EE-556 Formula Sheet

Some useful Mathematical formulas and identities:

e j! + e " j! e j! " e " j!

e j! = cos(! ) + j sin(! ) , cos(! ) = , sin(! ) =
2 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
k a m ! a n +1
Geometric series: "a
k =m
=
1! a

Fourier series:
" +"
jn$0t
x(t ) = a0 + ! [an cos(n$0t ) + bn sin(n$0t )]=
n =1
!c e
n = #"
n ,

1 2 2 1 " jn#0t
a0 = ! x(t )dt , an = ! x(t ) cos(n" t )dt ,
0 bn = ! x(t ) sin(n" t )dt ,
0 cn = ! x(t )e dt
T0 T0 T0 T0
T0 T0 T0 T0

Fourier transform and inverse Fourier transform:

+" +"
1
X ($ ) = ! x(t )e # j$t dt , x(t ) = ! X ($ )e
j $t
dt
2%
#" #"
Some useful Fourier transform pairs:

1 $ 2"# (! )
1
u (t ) $ "# (! ) +
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:
+" +N
2 1 2 1 2
Energy: E x = !
n = #"
x[n] , Power: non-periodic Px = lim
N $# 2 N + 1
n=" N
!x[n] , N-periodic: Px =
N ! x[n]
n =# N "
+"
Discrete-time linear convolution: y[n] = x[n] $ h[n] = ! x[k ]h[n # k ]
k = #"
+"
Discrete-time Fourier Transform (DTFT): X ( e j$ ) = ! x[n]e # j $n

n = #"
DTFT Properties:

Symmetry relations:

Sequence DTFT
x[n] X ( e j! )
x[!n] X ( e " j! )
x * [ ! n] X * ( e j! )
1
Re{x[n]} X cs (e j! ) =
2
[
X ( e j! ) + X * ( e " j! ) ]
1
j Im{x[n]} [
X as (e j! ) = X (e j! ) " X * (e " j! )
2
]
xcs [n] X re (e j! )
xas [n] 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] 1
+"
1
µ[n] (Unit Step Function) + !$& (% + 2$k )
1 # e # j% k = #"
+"

e j! 0 n ! 2$& (% # %
k = #"
0 + 2$k)

1
a n µ[n] , ( a < 1 )
1 " ae " j!
2
& 1 #
(n + 1)a n µ[n] , ( a < 1 ) $ !
% 1 ' ae ' j( "
sin("c n) $!1 0 % ' % 'c
h[n] = , ( "! < n < +! ) H ( e j' ) = #
!n !"0 'c < ' < &
DTFT Theorems:

Theorem Sequence DTFT

g[n] G ( e j! )
h[n] H ( e j! )
Linearity "g[n] + !h[n] # G ( e j! ) + " H ( e j! )
Time Reversal g[ ! n] G ( e " j! )
Time Shifting g[n ! n0 ] e " j!n0 G (e j! )
Frequency Shifting e j! 0 n g [ n ] G (e j ( ! "!0 ) )

ng[n] dG (e j! )
Differentiation in Frequency j
d!
Convolution g[n] ! h[n] G ( e j! ) H ( e j! )
"#
1 j$
Modulation g[n]h[n]
! G (e ) H (e j (% "$ ) )d$
2#
"#
+$ +%
* 1 j&
Parseval’s Identity " g[n]h [n] = 2% ! G(e ) H * (e j& )d&
n = #$ #%

N "1 2#
"j nk
Discrete Fourier Transform (DFT): X [k ] = !
n =0
x[n]e N , 0 " k " N !1

N "1 2!
1 j nk
Inverse DFT: x[n] = # X [k ]e N
, 0 " n " N !1
N k =0
N "1
Circular Convolution: yc [ n] = ! x[m]h[$n " m#
m =0
N], 0 " n " N !1

Symmetry properties of DFT:

Length-N Sequence N-Point DFT

x[n] = xre [n] + jxim [n] X [k ] = X re [k ] + jX im [k ]
x * [ n] X *["# k ! N ]
x*["# n! N ] X *[ k ]
1
xre [n] X cs [k ] =
2
[
X [k ] + X *["# k ! N ] ]
1
jxim [n] [
X as [k ] = X [k ] # X * ["# k ! N ]
2
]
xcs [n] X re [k ]
xas [n] jX im [k ]
DFT Theorems:

Theorem Sequence DTFT

g[n] G[k ]
h[n] H [k ]
Linearity "g[n] + !h[n] "G[k ] + !H [k ]
2!
"j kn0
Circular Time Shifting g[# n " n0 ! N ]
e N
G[k ]
2!
j nk0
Circular Frequency Shifting G[# k " k 0 ! N ]
e N
g[ n]
Duality G[n] Ng["# k ! N ]
N "1
N-Point Circular Convolution ! g[m]h[$n " m#
m =0
N] G[k ]H [k ]

N "1
1
Modulation g[n]h[n]
N ! G[m]H [$n " m#
m =0
N]

N "1 N "1
2 1 2
Parseval’s Identity !
n =0
g[ n] =
N ! G[k ]
n =0

+"
#n 1
Z-Transform: X ( z) = ! x[n]z Inverse Z-Transform: x[n] = G ( z ) z n "1dz
!
n = #"
2#j
C
Z-Transform Properties:

Property Sequence z-Transform Region of Convergence

g[n] G (z ) Rg
h[n] H (z ) Rh
Conjugation *
g [ n] *
G (z ) * Rg

Time Reversal g[ ! n] G (1 z ) 1 Rg

Linearity "g[n] + !h[n] "G ( z ) + ! H ( z ) Includes Rg ! Rh

Time Shifting g[n ! n0 ] z ! n0 G ( z ) Rg except possibly the point z = 0 or !

Multiplication by an G (z ! )
exponential sequence
! n g[n] ! Rg

Differentiation in the dG ( z ) Rg except possibly the point z = 0 or !

ng[n] !z
z-domain dz
Convolution g[n] * h[n] G( z) H ( z) Includes Rg ! Rh
Some useful z-transform pairs:

Sequence z-Transform ROC

! [n] 1 All values of z
1
µ[n] z >1
1 ! z !1
1
! n µ[n] z >!
1 ! "z !1
"z !1
n! n µ[n] !1 2
z >!
(1 ! "z )
1 ! (r cos("0 ) z !1
r n cos(!0 n) µ[n] z >r
1 ! (2r cos("0 ) z !1 + r 2 z ! 2
(r sin("0 ) z !1
r n sin(!0 n) µ[n] z >r
1 ! (2r cos("0 ) z !1 + r 2 z ! 2