Instructor’s Manual Signals and Systems STOMA PTE ATUInstructor’s Manual to accompany SIGNALS AND SYSTEMS Simon Haykin ‘McMaster University Barry Van Veen University of Wisconsin, Madison JOHN WILEY & SONS, INC. New York » Chichester » Weinheim = Brisbane = Singapore = TorontoCopyright © 1999 by John Wiley & Sons, Inc. Excerpts from this work may be reproduced by instructors {for distribution on a not-for-profit basis for testing or {instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner is unlawful. Requests for permission or further information should be addressed to the Permissions Department, John Wiley & Sons, Inc., 605 Third Avenue, ‘New York, NY 10158-0012. 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On the Seon, Hy mag te ok eee eda.Hy 45 Come Lecamn th culpur t 3 ee y 7 — Cee - 4 Re. 0,4,8,. ws(Fk)= { St = 26710; © otherwise Thus the only contributions ore from the even- indexed terms Consider : wie n= aen »ylnd- = C-1) 7 ark a ken-2 alternote sum Cn-2,n ,n+2,--substitution 2 = (+0 account onfy even terms) . . ylod a2 Sok GG) 229 a)? ae fea -4)°2 (ype) = 2” LAD a (4) (on) (24)" = Sy em = neodd : yn] = (+ -1) Fa" alternate sum rene Cant} n4i n4a,-.) Analogous to doove , yield : goods 2” Sa) = 24) (ay 7 Se = $(-1) . —— (Ff) yln] = coo (Fn) * (4) uln-2) x, Uk] = cos (Fk) %q (n-keJ} = (o-ae-1 a 3 ylnd= 5 cos (Fe).CE)™ = substitution p= -k yields : a Step yln] = = ay Fe) GY + ews (-x)= coc (x)Then , using the same techniove as (2) gives us S cy tcp oe pe-(n-2) wf? = (-) = Cy] a pe -(n-ay (by SS (=)" aS eer 0 even yb ees) iy 4&4 ety moa : = (y ylod= pour} euln-3d , [pl see (i) for x, (kJ [ xa(k] a. a8 7 ne we cu There ore 4 different cases Gi) ne av Vis any integer ylnd-Of-trori+0 + -1 J+) lotttor-trots +otr-ltorl +o] Sabet eddt (W) neaver s yln]=()litosasori] ten [0+ +0 +1 404-1 +OF+(FO4 HO Stee 2 Gi) nea 43 yin} = clot -14 041 so] +E + oF sor-tso4 tor -1+ 04) FO+020 Wr) ne uve yn] = 0 -2 nea eytnde f 2 neavero Vv > integer ° othensice ) ylrd = uln} « & 6 (n-29) pee — xUnJ xan] ate (2) xa [n-kI I l fe beans Tote kK “ne ae me k For n-1and 2 x(kJ.y(n-k] ay ge) yaks = “nea nt) : : | a A eR e cD For na <-2 3 né -6 =: aln} =o al-6J=1 5 al-5h2 5 al-4]-2 OCesjes | a Cea\e4 otc 3 2. oe Reyer | for n72 ; atnj <0 a(n]16 (y atn]extnde flny= 2 x Ck] ¢ln-kJ k=-0 ftn-k3 For nt 4d -4 © n<-g : alnieo al-s] atsJ 4; alz]--u-3~ 9-1e-to 58-47 al-3]=-3-2-1-o +1 -5; al-2]=-2-1-0 414260; al-t O 414243 = 5 ,alolso 41424344 =10; aUid=l+ 244440 210 ;alale2+344-9, al3J=- 344 =F i alede4 | 7 ial-6]--F-2=-5; nIO -0 8-10; Forn-4>0 of n7# : alATeo a(n (a) atm) =x Ende glad = 2 «Chl 9 Cn-k] a gin i oF Rann A aH A a .tf For n+5 <-4 of n<-9 : ACNT=0 al-oJ <1 ;al-sl=2 ;,al-zi-3 sal-el=4; af-5) =5 ; al-4J=4 ;aG3)=3 jal-2)=25 a(-iJ=2 ;aftojr2 jalid=3 jal a=; aC3J=5 jal4d=4 ,ale)~3 jale d= 2; ety J. | for azz ralni=o0 a(n] & aln]< yn) * 200] 2 y lk] 2[n-kJ . y(rd ® etn-kI o care k 7S aN k Tor n <-2 : ACN] -0 a[-aJ=1 ; al-1J=2 , aloe 2 jaliJ=atye a, al2J=22)-20)=2 5 a (a) 20-1) + 22) =2;5 aluj=-1+2-22-) ; aCsJ=2(-2)--4; a cel= 2C 2Je 4) Jd = 22 | For n 77 pany eo i18 ) alo] + y lade gto} = 2 yter gon To n+ s<-2 ond -F Palnd=o gln-kJ ay [kJ see (e) ay NE me rer a E al-f=1 ; a(-6]-2 ; al-s}2 ja (-4)=1, a [-3)-0,; aGe)=-1; al-ijs-2, aloj--2 aCa2J+a(i)e2 , alad= 2c -2; ate a(ol=© ,aleJ = aCijta 2-1) aCzl= afej=-2;alo93--1, eee Oe Oo wretlltegtl le rprpee i a EPP (q) alnj=yCnj x wind = = palideatico Uy; 4, yok] wln-kg a wln-k] Wa Aa AS k(a) 19 for n+2 <-2 of n<-& : alnj+o al-uJe1 j al-3]-t+2=3 ;aGals2+3-5; al-tJ=-t+342=4 ,alolsGisilesi)=0; afiJ= 1-3-2 -4 ; al2]=-3-2=-5;) alad= -2-1=-3 ; aC4d=-1 ; nzv4Hsa(nl=o a § to) = 2 ytd foes aln}=yln For n+ 4 <-2 of nd-6 + aln]=0 al-e]=-4 5 a 5]+ -4-3=-7 5; a(-4)=-3-2= al-a]=-2-14+4 21; al-2]=-1+3+4=6; al-t}= l+a4356 ; alol~2(i+a)=6; alilet+243-+6;al2l=14+34+4 +6; alsl=-34+42) ; a4] ~-2-3 = -5; alS]2-3-42-4; alel=-4; fee snd so20 @) aln] = eln) » ginl= & 2 Uk] gln-k] / oy a gtn-k] nes For n+5 <0 o n<-5 :alni-o al-sJ=1 5 a(-uJ=2 ; a(-3)-3 :a(-2J-a+a-s; al-J= 3 +4=f ) aCol+a+als)ea; alile1+2)7; alz)~=2(3)+6 ; ale]=i+alay=s j al¥d=24+20)24; alsJ= 3Q))-3 ; alel= 2+3(=5 5 a(7]s 30) 42°85; alej+ 3(2)+2-28 ; alo]= 3(2) +1 =F j alto)= 3(2)=6 ; a(uJs 2€2)=4 j aCrje2 n212 + aCnl=o j) alm} swlo] « glnd= SS wlk) .gtn-k) -al a) wk I 2) 0) Se (i) for gln-kJ For n+5 <-2 or n<-F + alnj-o al-gl-1 jal-elei+2-2 j al-ed-le2rs=6; al-4]=6¢4+228 ; al-3J)-ati eo , al-aJeitzeae2 za jal-iJ=s+241-6 jated~i+2-aialideriea; al2J=24+1+3;al3)]+3+2+1-6;al4)~ 6+2-8; alsJei+2e34241+9 ;, aCe] = 6+2 98 j alqJ=t+2a4a=6 , ale] =i+2-3 ;,alodeli ny>9 : alnizo = 8-6 (k) alnd= f(r] * g(r] = = fled .g Cn-leJ soe ftk |. [ gin-kd ? : “appt eps JM, es oo For n+ 5 <-4 or n <-> atnJ-o a[-oJ=-4 3 al-8]=-y-3--7 i al-7]=-7F-2--95 al-6J=-g-1 + -10 j al-5s)=-to ; a (-4¥) =-3-2-1 4ie5, a3} +0 ,al-2J=-1+1 4243-8)Q2 al-t] --u+i424344=6 j alod-i+24344-3-453; a(il=o j al2}=34y4-t-2-3-4 = -3iaCaj=4-1-2 73-45 -6 (ACY) = 1 tO-l-2-3+-5; als]z2ti+0 -t-2=0 , aleJ= s+ 241-1 = 5 jaCFIT4 tat 241 e109; alej=4+3+241 =10 ;alo) = 4+3t2-9; afiol=4+3 = 7 j; aCul=4 nzu san] =o BH Use the facts that S(t-d)a HU) = h(t-a) and the linearity property linearity (a) xt) = 2S Cetr)- SCb-t) > xler® hle)=2 h(t +1)-b(t-)ad Sire erOnt 2hle+) he-1) a line ority (b) xlb)= S (E=1) 4 & e-2) + & (b-3)— x(t) bk) FUE) + h(t -2) +h Ct -3) Graphically : ‘ ‘ N 4 LA. + “A A, - 4A oma v2 st 2S et Saase e ha-) be -2) h(e-a) y(t) (ce) x= SE CHP 8 Ce app = By lineority syle) = xb) w bbs & CP ht apy ia = theta) -b (e+e) +h ety) -b (eta) +hlt)-h(b-2)+ h(t-4¥)-h(t-6) + hlt-a)an.,a a5] x,t) « xa ley e F x(t) xa(e-T) dt -e (y y(t) = ulti) « u(t-2) we) Kate) aes Ct) es Cet) at hoot) x2Ct-T) —— Te t eae For £-2<-lor Ect: yt) =o t> eye) = FF Cyc dv = t-1 nytt) s (4-1) ule-s) — tb) ylt) = &** ue) ® ult+a) xe) xa (te) = xt) ® Ka (t) x) Matte), h ———_' ° v rr o +2, For t+270 © t 7-2 sy b)=S Ci) e?tat nko a _ oo) t<-2 : ylk)-0 . ytey= (1-272 du Cerny ——— (c) yt) = ws (mt) (u est) ~ ue +3) & ult) feat KE) xat) = x, (4) x x.)as xa (t-T) & ws (mt) » ylt) ao LS bS3 : y= FS ws wT dt +S ain at == x sy) = + sin (wt) ut) —_ U(t 42) ~ ule -1))" Ut +2) = Kb) exe) as x, C4) Xgl) oo i xa(t-T) saueceleal Tv e-2 a For £-2<-2 9 £ ye eo bss: yle)s Stcyat = Hye ° ‘ SSb dt yls Ft ate SF Co-tac = SB + F+twlt-5)-F(4%- 28) t-$47% +t -25 & 210 :ylt)s ¥xioxs 225 ° Pate yteed 2 &* a -$ t? +104 -25 s x,t) ® xa Ce) ee xq (e-T) LYN ZN | a7] Tv rs tea OT Tor t+2<-1 or t <-3 + ylk)-0 £2 -3 be t-1<-1 of -3 yt) = “HF wecatydt => ein( mt) x 4 +s yt)ooag ° £<-3 # gin (rt) Pea) yt)=4 Fen (mt) ,o sts F sin (mt) oe fou ° tS 4 — cos (rt) (ule +1) -ult+a))e eo ult) x, (4) # Ka &) AE) oe) @) yt) > “ att | xate-T) © = -2le-T) 2 cos (wT) dt ‘ aps Sete i eos cer Cac) ae ., -2t g2t ( Sppenaix Ay) ys oS fs 2 eve (mt) «7 sin(nt)] ylt) * wa (2 +2 cos (we) + min (rt) Cee Ce) Fe aec a cor Carat + \ Ty 2 ° /bSer nytt) = mapiay (2 +2 cos (ort em sn (nt) | hsks3 co , t23 =29 G) ye) = (2 $e) + 8 (e-5)) m UCEaL) = XiCE) m xalt) Gp xalt-T) a) ay z 4 st tar For t 41 <0 or tenis ylt) =o 42> -1 lat E41<5 Of -3Stcu =: y)> *f asctyat =2 60 rq + ye) ~ “SF 2e(t)+s(e-sates a ° , & Set * yor 2 ae to 3 , eee ) y Ue) =(S(b42)+5 (b-5)) (tut) +(1o-2t)ule-s) - Go-t) u (t-10)) = *, Ub) # Ka ie) x,(T) Xa t-T) ot . For + <-2 ry lb) =o, 2 SeS3 + ylt) = s $(U+2).(4-T) at = 24 =10 Bét0 o -2eb<2: yee Gh ene = £u- oe Et2)) 2 A t>o2 sy l)= aot at 4-2 oa (eB) ete ra ) =F ssh (23) o , t<-2 - yeor{ (eee) ees sinh (28)31 ) yee uy «2 6) 8 (e=p) = 166) #xalt) x,(T) | (tT) Se ie 1 ° ao eee mee eH a Tor t 2xa(b-T) 732% (4)P S-p) t2>s5 y te) = (2 Se) + See) eZ )Psle) tt) = 22 (£)'6(-peZ EP S-p-s) oe Lb 2 mk) = 0 ° eee foe ce cs etme) = - Feces a toe a= (a) mk) = «x (b) & b(E) t x(t) ‘ @ b(e-T) iNe = i Tt tn tea tea36 Tor t+3<-1 or £<-% = mt) =0 baa THES EK-3 : mlt)= S(S+E-T) at =(eeayle-4)— : &(b4s)244 mlt)= Fe 2eut +e 442 eta =a Sts-2emley= S aT + S (a+t-T)aet aa ce t+2 ee ta 1 r2 St <-1 emt) = Sf dt+JS (s+t-T)at TT a ten = t+a- (bh 474+ 2t+3) sober -b4+% + ‘ -1st2 smb)z0 ° a ereers Pete ut+® ue cecns e+ r-B gb <-2 s(t) = -ftr-b+Z0 ,-2 6b <0 Zt a Ole ee Akt-2t42 , 1 gk <2 ° b> > LHoT (@) mit) = x Ct) x ah) x(t) oe co ‘ ae ' Tt th t2t-1) & be t42 T By inspection , since x CT) hos the width of 2 ond the a (£-T) has the period of a2 and the duby cicle of | , we can see thot mlt)=1 for all & GF) mt) = y(t)» ek) z (k-t) : : r] y le) . le ter +2 123 ae 4-2 ter a cv For t+2<1 of E<-! m (&) <0 tre ast Si emb)y=JS (-at ~- (tb 41) 2EESS smb) Spat + Flares Poayar . 3 = 2t-4& + 3 tte rig <2: mea FUaT eS (ats S (-2)dt=-2 es Hi 3 3 & as ts > mt)=oe-tnte)= 0 t3 ——_ {k) m(t) = & Ce) g(t) 2(T) A gce-t) ' &, = x tn1 e tHE cy For t+1<-2 wr t<-3 : mlt)a0 te =a St<-1 sme aS (T-b) dt =-Lt7-2t-% “2 a ee ee, ae t- ° m(t) = &2-4 2 ret<3 mit)= J (4-T)at sob tty 2t-3 tot t>3 » m(t)= 0 ° > t<-3 wet at- fig cts = m(t) = tF-4 rarsesi -Etreat-F , istc3 : mit) = 0 ° . ce qlee eel ,75 StS -y -(4t +2) oa st -38 trtsted BS tS -2 amt)ef Get eates 72s) <-i ~bete eed etc eS Ses Oe esl -t 2 : Pols Cio zer-at+s , 2s t 2 E (x«ted pth .g (n-@-e7) Lenco ke co Use w= +@ ond exchange the order of Z | = (A «ter htw-23) 9 Cn-v3 Fane iene = ZS (xt «blvd ) gn -v) were = CxCn] « AUnd ) & glnd = PHS (x) Commutotive : x Un} * A(nJ = h€n] ® x(n oe ee LHS = xCnJe hind = So xchy-b Cael] hoo Use © k= n-& avbstiution = S xtn-t7. pce =F peer. xtn-0] the fe shtnle x(nJ > BHSSl. [2.8] Ca) yt) = xe) # he) = xb) a (6) o (E-)) yk) = rs (xte)-« (4-4)) (b) when A +o lim -y (4) = tim 2Ut) = n0e-a) a0 azo a ig nothing lot Sf (t) / first derivative of x Ct) with respect to time (t) (c) gt) = = h Le) Hr Ct) = gle) we Be) # .....% Be) [a yl Ut) = x (b) ® h™ (Ce) now x Ue) gt) ) & glk) we ge) 8 8 3 a (n-1) times Me) = = Um LUE ee xe) = x(t) wg Ut) Ue) a Un ) = Gin (xe) ae hUED) = Ee) from Ce) Azo Then y® Ce) = (x5 ce) # glee gt) om gt) SS (n-2) times Anct Ce) agi) tee Ce inakogourty , x 3 see Doing this repetitivety , we will find that . yo Ce) = 6°) cay ae g th) = oo yy) = a ee Lt) * git) oeb2 2.9, Ca) y Ue) = x Ce) x(a LE) a hy cb) Cha er + hate) « hs &) (b) y{nJ= x(n] * hyCnJ « (haln) ths Cn}) « (hs toJ-huln)) * he (nj Cs) yLbd = x CE) & (8 Le)- hye) + ha 4) & ha (4) & by CE) [2.10 (a) hlE) = hy Ce) 4 [ hale) 4 hae) yo hulk) + input hat) }-—* Q0—sfhutt) | > output + hat) (b) ht) = hy Ct) « ha Ut) + halt) * by Le) —r.@}- ra) inpoe— go output af hu Gy} T+ ha )| (c) ble) = hy bye [ho + bs le) + hy DY input hit)53 j2.N] hytnd =~ (4)" (uln+23-uln-33) haln) = $(CnJ hs(nJ = u(n-i) (a) yln}= x (nJa blo) where hin] = hn] fhatn)+hatody (be) Wt hy (n= ba(nJ + hs(n] = $CnJ+utn-1J = uln) hOnd = bro ® bylnd= So bed hy ln-led ee For o<-2 : hOEnJ =o 22Sn6 3 + h{nd= & (4)* = a-(4)° eee eee ke-2 nae #2 <0 Ui) Stable Gi) not cousad , since hy tn] 0 for n 00By Gi) cousok , since hs(n]=0 for n ond veflect it. CAeavly xteyl=| < Then hiKLxE¥] = |hle]| | so lyfel= | 2 Inte | ele e 2 Gel | : Hence there exists aM input bor which lyeil= Z1Noll and os + D |hlkl] < os is a nececsary condition for ke-00 stability 2.14 stni= 3 he] — (a) h€nd = C4)" urd ToC n< 6 | etn) =o azo -stey+=S C4)" kz0 = 2(1-C4)"") = 2-C4)? 