as 2.6 The Time Response of a Discrete-Time System 33 where 2X2) | Lt, = ka F035). 1-05 aa(e-05XO| #2 | __057 = lees (2-D'lcs (05-0) To oblain the remaining coefficient, we mutiphy by the denominator and get the equation P= AM2-05)+ Ag -05)(2-1)+AC2-1F Equating the coetcient of 2* gives Fle At A= 1 expansion in this special case includes two terms only. We now ptl ie, Ay=0 Thus, the partial ft az z X(z)= + = *e-05 4. Inverse 2-Transformation From the z-transform tables, the inverse z-transform of X¢z) is x(k) =2k + (0.5)" 2.6 THE TIME RESPONSE OF A DISCRETE-TIME SYSTEM ‘The time response of a discrete-time linear system is the solution of the difference equation governing the system, For the linear timeinvariant (LTD case, the response due to the initial conditions and the response due to the input can be obtained separately and then added to obtain the overall response of the system, ‘The response due to the input, oF the forced response, is the convolution sum: ‘mation of its input and its response to a unit impulse. In this section, we derive this result and examine its implications. 2.6.1 Convolution Summation ‘The response of a discrete-time system to a unit impulse is known as the impulse response sequence. The impulse response sequence can be used to represent the response of a linear discrete-time system to an arbitrary input sequence {u(y} = {u(0), w(t), 2.22)a 34 CHAPTER 2 Discrete-Time Systems To derive this relationship, we first represent the input sequence in terms of discrete impulses as follows u(k) = 14(0) 5() + u(1) (8-1) + u(2)8(k-2) +... HUD =Laae-o 29) For a linear system, the principle of superposition applies and the system owiput doe to the input isthe following sum of impulse response sequences {yO} = {A} 4(0) + {A - a) + {A - 2)}u(2) +... + {AU - Dp uli)+ Hence, the output at time h is given by p(k) = b(R)*u(k) = r(e—Huld) 29 where (0) denotes the convolution operation For a causal system, the response due to an impulse at time is an impulse response starting at time {and the delayed response h(k 0) satisfies (Figure 2.5) h(k-1)=0, i>k (2.25) In other words, a causal system is one whose impulse response isa causal time sequence, Thus, (22) reduces to _y(e)= (0) ) + u(t) he =1) + 0(2) (ke -2) +... + (R)H(0) Yunme-9 e279 A simple change of summation variable (j = & ~ transforms (2.26) to p(k) = (0) + (eI) (A) +(e — 2) (2) +--+ (VHC) Laer on Equation (2.24) is the convolution summation for a noncausal system, whose impulse response is nonzero for negative time, and it reduces to (2.26) for a causal LTISystem FIGURE 2.5, Response of a causal [Tl discrete ‘system to an impulse at ATas 2.6 The Time Response of a Discrete-Time System 35, system, The summations for time-varying systems are similar, but the impulse response at time fis b(k, ). Here, we restrict our analysis to LTI systems. We can now summarize the result obtained in the following theorem. Theorem 2.2: Response of an LTI System. The response of an LTI discrete-time system to an arbitrary input sequence is given by the convolution summation of t input sequence ane the impulse response sequence of the system, . ‘To better understand the operations involved in convolution summation, we evaluate one point in the output sequence using (2.24), For example, ¥Q)=Yuwore-p = u(0)b(2)+ u(1) (1) + (2) (0) From Table 2.1 and Figure 2.6, one can see the output corresponding to various components of the input of (2.23) and how they contribute to (2). Note that future input values do not contribute because the system is causal. Table 2.1 Input Components and Corresponding Output Response Figure 2.6 Color uo) (nee) vse a (nce) coy a2) 5-2) a thik-2y, Bock 4) HQ) 9 wa) | act) 9 2) | HO) FIGURE 2.6, Output atk = 2a 36 CHAPTER 2 Discrete-Time Systems 2.6.2 The Convolution Theorem ‘The convolution summation is considerably simpler than the convolution integral that characterizes the response of linear continuous-time systems. Nevertheless, i isa fairly complex operation, especially if the output sequence is required over along time period. The following theorem shows how the convolution summation ‘can be avoided by =4ransformation, ‘Theorem 2.3: The Convolution Theorem. The z-transform of the convolution of two time sequences is equal to the product of their ztransforms, PROOF. =transforming (2.24) gives ¥(2)= D902" oe 228 -¥]Samne-ale Interchange the onder of summation and substitute /=& ~ fo obtain ¥2)- EY uncer e229) Using the causality propery, (2.26 reduces (25) to ve-|Saoe" Dower 2.30) Therefore, - Yienaue ean ‘The function H(2) of (2.31) is known as the z-transfer function or simply the transfer function. It plays an important role in obtaining the response of an LT! system to any input, as explained lates, Note that the transfer function and impulse response sequence are z-transform pairs. ‘Applying the convolution theorem to the response of an LTT system allows us to use the z-transform to find the output ofa system without convolution by doing the following. 1. =4ransforming the input 2. Multiplying the z-transform of the input and the ztransfer function 3. Inverse zransforming to obtain the output temporal sequence An added advantage of this approach is that the output can often be obtained in closed form, The preceding procedure is demonstrated in the example that follows.a 2.6 The Time Response of a Discrete-Time System 37 EXAMPLE 2.20 Given the eiscretetine system p(k 1)-05y(k)=u(k), »(0)=0 find the impulse response of the system A(e): 1. From the diference equation 2 Using zaranstormation Solution Let (hy = 6). Ten (Ql) V(2)=0.5y(I) = 0.5 33)=0.5y(2)=(0.5)" 2-05 Inverse-transforming with the delay theorem gives the imoulse response (osy", 4=1,2,3, 0, ftransform, We consider a causal continuoustime function yO) sampled every T seconds. Next, we insert a delay 7, < T before the sampler as shown in Figure 2.7. The output of the delay element is the waveform l=), #20 A= 2.32) 2 t 1<0 @32) ; ' air) 0 oat, LO FIGURE 2.7, Sampling of @ delayed signal