B.

7-3 Power Series

x2 x3 xn

eX = 1 +x + - + - + ... + - + ...

2! 3! n!

x3 x5 x7 sinx=x--+---+···

3! 5! 7!

x2 X4 x6 x8

cosx=I--+---+-_···

2! 4! 6! 8!

x3 2x5 17x7 tanx=x+-+-+--+···

3 15 315

x3 2x5 17x7

tanh x = x - - + - - -- +... x2 < n2/4

3 15 315

n(n - 1) n(n - 1)(n - 2) 3 (n) k n

(1 + x)n = 1 + nx + x2 + X + ... + x + ... + x

2! 3! k

~ 1 + nx [x] « 1

1 2 3

--=I+x+x +x + ...

I-x

[x] < 1

Time shifting

x[n - k]

k integer

TABLE 9.2 Properties of the DTFT

Operation

x[n]

X(Q)

Linearity

Conjugation

alxl [n] + ~2x2[n] x*[n]

X*(-Q)

Scalar multiplication

ax[n]

aX(Q) .dX(Q) } dQ

X(-Q)

Multiplication by n

nx[n]

Time reversal

x[-n]

Frequency shifting

X(Q - QJ x, (Q)X2(Q)

Time convolution

Frequency convolution

_1 r Xl [U]X2[Q - u] du Zn I;

1 r 2

Ex = ;::;- IX (Q) I dQ

Parseval's theorem

TABLE 9.1 A Short Table of Discrete-Time Fourier Transforms

No. x[n]

X(Q)

14

15

16

1

8[n - k]

eJ0. eJ0. - y eJ0. eJ0. - y

1 _ y2

1 - 2 y cos n + y 2 yeJ0.

(eJQ :- y)2

eJQ[eJ0. cos 8 - y cos (no - 8)] eJ20. - (2y cos no)eJQ + y2

sin(Mnj2) -JQ(M-llj2

, e

sm(nj2)

~ (n-2nk)

L...t rect

2nc

k=-oo

f ~ (n -2nk)

2nc

k=-oo

eJQ 00

'0. +n~8(n-2nk)

e1 - 1 Z::

k=-oo

00

Zn L 8(n - 2nk)

k=-oo

00

2n L 8 (n - no - 2n k)

k=-oo

00

it L 8(n ~ no - 2nk) + 8(n + no - 2nk)

k=-oo

00

j n L 8 (n + no - Zn k) - 8 (n - no - 2n k)

k=-oo

eJ2Q - eJQ cos no n 00

'20. '0. + - ~ 8(n - 2nk - no) + 8(n - 2nk + no)

e1 - 2e1 cos no + 1 2 Z::

k=-oo

eJ0. sin no n LOO

'20. '0. + -, 8(n - Zn k - no) - 8(n - Zn k + no)

et - 2e1 cos no + 1 2J

k=-oo

Integerk

Iyl < 1

IYI> 1

Iyl < 1

Iyl < 1

Iyl < 1

2

3

-ynu[-(n + 1)]

4

ylnl

5

6

yn cos (non + 8)u[n]

7

urn] - urn - M]

8

9

10

urn]

11

1 for all n

12

13

cos non

sin non

(cos non) urn]

(sin non) urn]

7.3 Some Properties of the Fourier Transform 715

TABLE 7.2 Fourier Transform Operations

Operation x(t) X(w)
Scalar multiplication kx(t) kX(w)
Addition Xl(t) +X2(t) Xl (w) + X2(w)
Conjugation x*(t) X*(-w)
Duality X(t) 2rrx( -w)
Scaling (a real) x(at) I~I X (~)
Time shifting x(t - to) X (w)e-jwto
Frequency shifting (wo real) x (t)ejwot X(w - wo)
Time convolution Xl (t) *X2(t) x, (w)X2(w)
Frequency convolution 1
Xl (t)X2(t) -Xl (w) * X2(w)
2rr
Time differentiation dnx
(jw)n X(w)
dt"
Time integration 1~ x(u)du X(w)
-. - + rrX(0)8 (w)
JW TABLE 6.1 Fourier Series Representation of a Periodic Signal of Period To (cuo = 2n: / To)

Series Form

Coefficient Computation

Conversion Formulas

00

f(t) = ao + L an cos nWot + b; sin nWot

n=l

ao = 2_ r f(t) dt To lTo

an = 2. r f(t) cos nWot dt To lTo

b; = 2. r f(t) sinnwot dt To lTo

Co =ao

ao = Co = Do

liigonometric

Compact trigonometric

Co = Do

00

f(t) = Co + L Cn cos(nwot + en)

n=!

n ::: 1

Exponential

00

11 .

