6.

003: Signals and Systems

Lecture 1 February 2, 2010

6.003: Signals and Systems 6.003: Signals and Systems

Today’s handouts: Single package containing
Signals and Systems • Slides for Lecture 1
• Subject Information & Calendar

Lecturer: Denny Freeman

Instructors: Peter Hagelstein

Rahul Sarpeshkar

Website: mit.edu/6.003

Text: Signals and Systems – Oppenheim and Willsky

February 2, 2010

6.003: Homework 6.003: Signals and Systems

Doing the homework is essential for understanding the content. Collaboration Policy
• where subject matter is/isn’t learned • Discussion of concepts in homework is encouraged
• equivalent to “practice” in sports or music • Sharing of homework or code is not permitted and will be re­
ported to the COD
Weekly Homework Assignments
• Conventional Homework Problems plus
• Engineering Design Problems (Python/Matlab)
Firm Deadlines
• Homework must be submitted in recitation on due date
Open Office Hours !
• Each student can submit one late homework assignment without
• Stata Basement (32-044)
penalty.
• Mondays and Tuesdays, afternoons and early evenings
• Grades on other late assignments will be multiplied by 0.5 (unless
excused by an Instructor, Dean, or Medical Official).

6.003 At-A-Glance 6.003: Signals and Systems

Tuesday Wednesday Thursday Friday

Feb 2
L1: Signals and R1: Continuous & L2: Discrete-Time R2: Difference Weekly meetings with class representatives
Systems Discrete Systems Systems Equations

Feb 9
L3: Feedback,
Cycles, and Modes
HW1 R3: Feedback,
due Cycles, and Modes
L4: CT Operator
Representations
R4: CT Systems • help staff understand student perspective
Feb 16
Presidents Day:
Monday Schedule
HW2 R5: CT Operator
due Representations
L5: Second-Order
Systems
R6: Second-Order
Systems
• learn about teaching
L6: Laplace and Z HW3 R7: Laplace and Z L7: Transform R8: Transform
Feb 23
Transforms due Transforms Properties Properties
L8: Convolution; Exam 1 L9: Frequency R9: Convolution
One representative from each section (4 total)
Mar 2 EX4
Impulse Response no recitation Response and Freq. Resp.

Mar 9
L10: Bode
Diagrams
HW5 R10: Bode
due Diagrams
L11: DT Feedback
and Control
R11: Feedback and
Control
Tentatively meet on Thursday afternoon
L12: CT Feedback HW6 R12: CT Feedback L13: CT Feedback R13: CT Feedback
Mar 16
and Control due and Control and Control and Control Interested?
Mar 23 spring spring spring
Spring Week spring spring

L14: CT Fourier R14: CT Fourier L15: CT Fourier R15: CT Fourier

Mar 30 HW7
Series Series Series Series
L16: CT Fourier EX8 Exam 2 L17: CT Fourier R16: CT Fourier
Apr 6
Transform due no recitation Transform Transform
L18: DT Fourier HW9 R17: DT Fourier L19: DT Fourier R18: DT Fourier
Apr 13
Transform due Transform Transform Transform
Patriots Day R19: Fourier L20: Fourier R20: Fourier
Apr 20 HW10
Vacation Transforms Relations Relations
EX11 Exam 3
Apr 27 L21: Sampling L22: Sampling R21: Sampling
due no recitation
HW12
May 4 L23: Modulation R22: Modulation L24: Modulation R23: Modulation
due
L25: Applications Breakfast with
May 11 EX13 R24: Review Study Period
of 6.003 Staff

May 18 finals finals finals

Final Examination Period finals finals

6.003: Signals and Systems Lecture 1 February 2, 2010

The Signals and Systems Abstraction Example: Mass and Spring

Describe a system (physical, mathematical, or computational) by

x(t)
the way it transforms an input signal into an output signal.

y(t)

signal signal
system
in out x(t) y(t)

mass &
t spring t
system

Example: Tanks Example: Cell Phone System

r0 (t)

sound out
h1 (t)
r1 (t)

sound in

h2 (t)
r2 (t) sound in sound out
r0 (t) r2 (t)
cell
tank t phone t
t t system
system

Signals and Systems: Widely Applicable Signals and Systems: Modular

The Signals and Systems approach has broad application: electrical, The representation does not depend upon the physical substrate.
mechanical, optical, acoustic, biological, financial, ...

x(t) y(t)

mass &
t spring t
system

r0 (t) sound in
sound out
h1 (t)
r1 (t) r0 (t) r2 (t)

h2 (t) tank
t t
system
r2 (t)
sound cell E/M optic E/M cell sound
sound in sound out
tower tower
in phone fiber phone out
cell
t phone t
system

focuses on the flow of information, abstracts away everything else

6.003: Signals and Systems Lecture 1 February 2, 2010

Signals and Systems: Hierarchical Signals and Systems

Representations of component systems are easily combined. Signals are mathematical functions.
• independent variable = time
Example: cascade of component systems
• dependent variable = voltage, flow rate, sound pressure

sound cell E/M optic E/M cell sound x(t) y(t)

tower tower
in phone fiber phone out mass &
t spring t
system

r0 (t) r2 (t)
Composite system
tank
t t
system
sound sound
cell phone system
in out
sound in sound out

cell
t phone t
Component and composite systems have the same form, and are system

analyzed with same methods.

