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NPT35 - Time Averages and Ergodicity
NPT35 - Time Averages and Ergodicity
Often we are interested in finding the various ensemble averages of a random process
{ X (t )} by means of the corresponding time averages determined from single realization
of the random process. For example we can compute the time-mean of a single
realization of the random process by the formula
1 T
mx
T �� 2T �
T
= lim x(t ) dt
-T
which is constant for the selected realization. m x T represents the dc value of x(t ).
Another important average used in electrical engineering is the rms value given by
1 T 2
T �� 2T �
xrms T = lim x (t )dt
-T
1 T
2T �
g ( X (t )) T
= g ( X (t ))dt
-T
The above definitions are in contrast to the corresponding ensemble average defined by
�
Eg ( X (t )) = �g ( x) f X ( t ) ( x) dx for continuous case
-�
= � g(x ) p
i�RX ( t )
i X (t ) ( xi ) for discrete case
1 N
mX = � Xi (discrete case)
N
2 N + 1 i =- N
1 T
RX (t ) T
= �X (t ) X (t + t )dt (continuous case)
2T -T
1 N
RX [ m] = � X i X i +m (discrete case)
N 2 N + 1 i =- N
Note that, g ( X (t )) T and g ( X n ) N are functions of random variables and are governed
by respective probability distributions. However, determination of these distribution
functions is difficult and we shall discuss the behaviour of these averages in terms of their
mean and variances. We shall further assume that the random processes { X (t )} and
{ X n } are WSS.
s X2
=
2N +1
( )
2
We also observe that lim E m X N
- mX =0
N ��
Let us consider the time-averaged mean for the continuous case. We have
1 T
mX T =
2T �
X (t )dt
-T
1 T
\ E mX T =
2T �
EX (t ) dt
-T
1 T
m X dt = m X
2T �
=
-T
1 T T
E ( mX - mX ) =
2
�
-T �-T C X (t1 - t2 )dt1dt2
T
4T 2
1 2T
= 2� -2T (2T - t )C X (t )dt
4T
1 2T � t �
= �-2T �1- � C X (t )dt
2T � 2 T �
t1
t1 - t2 = t + dt
t1 - t2 = 2T
T t1 - t2 = t
dt
-T T t2
-T t1 - t2 = -2T
Ergodicity Principle
If the time averages converge to the corresponding ensemble averages in the probabilistic
sense, then a time-average computed from a large realization can be used as the value for
the corresponding ensemble average. Such a principle is the ergodicity principle to be
discussed below:
and
lim var m X T
=0
T ��
We have earlier shown that
E mX T = mX
and
1
2T
� t �
var m X t dt
2T -�
T
= C X ( ) 1- �
�
2T � 2T �
Therefore, the condition for ergodicity in mean is
1
2T
� t �
lim �X �C (t ) 1- � dt = 0
T �� 2T
-2 T � 2T �
Further,
1
2T
� t � 1
2T
� C X (t ) 1-
� dt �
� �C X (t ) dt
2T -2T � 2T � 2T -2T
�C X (t ) dt < �
-2 T
Example
Consider the random binary waveform { X (t )} discussed in Example .The
process has the auto-covariance function for t �Tp given by
� t
1-
� t �Tp
C X (t ) = � Tp
�
0
� otherwise
Here
2T 2T
�C X (t ) dt = 2 �C X (t ) dt
-2 T 0
Tp
� t �
= 2� 1-
� dt
� Tp ��
0 � �
� T3 T2 �
= 2�Tp + p 2 - p �
� 3Tp Tp �
� �
2T
= p
3
�
\�C X (t ) dt < �
-�
If we consider Z (t ) = X (t ) X (t + t ) so that, m Z = RX (t )
1
2T
� t1 �
lim ��
1- C
� Z (t 1 )dt 1 = 0
T �� 2T
� 2T �
-2 T
where
CZ (t 1 ) = EZ (t ) Z (t - t 1 ) - EZ (t ) EZ (t - t 1 )
= EX (t ) X (t - t ) X (t - t ) X (t - t - t 1 ) - R X2 (t )
Hence the condition for autocorrelation ergodicity of a jointly Gaussian process is found.
1
2T
� t �
lim ��
1- C (t )dt � 0
� z
T �� 2T
� 2T �
-2 T
Now CZ (t ) = EZ (t ) Z (t + t ) - RX (t )
2
1
2T
� t �
If Tlim
�� 2T � 1-
� (
�
2T �
Ez (t ) z (t + a ) - RX2 (t ) ) da � 0
-2T �
Example
Consider the random–phased sinusoid given by
X (t ) = A cos( w0 t + f ) where A and w0 are constants and f ~ U [0, 2p ] is a random
variable. We have earlier proved that this process is WSS with m X = 0 and
A2
RX (t ) = cos w0t
2
For any particular realization x(t ) = A cos( w0t + f1 ),
1 T
mx A cos( w0t + f1 ) dt
2T �
T
=
-T
1
= A sin( w0T )
Tw0
and
T
1
Rx (t ) T
= �A cos( w t + f ) A cos( w (t + t ) + f )dt
0 1 0 1
2T -T
T
A2
= [cos w t + A cos( w (2t + t ) + 2f )]dt
� 0 0 1
4T -T
Remark
A random process { X (t )} is ergodic if its ensemble averages converge in the M.S. sense
to the corresponding time averages. This is a stronger requirement than stationarity- the
ensemble averages of all orders of such a process are independent of time. This implies
that an ergodic process is necessarily stationary in the strict sense. The converse is not
true- there are stationary random processes which are not ergodic.
WSS Process
Ergodic Processes
Example
Suppose X (t ) = C where C ~ U [0 a ]. { X (t )} is a family of straight line as illustrated in
Fig. below.
X (t ) = a
3
X (t ) = a
4
1
X (t ) = a
2
1
X ()t = a
4
X (t ) = 0
t
a
Here m X = and
2
1 T
m X T = lim �Cdt is a different constant for different realizations. Hence { X (t )} is
T �� 2T -T