Dn = - f(t)e-1nwot dt

To To

n=-oo

I

702 CHAPTER 7 CONTINUOUS-TIME SIGNAL ANALYSIS: THE FOURIER TRANSFORM

TABLE 7.1 Fourier Transforms
No. x(t) xr,»
e-atu(t) 1
1 a>O
a + jco
eatu(-t) 1
2 a>O
a - jco
e-a1tl 2a
3 a2 + w2 a>O
te-atu(t) 1
4 (a + jW)2 a>O
tr e:" u (t) n!
5 (a + jw)n+! a>O
6 8(t) 1
7 1 2n 8 (w)
8 ejwot 2n8(w - wo)
9 cos wot n[8(w - wo) + 8(w + wo)]
10 sin wot jn[8(w + wo) - 8(w - wo)]
1
11 u(t) n8(w) + -.
JW
2
12 sgnt
jw
13 cos wot u(t) n jw
-[8(w-wo)+8(w+wo)]+ 2 2
2 Wo - w
14 sin wot u(t) n Wo
---;-[8(w-wo)-8(w+wo)]+ 2 2
2J Wo - co
15 e-at sin wot u (t) Wo a>O
(a + jW)2 + W6
16 e-at cos wot u(t) a + jco a>O
(a + jW)2 + W6
17 reet (~) r sine (~i)
18 W. reet (2~ )
- sme (Wt)
tt
19 ~ (~) r 2 (Wi)
"2 sine 4
20 W 2 (Wt) ~ (2~)
2n sine 2
00 00 2n
21 L 8(t-nT) Wo L 8(w - nwo) Wo =-
T
n=-oo n=-OO
e-t2/2a2 ...(iii 2 2
22 a. e= w /2 514 CHAPTER 5 DISCRETE-TIME SYSTEM ANALYSIS USING THE z-TRANSFORM

TABLE 5.2 z- Transform Operations

Operation

x[n]

x[z]

Addition

Xl [n] + x2[n] ax[n]

Xl [z] + X2[z] aX[z]

1

-X[z]

zm

11m

-X[z] + - '" x[-n]zn

zm z" L

n=l

Scalar multiplication

Right-shifting

x[n - m]u[n - m]

x[n - m]u[n]

x[n - l]u[n]

1 -X[z]+x[-l] z

x[n - 2]u[n]

1 1

-X[z] + -x[-l] +x[-2]

Z2 z

x[n - 3]u[n]

1 1 1

-X[z] + -x[-l]+ -x[-2]+x[-3]

Z, Z2 z

Left -shifting

x[n + m]u[n]

m-l

Z'" X[z] - z" L x[n]z-n

11=0

x[n + l]u[n] x[n + 2]u[n] x[n + 3]u[n]

zX[z] - zx[O]

Z2 X[z] - Z2X[O] - zx[l]

z'X[z] - z'x[O] - z2x[1] - zx[2]

Multiplication by y"

Multiplication by n

nx[n]u[n]

d -z-X[z] dz

x, [Z]X2[Z]

Time convolution

Time reversal

x[-n]

X[l/z]

Initial value

x[O]

lim X[z]

Z~OO

Final value

lim x[N]

N~oo

lim(z - l)X[z]

z -s t

poles of

(z - l)X[z] inside the unit circle

498 CHAPTER 5 DISCRETE-TIME SYSTEM ANALYSIS USING THE z- TRANSFORM

TABLE 5.1 (Unilateral) z- Transform Pairs

X[z]

No. x[n]
1 8[n - /(]
2 u[n]
3 nu[n]
4 n2u[n]
5 n3u[n]
6 ynu[n]
7 yn-lu[n - 1]
8 nynu[n]
9 n2ynu[n]
10 n(n - l)(n - 2)· .. (n - m + 1) ynu[n]
ymm!
11a b-l" cos ,Bn u[n]
11b b-l" sin,Bn u[n]
12a rlyln cos (,Bn + e)u[n]
12b rlYI" cos (,Bn + e)u[n] y = lyleJ,B
12c rlyl" cos (,Bn + e)u[n]
A21yl2 + B2 - 2AaB
r=
lyl2 - a2
-a
,B = cos-1 -
Iyl
e = tan " Aa - B
AVlYl2 - a2 z

z -1 z

(z - 1)2 z(z + 1) (z - 1)3

Z(Z2 + 4z + 1) (z - 1)4

z z-y

1 z-y

yz

(z - y)2

yz(z + y) (z - y)3

z

(z - y)m+l

z(z - Iy I cos ,B)

Z2 - (21yl cos ,B)z + lyl2 zlY I sin ,B

Z2 - (21yl cos f3)z + lyl2 rz[z cos e - Iy I cos (f3 - e)] Z2 - (21yl cos ,B)z + lyl2

(O.5reje)z (O.5re- Je)z

---+----

z - y z - y*

z(Az + B)

Z2 + 2az + lyl2

4.2 Some Properties of the Laplace Transform 369

TABLE 4.2 The Laplace Transform Properties

Operation

Xes)

x(t)

Addition

Scalar multiplication

Time differentiation

Time integration

Time shifting Frequency shifting

Frequency differentiation

Frequency integration

Scaling

Time convolution

Frequency convolution

Initial value

Final value

XI(t) +X2(t) kx(t)

dx

dt

d2x

dt?

d3x

dt3

dnx

dt"

1~ XCi) d t

1~ x(i)di

xtt - to)U(t - to) x(t)esot

-tx(t)

x(t) t

x(at), a :::: 0

x (00)