60) =(2-(4)*) uted(ob) h{n] = $CnJ - SCn-1] For n3 is Ena »s€n) = 6(n+2] + $C] + $ln-2) (4) h(nJ = ulnJ ae neo SCN nZzo + stnd ° n na +1 « ¢€nJ = Catt) ulnd — () hee) ea! + feb eo ct) feed ae £e0 + 8h) +t etat a te at + 2-2 oe - J + t s(t) => t2 ulk) 2.15}The freevency = is determined as follow : H (joo) = a lr HA) = ZB blonde i" for dicerete. time89 (a) btn] =(4)° uln] Heit) = S Cle 22 (40%). tee (e) h{nd= §€n}~sCn-1) He) een omen (ce) hin} = (-1)® fuln+aj-uln-354 H(eF*) eft oF eR 1+ 20s (2n)- 2 ws (ny (a) hEn] = (.9)% 23 FP uted yn Het) S (aged) «te gy (e) ble) = el! HG). | coc oe (f) hE) = - § Ce41) + SE) - S(E-W) se (gq) hUt) = tor (nt) Lutes) a = 524 H (ja) = ws (ate Foran ~ 2 AS sin (2)(R) hUt) = 2 2* ul-t) eit ae et Hj) =F i 2.16] (a) x(t) Writing a node eauotion for node A bo G) ee eee y z at For the inductor L dy Vale) = so } Cornbining (1) anct (2) ; we have + Gn feed 4 1 (4)4+ yy +t yt) = xe, a 9 ! Pc dt : te ¥ PLE : = (b) + == Ve, Ley x(t)él (o) Node eevation for node A + Ue) - xe BEE ee ey Gat yt) + Tor copacitor Ci = + Ve, (+) ete) ae ¢ ond nas it) Ra + Voy tt) . wa (2) ean doy) = Pa Pity + Combining (1) & (2) : : Ge vee lee poe U ame y@)+ tere) \ ©, C2 Ri Ra, AC) tc, a xt) = la.4z (ay 5 hoyle) + wylt) =o uth ylty= ce choracteristic eevation + 5 +10 =O 6 ye) ec eaae 1G yCo)- 3) Cc - oe cia we) SS yi t shy) + cyte) =o eB reo sO Pree ra=-3 choracteristic epvation + ©62 Wy Ce) eC, Cenc dco ecee I.C Ci) ylo)=2 eae c+ ca oC) Gi) dyer — 12-20-82...) Solving W)k(2) + Cr =F, C2 =-5 Eayce) 7 eaee oe (s) BE yt) +3 Z yh) + ay tt) =o Charocteristic eountion «62 43r42 50 re ia eee yt) = crete cg on LC Ci) ylo)2=O > orate ca wee) a ) ge yloyst ev rec) 2c G) Solving (1) and (2) Cyst ,Cas-t es yh) = e® oe ee: d Cd) BS ye) + ay le) ty) =o Choccencie eee pe € ot ylt) se cte + Cre Lc G) yls)=r > eee Gi) SE yey=t > te ce63 Solving + Cy =2 , C2=1 yt) 2 at oe ee = (2) S92 y ce) + Hy tk) =e aez v y Characteristic eevation | F> +470 —yr=t 52 y (t) = ce cos (2) + ta sin (2+) TG Cl) y(ojs ie cy Gil) 2 yleyat yb ace Solving © Ci=-1 , C2 > V2 ; ao | sy (b) = = woe (at)4t sin (2b) d2 age a G) ga yO) +230 yt) + 2y HK) =0 Choracteristic epvation «r+ 2r +220 F2-1471 ye) = e* fc, cos He) + ea sin (EY Ic =: Gi) ylo) =i sie Gi) ey loyat Os Cr toa Solving eCy els tCae\ eyes e® Pee (4) + sin ey} as64 12 13} (y ylnJ- xy Cn-1J =o Characteristic esvation + 1~ KFT! =O r= K oe yfnd = clo)" L¢.: yl-i)=3 a y lo = (3) = 3% > BK =C (MK) C= BK yCny = 3K (K)9 @ 3 (K)OF (e) ylnJ-% yln-2J=0 Churacteristic esvation + 1- 2 6% =0 retd yin = CCR) 4 ca (- 9)" Lc :ylod= 2 yl-2I=-2 pyt=2 you 2 -¢ = Gt Co } eoWe Coe laa a Ze a- Gea cae a2 eyo] = (4)° a -2)9 =< () ylal- by ln -4 yln-2] +0 Choracteristic eovation + yln} = co CE) + ca (-p)" Les yfol=qeylls+tylel- tok =4 eZ Forced yt lty= Be ce72® use y (o)= 0 —y o+-Z - yF (t= 2 (1-2 7**) Gi) x Ue) = ete) Partiustor : yP(t) = Ket -sksiok ao Forced yf (te Betace use ylo)20 +0+Z4e—4 ¢ --2 y Flt). 2 (e7*- nat) (ill) x (4) a cos Cat) ule) Partiotar » yP(t) =K, cos (3b) + Ka sin (38) substituting usill gives Kia + i Maeqg Forced +» yF lt) = 4b cox (abe gh sin (st) 4 ce use ylo)zo— o= H4e c--bBNF cont ot oyf (tb) = (ws (ab)-1) +7 sin (2% y 15 1s ) (e) BE yt s ge yl + by) 2x) + xt) Natt + Characteristic eovation . r+ 50 +6 <0 re-2,-3 yh (k) = c, e728 4 cae 8® Gi) kU) = -2u) Pactiulor : yP(t)=K + eR = -4 a K:-= Forced vy f(t) = Beco cre * T.G + ylo)r0 4 4 solve : ¢, Yil)-o 20-8 Ca ca e yFlt)ep + Bee -$e* Gi) xUb)= 2e7F ue) RHS = Het ae Fea Portiotar + yh) = ieee sulstitvtion gives * K-56 +6 =2 =! Forced: y Flt) = eC eee ec ee. LC + ylo)=o —orltatcs } ct-2 ye) =O —eo=4-20,-3t2 J cart “y f Gj. ee. ae 4 en 3tQel4 cont 68 Gil) x (e)= (sin (2£)) ult) PHS = 2 sin (2t) +3 cos (at) Particular + yPUt)= Ki coe (st) + Ka sin (2t) substitution gives : Ki = -— Fa & Force sy Flt) = coh 4 cy 2 t*- Leos (at) +> sin (at) [LC s ylo)-0 +o a yl =o moe a -2e,-3ca+gleet yilty et (e73* - wos (st) + sin cat)) (iv) x(t) = 52 77® ult) PHS : toe “2* - toe" wo Portiator : yPlt)=o Forced yf lbs cenF® 4 cy eo 8t LO + yW)so 40 = Ott. } C.=0 ylle):0 — o= =-2t,-3C2 J Caz0 =» yd(e)=0 d?y lt) (s) S +3 yet 2ylt) = x (4)42 xce) aa RHS teFeare2e0 cre Notvrat + Characteristic eevationBold cont 69 yr) au en 4 co et G) x)= 5 ult) PHS =5 Particular + yPlt)=K wubstitvtion gies K == Forced =v y(t) 3+ Clee Cees LG syle) =o eee) ar25 yilo) +O oz -20)-ce Heese seems = yF(t)= ais (1+ e72* - 20%) Gi) x(t) =e7* ult) PHS = ae Porticutor » yP (t) = Kec substittion gives K = Forcea pF te beacon Mt rcae* LC: ylo) so ory te tee | cys yl) =o — ozb-20-c2 7 Ca=-! sy Slt) perms g eo -2* (iii) x) = ws (e) + sine) RHS = 2 cos (EY Porticulor + yPLt) = Ky tos (t)+ Kysin Ct) substitvtion gies Ky =1 Ka=t14 cont Forced yF (4) = cor (t)+ pint) + 0, & 4 c2 ot TC: ylo)t Om oF 140,42 =F yile) =O 4 0 =-20,-c2 4 c2+-F sy Fk) = cos (t) ag sin lt) +f eb fang (iv) x (t)= e-* ult) BHS = 0 Poctioutar +: yP (t)= 0 since PHS =o Forced yt ie) = 0 (ay BE yt) + 2 yey rye - H «ey Natrol. Characteristic equation : 7426+) =0 pPyzCa act yo ee (et + Cadet G) x)= e73* ule) RHS = -3 272 Portioutor + yP(t)= K en3® subostitution gies + K = - 3p Forced «yh (t)=-$ oe (cit teaye* I. + ylo)=0 — o=-F 42 i yi) 20 > okt ©) Cad Cape n yf lt) =e 2-4 (G- Fe) et Gi) x Ue) = 227% ult) BHS = ~2e7* Particutor : yP (t) = KtFe7*since r=-l is a double -root of the characteristic equation subostitvion gives K=-I Forced : y*(t) = tebe (cbecade® ILC + y lo) =O — O- C2 {| yilo) =o OF Cr ee » yF(t) = -tre* (ii) x E) 2 sin CE) RHS = 2 cos (t) Portioutar + yP(t) = Ki ws (4) + Kysin Ley substitution gues: K, Rael Forced =: y F(t) = sin (4) + (Cr +ta)e* 1G : ylo) = 0» OF Ce c.e-t ye) = O—% OF 1-Cate,? C2=0 " yt lt) Bsin (e)- te7® ’ (ey yn -s ylo-d =2x{n] Natumt » x(nJ=o Charaterictic equation : i-Bertso cod y® tnj = e(F)"f2 ‘ 220 cont (i) xn] > 2utny PHS = 4.uCn] Partiolor + y? (n] = Kuln) using n 21 re Kee we Forced, vyF(n] = 22 +e($)* Tc yloJ=syl-1J +2xCo] ylojJ=4 urBB ac a ee-S «yfln) = 42 -$ (2) azo Gi) x(n] =-(4e)® ulm) PHS =-2(4)" und Particulor « yP In] = K(4)" Clos aloes ola): K = -lo Forced » yF{nJ = ¢( 3)” 4)” 1.C: yl-iJ=0 4 ylel=-2-c-10 c-8 « yFtngs8(%)? - wh)" nz0 (ii) x(n] = wos( Gn) PHS : 2 we (Fn) Partiulor » yP Cn] = K, wos (En) + Ke sin(En) Subshivtion gives + Ki = 2.638 ; Ka-o.o1p3.20 cont ie Forced = yi lnd=clF)"+ 2.638 wos($n)+0.919 sil Fn) 1.C + ylol=2 2-0 +2.638 e+ — 0,638 ayflnJ = - 0,638 (%)° + 2.638 ws(Fn) + 0.97 sin(Hn) 970 () yln] -2 y(n-2] =x En] Notvral : Characteristic equation 2 3 , | fa te y(n = 6, 9)" 4 ca)” G) x(n} = u(n) — PHS suln-1] Portiutor » yPIn}= K u(n] for 0 72, we can calcviote I< as follow Ci-£) Kel oR Forced = y FLn] +6 +c, (2) eee)" ylil= yb2}=0 ; yloJ=oro-e yli}sorret one tctes v2 AS 4 e.(§) - cS) + 1S a, 3 - + ey (oJ > F -2(0.75)9-0.285F60.75)" 1a 2.20 con't Gi) x Un] = - (4)? und — BHS = 4)" ul Particular « yPCnJ = K(4)% aol aaneiier aS 2 Rca) BRA Ci-4x2)e Forced. syflny=- 8 DP (CQ + c(-P 1c: yloJ =o on Bec ace ylrd st Je BCE) + c)-ca(S) sove : C,2-2 4 tar% yo (Je (4)"- 218)" + 3-8)" nd (iy x OrJ=(%)" ule] + ps =(2)° alo) Partioutor - yP In} = n(q)" uly] since (2)" is incloded in notveal respons for n% 2 , sulostitvtion gives = = Torced « yf ln) =$n(-3)" +0,(3)” + ca(-$)” TO Ceo yt) = co c= cl) -c2(%) J cas-¥ yfln)= $ 0(e)" +3(8) - £64)" nz0 wo we oepP (© yln)-ay Cn-1] -$yln-2)= xCo)4 xCo-] Noturt ; Characteristic eevafion = Inape “'- ger yrtn}=c ~t)* + cal4)® (i) x(n] = -2utn} — PHS =-2u(nJ-2 utr] Porficular = yPCn} = Kula forn?2:Ci-y-e)Ka> | e- Forced yf (nJ = $+ c.l-g)% + cal)” LCs ylo} = o+0+1 =1 ytd = o+giyeae 2 t= Bac, tee port o- ee-g)eca(a)! c2e -2 pyblo) 2B -s-g)"-2(a” 920 Wi) x En] = (4)? wn] > PHS =( gq) ulode (S) lod Particular: y? (InJ= Kk (4 )"u tn) for N%2 i svbstitution gves K~-1 Forcea © yf (n}= -(4)" 4 cr (-g)" +02 CG)” Ic: yloJ- oroti=t+6 yUil=o+gtiee re a pore Beg t eget) J ast yf (nde (gy -FC4)" + BE ++) City x Un} e579 Ul] > passe? Fu nae? tnd Particular » yP(n} = Ke?” ut] for N22, substitvtion gives K = 0.959 -j 2.070 Forted © ySlnd= Ket 4 eb) 4 co(4)" 1c yloJ=o+ot1 =1 . ylid= orbtise? e+e > KR totes brett ce Fectelrct | solve + ©, = 0.273 - Jo.610 Co = - 0.233 + 3 2.679 = yi in} (0.959-j 2070) € #%o + (0.273 - go.6t0) (-$)” + (-0.233 + 32.699) (1L)" 70 Civ) x En] = CE)? u Cn Ris =)" uly ul]Portioulor « yP lod =Kn(4)? ule) for 22 , substitution gives K=1 Forced: -yF [mJ nC) 4 c,(-)° + cal 4)” LC: yloJer yl}: o+ grisea Vaca | Cis -1 be t-qo+tea Jae 2 » yF Um} = nb)°-(--b)% 4 2¢4)”, (a) yinlaytndebytualecta sein. Natural: Chorecteristic equation = . parte te? eet L oo soo riae yr (nds eo( 124)" + ee (2te8)" Gi) x(n} - uly — Roe = ula) 4+ 2uln-)J Particular : yPIn}] = Ku (nJ N%2 , substitvtion gives K= & Forced «yf (Je $4 0 (AE) seh" LC. yloJ =1 yOjye4+3 52 Ie $ +O tce 22 Br ciCbajeea(ueay | ffSolve + Cy = -$-it i Car-brad yhlnde $+ a) (H(t (esa ,n7o Gi) x€mJ=(-4)° ule) pts -C-4)® ulnd+ 264)" ul] Pocticular + yPCnJ = K(--+)* substtvtion gies Ke-3 forced = yf lnJec (222) 4 eal: T.c : yloJ=1 yds -141+2(-4)>-1 Macay ls O+C2-3 porsttos wis ci (184) + cot 24d Cas 2-505 « ¥Flnde (2+ 305)(S4)" He- gosy(2)- sta) nzo ce, rd yt) +o ylt)=2xlt) |» y lor , x) -uley £20 + natural + Characteristic eauation : T+10 = 0 —+ Fe-10 yee c eae partiuler + RHS = 2u Ct) yh. K ule)by substitvtion we have K=+ yee t 27 t TC: ylo)si sie gee art ayes Ere we *) tro ) BEY 5 pay KH ylerro Flom, x) = eo ** ue) £70. natu’ ; Chorocteristic Equation : P24 or+4=0 re -4,- uO Ce)y = Clea + ce ene tioular: RHS = - 2e77# ae Pit) = Kent by substitution we hove: K = 1 me) ere er ente cece TC: ylo)=0 —oHl+ci tea yore 7 bar 2-40)-ca J Cae -%a ylt)se*-gle#a2e*) £20 (c) says yoo) = -1 , Yloyst , x Cb)= corte) ule) +20 natural = Choracteristic esvation : 79BO r*43r42-0 re yh (be) = ce a coe 2, +t Particular: RHS = 2 ws (t) u (te) yP lt) = Ky cos Le) + Ka sin te) by substitution we hove + K, 2 o, Ko = yes ws (t) +B sin (t) 4 om +cne* eee neces pers, 3 1 +$-2c-ead e,--$ 2 ybe) =H (cos e+ eanleye een*Fe*) bee dey ca (4) SS +ys 3 ae ylo) =-1, y lode x H) =e 2e7® Ul) £20, notural « Characteristic eeuation » fF 741-0 catty y® Ub) = e cos CE) + co since) portinlar + RHS = -Ge-* ule) yP lt) = K et by substitution we hove | K+ -3 = yk) —227F + cher Kk) 4 co sin (ey IC + ylo) ett -1s-3 40, c,22 ylo) =1 C2e-2al nyle)=-3 e-* 42 (cos)-sin(t)) ,4 FO (oy ylnJ-syln-= 2x0) y= 3, xin]+2¢-4)"ubn on Natural + Characteristic esvation : 1-67! =o eee ytlad = 6 C4)" : Particular: RHS = 4 (-4) uln] nyi yPind=K(-5)" ule) substitvtion gives: K = 2 = ylo] =2(-3)2 + els)” rey Co] st ylil+ ax Col >$(2)+2(2)= 4 +c w 2 c 2 & = » y(n} =2(-3)"+E l(a)" _ nvxo (b) yln] --£ yln-2)= x(n-t) ,yt-de1 ylbal=o, D3 a4 x{n] = un) Notvrak a are tt yr (nj = cy C)® + ca (-4" Partiutor + PHS = uln-1] n72 + yPln) = K uly] ley substitution we hove + K = plo62 =yln] ePea(ty? + 6a(-$)" IC: ylol =F yl-2J] +x C-1J-0 yo = py lis xlode Far - Crete tes a =-t gee +s)-cace) Jo -- } ylnj= 2 -£ ( x)" -& -$)" ) nero (c) ylnJ- ap yln-J- 5 yln-2J=x(nJ+ xCn-iJ yij=2, yl-2J=-1 , xfnJ-2%utnd “2 ot Oreste yon} = (2) + ca (-4)" Partiuilor : PHS = 2% uln] + 2°! uln-1] n72:yPind =k 2° utny \ substitution gives » K = iE = yln) 2e a4 ci(e) "+ cap)" cy syloJ=y yl-aleg ylil+xfol=-g+44i- yl] reyl+bylo] + xl} + x [oJ ia f Payette, 283 sy(nJ= 22" -%(4)"- BC B-#)" 170 (a) ylnJ-Zylo-r+g ylr-2] = 20a) yhi det, yee, xind=2u lr) Nott s i-grcle+ gr t20 rte ey (ope oC)” + co ()* Partiulor: RHS = 4 un] nz72-yPind= & uly) substittion gives «(i-g +e) K 24 32 m yin Beachy sath : Ic :ylol = @ly-de-n+4 24 yoo = ECE) -b Gees yt 2s BB ves as -3 a vaccinia] : 3 » yln]s 32 - 2E(4)"4 28 (G)" nzo 2) 2 el o_o £ .