Signals and Systems Signals and Systems

continuous “time” (CT) and discrete “time” (DT) Sampling: converting CT signals to DT

x(t) x[n]
x(t) x[n] = x(nT )

t n
0 2 4 6 8 10 0 2 4 6 8 10 t n
0T 2T 4T 6T 8T 10T 0 2 4 6 8 10

Many physical systems operate in continuous time. T = sampling interval

• mass and spring
• leaky tank

Digital computations are done in discrete time.

Important for computational manipulation of physical data.
• state machines: given the current input and current state, what • digital representations of audio signals (e.g., MP3)

is the next output and next state.

• digital representations of pictures (e.g., JPEG)

Signals and Systems Signals and Systems

Reconstruction: converting DT signals to CT Reconstruction: converting DT signals to CT

zero-order hold piecewise linear

x[n] x(t) x[n] x(t)

n t n t
0 2 4 6 8 10 0 2T 4T 6T 8T 10T 0 2 4 6 8 10 0 2T 4T 6T 8T 10T

T = sampling interval T = sampling interval

commonly used in audio output devices such as CD players commonly used in rendering images

6.003: Signals and Systems Lecture 1 February 2, 2010

Check Yourself Check Yourself

y f (x, y)
Computer generated speech (by Robert Donovan)

250
f (t)

0
−250
t

−250 0 250
x

How many images match the expressions beneath them?

Listen to the following four manipulated signals:
y y y
f1 (t), f2 (t), f3 (t), f4 (t).

250

250

250
How many of the following relations are true?

0
• f1 (t) = f (2t)
• f2 (t) = −f (t)

−250

−250

−250
• f3 (t) = f (2t)
• f4 (t) = 2f (t) −250 0 250
x −250 0 250
x −250 0 250
x
f1 (x, y) = f (2x, y) ? f2 (x, y) = f (2x−250, y) ? f3 (x, y) = f (−x−250, y) ?

The Signals and Systems Abstraction Example System: Leaky Tank

Describe a system (physical, mathematical, or computational) by Formulate a mathematical description of this system.
the way it transforms an input signal into an output signal.
r0 (t)

h1 (t)
r1 (t)

signal signal
system
in out What determines the leak rate?

Check Yourself Example System: Leaky Tank

Formulate a mathematical description of this system.

The holes in each of the following tanks have equal size.
Which tank has the largest leak rate r1 (t)? r0 (t)

h1 (t)
r1 (t)

1.
2. Assume linear leaking: r1 (t) ∝ h1 (t)

What determines the height h1 (t)?

3. 4.

6.003: Signals and Systems

Lecture 1 February 2, 2010

Example System: Leaky Tank Check Yourself

Formulate a mathematical description of this system.

What are the dimensions of constant of proportionality C?

r0 (t)

dr1 (t) � �
= C r0 (t) − r1 (t)
h1 (t) dt
r1 (t)

Assume linear leaking: r1 (t) ∝ h1 (t)

dh1 (t)
Assume water is conserved: ∝ r0 (t) − r1 (t)

dt
dr1 (t)
Solve: ∝ r0 (t) − r1 (t)
dt

Check Yourself Analysis of the Leaky Tank

Call the constant of proportionality 1/τ .

Which of the following tanks has the largest time constant Then τ is called the time constant of the system.

τ?
dr1 (t) r0 (t) r1 (t)
= −
dt τ τ

Assume that the tank is initially empty, and then water enters at a
constant rate r0 (t) = 1. Determine the output rate r1 (t).

1. r1 (t)
2.

time (seconds)
1 2 3
3. 4.
Explain the shape of this curve mathematically.
Explain the shape of this curve physically.

Leaky Tanks and Capacitors

Although derived for a leaky tank, this sort of model can be used to
represent a variety of physical systems.
Water accumulates in a leaky tank.
r0 (t)

h1 (t)
r1 (t)
Charge accumulates in a capacitor.
ii io
+
C v
−

dv i − io dh
= i ∝ ii − io analogous to ∝ r0 − r1
dt C dt

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6.003 Signals and Systems

Spring 2010

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