EE-556 Formula Sheet

Some useful Mathematical formulas and identities:

e j! = cos(! ) + j sin(! ) ,

cos(! ) =

e j! + e " j! , 2

sin(! ) =

e j! " e " j! 2j

sin(2! ) = 2 sin(! ) cos(! ) , cos(2! ) = 2 cos 2 (! ) " 1 = 1 " 2 sin 2 (! ) 1 cos(" ) cos(! ) = [ cos(" # ! ) + cos(" + ! )] 2 1 sin(" ) sin( ! ) = [ cos(" # ! ) # cos(" + ! )] 2 1 sin(! ) cos( " ) = [sin(! # " ) + sin(! + " ) ] 2 sin(! x) sinc( x) = !x
n

Geometric series:

k =m

"a

a m ! a n +1 1! a

Fourier series:

x(t ) = a0 +

! [an cos(n$0t ) + bn sin(n$0t )]=

n =1

"

+" n = #"

!c e
n

jn$0t

a0 =

1 T0

T0

! x(t )dt ,
+"

an =

2 T0

T0

! x(t ) cos(n" t )dt ,

0
+"

bn =

2 T0

T0

! x(t ) sin(n" t )dt ,

0

cn =

1 T0

T0

! x(t )e

" jn#0t

dt

Fourier transform and inverse Fourier transform:

X ($ ) =

#"

x(t )e # j$t dt ,

x(t ) =

1 2%

#"

! X ($ )e

j $t

dt

Some useful Fourier transform pairs:

1 $ 2"# (! )
u (t ) $ "# (! ) + 1 j!

" (t ) ! 1
e j!0t % 2"# (! $ !0 )

&t # & (T # rect$ ! = Tsinc$ ! %T " % 2' " cos(!0t ) % # [ " (! + !0 ) + " (! $ !0 )] sin(!0 t ) % j# [ " (! + !0 ) $ " (! $ !0 )]

Energy and power of discrete-time signals:

+"

Energy: E x =

n = #"

x[n] , Power: non-periodic Px = lim

1 1 2 x[n] , N-periodic: Px = N $# 2 N + 1 N n=" N

+N

n =# N "

! x[n]

+"

Discrete-time linear convolution: Discrete-time Fourier Transform (DTFT): DTFT Properties: Symmetry relations: Sequence

y[n] = x[n] $ h[n] = X ( e j$ ) =

k = #" +" n = #"

! x[k ]h[n # k ]
# j $n

! x[n]e

DTFT

x[n]

X ( e j! ) X ( e " j! ) X * ( e j! )
1 X ( e j! ) + X * ( e " j! ) 2 1 X as (e j! ) = X (e j! ) " X * (e " j! ) 2 X cs (e j! ) =

x[!n]

x * [ ! n]
Re{x[n]}

j Im{x[n]}

[ [

] ]

xcs [n] xas [n]

X re (e j! ) jX im (e j! )

Note: Subscript cs and as mean conjugate symmetric and conjugate anti-symmetric signals, respectively. DTFT of commonly used sequences: Sequence DTFT

! [ n]
[n] (Unit Step Function)
1 1 # e # j%
+"

1
+"

k = #"

!$& (% + 2$k )
0

e j! 0 n
a n [ n] , ( a < 1 ) (n + 1)a n [n] , ( a < 1 )

k = #"

! 2$& (% # %
1

+ 2$k )

1 " ae " j!
1 & # $ ! % 1 ' ae ' j( "
2

h[n] =

sin("c n) , ( "! < n < +! ) !n

$ !1 0 % ' % 'c H ( e j' ) = # ! "0 'c < ' < &

DTFT Theorems: Theorem Sequence DTFT

g[ n]

G ( e j! ) H ( e j! )

h[n]
Linearity Time Reversal Time Shifting Frequency Shifting Differentiation in Frequency Convolution Modulation

"g[n] + !h[n]
g[ ! n]

# G ( e j! ) + " H ( e j! )
G ( e " j! )
e " j!n0 G (e j! ) G (e j ( ! "!0 ) )

g[n ! n0 ]
e j! 0 n g [ n ]
ng[n]

dG (e j! ) d!

g[n] ! h[n]
g[n]h[n]
+$

G ( e j! ) H ( e j! )
1 2#
* "#

"#

! G (e

j$

) H (e j (% "$ ) )d$

Parsevals Identity

n = #$

" g[n]h [n] = 2% ! G(e

#%

+% j&

) H * (e j& )d&

N "1

Discrete Fourier Transform (DFT):

X [k ] =

!
n =0

x[n]e
N "1 k =0

"j

2# nk N

,
j 2! nk N

0 " k " N !1
,

Inverse DFT: Circular Convolution:

1 x[n] = N
N "1

# X [k ]e

0 " n " N !1 0 " n " N !1

yc [ n] =

m =0

! x[m]h[$n " m#

N],

Symmetry properties of DFT: Length-N Sequence N-Point DFT

x[n] = xre [n] + jxim [n]

x * [ n] x*["# n! N ]

X [k ] = X re [k ] + jX im [k ]
X *["# k ! N ] X *[ k ]
1 X [k ] + X *["# k ! N ] 2 1 X as [k ] = X [k ] # X * ["# k ! N ] 2 X re [k ] X cs [k ] =

xre [n] jxim [n] xcs [n] xas [n]

jX im [k ]

DFT Theorems: Theorem Sequence DTFT

g[ n]

h[n]
Linearity Circular Time Shifting Circular Frequency Shifting Duality
N "1

G[k ] H [k ]

"g[n] + !h[n]
g[# n " n0 ! N ]

"G[k ] + !H [k ]

"j

2! kn0 N

G[k ]

2! nk0 N

g[ n]

G[# k " k 0 ! N ] Ng["# k ! N ]

N]

G[n]

N-Point Circular Convolution

m =0

! g[m]h[$n " m#
g[n]h[n]

G[k ]H [k ]
1 N
N "1 m =0 2

Modulation

! G[m]H [$n " m#

N]

N "1

Parsevals Identity

!
n =0 #n

g[ n] =

1 N

N "1

! G[k ]
n =0

+"

Z-Transform:

X ( z) =

n = #"

! x[n]z

Inverse Z-Transform:

x[n] =

1 G ( z ) z n "1dz 2#j
C

Z-Transform Properties: Property Sequence z-Transform Region of Convergence

g[ n]

h[n]
Conjugation Time Reversal Linearity Time Shifting Multiplication by an exponential sequence Differentiation in the z-domain Convolution

G( z) H ( z)

Rg

Rh
Rg 1 Rg
Includes Rg ! Rh

g [ n]
g[ ! n]

G (z )

G( 1 z)

"g[n] + !h[n]
g[n ! n0 ]

"G ( z ) + ! H ( z )
z ! n0 G ( z )

Rg except possibly the point z = 0 or !

! n g[ n]
ng[n]

G (z ! )
dG ( z ) dz G( z) H ( z) !z

! Rg
Rg except possibly the point z = 0 or !
Includes Rg ! Rh

g[n] * h[n]

Some useful z-transform pairs: Sequence z-Transform ROC All values of z

! [ n]
[ n]

1 1

! n [ n]
n! n [n] r n cos(!0 n) [n] r n sin(!0 n) [n]

1 ! z !1 1 1 ! "z !1

z >1
z >! z >! z >r z >r

"z !1

( 1 ! "z )
1 ! (r cos("0 ) z !1 1 ! (2r cos("0 ) z !1 + r 2 z ! 2 (r sin("0 ) z !1 1 ! (2r cos("0 ) z !1 + r 2 z ! 2

!1 2