@——> ytn3 ci i Fitna i z 3 ==at Node a: f(nJ= -2f¢En-1] + x(a] CL) Node _¢ syln}+ 2$(n)4 ¢ (n-1] ee This is a “direct form =” implementation which is cavivalent to (interchange the cascading ordir) yin} =-2y(n-1J + 2xCn) + xCn-1J yn} +2yCn-1) = ax (nJ4+x0n-1) (b) + ¥ Node o + f(r) = xCnJ-% fln-iJ ) Nooe c yln} = f€n-2] + ytn-3 ata) Te hove a covsot system, we choose to modify Ci) and (2) : ( Fln-13= xCn-1) - Fg ln- a F(n-23 = x(n-2)-£ fln-3}) ... ty) @) § (n-2] = yln3- yln-1] fUn-3] = y (n-1J -y Cn-2] oe Cw) (3) ond (4) = (ytnd- ytn-13) = xtn-2J- F( y fn-1 J -ytn-2J) es ylnJ~ yln-2J-yyln-2J = x(n-2]ao (s) 2 xo cca Node a : find=xln-1]-e$ln-J-y fln-2) -.w Node b + ylnd= f (mJ + 2x En] snl) yn} - 2x«(nJ y (n-1} - 2% Cn-1J yln-2J - 2x Cn-2) @) ¢lnj Fin-sJ Fln-2] ylnj-2x«(n3 = x Cn-1)-4 (yln-1J- ax On-11) -% (yln-2] - 2x Cn-21) eyln]+ ty l-1 +g y(n-23 = 2x[n]+ 2x (n-1J+4x[n-2] dy) iC) + : C Cn} (n-2} xtnJ et s : ee 7 ylnd =p Node o : f(n} = x(n} -e y Cn) oe Node b : y(n) = Ex Cn-1} 4 f(n-2] 2... G) $(n-2) = x(n-2} - yln-a]Cy(nJ-xtn-13)= x(n-2]-@ y(n-2J s ylnd+4 y(n-2J = 4x (n-1] +x (n-2] 2.24 Cy yfnJ-4+ y(n-1]=2x (oJ Birect from Is ylnJ = 2x(nJ+fyln-] xn) 2 3 Ss Ya x(n) 2 yeas s ‘fo. Direct from 1 () yln]+apy Cn-id-py Cn-2] = xfnd+ x En] Direct from Ls yCnI= x{nd+ x [n-1]-ayln-J+ w yln-2] xtn] tf x» B > yl]at Direct from T © -©@— yl fe (e) ylnJ-4 y (n-2] = 2x{nJ+ xCn-1] Direct Form 1 © yln]=axtnJ+ x(n-1}+5 yln-23 x(n] 2 =e 7 Direct Form T+ xin} er @—— 4} (y yn) +4 y (n-1] -y(n-3] = 3x (n-1] + 2x{n-2] Direct Form 1+ yln}=3xCn-1J + 2x(n-2J-tylo-] aren Un-3]8B xfn} ytad s -t 2 s J s 4 Direct Form 1 xfoJ ytnj 2.25] Tt is clear that "direct form T > depictect in Fig. 2.27 (lo) is eovivolent to * direct form I> in fig. 2.27 (a) from topological observation (see Sec. 2.5) Now , it is &ft for us to show ‘direct form 1° in Fig. 2.25 (a) implement €q (2.42)a9 xe) >y (+) ch a yay xe] yb) Node A+ $(t)= bo x(t) +b: x(t) + ba x (4) Node = ylt) = Flt) - a,y Mt) - a2 yay So, y(t) = bo xlb) + by xe) + ba x Ut) ma, ye) - any y(t) =~ aye) ~ a2 y(t) + bo KLE) +b, xX? (4) + bax (ke) van (242) rE] (a) = yt) + lo yl) = axe) — yt) + tye) = 2%) ylt) = 2x Ce) wy) Direct Form I = xb) p——> y lt) -I0) ae vyJo (y a y(t) +53 y + by (t= xe) Ee ye) + Sy MPU) Fey Ue) = KU) yk) = xb - sey — YM Direct Form I: Direck Form 1 te) eS aan > yl) oe wt) En a? d (eo) Ser yt) + ye) > 3 gp x4) yh) + ME 2K) yk) = 3 xb) -y (2) (Uk) Biek Forma: Sireck_Forw 1 x le) xe) S r— ylt) fi J ae Z: Gay SE yc) 42 yl) +a ylt) = x) +2 xy aba J ae ¥ y oe Se ylt) +e 2y Mb) ayy = KEE) + a xO) yt) = «% (e+ 3xFXt)~ 2 yO) ~ayPe)aL Direct Form 1 : Direct Form I - xe) x(k) yt) Ea (a) yt) = «SC + ayy) e << yle)- 2 yh) = xe) (be) yt) = xb) + 2 yb) = yh UE) ia d ge x) a a > acs SO) eae Ve) Ey Ce) cae te) a flt) yl) tore , we hove a system of differential equations ax follow GQ) ye) =-f 4%) + ag) (2) FC) = x) —2 FO) Celer ge Fle) +2fle)=xle) (2) g LE) = x9 Ce) 3g UE) OF SE GUE) +3gk) =H)92 Tf , we wont to go further : (@) SEM) 4 aft) - x Ce) multiply both cides with et "3 J ply d at ee a ()) =x ge (27 Fe) = xe + afb eno f x (tert ar |, 1@'4S Some constant o (3) Simitarey + ptt)=e3* J x(T)e**at ey Ce) es eae (fe (te*Fat)+ 2e**( Fane at) os 2.28) ty xin} iS y ted =z q inti] =-2 qtr} +xtni yln} = 3 xCnJ + qg{n3 = AtG2], 6-01) 0) , vlal &) ar (nes arta) 1 yn) qatnngee qatn)(c) 2x{nJ-s4atnJ ~xtol +e qi tn) qin] - 2qaCo] gi (nad q2tn+! ae qaCn +i] = xn) - 3 .qgaln] qin) +2x(n] +4 aa Cr] qaln) +3x(n) - = gal] yn} = gsr) ° “1 o -/a ° t Wy Ye, 93 yt y trloH qi(n+i] = x(nJ-y qlee qa ln) q2(n+i] = 2x(n} + q,€n} + q.fn] ylnj = - x(n} +q.Ce) =[- Ye b:ft Ces] PEs] De El Ae ' >! eo aS 2.29) To synthesize the block diagram for the system , draw a unit delay for each state variable , then work on the interconnections (a) q Cnaid= - a.ln} + 2x Cn) qa(an] = $a ln) yln] = q,lnd - qalnd 2 a .Cnt] —aitn]_ gatne 2) 7) —@ fs PSs 2) > ytnd x(n) E vA 1 Va 7 (b) g,Cne1d = q,Co] - F aatnd + x Cn] qain+i3 =¥q,ln3 +2x Cn) y (mJ = q,€nj] - galn3 295 () q,CntiJ = -$a2Cn) q2tne) =$q,(nJ- q.tnd+ xln) yt] = q,CnJ + x(n] ‘Ia xin} ot Laon : gala] gine) SpE SB) — ytd (ant : Cd) gna] = 2xtnJ gainer] = qatn}+ 3x(nJ ytnd = g,fn] - g.tnd x0] 2 9 toed ay ytnd = x(t) - q,G) ye) = 6x UE) + 29,4) 2 xe) Leis “Ie (©) git) = & x (t)-2g,b) + 3a) qalt)= 2 x(t) + 9, ) yt) = gait) x(t) 2 i oe te. « Hor tH), Haieyr ay gat, eo a HPA) ef d a [ol (ce) girs tt) - 84a) -~3q3lt) gilt)= 3 x(t) + g, G44 galt) galt) = 2g,)+ galt)- gs te) eee Qs «%) ye)» ue, Fie) yt)x(t) = 9,@).R 4b wn ga t) das (t) Bg) +t gat) yt x & ae ch ee ee ) daa Ct. age eve a.) eo © x(t) = q(t).R + y lt) #42) ye) = -B.gi) -galt) + x) Combining (1) , (2) , 3) + SF wl) a) GB) A> PM a bAfHy ,erEe -i], o=[r] ( i) 3 y ) Rg Y +> te x(t Tatty | qa (e) xe) = yt) RB +g.) ye) = - Ease) +H «C),... C8) yt) = ¢ ree + qa) = ea (O) +P x te)= c Sate) + galt) dat) BO) sade att) - Saal) + ge x (b) oe)(ey) L Sea) a de dg.) to pat) «() Combining (1) (2) ana (a) « ok “fe J ee), Ee ol,d-[e] —_— 2.ar} . (git) = Fat) - x(t) a2) ~tagalt) +2x 4) yt) = 9, () + gale) x) 2 q(t) qatt) 4 a > (bo) gi(t) = q, Ce) + galt) -x &) galt) = 9, ce) + 2xlt) yt) = - qatk) xlt)99 (co) git) = 9,4) - galt) Q3 lt) > = a, Ut) + 5x Ct) yl) = 4,4) Tee) Gilt) yl aG) e qatt) — aa) wn 4 yl Lf eT \ (a) gilt) = g(t) - 2g) +2) git) = git) + ga @&) +3 « te) yt) = gilt) + ga (&) «) (Ue) lt att ue, x 2 hw alt) qatt) 4 1 ylt) a1 eG] EL. (a) giln} = ag lr) , qa'ln] = 3g. fr] q = |2 °| a er ee) cee ° = mt 3] -( a] oo ie [ A Ya 0 eerie ER) Ee() 4100 ee [tL 80d ED Led eeereta fg) eo oF ls oF o qi Cn] = agalnd , gan] = 29,00] wea ark g oe ke | - ~ va A's TAT" = [-, “| foe ae ee | cls cr | [i -1] i. 8] -Ev Ya] d'=[o]401 (ce) gy" tn} = q.ln + qalo] , gz (n] = q,ln) ~ qa. Cn] riitjerea Ch a = irc- Bho "Me Ai TAT" Af Tia Tr 1 ’ 3 ae [\ 7) (:] aller oe ee. Bete p' = [0] Cy qit) = b, x(t) + Ks gilt) gatt) = b2xtt) + %2 Git) yit) = cq, (t) + C2 q2 te) so: X B-[o] flee) ea (b) For : gi = gy) ~ ga Ce) ond qi (t)=2q, (ey ehaerebk dE a ° hy peters = [AP Eee]402 meh JR] Beets Bi eq [9 ]-LEo steve] o'=[o] Cc) For a system in 6b): gy lt) = da a(t) + Fei - Ka Jaa (E) + (o.- ba) xt) ga (+) = Ki Gale) + 2b, x(k) y Ue) = = cat) + > (crca)gatt) ko xt) yt) (A) New states + g'(e) = Gq), ga'(e)= bs qil4)~ bigalt) t= [F ejom-fP °| 2 7%) 2 7b 1 a x 0 1 Of fe ° A=TAT e 4] ( 2 ie 4 ce, cm4103 - 1 b ac weePefe ca] [Pt Sus [Eserer 2 p'=[o) (e) The corresponding differential eouations ore : Pi 9 Affi att) = 1 g(t) 4 xk) galt) = bib (mr -%a qt) + Ka a2) yt) = cy leter) a) - eS qa (+) x(t) Git) gle) bbalicday ° Of % ~< < he cio, + ba) yey) 2.341 (y (») . oe KC) se ke-o x(k). ga (b> kaya As A decreoses and approaches zero , the. Approximation evolity improves galt) > 2) x4) -5 ke-co LT I) (TI — hat) ey lb) = ...? x (ka) gd Ce -k.aya Let the system be represented by an operator S104 such that H {gatt)y= hate) H{Z(e)y = #{2 Kika) ga(t-kara | woe = (H ix(ka) ga (e- kaya ) + lineority ks-00 of § - 2 x (ka) H {ga (t-ka) 2 ) linearity of s -2 x (ha), (e- ka). “time - invariance k= -00 of s HL Rwy “2 x(a) he haa =. a (cS) when A 0 h(t) = tim hy CE) 470 : . : 2 : gm H{x?Q)y = Om, =. x(k.a) halt-ka).o As A> 0 the Umit is a Riemann sum, which fepresents an integrat Ts Ff x(t) ha (e-t) at Using the fort that h(t) = tim ha Ce) a0 T= J x(t).h(t-T)at = x(t) * he)405 pa] yutty- fr- 2 °/ ue (a) x(t) = gat eg (ue +e) -u (4-4)) (b) The response of the system to x (t) is y lt) > yt) = Hf xcny ~ HLA (werd) ute-40)4 o£ (H {ute $95- H{ute--£)J) + lieonty yt) = (yu lt + &)-yu (6-2) * tie - ievarience () hLE) = linn Yu (e+ )- yu (t- #) B av0 a = ae yu) at h(t) = gee Lu) = ae i (a) ray (4) = J x(t). y(T-b) at = ft) (et) ae a) -w First , assume that xy (+) can be expressed in terms of @ convolution integraL , i.e * F xy &)= Ff, (1). fale -t) at = fe) alt)... By (i), we con see that (1) and (2) can be esvivalent if choosing» fi (Vi) = x (vi) and f2 (va)? y Cra) where Vv) ,Va are arguments , in this case are Wirt(b) 106 and Va = t-0 Then « Tay (e) = f(b) & fa Ce) = x(t) & y(-t) “xy (4) = xe) ® y(-t) = Procedure : 3. Graph both xT) and y(T-+) as a function of the independent voriolle T . To obtain y (T-£), shift yt) by & to the Fight 2. Begin with the shijt + ot - 60 3. Write mothematical representation for x(T). y(T-#) « Increase the shift + until the mathematical representation for x(T)y (T-t) changes. The vole t ot which the chunge occurs defines he end of the current set and the beginning Of @ new set 5. Let t be in the new cet . Repeat (3) andl (4) til akk set of shifts & and the corresponding representations for x(T). -y (T-+) are identified. This usvotty implies increasing + until + = 09 6. For each set of shifts t , integrate x (T).yiT-t) m T= to T= o +0 obtain xy () on each set10F (c) Cross correlation + Gi) x(t) = ev* ule). ye) = 2 PF ucey 1 (t-&) ' Tt y — ae oe ° t ie Tt at at eM cende = ne EKO + Frylt) = OCR og 0 ca & d IF / Gi) « Ue) = eos (rt [ue +2)-ule-2)] , ylb)= cos (amt) [uGea)- Ct) (t-t) . ¥ ule-a)] cos (1) cos (20 (E-#)) ES-4 + Cry lt) = +0 must C0 ray le) = Pos (mT) .con(2mTt - amt dt + -2 = gm (2 sin (2 7) - sin Ume)) ost<4 Pry ) J cos (rT) . ws (ar T- 2b) AT a 2 = gq (-2 sin (amt) + sin (rt) t> 4 sfeylt)=0108 ° , bse o Pay (b) = Br (2sin (ant) sin(wt)) 4 € Ee & ,ese J wort (mt) dt =F (4-t) gy sina) EPU —_ Fxglt) = 0 “4ktso410 ° . ne a texte | T(teu)tapsin(2nt) ,-¥¢ <0 & (e+4)-apamlanmt) , of <4 ° ee (ii) x (E) = ue) -2u (4-1) + ub-2) x(t) xT-#) w 7 len 7 rc z 7 7 t<-2 + Cxxlt) =o -2Se S$ -1) 1 Fax) = ~ (442) AIS ESO trae e) = (Etre t(bt) este OS EST Foxe ED = (1 -b)~(E) + ()-t) = 2 -3t bee oo Fag lt)e t-2 fe re (l) eo io : t<-2 aoe ee? -2¢t<-1 oe Pay E> BE+2 fy ce co 2-3t [Oo o> = ww) x(t) = u(b-o)-u (b-a-1) x CT) : x ee) on eas ee E os o » © —e o 3 Fst — Gs fone = paca) a : ° 5 @—— aF é oo — epmuydure:(vJow pnd : (Busus P2a.aa - Plot 4 of 2 - 9 P2.98-1 ell Year 60 50 we 20 ore itt Lat TRA. sii 890 3 © 20 9) 900 1910-1920» 1980» 1940-1950 1960 1970 1980 19902000 Yearaverage 4 We P. a.3a - Plot a of a— P2.98-2 50 40| 1900 1910 1920 193019401950 1960-1970 1980 1990 2000 Year7 2 o———12 + | << os ——| ee o———|e2 & oo] = a —— = ° 0 pam = \ “ a 1 = te SS a eee ce Soeee eats oe > lulay jo esuodses deg. [ulpy jo esuodser dais ao my «a a 2 2 a i. : 2 2 ee 8 é i _—— cS —— 7 [jeu yo esuodse: dors {toy joosuodse: dag3 on | (eit)? [Re (output)|? + [Em (output )|? Re Rouen = | Re (input ) | + [Im ( input |? a XH (eI**) = 4 outpub — x input [ot a porticuler n ee, time. shift between input end output xRNo te = "Va Qo = =a TAO xHGyred|[ AG [| e4#C pred ha 0.866 | -0.5236 0.500 | - 1.0472 he 0.4330 ~ 1,5 F08 0.2500 ° he 0.2165 | - 0.5236 0.1290 |- 1. 04F2 ©) ha =C) 'Jl2 heeft le he efree cdl = + oe t 2 t a) -jn) -i% 2 in 2 Hae) =a (14 038 )= 09 * cos FH (oF) |nfos He (e™ Jet Cae I, o-jan oD) zost orn. pac li, Ce los cose! 12g Jan He (e)- £5 een,119 P 2.40 aise 2 ofS P2.40 REAL PART 1exp(i'n'pi3y'he exp('n’pi/3) bee be Po a.uo —Plot a of 5 —Oats Poe eS a re oy Poon poems pee ¢ a == Oe 8 PomssmmeneeQe ea ee Oe a eg a Oy a feces Oceaeacmae ee ee ea eu,tende.uib 0 austede.t)eo 2. = 8 8 C= 3 8 BL 3 —_== = === Bg | 9 == 8 Fe z =e ==3— z ==3—+ S| ——— 3 — ==8— 98 — — g =3—+ =3—+ &o—_=— & -—_—— 3 g —— oo a ee eons * ewlesdso | ae |P 2a.to — Plot 4of & 2.40 IMAGINARY PART 2 0) of LAL . e g eo £9 7 rete “ -02 o4 1020" 30 40 60” 60 os|fas P 2.40 ae ice 5 of 6 P2.40-3 5 308 Fos é Soa z 02! 3 2 = 0 3 omega 1 08 fos Soa Fs #02 3 4 0 3 omega 1 208 Poe Sos i Foz “2 a omegalay Pau — Plot 1 of 1— P21 1 02% 08 02] 208 Pos od 0.08 ° ° ° 5 os 0 3 70 % Time Time 1 1 oa 08 Bos Boe z é 6 & od Soo o2| 02! o 2 2 0 2 o jue 2 a ty © aK 4 je B, — ser 4 as : = jeer (sn 3d paint) = eve a ed oe oy cosh + a ws aa) 3‘esuodsal dayste f. TT Tf uylay Pao — Plot 3 of 3 - peae-s 60 4 Fee. iL. 4 “lReTHALLAT FHL ARTA TAT aR Teapots 2 fo} lo ac so K 2 ° ‘seo 1650 104010501860 1670. 198010002000 eer 200 7 fittest rmmsomnestt 3 100] 3 Fe 1900 1910 1920 1930 1940-1950 ©1960 1970 1980 1990 2000 Year[28 P aus — Plot tof t — P2.43 10 200-8040 x10"129 2.4y (@) To find no = [cy .P2] ¢]er Z1000|—+ |x, |" < 107 — Ne 215.6 |, choose [No = I6| Note thot [21 = [oi] (y Note that Ht (eI*) = co derived in port (a) and Ly Cno3] <] cx, | + [cara] + | coe dP] x Ltuleteel yd (edy] 1000 < Le.l+l cal “1200 If totes is small Ly(noJ]= |H (eI*)| Hence , ly CnoJ] -1#( 23*)|Pa.4y - Plot 4 of 1- Pad [30 35 Magnitude lying} « |H(Omega)| 0 ‘Omega13 | P2465 — Plot 1 of 1 — 2.48: 0. x ol os os] = 02! a Pa 24) ‘co00900000000000000000000004 ‘| o2| 01 posceeacecascc009000000008 a ofo, o 5 10 1% 20 2 o 5 10 1% 2 2 1 ol oy os| 02 eo ao = = 6} Pocoacacs000000000000000005 -05| 01 -02| a -03|2.46 32133 Peay — Plot 1 of 1 — (9 POS SSTOTTETTOOSOOCEOOOS al $-04) 3-04] - 2 16] E-o6 -08 -08 9 5 Bee Meee meee a oO 5 Pp eeamee eae -05| “05 iS #41 -1fo 3 & -15| 15 2 2CHAPTER 3 3A x aa fn 5 (a) choose n,k e [-6,-5,...,.63 at : X(kho kets Re{-6...,64 ¥xth], (& x[n] = sin (SE m) an ; : ees (ey eat Follieri Vee ar aden) EQ FA ee nes gee (SBE). F N= 2 Choose nk & {-10,...,104 xs] = x{sl-4 atid adg ixble-rg elo) = | ke f-00,...,10Y * Kk a ® [xtk3] 1(c) xIn]- 2 g{n-2m)+ S$ (n+2m] Ne6+a0-F ™ == 08 Choose n,ke {-2....,39 x -5kZ -gkZ XK] =F [eM FO 2 FO, FO] S [2+ 2c0s( 22k) k ] ke f-2,...,33 #xCkI (Yo Nea 4 noek Choe Gt ele ay zx a KL) 2b (-2 RO ee) 4 cin (Fre) vets, ,24 [xk 3] (OV choosen, xk] =£(2xe] “5 (eter kef{o,..