (s is generally complex)

SFR(t) = H SF(t) Forcing Function ( est ) Form of Forced Response

S is 0 C0 C1
x(t)=a1SF(t-t1) + a2SF (t-t) y(t)=a1SFR(t-t1) + a2SFR(t-t) S is Real
+ a3SF(t-t) + + a3SFR(t-t) + et C et
S is Imaginary
cos(t) C cos(t + 2)

S is Complex
et cos(t) C et cos(t + 2)

Input LT-I Output

yF (t)
x (t)

1
Is est an Eigensignal for LT-I Systems?
Fourier Series
Input h(t) Output
x (t) y (t)
Todays Goal:
xp(t) T
Perform Convolution y(t)=x(t)*h(t)

Come up with a new way to represent Periodic

Signals xp(t) as a sum of (weighted, shifted versions of):
a simpler function f (t)
a simpler, periodic function
Integral leaves a function of s f (t) = f (t+T) = f (t+kT) T=period, k = integer
A simple function that is an eigenfunction of LT-I systems

For Eigensignals of LT-I Systems Using Harmonic Cosines As Simple

Simple Function SF(t) Simple Function Response (Basis) Function for Periodic Signals
SFR(t)
SF(t)
t - Period T
t
C
t
Input Output
x (t) y (t) -C

SF(t) = C cos ( 2kf0t + )

SFR(t) = H SF(t) f0 = 1 / T = Phase Angle
x (t)=a1SF(t-t1) + a2SF (t-t) y (t)=a1SFR(t-t1) + a2SFR(t-t)
+ a3SF(t-t) + + a3SFR(t-t) +
= Fundamental Frequency (radians)
(Hz = 1/sec or cycles/sec)

k = integer = {0,1,2,3,..} C = Amplitude

kf0 = Harmonic Frequencies
( f0, 2f0, 3f0, 4f0,)

2
Are Cos(ines) Eigensignals Like est? Fourier Series
Polar Form:

SF (t) = cos ( 2kf0t )

= Reej2kf t = Recos(2kf t)+jsin(2kf t) Sum of COSINES
0 w/ Harmonic frequencies
0 0

Weighted Shifted

= Re est |s=j2kf0
= 1/2{e+j2kf t + e-j2kf t}
0 0

= 1/2 {es1t |s1 = +j2kf + es2t | s2 = -j2kf }

0 0
Example:

Cosines (and sines) can be constructed out of sums of est eigensignals;

and so they are also eigensignals of LT-I systems.

Basic Harmonic Signals at Multiples Scaled by Fourier

Fourier Series 3
of the Fundamental Frequency
cos (2fo)
3
Coefficients
C1 cos (2fo+1)

2 2
Polar Form: 1 1
0 x C1 0
-1
-1
-2 2 -2
-3 0
-3 0 0.2 0.4 0.6 0.8 1
0.2 0.4 0.6 0.8 1
cos (2fo) C2 cos (2fo+2)
3 3
Example: 2 2
1 1
0 x C2 0
-1 -1
-2 1.5 -2
-3 0 -3 0
0.2 0.4 0.6 0.8 1 0.2 0.4 0.6 0.8 1

k .
cos (2fo) C3 cos (2fo+3)
Fourier Coefficients: Ck . 3
2
3
2
k=0 C0 = 0 = 1
0 x C3
1
0
-1 -1
0.5
k=1 C1 = 1 = -2
-3
0 0.2 0.4 0.6 0.8 1
-2
-3 0
0.2 0.4 0.6 0.8 1
cos (2fo) C4 cos (2fo+4)
k=2 C2 = 2 = 3
2
3
2
1 1
x C4
k=3 C3 = 3 = 0
-1
0
-1
-2 0.75-
-2
4 =
-3 -3
k=4 C4 = 0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1

3
 Fourier Series Coefficient Spectrum
Periodic Signal from Adding 4 Polar Form: 1-Sided Spectrum: Ck, k vs. k or frequency kf0
Harmonics From Fourier Series 3.0
Ck Ck
2.5 .

4 2.0 k = 0 C0 = 1
3
1.5 k = 1 C1 = 2
1.0 k = 2 C2 = 1.5
2
0.5 k = 3 C3 = 0.5
1 0 k k = 4 C4 = 0.75
0 1 2 3 4
0
+
k k .
-1
+ k = 0 0 = 0
-2
k = 1 1 = 0
0 k
-3 k = 2 2 =
-4 0
- k = 3 3 = /2
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
- k = 4 4 = -/2
Time - sec 0 1 2 3 4

Other Fourier Series Forms How are the different Fourier

Polar Form: Coefficients: Ck , k (real)
Series Coefficients related?
Polar Form:

Exponential Form:
Trigonometric Form: Coefficients: ak , bk (real)
Equating: Polar Form: Exponential Form:

Exponential Form:
Coefficients: X[k] (complex)
|X[k]|, X[k]
Includes negative values of k

4
Fourier Series Coefficients Related Fourier Series Coefficient Spectrum
Exponential Form: 2-Sided Spectrum: |X[k]|,X[k] vs. k or
1.2 frequency kf0
|X[k]|
1 Ck .
0.8 k=0 0=1
C
0.6 k = 1 C1 = 2
0.4 k = 2 C2 = 1.5
0.2 k = 3 C3 = 0.5
0
-4 -3 -2 -1 0 1 2 3 4
k k = 4 C4 = 0.75
+
X[k]
k .
+
k=0 0 = 0
0 k k=1 1 = 0
-
k=2 2 =
For k > 0
k=3 3 = /2
-
-4 -3 -2 -1 0 1 2 3 4 k=4 4 = -/2

Exponential Fourier Series How are the different Fourier

Coefficient Symmetry Series Coefficients related?
For k > 0:
Polar Form:

Trigonometric
Form:
|X[k]| is Even Symmetric

Equating: Trigonometric Form:

Polar Form:
X[k] is Odd Symmetric

X[k] has Conjugate Symmetry

5
 Fourier Series Coefficients Related
Ccos(t+)=Acos(t)+Bsin(t)?
1 cos(2 0.1 t + 0.15)
1

-1
-20 -15 -10 -5 0 5 10 15 20
Even Component: 0.89 cos(2 0.1 t)
1

-1
-20 -15 -10 -5 0 5 10 15 20
Odd Component: -0.45 sin(2 0.1 t)
1

-1
-20 -15 -10 -5 0 5 10 15 20

Fourier Series Coefficients Related Fourier Series Coefficients Related

Complex Number Plane
Argand Diagram

Im
j
j(-bk) Ck
X[k]

k
ak
Re

The different Fourier Series Polar Form Rectangular Form

Coefficients represent the