Xl (s) + X2(s) kX(s)

sX(s) - x(O-)

n

snx(s) - 2.:sn-kx(k-I)(O-)

k=l

1 -Xes)

s

1 110-

-Xes) + - x(t) dt

s s_oo

X (s)e-sto Xes - so) dX(s)

ds

100 X(z)dz

to:::: 0

Xl (S)X2(S)

1

-. Xl (s) * X2(s) 27iJ

lim sX(s) (n > m)

s-->oo

limsX(s)

s-->O

[poles of s X (s) in LHP]

INITIAL AND FINAL VALDES

In certain applications, it is desirable to know the values of x(t) as t ~ 0 and t ~ 00 [initial and final values of x(t)] from the knowledge of its Laplace transform Xes). Initial and final value theorems provide such information.

The initial value theorem states that if x(t) and its derivative dx f dt are both Laplace transformable, then

x(O+) = lim sX (s)

s---+oo

(4.33)

provided the limit on the right-hand side ofEq. (4.33) exists.

344 CHAPTER 4 CONTINUOUS-TIME SYSTEM ANALYSIS
TABLE 4.1 A Short Table of (Unilateral) Laplace Transforms
No. x(t) Xes)
1 oCt) 1
1
2 u(t)
s
1
3 tu(t) S2
n!
4 t" u (t) Sn+l
eAtu(t) 1
5
s-).
te" u(t) 1
6 (s - ).)2
t" e" u (t) n!
7 (s - ).)11+1
cos bt u(t) s
8a S2 +b2
sin bt u(t) b
8b S2 + b2
9a e:" cos bt u(t) s+a
(s+a)2+b2
e:" sin bt u(t) b
9b (s+a)2+b2
lOa re-al cos (bt + e) u(t) (r cos e)s + (ar cos e - br sin e)
S2 + 2as + (a2 + b2)
re-al cos (bt + e) u(t) O.5reJe O.5re-Je
lOb 'b + 'b
s+a-] s+a+]
lOc re-al cos (bt + e) u(t) As+B
S2 + 2as + c
r=VA2c+B2-2ABa

c -a2
( Aa - B )
e = tan'
AJc - a2
b = Jc - a2
[ B - Aa 1 As+B
lOd e:" A cos bt + b sin bt u(t) S2 + 2as + c
b = Jc-a2 B.7 Miscellaneous 49

B.7-4 SUmS

i» = n(n + 1)

k=O 2

i» = n(n + 1)(2n + 1)

k=O 6

t k rk = r + [n (r - 1) - 1] rn+1 r =I 1

k=O (r - 1)2

t k2 rk = r[(1 + r)(1 - rn) - 2n(1 - r)rn - n2(1 - r)2rn]

k=O (1 - r)3

B.7-5 Complex Numbers

e±jrr/2 = ±j

e±jnrr = {I -1

r =I 1

neven nodd

e±j8 = cos e ± j sin e

a + jb = re!" (rej8)k = rkejk8

(r1 ej81) (r2ej82)= r1 rse' (81 +82)

B.7-6 Trigonometric Identities

e±jx = cos x ± j sin x cos x = HejX + e-jX] sin x = 2~ [ejx - e-jX] cos (x ± ~) = =F sin x sin (x ± ~) = ± cos x 2 sin x cos x = sin 2x sirr' x + cos2 X = 1

cos" X - sin" x = cos 2x

50

CHAPTER B BACKGROUND

cos? X = ~(1 + cos 2x) sin2 x = ~(1 - cos 2x)

cos" X = ~(3 cos x + cos 3x)

sirr' x = ~(3 sin x - sin 3x)

sin (x ± y) = sin x cos y ± cos x sin y cos (x ± y) = cos x cos y =F sin x sin y

(±) tanx±tany

tan x y = ----~

1 =Ftan x tan y

• • 1

sm x sm y = z[cos (x - y) - cos (x + y)]

cos x cos y = H cos (x - y) + cos (x + y)] sin xcos y = Hsin(x - y) + sin (x + y)]

a cos x + b sin x = C cos (x + e)

B.7 Miscellaneous 51

J eax

xe" dx = ~(ax - 1)

J eax

x2eax dx = _(a2x2 - 2ax + 2) a3

J eax

e'" sin bxdx = 2 2 (a sin bx - bcos bx)

a +b

J e'" cos bx dx = a2 e: b2 (a cos bx + b sin bx)

J 1 1 -1 X ----:----:- dx = - tan -

x2 + a2 a a

J 2 X 2 dx = ~ In(x2 + a2)

x +a 2

B.7-8 Common Derivative Formulas

d d du

dx feu) = du feu) dx

d dv du

-(uv) = u- + v-

dx dx dx

d (u) vdu - udv

___ dx dx

dx v - v2

dx" n-l

-=nx dx

d 1

-In(ax) = -

dx x

d loge

-log(ax) - _-

dx x

d

_ebx = bebx dx

d

_abx = b(lna)abx dx

d

- sin ax = a cos ax dx

d .

- cos ax = -a sm ax dx

d a

-tan ax = --dx cos? ax