-, |xtk]] 27 (f) N= 9 9 Moe choose nk © {- 4. 4 Xe] =F (24)( sn (FE &) + sin He + sin Fk) +50 FW) ay Note + @ All drawings are only for one period time / freavency 3.2) @ xlk] ~ coe (SF x) i N= 1p > et Fe choose n,k € {-8,.-,83“pat 2x Bik Foes), akIR as) 6n kn 2 xin] = 2 (SE ke? TiS feos xblsfO ne t3 2 ay 2S (mn #3) 2 ne ta ace z =O "Nt we ¥-8,77, 7,88 k ion () x(k ]= os (-SEk) + 3 sin (EF k) N=21 —+ om, +37 choose n,f& € {0,....,209 20 ¢ 3 22%(n+s)k 25 ( k 532 xb Se Fee ee oe - SB en-ak} 20 an SER Genk Now Be Se xin “he(y xX(k] = 2 Slk-2m)-2s(k+am) me-o0 N=6 —> No=, choose 1 e{-2,.-134 ago oe sad ois ee x(n} = 2 ws (An) - 1-21) ne t2.3y = 2 sin( $32) ne {es By () N=} + n.=37 choose nk © {-3,...,24 -j32n 427, eto}. 2 PFO ae TF a es (LE ne f-a ay (Pp N= 7 mo choose ne 1-5... 64 ee x tn: eee le — kent = sin (4 (n-1)) Het ee cy3.3 Ca) x(t) = sin (27t) + wos (art) 2 d2mt , gant 4 weet, ecitrt 24 2 wo = ged (am,3m) = x(2J= a ix Delay x(3)=x«[-3) -+ x(k] = 0 32-0 0123 4 (&) x)= s(b-$m) +S (b-Sm) — Toe 372k ~322 xtkl + $(279 ie stCi4 ae “4-8 “2-10 (ce) x(ty2 Sg 2M ma-0927 x t at - afk xkJet(ite Fe Fee aie ee a xk] = § (ek) er ame i 7 e827 _ i ent XJ =+ f +—=2 dt Poca xLk] m(u- k)* » k=0 = XU] = 34a , otherwise(2) Tr) + weo=27 Mi) foe J Te pane co |x tk3] (1.53) eo i KXUT fi ayy Lasy k a LY) OH) gy) T=3 > wo= 22 eC. ae xle] -(s bet Mat + S(a-abje me ae ) lol =-$ (Stat + Fia-2t) a) <0 (jacna-aaucarzae® k#o » X(k]= wsra -g4e *~ sina) —— 2 oe whee o = 22k3-4 Cy Xk} = g8lk-tJ- 9 6 Ceeids $Ck-a] sé lesa], oom jhre gat, gmt gaat jane oe se ad? @ x(&) + 2X lke x(t) = -2 sin (wt) + 2 ws (ant) (— XUkeJ= JS Ck] - gS Chri d+ sCk-3]+ Slk+3] wo-sm deme _j.-demt ome | dont x(t) = ge 2 x(t) = ~2 sin (3 7t) + 2 wos (97t) oe ty xtel= (re) we = RG) See = ee k+o k>-00 oo x(t) « 2 (bet )* 4B (-4 or)" Since |-+ 2 2#| <1 alwoys , the sum converges a o- a -3 ( ; a wae? ee a ene —_—_(¥) (2 (f) 40 Qo =7T se 7 ~i% i= X(3]ee P< bos se ae a Aid Mite sete | Xl) se oe -g2 gant 2 gaat iz OO -_ & -g aw gurt coe +220 Fy ee x&) = 2 ws (sat -F) + 4 ws Cunt +2) Woz an - be Mik). = ad -4egk sgn (X (jw) =-1 ts T—1—+ 4 T T T na Pw) 2 os 4 a20 3.8 ws (w) , lol ax) = 4 i STALE) , sinkglt)), otherwise: ar lel) 2K (e-1) —_— (b) XC ya) = cea uC) 1 2m) gut 1 (it-2)@ xlt)- oF se 2 de =o Se di Co) 2nm(2-3t) () X (gw) = et! te es x) 5G ( fF e% eM au + Peo 2 tw)2i 2 +? 41 : (9) x) = he (Fe Fe de) ef gO? ee 2 tea ex) - 2 : oe sin (24 -2)) t#2 : x(t) cee 3 t © «b= a J ewe te x) = ae os (at) - 3 sin (3t) | t#O t=0 = xo) 20 tro axe 2 b)-2 ’ ay wos (3t) jax sin (3%) S cp x)= S(T eae - fe 2 ° oo) L- cos (2t) x(t) > SSP , t#o &=0 x (0) =0 ° > t-o xceye | Le we (2t) oo ne22 (a) (v) () 3.9 | Note C= continuous P = periodic D = discrete A = aperiodic oat K(k) = 2 ee (mt) UE) > CLA: Fourier Transform @ come isan sort x(qa)= f at oe ot pe ne, (rece | Ce-diaaeit 8 Ma) ee #) B+ g(w-7) [ B+ J (w+) —= a {oer +g sn(Fy) | [nix to ° otherwise. D.A + discrete time Fourier ‘Transform Klee) S cee nese i 3-2) a : = a i ae 1 Xe) 2g HCE MY A sin (34-2) sin (2 (-E-n) oa - y) Xlei®) = xin} 4 D, P=: discrete time Fourier Transform N= 0 choose 1, & ef0,....,6423 3k - p22 cite oe De 14 (4 x(t) = 2!** u(-t42) — C,A © Founer Transform 2 1-gu)* i. dare X(go) = Se =o X (go) = gi? ~F2%) 1+ go —— (eq) x&)=|sin(a7)] + C,P + Founer Series T+, worn Xk] = 2 a eerie oe 3 = Ye dam (rake g BRT t Be ote: ee XC. -3 Fe gn -2k) X(k] - 42%, te 27 (1-2) 2m(i+2k) as -gmie2k cae 2 Ff) x(n] + D, A © discrete time Fourier Trans form X (2) = - 92 (A) (sintay+ 2 sin(anys 2 sin(an) 44 sin (40) X (28) = SE (cin( ry + 2 sin(2ny +3 sin(anry +usinusy) (gq) x(b) + 0,P + Fourier Series Te4 weeay a 2 ghee Xlel=ap(fe es as) ee 1 an Sk k¢o = XCk] = ge ee Pana 2C-ryF 41 - 3e gk 7 PS i = ze 32 aC) ai-3e ak foe a=k 3.10) yer Ik] < 10 =I 2 he T= | Go-27 eee + Fourier Series © ake ce OS k= -10 to mee = (eee kes XU) = sin (3 a(2t -v) sin (2 (at-1)) x(t)= fos _( 21 7b) ws Crt)25 (be) X(k] = DP <> PD + discrete time Fourier Series N=5 0 B choose 9, & €f-2,...,2) xin} = g2 Csin 22m 4 sw Hn) —— 2) a Ca. ws ($) + Zsin( , lalem X(e)= i » otherwise CA + AC + Founer Transform ee xte}e ge fF et® 2 i aw =n x= Fe FETE) ay “7 x(t) = os (at) bape m(t+4) ' tee = 6G Ee! ‘ , te = x(t) { we (7rt ) 1 4 - m(t+4) | — (8) X (Go) —> Fourier Transform x(t) =a (he* 2 8 dw a fe Pe gut ae ) xUb) = (Flay a fo FEF de) i 2m26 =~ o2t Ge oc) t) x) Stee — (2) X(2°") + discrete time Founer Transform n : et tae enn x(n] =55 J Fe dn net! n#o xto] = ozo + xfo] = tal ° Geese eof ye NE (f) XCEJ + DA <> PG: Fourier Series x(t) = 2(sin (sat) + sin (4 rt) + sin (5 rt) + sin(eat)) () X(2**) =|sincay | —s discrete time Fourier Fonsferm ° 1 Bs gu x xUnd= ae (f-sinn 2% ans F nae an) x ° i ee) one ee x{-1] =0 x [ajoa ° ‘ fh=tt a xtel -{ a hee 7 — Gen) eee 2 Gaye : 2 3 XG*) =-Zye + Gass a x(t) = (207 + 3e7* ) ute) b —— EE | & XG) = ston * Ua) = GAP > Geer P(e) 2 2 (eae eae) uC) Oe) 2 ee (Go)? 4 sgure X (qo) = . aaa rors x(t) = (27* - 2e co) ue) ay oc) = ae ee eee ) XG) (Coe)? s3 9042) G4) - oe call X (4a) saan jor | jaa a x(t) 2( 27% 4 27? eo) ult)() X( jo) = 2Ge)74 2 Gore (4o)% + 6gw4+5 hijo). 2 [ (4m)? + 6jw45 “| X (4a) = 2 4 el Ss ext) = 2&4) 4 (27 = 2“ F*) utey — (f) X (go) = Beet (gw +2)? « x(t) =(2-38) en* ule) — = xtod= (Cy + 2Gb)") lod Coo) %) x 5 gegen ) Xe foi Fy,a) 1 X(2*) ee ees age be Tobe Ipc Mies teers a)" (2) 4 C4)") ut —— (9 X(e#)- $e oo setae Coe ake (d) X(e*) = 2 eee 4 4 xX . ) ees -3 es L a + = x(n} =(4(-4)" +44)" - 204)" ) vbr 620) =a : pee -d eet peo X (ei) = oo 1 oe a ‘a xtnJ= Stn+(4(--£) +(4)" ) ute 3.13 : at (a) x(t) = sin (tt) e7** ule) i) eee eee) eee te) a Ea a2 -2t e77*uay tL, 2+jo 2®* sc) tL, 6 (4 Ww-y) al \ 1 oo. 3d eer ~ rece _ (® x)= ae te o+ o> . Do eate = X (jw) = = — i i & (c) x (4) = [222 (at) | [ sn tan I sn (wt) FT, i rit “wo Ww3) s(t) .82 tt) 21, So S( gw) S2 ie) |, sto Sal ju) A or | 7 “an an = K (jw) Sir Si\( jo) * Sa (jw) lol oe < a-> , mw slolgan »X(w)=4 2 » lol sm ° » otherwise te Si (jw) * Sa( Gu) = XG) 2 an 7am oH anes (a) x(t) = & (427 sin CE) ult)) xb) = (407 ute sae | te72 ult) so: Pahares) pas Ci) gt sw) <> jm S (ju) Cee32 oo ee (go)-- > (ase Gijoauy.) Loo (YY x) S sin (7D at oe aa so ; ‘ sin( wt ) | ae ae T noe E strat — SUE 80) £00) : ge n » W=0 . Xie | Ge _|wl <7 , wo ° , otherwise. — (p a -2b4+1 t-4 -t -4($-2) + BCE) ee: u( ==): 12 u($-2) te 1 u(t) ae eG s(t-2) — > S( jw) 97% s(+4+) <— 258 (9(24)) i = ; U4 + 92) . ee ~j20 _2 Ade) Ge 4ejaw ~ “24 a a ay) in (2 (g) x) = (Se we . “e) ] s(t) x c2%) <5 Si (gw). S2 (ge a s(t) <— Fu S( jw) ot33 S2 (4) ze | # XUje) wit 3.14] on ( X Ge) "GF 9e)* \ ET. aot Gra te u(t) jo Slia) > Ge . x(t) = aa (4277 ute) x) = (-2¢e7% 4 e7** ) u (&) ee 4y sin (2-2) ot sin (2 +2) 2-2 2oO+2 (%) x Ge)34 2_sin w : = rect (t) o& = H ee ee $ (go-2) — ef* cc) = xe) = @ B® pect () 4 2 P* rect (4) x(t) = 2 es (2+) . rect (4) x(t) (e) X (zw) = 4+ 276 (a) Fo (Gor) <> 2 Fuk) and 7 $) o> jor antegration property a4 « x(t) “(Ch ae acta) +e -+ \ a typed Cl Ne) (YX Ga = [ 4 we (eo) BE |35 aisle) co -jtxw) cos (30) S2lgw) <—> ESE +h 5,4-3) 2sin(2e) 4, rect C2t)= o Teepe tk ) Heme gee vect (2 »>) 2oslow . + rect BU) x(t) = - Jt (rect (2 (4-3)) + rect (2(e+a))) a 5 x1 ie € he (ey) X(gay ~ 2 sine wlj@a) 2 sin(w) rect (t aS <—> rect (t) os —> 2 ult) jor S1 (jw). Saga) —> (4) * Sa) ° _ bse » xUb) = 27* ult) # rect (b) = | pe aigect 2e* sinh) , $71(Ff) Cg) = Im | \ 36 jore een ee: Ue <> (4-3) I jora — 2 ult) Im (S(jw)) <9 add (s(4)) = SWese*) -2E=3) yay — ertr® y 5 = x(t) = & = (gy) XCjoo) = He le BIS (a) ae 2S) gs peck hy w® [era je Se) ey -tt . exe) = {3 \t1 ae 2 *%) x(nJ =(4)" uln-2] x(n] =(4)? (4)°? uln-2]J Ue 1 s{n-2] — 27 61 (e*) jo [gee (OR) = ap 2 ae : (& x(n] = (n-2)(uln-s) - uln- 63) x(n} = (n-2) $(n-s) x(n} = 3.8(n-5] : xX (24) ~ 279s (c) x(n) = sin(P 9) (7F +) ® ulp-tJ x Ln} = ee aa Yabo u tnd x [n] = on Ga ula-1(22F | 1 1 (4) tu lo-1) e+e pe emt gn ! es t Ke) z qe (GE gir) + | fe cnGan sin (E (n-2)) ts) to) +(e] « [ SCE) | Siode cote) <5 6 (en) Sa Ce*™) sin (=p 9) = ise °° .-< In <7 7n :38 Stn-23 e+ eo? 8 (e**) ajo m : 2 pla <7 : xe) ° ,& -45.6[n-4] 2 it5pe — 2-H)". ule) od Ge Sle) -jnsto) ex({n] = - in(2Cay ulne ty Ct) ulate" #4") *(-4).${n-4J x(n} = ~4 ws (F(n-v))E + “(n-¥) uLn- 4 3.14 (a) y(t) = x (4-1) -d@ 250 (w) once : ¥ (jw) = 078” X (gu) =e (») y (t) = cos (at). x) (&) = et cam y a + x(k) = ¥ (ja) = ; ) = eX (Gloom) +X (lorry) Y (je) = sin (aan) 4 sin(@+7) wo +7 Yo (ge)2 - (sat 4 50 Coy oar(ce) ye) = x(at +1) - x (24-1) o¥ Ga) = 2 EXC GS) 2 EUG) = 2 Y (4e) = _— 32 sin (cw) ; oF cin Co) Y (4a) = eS (a) yey = xO. Boi pode (eo) = wl ato9) 2 ¥ (jo) = 277" KG oe) 420°" X (Ge) ~ 59H 4 -2 : x(je ¥ (ju) = 2 I 280CY 4 gO snl) pthde 2 sin (2) SS = (ey) yb) = x Ht -jex) oH x lie) YG) as (A) Y (jo) = 9 ( 2 =D (4 _ _2 sina) we (f) y&) sw From (2) » t x(t) — 4(28- 2 sino) Y (oe) = 34 ( PSL2 - Bsiaier). 6 sine (2t -3) x&) 2tx(t)- 3x(t) “042. G) Tom(y , y= Ye (E) at PY (ge) gy shale) wai +m(s) $ (x) Ze Ze Y (ju) > 280% (2) oe (hy y@) =f x(t) ot « ¥ (jw) = 2) 2 + ala) § (ws) ye Cie) = 2) $2 SC es) ® yQ) 2 (x8) + X (jw) = go. 280 X(ga) = g2 sin (a) 3.18 Cay Y(e8*) =e X(eI*) Os x[n43] yln] = (n+3)(--5)°*? uln+3] (b) ¥( 23%) = Beat [x(e#*) 4 <4 Ben fxtn3} 2 KUed4 x00} ne) ule} + Caves) uk] oh ylnd = en ulnd-(-4y" 7 - yd(9 ¥(2®) = fe X(e#*) = gnxtn) es ytn} = -gn? (-4)° uly) 8) ¥(25™) = X (23%) @X( 21-7) Jos an xin, &) ¥( ) (") ( ) x (nJe 97" a Co 2K (e! “yao -5n (« (n+2]) ylnd = - gn (-4 uln+2] CH) ¥ (08) = X( 28%) 4 x (oO Jes xn xE-nIy syn) = a(-5)*ulnd -n(-4)° ul-n] y) y(es*) ot (e-92* [x(e8@4¥))_x (8-H) I ae ' ] — -jn (x{n-21 PFO) _fy-2) 7) ey Ord = -3n2CE)2 TEM 5) 4 Gn2(-Ey? of ete a) pe se (Cee BA. Cy y= x(2t) 293 x tes ~ YLkKI ol Go! = 277 &) yy = 2 xt) Se sews XEKIYURI] =- gk? 27! Go! = 7 () yled=x(t-a) Se ere e x ceg Yle] sap ot Ro YUk]= (ay! boo tel a CY) y Ce) = Beat [xt)¥ SS even [XEKIY YCkJ~ KOI + x C-kI = ylkI= chacl g eg tt oo YLk]= 0 (e) y&) = ws (amt) x) y(t) -jant dant & a xe) ” b(xte- at J+ X Ch 23) YkJ< ¥(- (k- 2)a7 weal (eeaya"™7!) ~gkoot Cf) y CE) = x Ck) me x(E-4) & XII. XE Yk] =k? qclel, 3am % 3.20} @ Ylk] =xXCk-5] + X[k +5] £3 (ed, 379] xCnj4S wan > 20s (En) sin (“30~) sin (359) is yo) Es (&) Ylkl = ws (KE). XU IAS & (X[n-2] + XCn2]) : _ 4 ( sin(ae (n-2) sin Cae (042) yln}= = ( sin (Ze (n-2)) sn(B (n-3)) We) yk} = XUkJ # XUkI 22 (xCn9)* Y ( un n) 28 ce y(n} = sin sn > (S-) (8) YLkI = Peas [XCKIY > Even ( xtn3) xUn}+ xC-n) yin) = ’ ytnj= Ss (455) (Ben) 2 2 — |G) utr3] Ns -¢0 3.21 i oe ) we Th L -gn]2 -ye | oe S\N ae 2m Se Ce). = as n a( Ea Hee sin* CK -@) FS -re S C)tae ae eos (= amiGo ee 2m "3a 7 eee - eo 4dw Meesccciecaatiags ()y ff —— ce feel ae ~b (w44 ) ~ ‘to - ana) feo? de 3 =aT7 in (WL al (9 2 S02 (727) ooking at _Si0 (EEK) re 802(25 &) N( sn #)) : we have + So > Mes So: = a a (Ci) = OL (2) u so (7) io ere ont fF | 2 aoe 2.22] (ay xt) 7D 2-2? ua) eu) oo ste este — ane ula) 1 Ct) so oe dea“ ) ots & XK Cj) 8 . [+o 2 — Se! 1+t> X (ja) = elt q (ey) sn (Cae) prFs; ata sin (En) ua {! Infss sin (“20 k) 0 B x0) ex Lad." 8 eo - ag {xt} =-Bo ( Sled = Xe) nz nee | (d) wy xt? = xt X(2™)|? dn i "4 = 2 Gr) JU taray* ae. 2 7s (= cin) oe —. non xX(es*) ° (on) XUe) = Ee) eae T at If x (&) is reol-valued = x) = x*@) GRO. t X*(k] = tS x*(te ot ae aeons -i5 x (4) e ICR) wo ey te Ske tkg = x Cee50 Gi) Further if xe) even = x (-t) = x(t) Gkwot XE-k] = tS xadje alle var jk wot a bye hee Te oe . Xt-k oF ~gk wot (-k] Fepy Xie at ee flip order of S dt X(-k J XCUk] X*Ck) won «The Xk] is reat voted or Im {XCKIY +0 () xin-nod= ho Fx (28%) ARO) a seas am $M j ee (ea) eee eae da iii “7 [in ng Soe x (23%) g- dt Cy eter xin} = Bx tng edteren ¢ ikon = SNP Ss xin} dk -Fe)hon ken = X[k - ko] jk, ol oe ae (0) ees Cd51 (A) Let F fax (4) + by (t) } = SC jo) jot S( jo) = PF (ax Ce) + byt)) 2 dt =o a Le yt) oan om -& = a x (jo) + b Y (jw) wax (t) + by le) 2Ey aX (jo) + bY Cie) (e) let f [xto1* ytnay = (2d) c(e*)= = pa x(4). yln-2].27 gan =F ter S yen-ey oO Mt C= -c0 Nz- co ee = jak j Se cielo Vic) = x(n] « y Cn) ot XCeee) YU (ee) (f) Let f [xn]. yCn3y =u (ed) (ee) a ~gjnn oo F xceit pest gf xCaly Col. 2 xs] = > M(ei®) = 2 yn tt x (etn pee 27a sh J x(esT) S ytoa ct eine at y an > n>-0o : wae Exes) ZB yt teth ap | oe : ar J X(T). ¥ (eH ) ap eo Xe) a Ce) a xtnJ.ylo) PTET, 2 xX(2#) x y(ed) 27 Gq) let F [xCoJ@ytoay + Clk] n- 2% Cikj. = S = Te). y (n- en N Any | Zeno oS a ( hae) gene “a0 xl] 2s yln-t]e iz a ie] eee Yd I = N= N eyp = N. KCK] 2 yCkI 2 xin] @ ytor ES wx ck. y ces (®) Let F [x ct). yh) } = MOI MUR] = xe) )€ FE OPE ae53 ey Xe cece =o MtkI= tS ES xcere®er® yyy c Tern <7? £--c0 ol £ a5 (ke-£) wot + at 1 yltye ae Ps X(4] Ylk-e] = Xk) « ¥Ck-2) — XCk1 x YCk-£) AS few ety xa E xteette Tt i, Xk (t).y(e) = = $ xk S x le) eS oot cf oo a Ta. Bw Vy» 80 Bw > ta (a) x &) ; : aj aee]? Jeu} 2T vaBe gw >= ale (b) x(t) * x(t) = ee ,itl eT? Bae JS (2T- kak = 2 J UT? -4Tk +47 dt = tr: 32 . Td = eu u I le a ta= JET Bw 2 2 2N2T 2.28 2 f t2 |x [Pat [= le |x C4)]* dt [= a es £ |xce|* at beg ‘ 1 ee 2 |x (je|* do |= os a | XGey|* dosTa) - JZ tt leat de] £ [xCot)|* ot Sf 2a qt u2|x cw) |? du |= us at [Face et ta ES ola x Cat) See x (42) pw rs > [x)|* dew i ae J |xc= )|* dw veg RETO ew af [x Caw]? dv » Ta). Bw!) = Ta. ew Time ~ Bandusitth product is invariant to scal ing Beg =x (4) = 2 Mo oe (a) (i) xt) = 2 XCkI (ws (kook) +j sin(keoot)) k=-058 xe) =F X Ck]. coe (.c0.t) + j XL. sin (coo) Kea -00 xUb) rent: XC-kJ = X*Ck] ws (-x) = coc (x) sin (-x) = - sin (x), Thos : x(t) = X (0) + (ACI + XLS Jeos(hent) 7 + j CXC] - X* CJ) sin( Root y x)= X()42 2.Pe {XCK IY we(k.coot)=2 lm f xtkI4 = sin (be.coot) compare usith « x(E) = Oo +E Oe coe (k.to.t) + bp sin (ke wot) kei (ii) ® = Xo) O, = 2 Re [XCTRIY be =-2Im {XCRIY since XUkI+X* CK] = ae | XCKI- X*CKI] =-7o, AX Lo} = a a = 2 i : es 50) Coot (ii) @o = Xo rg, xwe ot at is ak T dy «chBo 2 -jkwot o> Fe {S, x(be at § 2 ZS xt) Re feSROo® Y ote T 7 5 Zz f x(t) ws (k. wot) dt <7? Ke Oy F ” oe t TREY yp by FE, by =-sin (8k) Jap? +o,60 cos (O,.) . cos (K.wot ) - sin (SF) . cin (k.ao.t) = ws (kk .wo-t + Ok) Thos: x(t) = oe +2 Vat be? ws (k.toot +0) = Compare usith x(t) = Co a Ce cos (kk. we.t + 6k) x Gi) Ce = Vag? 4 be? = 2 VRe {XUFIS) = + (Im (XERT)™ Bk = - tan! be Oe = -tan7! ( 2m {Xtk24 Re {xCkKI3 (ii) Ce = Yap? + by? oe ee Ok = -ton™ oe 3.30] x(t) > -x Ct -E) —holfwove symmetry T/2 ; MO Gea Tt, ~Gkoot To ° -7 xorg { Sawe asf xb)e a} ° “Te Wr Ta : Xk =a { Facer Orta + fix eter ae Sk ge 46} 1 xCk=4-f Fx cee Bort (, -CyF) ae} when k even (=o ,42,44,....) , the integrand vanishes , Thos : Th ae { se Sawtey oer ide bk oda aS 3 ° _keven 13.34] N-I (@ x(n] » XCkJethren Sheo Na 0 equivolent to + xLo} = XL0J 2S, x TN] TN H0 xLVJ = XCo] 2 MMO 4 eX LNAI] eT Roly KEN-tJ = XL0I eT MAN=V 4g XEN ed MUnoIN) con be written = oe pilrreto) eee | ctl xt) =| pI 20) giNmo Oy Xd KEN-19] [edrre9 gery ne (N41) Xone which is 2 kK = VX , Vis Nx N matrix62 V is defined as :|ve,¢ = ele) Rolr) where (= row) = 0,1,-...,N—1 c(= column) = 0,1, iN-I Ne : xXCkI= tS xcnte FRPP ko et neo N. XCo] = xCo3.e FM %9, 4 ctNaz eg TOrnOn-1) N. XO] = x09, FPO) og KEN De He ON-1) NXEN-1D = x03, SONY, En -17 gS(NMOIN-H) can be written = X lo] 97 IROL) | gO MOCNY/S Kud |= 2790) Holey Ne cea ey X{N-1J gH ROA, woe 9 8 Ro(N-Y,, ‘hich igs X 2=We | Wis NKN matrix W is defined as +|Wr,e = + 2 8M) where ¢,c are defined as (a) (co) W.V ic defined as Neo ik . Wee = 2 ce eo =O63 Net Pleo (r= So Keo N tac Ne gkno(r-s), ake Flr -c)(N) e l-e2 oo Cae kzo om. eee ' { i: or eee 2 Wr = me ° ,CRC which is an identity motrix sW.v =I = x s Kot Bea] Rye) XtkI ka-y MSE, =~ S [x (t)- %()|* ae q +d, |* 3 (+) | = (KG) Ry 4)) ( x Ue)* - BAY) (oy | xe)- Ry) |” = |x Cea]? = x Ce). RyTCe) ~ Ry ey x + Ry) GUY t Rye) =X Lede hoe key Thus : Nh . oe a(t xieye rat) nse =e, [x] “at “3, XC ed,oy g ik . Gkoo.t a (t).e a ) af 2 X*U6).x Um] (7 f eee eet) meg Tay. () ¥CkI - +h, (ep. eRe oe MSE rh [xe 5 X*(kJ SCkI- Ext S*Ck] ay keg y So S as Ck]. xUm($ ¢ ~i(ko mits ke-p ms T,kem - - ot ul Be I(k-mwot { 2 ok em oo. 4 a ee tm) Ome e 2 X3.X0 er mJ “ 2 72 |xck3| beg Thos 3 MSEg = = af bel? dt - $ X*(CkI 8k] - -§ xter ye Ck] kJ ke-J ad [xte3|* ke-J(9 2 x “tel ve) -2 XCk] O*TKI] iG a , ted scea|*- E |xos)?-2 [scea|* "ee ke-g keg Thus , we con re-write (b) as + a 2g 2 MSeg =f [xe Pdt + 5 [XCk3-¥CkI|* 2 |6Ck3] Tory ke-} (d) Minimize MSEg . MSEqg is minimized when the sum at the midelle vanishes : ~ XCk) = 6CKI (e) MSEz min = +S |xt)|2o - 5 | Xte3|* Tory keg As j Wereases « |X CkeI|* is aways greater thon aero, so the som : [XTkI|* > 0 ke-y Se is 78 [neal As a increases 2, |X [k3]* increases ond E 4__ min decrenne 6sIn fact , it ic expected as Foo , MSEz min—0 3.33} t ta-t, MSE = te N 2 S [x3 ce. +k (t)| dt . ket N N-1 (a) Ix) 2 Ce Hee) =| xe]? - xe) S cM one) S keo a Mel ee kero N-1 Ne + ZS ce .cm™ gece) penlt) M=0 kz0 Thus N-1 be Mse => -f Ix@olPat - Sg Fxte) ou (ya) | ko MEE Met t. ox > ce ( 1 Ff xe) be Ue) a ) ko ‘tant N-! N=! t2 + ZZ emt (Ge Sat on*eet) fa-t gy m=0 k=0 Let : Stk]=p— 5s x(t). p(t) dt antl use the. orthogonolity M \ te i SE =e = N-t = oq .o* lk] + = vt Jet 20 [oe Fixvol os - Ee sUk3|* obie No 2 ae & [res Analogous to 3.29 Ke 78 tI -3— S x(t). dee) de + ae fe SI Jen|® b) MSE min =—D— & - () MSE min =o Fhewl* ae = aoa ta-t ta N-i [J IxGe)[7db - Ze fe [eel ‘ kro MSE min = 0 , when : te Net Ll xcol? de = 2 fe leel® ky keo (c) We can see that the orthogonatity relation for the Walsh function is as follows + 1 Pee * > Perse tel ae conten 2 ei eee wy xt) = { = 7 | ° , oo stey, Becks 3/4 coz f 2d =t ca = 2(4)=4 ks Bly cy 2 zlo)=0 C= f -2 de =-t Yo ice (9) 0) co Hf -2de 2-$> K(t) = L(go Ct) ~ 41 E) - ba) + Fa &)) ~ where x(t) = x (tb) Sketch : Xb) ay 1 Ku) a My ‘ From the sketch , we can see that x(t) = X(t) MSE =0 Gi) «x () = sin (274t) ostsi Co = f sin(z7t) dt =0 4; c= F sin (amt) dt - S sin (amb dt 2 2 5 Yo C2 = o $2 &). sin (27t) dE = 2 Cs = © by inspettion cy = © by inspectionb9 Ye Ys Yo co al Ssn(ambyde - J sn (antyat +f f sin(antyat = 2(i- FF) (ote) R(t) = se (2G) (e) + bale) + 22-1) Hs (ED) Sketch xt) | ae | fo ge 5 Ise (amt) - 4) |* dt a(f F | sin (amb) - 2 [ae + floor 22 [a MSE ”a Lasl2y , 2 0.17 ]2 +f botant)-42| sf fom ant) Se at) = 0, 1265 a (4) ee) = PERL te Co - H o atey Sot) = 1, B Ce)at ot) = St)-40) =4 (347-1) a (4) > Pt £(st*-1)- Fey. 4 (st?- at) ou (b) = Pt H(st¥3t)-2 4 (at?) =H (84 -s0t%a) es(e) = Det (a8t*—s0t%+3)-4 1(st?-2t) " qo (ais t® ~350 7 + 45%) The orthogonality relation for Legendre polynomial 4s : * eS i J Fe CE) be Cb) dt = See Sor fe 2k+! ; ket Gy x=? oe oe ° pris t 5 Kt) = B ee-b tk) be Va 5 ee 2 2 ME = [fe Soe lel*] 56 = 0.1886 (ii) x Ce) = sin (at) paces coz $Y sin(at) at GQ = = ‘Stsin (wt) dt = 0.955 co = SSE (st?-1)sin(mt) at =0 ca- a # (st?-3t) sin (mt) dt = -1.158 cys S Soe (as t¥- aot? 42) sin(rtjat <01 cae J yp (at? - 360 £3 4 75+) sin(mt) dt Cs = 0.213 = 5 KG) = DBD ce. gee) = fel ay 2 = 2 2 MSE = [ Fl sia (rt) dt 2 ay lel ] MSE = 3 x 107+ = 2.34] x(t) (a) ‘A - 4 7 : %, () X(t) +2 Chl ae w zat ie ajkoot™ X Ck] = 3 7 KE) TRO de v2) he : . fot XWo)= f xe dt a) -% Using . x (4) = tim ZU) a a zk & te ee) ce 723 Tle a jkeoot As Tom ,XUkKJ=lm LS xe ate Too | -Yo jk oot Miele fC) eee ce de Ta Compare with (3) ; we Can see thot XU} = aX (jhe wo) 7 2 i ; jk wot ux yee ic X (jhewo). 29 k=-co om J Wo co : a Kye ck SX (jee) e MOP we k=-o0 ee Cd) x(t) = Gm % (tb) T= 00 1 i io . ae : gees: Gn am 2, XWkere toe let ws k Wo uw T— oO We 7 0 ; kK—> & 5 W—> ow xt) = me ZF xX (jw). 23 we Wor 0 ws-00 Sy jo) ee ae es = as an4 = 1 sin( ke. (aM4)) on sin (ke) X Ce] , ko, Btkas | Ste) bet 2.) N=50 , J =1.3,5,23,25 xj ln] == B[k] cos (k.M0.n) eo(omega'n} has it y i te —Plot 1 of 6- ly willy All [: | iy ii, ¥ Th Y i. Uy Hee “th ial I, 1] oft76 P 3.35 — Plot aof 6 - B[23}cos(omega‘n) Caaawuee 3 B[25}cos(omega"n)BS]eos(omega’n} P 3.35 — Plot 3 of 6 [: yr lh, “ é A IN : tu [: / il yf ii i ilk " : J _ emioe ° | ! NY ' iy = dl h =P3as — Plot 4 ofé - i fil i : resgeeeetst hl Jo 2 oa 3 z = go a “oa Boor ] 00 ° 20 cea BO "B{t}cos(omega'n) vill, yy 1 “il ol 2 | | l | ll ae IE “i | | | | i iil i I, bot It I I t 1 a | 0 0 | 0 J0.015 a P335-6 ST + riP 3.36 — Plot 1 of 2- P3.36-1 303) 3 2 zZ, g x02 i Y oa ~100] Of eee eee 6 ior ae ° a 100F ° 2 Ill ¥ 100 5 cite ee ° 3-90 Q ee | ~100] °02 20.15, 01 0.05} P 3.36 ~ Plot Rof2- P3.36-2 e” | z ° ° ° x | | 0 4 é ° 2 4 6 100) 2 road * -400] 4 ° 1 2 3 7 | ” so} 9 I tvs 2 4 8 ° 2 4 6 ez6 Bo Ixinl! Ind! P 3 .3F - Plot 1 of a- Paar 70 8 ell ital Zo 1 Pollo $1) fers |b d =100 NO eto 20) ° 5 701520 10] 2 E 109] en | °ey P 3.3F — Plot 2 of 2- P3s7-2 8 8 8 ” Bop tuPx> ¢ 3 Bop [u)°x> bop (ul a 70 103.38 To compute the time signals from FS coefficients using ifft (-) , we Wole aE the expressions + = 72m FS RU) =F Xk) 2? 7 kerio DTFS: XEnJ == Xk] eTArKO Y[k] = {Fac Cate gee an? ‘ts ; he : 2) ar Clk) + pale keo bl 4a : : m xOT of cig) ey 4 “al 4 , eto k2 2" (&) x(%) = = X [ke] ¢ Seok k=-00 since x(t) ic real and een, XCKI =x (-k] x(t) 2 X Ck etokt, FS x chet, xp] ke-00 Me x Ck ]ed@rht, & X Ek esert 4x0] a ee © ”Ge 2 X Uk] (2 deekt, ,-sookt ) + Xfol a Chkwet) ko where Bok] « { ee Dinah 2x(kI] ,k#to0 a a (&) xg le) 2 BK] cos (k wot) =OP 3.4o — Plot 1 of S- P3.40-1 0208 On “02-01 03 =04 02 08 04 05 ot -03 02-04 0.4 2 5 (vom,1)s09,[1]8 2! ol hx -06) 0.8]*4 P3.4o — Plot 20f 5— P3.40-2 oz 08 04 Ot 03 02 01 0.4 g§ ° 8 S 5, (vom.¢)s00,(6]a & 8 02! 0.4 ox -06| ~08| 02 «0304S. ot 03 02-01 ~04BI7I'cos(7"wot) 5 0.2! 0.4! x 0.8 Pa.uo = Plot 3 of 5- 340-3 ica 02 03 04 02 03 O4 05,fe P 3.4uD - Plot 4ofs - P3.d0—4 x10 05 02 03 04 ot 03-02-01 04 a oq (vom,62)800,[6z}a Y | 6| 0.2 0.8) al 02 0304) OS Ot “02-04 03) 0.4v7 P3.40-5 P 3.40 — Plot Sof 5 - x10" 02 «(034 Ot ~03 -02 -01 0.4 (vom,¢6)s00,(66]6 7 -02! ol 6 “i -08| 02 03 04 08 ot “03-02-04 =0.4ve 4) A (a) Xk] 500 3 0 300] = Bars 2 Wy P 3.45 - Plok 1 of 1 - P3485, 4 100 200 300 400 500 600 700 Duration M : rectangular pulse 100 200 300 “400 500 600 700 Duration M : raised cosine a1 05 1 15 2 25 3 35 4 45 Pulse duration a : Gaussian pulse otCHAPTER 4 fa] (@ h(t) = S02 27% 40 : 2 = 2 a. tae 7 Ze high pas mee Haw os (H ALE) = 4277 cos (20%) ult) ee ie) 7 Cea | 2+j (w-20) attenvates components except at cos +20 Bandpast L T(y hon] “£(E)" utes He) =. (ye Be H(ete) = 4 Hes 5 J} towpase (d) hin] = fe Int sto ° otherunse. : 10 i . -d He) Ear) a rine tc e [eae ) H(i) = cos) cos) This has o highpass profile(e3] (@) x(t) = eT acted yt) = eo ult) 4 e7FFue) i) joe Y (jw = = ! 2+ jw Brjo ¥ (je) tO xae jot tL G H (joy s SE, 4 Z+jw B+je oo 2tjw B+ jo Wi occ) = eeu Zea lt) (be) x(t) = 27 uu) yt ce a X Go) = yi Sel -§26 go » ¥ised 3 2 + go (y x Cb) = e-3® y Ce) = ate72* ule)(a & X (je) = 24+ je > SG iG Cj 24 je hte) = 2272* ub) x(n} =(4)% lad yl} = sp (Z)? u lod aq)" u Hee) = htsJ = 4 Sf] -(44)" x(n} =(q-)" ulo) , ylnJ= X(e*) H (ei) St eee hOnd = §€9) - $tn-1]J ¥(e eet oe Geiot ulnj u Ca] (a)Pulnd - -(x) *yln-1) “jn pe ja [oe we4.3 Git ae ayy +3ylb) =x) (jo +3] ¥ Cie) = X (jy He) = sy5a7 at he) se uley J? dl ede Cb) ae yh) + sg yt) +e yl) =- ge xe) [ijoo)? + 5 jw+ 6] ¥ cae) = jw X (jw) H (jo = 5e (jay? + 5 jo +6 aS LD) 3 ee wt2 . jor s hi) =(2 2% ~ 3 e-3*) ult) H (jo) = (J yln) -ap yto-1] -+ yln-2)-3xt0)-Fxb-I ( -te st 02 yl a. (3-4 ot) x(e) oe + : a-ae - re yabeFy $e) (14e*)jn) 2 \ . 2 ee a NF] htt) ~ [CD84 24)" ] utes (a) ying +b y tons] = xin} -2x tn) [isped*]ucet) = [1-22 ] xe) H(23*) = (oe l+$gr a ee : Be let ode h(nd =-4 ${nJ + 5 (-4)" uted ua (ae) hE) =e * ule) H ae el eg ga A candi L+jaw = §¥ Lie) X (509) = a 1 yit)+ yt) = x) (be) hit) = 2e77 ule) — 2b 277+ ule) 1g. = z+Jo @ajay>HUjy = 2Se+ 2 (2 + Je) * 2 9 Hine ae 7 wo y) tg yh) +4 y &) = 2 (ge x te) +x) (y htnd = KP ated |X] E (ja T-A)7 65 -5 +j2w -5 +520 Gon) (ie?) #liy) = = (joe + 35a +ea 9 + jor) Jore hue) =(- get + 9 e77*) ult) => H( jo) = —5 + j20 _ Ylsey (ja) +3 jor2 ~ x (jy d2 us ya) +3 yle)+2y(t)= 2a Be xUt)~ Sxlt) Ut} _ ae _ o ay A [e i] > 6=[°] ,ezfho)] / d-0) Hle®)=e (24 T-A) 1 645 = 1 eo yt Fay of ° coo 4 (ei) A (e3*aF )( 2 +5) ~ (e872 HOM) AE Cae te) -= (arth) 4 Ele-H2*) bak (es*) ~ (0 87*) Cea X(2I*)AL aL yln-2)+ fyln-d +yl09 = ix Un -2] +-pxl[n-1J+ xUnJ ; ~ jen \ ee Sot G-pe U4 bes) : ose ( 3 : 2/3 ] = job 4b i 4 SET hn de Stn + (L(y? +S (-e ulead & a= ‘le 4 (b-[!] ef 11, 5-00) R(cuet A )e bs D mare Tal jn 4 (23*)»—_@ (e*)* - ap é is H(e#*) -=— 4+ —___. Gu) (sey) 27m (ei*) = we a (- 2.)42 (a) Sais ee ee hb) = ((-A)" = (-4)" ) ute] i ( H(et*)= ues ap yln-2) + y lod = xn] ee] = tet Ls] Before tronsformation + H (jw) = E [jot -A]10+B H (jo) = —_1_____[o ae : je] +0 rn -f 4 Oelal c (ci 5 [ec] (Geo #1) (Go #3) oe 4 (jo) = aos oO) With transformation » A! = FAFA -[? ‘| aE13 H'Ga) = t-1[joT-a'] b+ 0° lie ‘aaa tt a wef] +2 . 2 Cgjw +) © (goo4t) Cdas3) H' Gy = —2—_ jure Note that H( ja) = tt! (joo) 4.9 (a) x(t) = 2 sin(at) + ws (27t) xe) =-j (oe) +(e? aaa) @®o = gcd (a aa = 7 ee ae x(a) = 3 x2] = xC-2] = » XC ja) = 27 Z XLRI S Cw kee) = 27 (|S Wranjeg Sem) - j£(@-T) +t $Cw-a7)) a RH)4 Soe (b) xUe) = 2 a wos ( (2k +1) 2t) “2 ¢ = Ke Cee oo) oe Wo = 7 “Xja)ean : *(6(o-a(aken))+§ Go make) oS 5K ied (y x(t) = |sin (7¢)| Wotan ,T=4 t XlkeJ= Ssin(ae) 227 ae 1 Pett eh), emit 2k), ol (t-2k) * Cit 2k) = Xe) 227 X[k] §(a-k 2m) pr(i-ze) where X Ck] is defined above. Since € -s = Lu \ \ 1 (ot . | : “X40 + 2. (Gl + Aaa) Sooty)IxGe| B : ; . : |e XfoJ=e+t = is 3 3 + Xj) = 27 X[k] &(o -k 32) where Xk ie — defined vbove.k=0 2 7 ° 7 tea | : g2es(7h) keto Ab. 00 Ze 27. X(kKIS(co-Dk) where X[kJis above 2200 2 X Goa) = ala 10 (a) x€nJ = ws+X(23*) = 2n[g S(n 4d aps arZ)4 ghia -E st s(a-%)] ( xlo= 14 3 cos(Fm)s (n-m] m=-co N=4 Det BE Ove periods xLt] =t , xU)2, xl =1 . : i: xLT= oO : ‘ Naz a Mel= bleh rare j = b+ Sesky Ye?) = 5 Dd Ue cos(e$)) S(n- eL) Lene Ix] arg ikle™)$ phase is zero Ons ao from table: M=° 2 tfXtep = seCkSO) yy a sin(k 2J XloJ = 2 x an) = kus x » X(e [27 X(kKJ § (n-k. ZG) 2-00 7 so ae 289 ata ry ox d) N= ae (d) 7 oe + XUkJ= g (1-2 Th dk ) sei -2 wos (2 27 k)) «=X (ei) sane XRT S (a k= . “Ey4g () Ne4 , a2 e gk ~gk: ee Mi eee BX) oa Mile a Fe) =. A eeeeieee aes eee Meera 5 Reeereeree a reece teereea eer rrreee: Kirt py ff c N i 1 NG : | l | I | | : : 4A i hie) = 2S uae Cant) Hj) = 2 (sb) So Ga * a(S ~471) + S(eo+4)) = Sq Cj (w-4m)) + Sq (5 Ce + 47)) S44 ; to, lel DZ &(w-k) + §(w+k) k=10 Is * yt) = SZ ws (kt) keto © 1-1 @&o = 27 X (ja) = 27 2 eee oF) Stay k-c0 Ge) = X Gay. H Ge = an(ge oP) 4b -237)) = 0 ayG@=zo () Tea oe X{kKJ = 4 fi ee As we see , X (Ju) = 27 Z XCk] § (o-kanyY(joy = X (joo) -HCjen) vst ot heve any intersect thes “YU (je) = 0 se yk)=o () T=) oe XUeJ = Se nb a-dkamt ay 4 a ‘a e-Uitskemy pe \4+gko7 : bey kor X(jo) = 27e X Uk] §(e-k 27) Y (jos) = X (jee) 4 Gee) -1 Y Go) = 27 (1 & Sete) 4 2 __ Soeur) (4 Jun (-g47 oe S (er- aa S$ (atsm) Ye) = anG- l(a l+g4n +e) gunk -g4mt oy) = OCA t+ Age) : (+gu7 1-347 = We") a REF el Jar jtaF 23] ¥ Gey (HC je) = GC 4%) Th fime domain + git) —y (&) = PC ay te) atear AL Gl joys (1+ joer) ¥ (Jo) () x(t) = ws (120 7t) Wi) g ) =x] , Sez aun nm , Tee 240 jinomt — ~jr20mt) —jkavomt GlkI= no Sf 4(e ee ~Y2u0 ie ee ee 7 1-4k? 6) 4 S (=n § (w- kK 2407) ke-co I-4k? Ci) UC jw) = tH C jer) G ( jen) Sek ! $ (@—k 2407) 245 = ke-o IH4¥R* +5 2407cR (ili) Use first harmonic onty + : L/S (-2407) Y Gay~ 4[ 5 oy +5 (EEE (ey eg e gfe BE y ES, we > a Fipple BOAT23 A Ine] = +(e] < ow 24uo 7T > 66.65 + T > 0.0884 s mis] «6g (&) = x) .w Ct) y (t) = (9 4) « bt) cos (STH) (a) w(t)= os (St), hte) = Seen td GU ju) = 3 X (jad * We) W (ja) = 7 (8 (e -54) + §(a@+tsn)) Thus + GC jm) eX Gwe -sy +xX(g (wes7)) lel< én H (ja) = is , otherwise YC joy =e C (jo) (4 (8 Co) + § (e+ sm) Clja) = H (jm) (ja) = G Wey24 UC jo) = 5 (6 (x (o-sm)) + 6G (a+sm))) Y (joy -+(% (i (w- tom) +2 Xia) +x Cie ten) ee am on 17m (b) wk) = ws (s%t) | he) > Sets * G (ja) same as (a) to, lwl (H (ja). (ja) Ja (A(st-s% + 8+50)) ! Hija). Ga) = € jay Ma. 2 GC dw) the some as (a) HC je) . GC je) i sketched let CC jw) = H (jam) .6 (jw) YC jay = & (Cy Cw-em) + CC 3(w+5m)))a5 (ce) WEKJ = —5 S[k] 4 2 sin(k-) coo kan zi = W (50) 2 WCkI § ( w-kz7) = 60 GS (jo) == X (dw) » W (ae) 2 6 (ja) = wk]. x( 3 Ca@-k7)) ka = 00 he) = se bert) cos (smb) : lwtsa| oe) _ sio( Zn) wos (4 —_— z 7n = Sin( mn) 27K > + Sin) Cred) @ (ue) | (he) = H(23*) sin (En) —vol” 7a (a) xtnJ = 14 sin( Fn) +2 coe(2En) , wind =cox(En)32 xX in 7 3 (2) = am+% (S(n-Z a 7 a a ; B)-S(a+ ») +6(0 +32) = + 6(e3*) aoe ae x (e8*) awed il ce 03) = 6 (23%) H (25%) y(ed 7 ne +p l)/+y ary Jem (S¢ + $ a Bg + ( #)) j ; 4(S(a- as Cn )) tom. Hed) eytn] = + sin ( 37 — = os (2 (En) -+ sin ( 3 7 n) + 250 Gin) fay AF cy) ea) ae33 . MK Go 2 on ae ja > Xe oa {t , alse ele AE Slalsa, 2% = 2m petoaic W) x{nJ = sin (Hn) | Te mM 1 lol 27 ot oe (da) x (4) = w(t) -g ) X (joa) 7s W (jor) x GC jen)4 By inspection , os max = 57 + Wa So : B= SA +a a7 a 2 57+Wa X (jes) bonduimited to 57 s Ct) x G&) + Asin (120 7+) Send: s(nT) = xCn] + A sin (#1E7 g) ” xn] +A sin(Fan)a + oF n) s(nJ = x{nJ + A sin (4b9) ox 2 sin = oe w= a = (Ses) = 3a (a) The sinusoid appears at w= Sq vedd/ in SsGe) (&) Before the sampling , slt) is passed to the LPF 1 joc e 1 \ oe l4 jocr 14+ juT joc TC ja) = I i / = 1000 ae @ +4207 Tx 2.658 IT(3e| =42 (9 Fe 1 SY Saerrgcesy 1). | | Vi+ @? F.04 2 y (Ck) = x ) owt) |X Cgjo| 2 0 for Jw] > wm For reconstrction | need t hove we > 2Wmox 1 or T <——— = T<— 2x fm com 2m Finite duty cycle results in distortion co W( jo) = 247 Bo XCk].$ (oo -k. 32) k= 00 where XCk] = cl aks 743 After sampling + oa a YC je = 2 SU X (y (o-k3%) To reconstruct , Hp (ja) - YC jay = KC je) lolA - cm 4.25) |XCjayJ=0 , lal > am y &) = xe) [ws (27) + sin (10 7t)] Y( je) = Z(% G (o-2m)) +x (5 lo +2m))- 5 XG@-t07) +gX (4 Ce +10 1) x(t) con be reconstructed from y (t) if there is No overlop arong four shifted xX (jw) . Yet , xt) con still be reconstructed when overlap occurs , provided thot there is at least one shifted X (jou) that i net contaminated 7-27 » Bm mar = ot4G) -2n 2m ae tiag OR Hm OT ray Lew pass KLE Y Se : 1Bl< Wa Zain(lewt) IMCj)[-6 | fe lal ojo. &, > Wea - oy, Can tolerate aliasing , as long as Herve is no everlag on ww, elolew, uel . wy-w, vegeire wcewrz-w, Ws 28271 ye 2 ee x ®, < lol 2m Z (F)E § (onan) We can see thot comax = aT Be? 2-(8%) —2 Tey ee = 22 ( T=23 co = Xs Cie) = a5 2 X (Glo t 1-990) 20 XGe) as w Bn ~Hn 4 er Xe) Qype ; ae. Lisese (UT UL {tee TELM tee. ol ae Sa e abn 7 : sea of RU! Aliasing produces a “Freuenc sealed Cy ca : iv) ee ee AO, From Wer 2K te wi = Ow. Applying the “PE (ler) gies X(%p)-46 And x (revonstucteay CE) = we x(4) scating factor = i —t Cc) The choice T is such that no overlap ( aliasing) occur First = 32 < am —+ T>1 (period of original signal ) : an Second : (27 - =F ).4 < e ( %F hold Xs{n] = x (T) 1) 0.99 < | Ho ( ja)]. [He Cja)]< 4-01 com See Scom 0.99. & | He (ge 0.99. ee ac ay JHeljo o) < —ES®& C) asin(@ #)47 Passbaud constraint for each case: OY - VA usds|< oe 2 sin(oT) Z2sin(wo FE) Sto pband # J HoGsd|[HeGay| < tot at worst case G= D- wn 7 4 a | 2G S)| . [ae si sees Q) Wat low , T7008 ts Sn | HeS)| < O.6024S by) wes low T= O05 & = BOTr [HOS] 9,00 666 C) warlor T = O01 = (Wor [He YS <= 6-191 d) Wm = a V = 0.08 = ase \ He )\ < O.CI4S4e 2g} =x [n] = x(nt) % Xplt) = 2 x(n] hp (+ -nT) 2-00 Xp (jo) = Hp (ja) . Xa Cj) Te Hp (joy = 289% B) | eS Te To w constraints + ® Passband 0.99 <|HpCjo J]. [He Cio y] < 1.01 | using am x1om 0.99 To w ‘ 1.01 Tow Qsin(w te) < He ( jo I< 2 sin(a ze) i a 2 sin (w -B) (2) In the image eecation oe [Hp (5) |< PRS here 5 = 2% tom 2 sin (@.>) v (a) To oe elo OOF &= ior Ire cgy be 116d x10 (be) T=0.08 |T, = Gor S=195 (He fed < |.038 x07 (CF -cce feces | Ge 1ea THC\S) | < LoseneT aw (od) T= 004 , Te = O81 = 10K HAD] < 1-609 xiot(a) x,t) = = x En) h, (4-0) nea oe hy CE) @ ho GH) a Bo x(n] & (4-00) Ae =o Thos : X, (gw) = He (ja) . Ho (jw) . Xa (jen) : : = Se e OT 4 sin®@ (wa) ae Distortions + (1) A linear phase shift correspontling to a fine delay of T setonds (a unit of sampling time) (2 sin? (.) term. introduces more distortion to tthe portion of Xa (jw) , especially the higher freevency pork is more severely attenvated than the lower one . [Ho (ja)| 720 27 Tv eT more severe attenvation in the main lobe, between - com and om (3) distorted and attenvatec versions of X (jw) still, remain centered at non zero multiplies Of com , yet ib A Cower than the case of zero order hold 995D (b) Xa (jw) - Hi (gw) . He (Jo) = * (Ge) Held _ Cela xT x Cideal LPR) elie) = int@) Tee > | [eale com wsin?(@ Z) s He (ja) dont care. pom < la I< ZF com ° lel > a = com Assuming X (jo) =o for lal > com (Y) Constraints : Q) Tw the passband 0.99 <1H, (ge) | [He (40) < ton 094 Us” . AOL ee Wea ee Yano hy < eye) rs (2) In the image region » & + 3h on | Hi 4 )| | He (4)| < t0-* (07) CB) * = [te CIB) < I¥e | 4 sin2(S x ZL)5\ @) T+ 0.08 (2) Bs sm: THe (9 15%) | < 0.060% or te (7 157) | < o.co¥s! TH! Gi) T = 0,04 (2) & s4onm : He Cg4on) | < 4-143 or Ite (guo 7) | < o.c4st vo oT xtnd= So xlt) dt = y (nT) (a-t & so, y(t) = Jf x(t) at ley inspection eT co = Sf x(T) hUe-T) at ae = xlt) we h(t) ! 1 O8tST choose hLt)= } i. , elsewhere52 so that. 4 t-TST St h(t-t={ ' o =, dsewhere « h(&) = u(t) - ult-T) (bE) YC jw) = oe y(n) =o t 2. y (4 Coo- kk BE So: rr [xteay = X({@-b.22 =) 32) H (gj -& 24) (ce) xe) is bandimited to lol < 22 < a r an ao lel O.9 . UT max = 0.0025& + Wa min + 200 7 Wy max + 27 _ 200 7 = 6007 2 Ra = 0.257 Np = 0.5 7 fand2 + Wy min = 200 7 Wa max > > . 3% = Hoo 7 (no overlap) [4.39 : sin (A x : X( 2%) = Soa? - Xce) = x (eae) sin (=) Wk2o ~ (Gea) 1 Ini period = N CoE ne 24am JN= Sinjef'® , Inles x(n] {¢ , S| 56 hh Ss X (ga) = sin (203) =o Xk] = X (gk) = S02 Gk we) co Zp) (@) we = Es Kfey- EY ae wk T=16 a eles x(ty= { Oo ,2 xin) 6 Ce eo) n= 0 Kis clear thot if [T= N-T] | the eovality is satisfied +X Ue) is periodic with T= N.T (ed eee ot Je 8 co . aes Z xfs (ante TRO ae Tne ze Dt fot) ce qos 1207 , dom = 207an 27 Mv 2 ae » &r > » Wr > 27 . 7 ws =2t. N > #8 Oye OO OeYS (@) Lowposs (be) Hiehpase P 4.43 (¢) Bandpase (@) Lowpass - Plok 1 of 2 P4.43(0) 1 oa = Fos o2! a5 =0 8 ° 5 “0 8 Ws radis P4.43(0) 08 a" Fo o2| ons =10 5 oO 5 10 18 W: rads~ Plot 2 of 2- P 4.43 P4.43(0) IHc(Omega)! ge: 8 8 0.15; on |Ha(Omege)! 0.05} a 0 W:radls P4.43(0) 0s 15 a W: rad/s be13] Haqwyl os| P. 4.44 ~ Plot 1 of 4 - Pasa 30 ~20 =i0 ° 10 20 30 Wrads . -30 20 =i0 0 70 20 30 Werad’s 67P 4.44 Plot 2 of 4- Paaee 25 2| Bis : 2 24 os 20 “20 =0 ° 10 Wired's 3 2| et ™~ s Zo 4 2| 10 6e< Helv), Hew) 2s| os os 05 a P 4.44 - Plot 3 of 4- P4443 3 2 = ° Wrad's 3 2 = 0 Warad/s GFTaq -P 4.44 — Plot 4 of 4 - P4add 13] 12 14 1 03] 2 a ° Wrrad's a 0 Weradls 70P 4.45 ac 1Y(Omega)|M- 12 1¥(Omega)):M- 8 1V(Omega) EM: - Plot 1 of 1- Pas = ° 1 omega a 0 1 omega a 0 Hi ‘Omegai] (c) Using interval of Goo , tht mainiowe wich ond peok sidelobe for each windew con be estimated from the figure or finding the local minima and local nulls in the vicinity of the mainiobe 1: rad CaB) Moiniobe with | Sidelolce height [Sito ssi snus Note + sidelobe height i relative to the muiniobe Fanning window has lower sidelobe , bot wider Mainioloe usidth compored to rectongular window (a) Yes , because two sinusoids are very close to 267 297 goth other ( 26% ana 22% Since Honning window has wider mainicbe , its resolution copaloility is inferior to rectangular window Notice” from the plot thot the existence of tuso sinusoids are indicoted for the rectangular window , but not for Hanning window. Ce) Yes, here , two sinusoids are significontly far each other (the separotion is f- which is eignificantly bigger then the moinlobe usidtn oth usindows) , hence resolution 7s nok @ problem for Hanning window . Since the sidelobe magnihide is higher thot . 0.02 im rectangular window, the sinusoid at o>oS aes & |W (Omega) dB:intervalp/200/ (Omega)! dB:ntervalpi/100V,(Omega)l dE:interval p/SO is indistiguicheiole , unlike tne case with Hanning window whose sidelobe is lower thon 0.02 P 4.46 — Plot 1 of 5 - P4.46 (a) 3 2 4 0 1 2 Omega 3 =2 =] 0 1 2 omega 3 2 a 0 1 2 Omega 73IW, (Omega)! dB:pit50 IW,(Omega)! dB:pi/200 IW, (Omega)! dB:pi'100 P 4.46 — Plot 2 of 5 - 4.46 (b) oF, omega Ay = 74— P 4.46 — Plot 3 of 5 — P46 (c) 9 5) -03) 02 0.4 0 Ot oz 03 Omega o 10] 04 0 ot 02 03 0.4 ‘OmegaP 4.46 - Plob 4 of B- 4.46 (6) ° ~ 2-10 S15 2-20 Sos = ~80) 35 3 = a 0 Omega : Naf Omega77 P 4.46 — Plot Sof s 4.46 (@) 2 ‘Omega 2 oo 7 4 4 2 9p |(e62wo)™A) OmegaP 447 - Plot tof1 — P4a7 8 DTFT xin] DTFT x{2n} a 0 Omega > DTFT x/4n}P 4.48 — Plot 140f 1 - DIET x{2n} DTFT x{4n} Pass a 0 Omega a 0 ‘Omega 1 0@d WM (a) x(t) = evs (32 b) 27 X (jo) = (Sco -3F i = By) oo A (~ - age ~Va (e eckr @ +32 For lol Dam [x (jal = eo! oes -32)* [ — ie I X(jo)lsBa*(© ose 2 jea2 ne" a negligicle. (b) , Ce) ,(a) x(n] = cos ( 3% nt) 2 E* es that x(n] ic symmetric with respect on 250 X¢ (jw) = xfoJ +22 xl] ws (a.nr) = t+2 = x(n] cos (wat) Asido, the magnitucle difference by » X (jes) ond Xe (ya) for each Tare different within E 3m, an Jonly when {he sampling period T i= big enough such that SigNificant (noticeable )alliasing occurs. Tt is cbyious tot the work altiaging occurs for T= +Pikes tes - Plot 1 of 2- P 4.49 P4.49(a) 6 4 72 0 2 4 6 8 w P4.49(b) 6 Zo 8l25) x30") os - Plot 20f 2 - P 4.49 P4.49(6) 8 -2 0 w P4.49(a) ~2 So BzP 4.50 - Plot 1 of 1- 450 2 ‘Omega 8384 Pus - Plot 1 of 2- P4.51(a) 6 5 84 2 33 is 1 i onset UA Mts 0 6 ee ee Wradls P4.51(b) 6 5 Ba 33 i 1 ° fl [ttnnttmmttee 0 6 a ee ee ee2500 N=4000,M N=16000.M=2500 85 Past -Plok 20f 2— P4si(c)ee P 452 —Plot 1 of 3 — P4521 0 | OS 1 15 2 25 3 38 4 45 5 Frequency(Hz) 034 0.36 Cees OMe One 04s 0.48 0.48 05 Frequency(H)87 P 4.52 — Plot 2 of 2- 452-2 {Y{kE:M=2005 Frequency(Hz)IYIk:M=2010 P 4.62 — Plot 3 of 3 - 462-3 0.4 0.42 0.44 Frequency(H2) 0.48, 8S8F = 0.133 , choor[T=0.)] [4.53 (@) wa = 57> 1K BS (6) For a given Mo ,the fresvency intervel for DFT = 22 ~we wont Mo ? 2E 1k, -2a7.T ond Mo = Sb and 2E keg = am(eayT ond Mo > AZ. ond 2m = amr kes ris os ee od ky, ka, ks integers Mo , the minimun By choosing T= ot Tao. =8,kaell awith k,P a.ss - Plot 10f 1- P45. Frequency(H2) 70a os WH] We wre T< 2M Me Se NOSE to find the resuired T,M,N for port (a)ondle) +o) = BING tn co (@) K (je) = 2822; wont [22-2] << ferlesl 2m Gives Com = 157 Hence , VS Gye ® 0.12, choose T= 0.1 M> 26.67 , choom M= 28 N 2 160 , thoore N= 160 = oe -27 1% (b) K (jo) === e 7 , work e F s7G eT, ae com = 3.69 ence, T < 0.930 , choose T M > 2.49 , choose M N > 55.85, choose N (c) ws = 2wa = BOM 5 X( joy) = 1($ (- A077) + (eo+a07)) Hence we = 0.0167 , choose T = 0.01 M2 600 , choose M= 600 =N (a) T= 001 , M® acco , choose Mz N= ace, same at (C) For (e) and (a) , need to concider X (geo) Ws (jay) hi ee. A=! sin (Ms SE) § (Jo) = sin (@ ©)Po 4.54 = PloE 4 ef 2— P4.54(a) 28 94 = | ho = E15] z4 é os| te 06-04-02 0 04 0608 4 Freait2) P4.s4(0) Oeo Freq(Hz) gzPart(c):\¥{KI! Pari(d):V(Kl! P 4.54 — Plot 2 of 2 - P4.s4(c) Freq(Hz) Pasaid) Freq) aSle 3 8 ol 0 P 4.55 - Plo& tof 2— P4551 | ha 20 140 | I, Mh see I 100 | 120 140 120 140he) P 4.55 - Plot 2 of 2 — pass-2 0.04 = cee! A — —" 0 2 40 0 20 " 120 1 k see het iti : 0 20 40 80 700 720 140 a __ 05} | 2 ye -05 0 20 40 60 30 700 120 14046 456 (@) M=5 ,L=30,N=34 WY) M=5 , Lan, N =at : ~Plot 1 of 4 — Hn, al P4.56(a) ° 5 10 15 20 25 a P4.56(0) 0.35} os 0.25] = 02 os} 7 | os f fo.P4.5T ~ Plot 1 of t- 4.57 : Hr /Uly 4000 3600 3000 8 & Number of mul 1000} 500 1698 4.58 ha (a) direct method Ly ind " hCk] .x Cae], =O obviously needs (M-1) additions and M multiplictitions per output point (Ce) overlap and sove method . Assume N =2* step 4: need = logaN multiplications 5 + N multiplications © = N loga N multiplications Since gach operation from step 4 - F computes the Linear convolution of (N-M+1) points of yl], the number of multiplcation per output point needed = Y2NlogaN +N N-M +1 (d) for N>M , 2M logaN tN DB N(2log2 N +1) : N-M+1 N = 2logaN +) Tf M> alga N+! | owerlap and sove algorithm Resuires fewen multiplications than direct method9 4.59 (a) By L ty =aT , dt ® at=7 , 60, i £7 | xb) |? dt & Bn y® Lx (ory /2r ns-M = 7? FB ga lxcnd |? nom m simitorty Ff [x C#)17 de aT 2 lxtnd|? ee 2 8 aaixtnal? | 2 Em Yl xtni|* ne-m Fence , Td = T |S (&) Using (@ M+!) - point DTFS approximation, we hove = ows ws. Ok = ko phence dio = aw => » and ! xtki« Ca AA ale X Gk ee) Hence , a a |x (geo) |” olee = (Sitar) Ze lxcral? ana J |xCjeo)|* deo = es )z I x Ck] [* oe aq Sk [XC] z Hence , Bu x oS. [PE | | aM+ M ce im Ix cei! . ae os _ an (c) Since Td- Bw > ona TT. = 22we hove , a: M ee Bont [xcnal?| * ZB kel xees| |? n=-M k=-M pe M . : uM. = 47 Z ([xtnI] z= (xt) ns-M k=-MP 4.59 - Plot 1 of 1- P4,59(4) : 0 = (2M+1) (4p) (0) 100 300 “400 500 ‘600 700 M : rectangular pulse M: raised cosine 100 7200 300 +400 500 600 700 M : Gaussian pulse 800CHAPTER & G . (a) X(s) =-S—= S*43S%42 SCs Cs al) (s+2)(s 41) east s+ X (ga) = X(s) gece) sz0+jo jore jo poles : s=-2 zeros | S = I (Xo) 0 ee st424zs+4 ee (s+ Jz)> + (2)? X(ja) = XG)| eee Sz04 ju jw 22 +4-0? poles cs as ia Zeros: S = 0 ( covble) = 2 () Xs) = gt By Bs-4 . (s-3) (s +2)a s$-3 (s-3) (s+2) X( ja) = X(s) S204 joo al 2 © je-3 Jota poles :6=3,s2-2 oath zeros « s =f Ez] (a) x (t)= u @-2) o X(sp= Sf ult-2ye"S at Mie). ye ee ob 2 Ms) = eee s ROC : Re (s)>0 (+) x(t) = e7* ul-t42) Xs) = J er e-ap to ed —(s-2)b 1)? saa = Jeo ne aa Geea) s-2 Roc : Rels)<2() xb) = &(t-to) Ky = fF 8 (4-toe Hae as) ROC = entire s plone (d) x(t) = ws (2t) ult) Xs) = 7 eee we dt aul ( “(Gar pr)= a So. stay ROC > Re {sy >o 6.3 (a) x(t) = u U-1) X ef ub-ye* ae ° O Sf eaee oe ' Sean . (y x) eu (bar) a 3( x) = e#t® uly Me Seog eat ong 2 @ sat (d) x(t) = ws (wet) u -3) gat = Foot Ks fees on ae 3 2 2735 (5. wse(3We) - wo -sin (Bwe)) s2 + Go™ (e) Kit) = sin Coot) ue +2) jest ae X ye f ee ooh ° rs Goo S$? + Wo (f) x)= e7* [ut - uce-4)] 4 x Gs)= J Cae eae feo) - s-2 (y) sin (mt) , o t.e7?* ult) (s+2)? BG) (Cea) ut )) =(2t-t?)e -2(#-3) ua) (ce) Xs) = : Cas+1)% +4 X (4) ax (at)1 1 -t.. eee =x (e>* sin (2t)) ue) ae # x C) sob (27 * sin ()) uct) (d) X(s) = soe (y) is? Set (ees ee) i. s F(s) — zt Ft), £(ot)=0 cere <— > alsin (2t)) ue) x(t) = 2 (2 ? sin (2) ule) = [4t sin (2b) 4 yt? wos (2t)] ute) 6-6 ws (2t)uct) 4 x(s) | x Cot) a4 () sX(sy-%, ) sX (ss) ey aE x (Cb) signok = ~ 2 sin (2tj)ulty X(2s) G4 x (bey signal st ws (+), ule) (:) X (st) + e-tx(4) t signet = e7* we (at). ult)(ad) s~! X (s) ai x (T) av signal an ws (27), UCT) AT = Hd cin (at).ule) (2) get X(s)) «9 -t(x(-2)) signot = ~+ ( ws( 2-29) ult -2)) a -t we (at-4). u (t-2) [ef x4) 4, —as_ (a) x (at) > £xX(4) ae AT oe ra (be) x (eB) a» 27 F* X(s) 3s 77 28s st-2 (o) xt) wbx) > XUe).(-g xe) of. S25 (3 ee ree) 4s(s? +2) (s?-2)310 G@) ei xt) ee) 2(s+2) (s42)7-2 = Ce) ab x) or a(sxle)~ x(o¥) x(ot) = Um sXx(s)=2 S2n roa (Ea) t Cf) fx (at) dt op. |X(E) provided that ° x(t) 20, t<0 -—— $)*-2 -ot z | [8] eMule) 4, XE) = 27% we (yt) ULlt) 4T poor t got ee oe (Ce tee oe) ey Using s- domain shift property I 1 K(s) «+ (gaqanaa + (s+ ga,)20) : 2(s+a) 2° (sta)?+o7 , =_S+a s GT eeegrers:1 (a) Linearity z(t) = axle) + by (&) e Z(s) = J z(t) eS at ° = J (ax Ct) + by te) e7% at Bo = J (ax (eye7St 4 by (tens ) de a[ fx (event at] b[ Fy wrenstat] ° ° » Z(s) = aX(s) + b.Y¥(s) (b) Seating z(t) = x (at) Z(s) = fx (ab) em Se lt “af x Cp) 27 8" dpe Z(s) = + Xx (4) (©) Time shift z(t)= x (t-T) Z(s) c = - = Ix (4-t) en * ot 5 eG % rix(g)e (947) Yon If x (e-T) ult) = x -T)ult-t) Zs) ive) ae Sh (oj ects etaade «cae X(s)12. (d) s-domain shift z(t) = edt x Ce) 2s) - fxr e ot ae sf «a eee oe Z(s) = X (s-so) (e) convolotion z(t) = x (t)® y Ub) oe = {x (T) y (b-T) at 5 xy yy causal oo, © . : : -s Z(s) = J (f (Ty (E-T) at) en at ] 7 f CL x.y (pm) at Je 2 dw =(£ x Ct) of at) (Fyne ax) #(s) = X(s). YLs) (f) differentiation in s~ domain a Z(s)= J -t xlep eM at xe) Pleo *) at oGe ecg ong d ast ZR (Xe s ) dt3 ® Assume : J (.) dt ond J (.) ore interchongesble Z(s) = = f x Ub) o7* dt Z(s) = - X (s) Ea 5 (a) X(s) = s745s-1 Ex +)= lim ———— ato gow S2+55-1 = 0 s+3 (e) X(s) = 28+? _ z © s?4+5s-6 xX (ot) = lim tees S20 s*+5s-6 = 2 -~ps _3S7 +25 Cc, s = Sel (c) X(s) e | x (ot) = lim Baee eset aes Sac orc uaet = OoH 6. 2 (oye Xs) 2 cece S*+5s41 : s? X(o) = Um ¢, 25 +3 870 S745s+) ast+3 () X(s) === ) S3+5s7 +65 X(co) = Cm ee So c7 +5846 1 z= (9) X(s) = 282! — st+2s+1 tim ¢,28-' S40 st428 41 x (@) ” (ay X(s) = Stl s+2 x(t) = (-3e-++22-% ) ult) a st4+5846 eo ee ot s+3 (b) X(s) ”x Ce) a(- 2272 4 ae-) ule) () X(s) =--28=1 s?42s+1 SS s+) (si)? «(t) =( 227+ - ate) ule) (a) X(s) =—SS4++ — s343S7425 =e 24-1 4 =3 $ s+) S+2 Ga) -3277*) ule) 2 () X() 2 Seer eets (s4+2)(st+2s4) ~_! 2 ° s+2 S41 cs+> x(t) = (277# 4 2e7*) ule) ) X(s) a ” s44s+5 ete (s+2)? 41 (s+2)2 41 -2t x(4) =(3272* coc (t) ~ 4 27? ain (4)) ule) x a _¥SPH+ASHID ‘) 2 (s+2)(s?4+28-+10) | 4+ 2tS +1) pi tz Cet)? +a (s+)? 437x) (| ae’ cws(st)— 2-* sn (at)) ute) h) X(s) ==? (s41)(s7+28 +10) - S+i s+l (s+1)? 4+ 37 x(t) = (-27t 4 et cos (at) ) ult) @ X(s) = s#4¥te 78 s?+554+6 e os : oe GE fl s+2 s+3 ee S+2 x(t) = (2e73*- 273) ule) +(e 2-9) Be) u(t-2) Cay Sy Le) + 10 ylt) =axle) , ylot)ea x Ue) = ule) #4, 5(s U(s)-2) + 10 Ys) 22 [ss+10] ys) = 2 +10 Us (say) iu (sz) Ue (se) 4 Yo Cs) YF (s) ie a era )= yf Had (1-e* July U'(s) = sta = yh (H) = 22 * UG)(Oi dae a _ ad Ae yb) +s A yh) byte) = 4 (4) - 3 Fexley ylot) =-1 , y(ot)=5 ,x(t)= 27% uly 24 [stassee]yuls)-5 +45 oD s+ +3 ee s ve-(— es) (Garam } = yFls) 4 YM Cs) a. ae yf (s eee 1 = Flt)e(Let, oe 1 o3t] ; ere eee ) (ae seme) -ult) UM) 2 SR eu) -(-2 oH 3 Sul) 1) a y H) + 4 y &) = axe) ylot)=1, ode . "5 yO) a x(t) = u(t) £4 (sau) yts)-2-s 2% 8 a +s 90) = (steray) + (Ge) = yF(sy +4" (s) 5 wig> ay1a yf(s)s Z- BE a yFlty= 2(1- stat) ue yr(sp= SP ey e( we (2) ae ot ( sin(2t))ult) os d 4 (a) Se UH + 2S yt) +syG)=f x) ylot)=2 y(t) =O, x(t) =e7*ule) trot ede ' dt [st+as+5]¥(s) -2e-4 = — | Us) -(Gqgae)* ( Seed (s+4)((s+4)*+ 23) (s41)? + 2 ” yF(sy 4 yr) Yeo eet. pears $e) = ys (t) = at 2427+ ws (eat Y%(s)= ed = RY *t ree taapgee TOs -2eTeos(2e)uls) = eS sin(2t) ule) (Er) x(t) eet ule) Rein, Lebtt ylotjarn x(t)= Roy) +L $ ye)19 24 X(s) -(R4bs) Yls) - Ly (ot) Y(s) = XA), bule® 2 xcs) et 2 St +ls Reels Us) ae \ eke) L (stiy(s+ B) s+ el 1 = i (REL) (= TE )+ylo9) se ea (Gu ete ) ult) + ylore Cty \ aL 2 (ert = 277 Jute) + 2 277 ule) yt) = = 2 eee Ce) [6.15] fn : L i (4) > x) @) 2 I se 4 eles ‘ x(t) = a+b +S iltja -0e a d2 sy x(t) = RA imeL Sime biw- eel a> ytee Lb a 4h) tay Given Initial Conditions : ac (oe) Ve Co)Qo LC ip (ot) = x (ot) - iv (ot) R ~Ve Cot eee = iL (ot) = XCOF) =~ tr Cot). R - Ve (04) L So, we have 2 Initial conctitions for i (t) To solve for_y(t) | note that (2): Ys) = L (setts) -t(o*)) yt) =ty' fymy Q), Cus? + Re +) 1(s)-L( ilor) +siet))- Riot) = 8 X(s) - x(o*) s.X(s) - x(0*) Li lot) +(sl+R). 14s) =( Leta Ror o )+¢ re . € SY=iLsT 1s) = 18 (e) +1) @ 3S a (= LSE%) -Li(or) ise Xs) = x (On) TF (s) = i Let4Rs+ Li‘(ot) + GL+R) i (ot) ls? 4 ps + I%(s) = (g) Ream, Leith ,C=$K, x(t) = oFUw RCO 2) 2 Ne (Oe) <7 IV X= x(ot) =1V ’i(ot) =2A 4'(ot) 2 122)-! . ' Siseos YF (sy 1%(s) pS st+3s4¢2 “Geyer Gr) — al A aay Ci ic 3 SH See a _ 2s? _ 2) (s+) Cs +2) See (sti) (s +2) y%(s) = 2 =8 sti ‘sea » yflt) =(6e7* +e™ -be*) ul) y(t) =( 2et- Ge-t)ule) () Re2Qn ,L=4k a4, (ot) = 2A Ge X(s) =t , xlot)e tv C(ot) = Ie4-! % (ot) oes vot ytty - Ais TR (g) =H + alsr2) s?42045 : tr 1 Ve Cot) = GoGezst5) , xGjeuce), av _t(ot)= 2A, oe 26) se ee 2 _~ %® Gyear Bs? %(s) s ————_- -2 w(s) s7-42545 = 4 s10 (sti)? 42> BP (5) Lees), _ = 3) (e4i)*+27 9 (st1)? +27 a yh ley 2(@FH-2e° “cost —3e7 “sindt) ult) yh (E) = (- es (at) - 3 sin (2) Je ute) = e@72* ult) +e ult) +e* ult) if st S xe) eS at es a Ps ° =F eo en Stat +S ont estat feb etan ° ° “eo a: I 1 s-1 S+2 sti " X(s) Roc = (Re {s} >-2)n(Re {s¥ >-1) 9 (Re {s¥-1) (Pe {sy >1) = 1-2 (d) x (4) = ws (at) ul(-t) w e-t ult) €, (+) # a Ch) oo Ly (=). ba Cs) Xs) = -—# peel st4+9 s+t POC + (Re {s$-1) = -1! (f) xe) = ebb (ef ute an) = ote Ga. u (ea) dig et) s.e® fe (tay) — 4 at L(t) — L(s+) » X(s) woken” poc : {Refs} >-1}-[Bef-yy = Refs} >-1 t (g) x) = ia sin (tT) u(-T) de fF e(tjat a» bE a I S * (s-2)7 +41 poe «(Re fey <2) V{Re{sy roy =o-2 causal ( right - sided) eS d? It ds? so XK (s) = 7 +), ROC: Pe {sys anticougar ( left-sided) x(t) = -t? e* u(t) ae J XW) s( s® —-—. .) ROC:Re fs$0 causal ( right - sided) 2 ee u (t-2) + x(t) = f0-T u(t-2) ot € x(t) = J -T at =-+ 42-4)ab [E : +3 see ae a cel S41 rs G) ROC: Re fs} <-2 anticausal Re) (eg eae) ure) Gi) POC =: Ref{s¥>-i causal a . —=E[N (iii) Roc : -2 < Refs} <-1 two sided fe eee 27% anticausak x(t) = - 272* ult) — 2 et ult) (X(t (s+1)(s?-2s5+4) 8 +(e + Se = s+ (s-1)2 43 (s-1)*43 /° F G) Roc = Re fs} <-1 anticausal a(t) 2(-g ov ape wo (Et) - Te ab emEt) -u(-+)Gi) ROC + Refs} > causal, x (t)= (Bef oasis) see's (¥)utt (ii) ROC :~ 15 Refs ¥ <1 e® aval double-sided { * onticnusal x)= et uty +b —e “a sin( IEE) .u(-%) 2st+4e+2 (3 X(s) = co? 428 1 S42 = 24t- (i) BOC + Re(s)<-2 — left-sided (onticausal) a x(t)= 28(4)-[1 - e-™* J uct) Gi) ROC + Res) Po right-sided ( causet) axe 28) 4[r- 27% Jule) (iii) POC + -2 < Pe (s) a as 3 s+ (s-1)? 437 (s-1)2 437Gi) causal = hee) =Lem* + e & (2 cos (3b) + 2 sin (at) ).ule) Gi)_stable + hb) eve 7 uC) — && (2 woe (st) +3 sin(sty)u-t) STABLE fx) ee (a x(t) sult) , y(t) =e wos (2%) ult) X(s) = + Sti Jo (san244 aU), f= 5G s( si) (sa7+4 ose aa eae) Ub) = $4) - [e~* cos (2ty — 2° sin (atyhuey (b) x Ub) = en7@F uy, ylt)= -2eF ult) + 2e-2* ult) X(s)= S42U(s) = = + 2 S41 s+3 ee [41 ae 1 =o ih +345 i AG) = -2 (et 6.21 d (=) Boy () + to y (E) = 2x (ty +e7* Jule) (Ss4 10) ¥(s) = 2x5) ote 2 5(s+ 2) hG) «2 et ult) (b) ae y+ Bae y CE) + by C= xc) 4 x) Coes 5s +6).Y(s) = (s41).x (Ss) iG) sa Grals+s) a — 2 S42 s+3 bh) = (-27%* +20) ute)3 (©) 9% y(t) 2b y Ch) 4 toyley = xb) +22 «te y ae 9 ¥ ae dt? (s%-28 40) Y(S) =C25+1) xX (Ss) H(s) = —28+ __ (s~1) 7 +37 ~ —2(s4) 3 (s-1)243% 7 (s-1) 243* hte) = 2* (2 we (st) + sin (at) Jue) [6.22| ee s(s+2) = Sts) H(s) xe) a? a = d a (&) 425- y) = x (t) +2 gE x (b) (bk H(s) = —3S——_ 67425 +10 = Js H(s) = 16) " a2 d =-23d a y t) + 2s y(t) + toy tt) = 380 x4) (sc) H(s) = 2(s+!) (s-2) (s+ )(s+2)s +3) Set Gsae sa) s 46S? Fi13 FEa ycs) X(s) area y ) 4 6 days ud yO) 4 ey = 2(- 2x(t)- ge xb) +S «)) de GFR =[-S J. 6 =A] eel) ad ove) His) = e(sT-Ay' B+ a “11 a | [b] +00) S¥3 To) oo (s+) (s4+3) &) A-[ | a /b-[3] , =o 1] , o=[o] H(s) = ¢(sI-A)"'6 45D =[o art all =eate Hts) 2 so St 455-633 [6.24 (sti) (s+2) a + —— Cay (s) (say {ten2aad Pole Zero Plot = (i) All poles are in LHP and with ROC: Re {sy>-1 the system 1s both stable and causal (ii) All weros ure in LHP | so @ Stolle and cousal joverse system exists jo H(s) = s?-2s-3 sel (s+2)(s?+4s+5) () ~ (s=3) (s+) (s+2)[(s+2)*y van G) AN poles are in LHP , usith ROL :Re isy >-2, the system is both Stalole and cavsat Gi) Not alt the zeros are in LHP , no stable and causal inverce system exists (y . H (s) = eee eee (s+2)(s?-2s+8) (s+2) (S40 * Grays? +49 Gi) No ( poles are in RHP) Gi) Yeo (Call zeros are in LHP)34 (a) aise 2 H(S) © (s743s42)(s2 45-2) s(s+2) 2 (s41)(s+2)(s+2) (s-1) 3 (s+ )(s+2)(s-1) Ci) No Gi) Yes [6.25] (a) (st 48-6) ¥(s) = (s*-s-2)X(s) H(s)- 9 X(s) Saas : s*+s-6 = (s-2)(s40 (s—2) (s+3) gl s+3 Yes after zero pole cancellation , the system onty hos 1 pole ond 4 zero , and all are in Rete Haig Plane Ab) Hal Ce) =! 2 shee (eS) Hs) s2 —-s-2 x (5)35 inverse system : d2 d - Ue) Fey )- 2y ) = Sox) 4 Sxl) - ee ae oat! Jas x(t) = 6xle) =z (a) H(s) s st4 26 +10 W oa (sti) # +10 1H Ge) | = os [geo +1- dtol] jos + jt0] | Cae] (b) H(s) = $2428 Aen: |# joo] = Lime del de“ [jos | [HU joo) | 25©) Hts) = — je 6.27] M poles = ay Mec Xe + EPR he + FPR a0 u \ (2) Hs) ALEC) — gai je ile —a Pl im (e-4e) sere - ape | 13 (= Pey-oke | Mi ca] i (o-pk) tHe | M oR Kk? 4(@- Pe)™ —————— kan ¥ %e* 4(00- Pe)? H(s)= 1 . s-e% . Fw - HK () For # (s) sa H (jew) aoe % (jay = a ~ ton“! (4B) - ton! (-B)aE 4 H( jo) = 7 -2tan (2) oa A OD cea H (ge) = 22 : jo +t “Gay = ton (8) x H( jo) = 7 - tan“! (Cw) m - tan7'(w) - ten-' (2) nou & Hs) = 2t38 | sg +28 +101 9 H(s) = ' (s4i) 2+ 10> Gay = —__+ ___ (gw +1 + J10) (Gots -Fio) A (ja) > -( ton"! (SHS) + toa! (2S )) > (A) HUs) = Ss? om» HC ge) = 0 & HGe) = @ Sketch for (c) : + Bley @ Skutch for Cd)39 cl H(s) = C842) 05") non - minimum phore (s+4)(s+3)(s+5) (a) The zeros of H(s) : S~-2,1 Since one of them is in the right half plane , the inverre system can not be Stable and cavsal. () Hain (s) = Cseevs*y) (s+4) (5+3)(5+5) Sc! Hop ae e+ H(s) = Hin (s) . Hop (s) (© fen co = Cen Gee ere) (st) (s+2) The poles of H min ~' (s) ae :s=-1,-2. All are tm the lest half plane . So binin CE) can be both stable and causal (A) His). Hmin7' (s) =—S=! = Hap (s) Stl Hop (je) > Say _ [Hap (se)| = + top ( jo) am - tan7! (w) - tan“! (ay = mn ~ 2 tan (w) 1H jeu). Henin! Geer] nFHC gam). Hin ~ "(geo (Ce) Generalization for H(s) = H'(s).(s-c) where H'(s) ig @ minimum phase port [Re (c)>© Hain (s) = Hi (s) (ste) s-t ste Hap (s) = Hrmin~'(s) = ‘ H'(s) (s+) H(s). Holman (s) = Hap (s) Hae (ga) = Soe jore | Hap Cy] = 4 % Hap (jo) = a - 2 tan-'(-S)41Imag Axis 15) os -05| a -15! P 6a - Plot 1 of 2 - P6.31(a) “08-06 ~=~OA =O 02 04 Real Axis 06 qan° Pes ~ Plot 2 of 2- P6.31(b) : os! os| Real Axis,4 P 6.32 - Plot 10f t- arg(H(w)}:rad Pese:£6.21 weradlsP6323 -Pot 1 of B- Pé.93(a) 40 20-10 0 10 wrradis =30 10 =10 =20 30)46 Peas — Plot aofs — IH) << (H(w)):rad 50) Ps.33(b) 40| 8 40 20 10 wrrad/s 10 20, 30 40 40 =30 =10 wrrad/s 10 20 40 5047 P 6.33 — Plot 3 of 3 - P6.33(6) 50 0 10 202~C«CSC wrad/s —10 3 “30-2010 0 ops s20 90. wrads 40 15 50 WOHYo 6. (@) Need to hove ot least 1 zero @ wero action of poles 2 conjugate poles are needed around the tronsition jor Ge uction vf aeros One possible solution is | ee, _ (s +054 gion) (5425 - gion arte (b) action of zeros —_ 107 a One possible Actution id = H(s) = (27480) (s +950) (s+2-gm)(st2+47)P 634 ~ Plot 1 of 4- 44 P6.34(a) : HPF i — os 308 = = a4 o2| 50 100 150 + 200 +250 +©«300~=—«50 450500 wradis P6.34(b) : LPF os 02 ° ——_ 0 5 OE ee on ee aeons on: 4580CHAPTER 7 Be ta = SCn] o MCs) = 2 Sole ola eno am. Re. (b) x(n] = Sln-k] | k yo MCs) oak , B#O oe ae ewes nies eae Pe (y xn] = §(n-k] ,k 70 XCz#) = 2F , all z Im. ee es(a) xfn) = uln) % X(z)= 2 2a N=0 = i‘ je 7! 12h ty x{nJ = ()® (ulm) - ule - 103) X(2) = 2 no aoe e220) 2 Gf) «Cn =( 4)" uber)X(a)= 2 (42-99 n==0 2 0 = G22) nso leled 1-22 (g) xfoJ = 2° uln-1) X(#)= 2% (ae) =e ie -! ere le] <2 (& x[nJ = (4)! X(a)= 2 (ae, 2 (der) N=-@ = 1 = 1 cea ee beclzal<2(i) xtnJ =(4)" uln-2J aS — Picea X(2)= F (gat)? cael Sh f wz -2 — lel G) x Un] = (4)? ulnd +(4)° ulna = Sfta-sy*,< Ker BCEe y+ 2. lela doesn't exist fee ! au ee ] am Re. doesmt exist = lo i a = a () X(2) ee zl ees DTFT exists ROC inclodes [2] =1 | 10 X( 24) = = (|(b) X(z) =-=—— ,lal a lel >+=l2l >4 (causal) 1 am X (2) = 3 -2 (oes yz? i-t2 n (CAD? ul) (4) uln) ) () x(nJ ”X()=-#-S (Gop) 22 Cate ii aat X(2) = = al > Ve (ce) xf] = ul-n) X(2) = ay = —s lzi< | (@) x(n] = sin ($-F)uln-2] = sin (Z(n-2)) uln-2] X (2) ee hl 1-27! 208(2)+272 (y x{nJ = n.sin(Zn) ul-nJ = (=) sin (--n) ula] a a Xe ge (aa) =z -2372 27'(-22°) ] 7 - 1 areeee I+ 272 (+272)? a . az? (=) "am t+ (aes 6 EA nd = x[n-4] U(z) = —*%—_ 24 Bry (be) yloJ = 2° x[n] z z = CD) Se) esis (ce) y(n) = xf-n] : eS Viz) = X Cz) gett +44 2e? (@) yn} = ox[n) Ylz) s-2 X(a) 1 z(22) --([ay- | 28a (2744)? (2344) 23-42 > Gay4 (e) yn) = x (n+1) + x[n-i] = 7 z ule) =(e+27) Fa Cf) ylo) = x(n) « x Un} a.....% xf] a tn Himes Uta) = [ ar le (gy) yl] = (n-3).x(n-2] =(n-2).x(n-29 - x (n-2] M2) = ae (-2 ze ue -=-) (e744)? 0 2244 Y(z) =-27! (S| (atau)? ral (a) Uz) = X (32) a>» (4)" x«lr) syn] = ulnd (e&) ¥(z2) = X (27) —> x[-n] 2 yol = (4). uf-n] (9 ¥(2) = a X(2) = cata g x2) — -(n-1) x(n-1) » y(n) = -(Cn-1)3%! uln-1J(@) Y(e)= eae” « y(o] -tfa" uln+i} +39" uln-13] X(B) eo $(xin+i]+ x{n-1]) (e) Ye) = X(z). X (92) es xnJa(Z)? x En] -yle) = 3° ulm) « (4)? ulnl : S$ (Lyn gk = un] ZS (4)" 9 att | uln] yin) =()* 2 a (rete) ' a lal > + — causal (@) X(#) = X(2#) = + x[n] = (4° ~ Ge)" ) utr] (e) same as (a) , |@l a — cousae 22 -F2+ 2(u-327') la -pet+a X(2) = = a 12 a -3e27! 0 -44et « x{n) = (8 (4)% 4 3G4)") alr) 2 p X(2) = 42). , LBL > b-rcousat 42? -yatt X(2) = at4e! 4 (2-2 +827 Wau aeae ee eeeee ee a-z-! (a-27' ee = (Coe. = x(n] = (2440) (4)% ulm) 3 (y) X(z) = Ze+ete dere 34352 ze +se+te 1432-1 +27 2 — \+2q abe ROC : 12k + onticousal » xUnJ = $ (o-1 +((-£) 9 24)9) ven) 3 2 1 (h) X(z) = BEF E*4+Bets lel >icoume z? +32 + a os X(z) = l4et4 ee t4+32 ae pe 3 sae = a4 State? = 1 +. 2-'(14 2442-2) I eS = es leay+re = Zz ive * wie@ (») (9) (a) 10) (a) a xtn] = SLAy + Stari) -2utd + & OLY UL) X(z2) = t+ 2272 +42 | 12] >0 x{ol = $(nJ +26 (n-2] +4 S{n-4] X(z) = 2 be lel>o kes F i 10 1 x(n] = is _ $(n-kJ X(2) (ee) tele xUn] = ( Sin] +S (n-1J) *(SinJ+ § Cn-1]) «(S$ (n}4 S(n-1) * (Sn] + ${n-1]) x(n] = fi,aa4* {12,34 t : " Tig se a 1) t 2 x(n} =S[n] +4 S€n-1] + Gsln-2 + 4S (n-3]48(n-4] X(2) = 244 2274342274274 | l2lro x{n] = S(ntu]4 28(n+2]+3$(n] +26 [n-2J+S[n-u] Soo H(2) = SSyayps-Ci) Stable , ROC = [21 <2 Cincludes |21] =1 ) anticausol hEnJ =-3(2)° nul-n-]) (ii) Causal poe : |21>2 hin} = (2) nuln) IzzZ7+ 242 b) z, to) He) I2B*4+1B2B+3 I2 + 2427! 12 + ipecl+ ae? -12 12 “ 4yt3a7 a+ec! H(z) =—3—,—4 leper l4gper (i) Stoble, ROG: 121 > 3 ( includes [21=1)-+ couse En] = (-3 (-3)" 4 4 ( =? ) utn3 Gi) Causal, ROC: |e] >F hUn} = (-3(-$)° 44(-4)®) ule) . ye () H(z) — —- = 42!lea ee ~ Cie. (i) Stable , ROC : lel >4p (includes [2] 21 J+ coural hEn] = 160 (4F)? ulnd (i) Cousek , ROC + |e1 > ap hon] = 16n ()° uly) Te , lel >: 4 causee Eg X(2) = =—!___ X (2) ces) Xz) 2 2 22 kao x(n) = ¥ stn-2kJ ke (b) X (2) == ,21<1 — anticausat = %(@) = Ga = -2#? ! \-(a?) oes SS eeeX(®) 23 ge 2Ck41) 20 xUn}s-F Slne2(eri] kz0 () X(z) = ws (22), lel < © onticousot [2 ae Ae a es : = 3 (-4)F « xCn] oa lak)t S(n+2k] (a) X(#) = ws (2-2) , |e] > — cousal 2S cayk 27 & ' (ke)! [ (-2 HDF k=0 cae)! = x(n} = 2 CD §(n-4k] & (2 oT (e) X(z) = In (1 +27") | [21 >0 — causal 2 tyke leat ke axtoy = 2 Gy stn-k] Et E2] (9) (® x(n] = Sin) +p SEn-1]-¢ SIn-2] yin) - §{n] -- $ [n-1] X(#) = l+qbe!-te Y(z) = i-pe «h{n) = + (5¢4)" - 2 (4p)") ule) x(n) >(-¥)’ ul] ylod= 3(-1)° ulm) +(4)" ul) X (2) = Sere +e eee ee Ye) = Was pe yz) H@) = Xt)(2) il 1 B(li+y271 Mla) = tee! l l+y27! i-ter Ge to) ohn) = 2((-0" 4(3)") ufo] x(n) = (-3)% ul[n) ylnd = 4 (2)" ulnd -(4)" uly] X(q)= | ¥ (2) = - +327! - 7 -t27 3 I-22 (-y27 PW se sad! [-2a-7 I-27 lo t 7 ia I-227t I-y27 sh[n] = (1 (2) - #4)" ) ula hlal = (4)" ut 1). aie loneay (a) y(n} = $(n-2] y(#) = 273 x(2) = ule) (2) set (ibe") « xt) = $(n-2] -4 6 n-3) (e) yln] = ()* ulm) + (-&)° uln] Ve) 1 ) I-27 “det yt) X(z) = = H (2) 2 t-ee7! a1] lebet 2 l4$27 » x(n] = 2(-4)" ul} (9 yln) = + ule) +4 (-4)? ule) y@) ==a2 et 8 eters k(a sete), Fe) -2 l4ba oo s 2 1-2 t+pet « x(a} = - $n} +ulrJ+4(-4)" ulo) AY Ee tel -#$yln-1 = ax[n-1] (i-be-) Y(z) = 227'x(2) _ ¥w) H(#) = a) ae! i-ter h€n] = 2(-4)9*' uln-1] (& yn) = x(n} -x[n-2) 4 x[n-4] -x [n-¢] Utz) sl eee st -~z7°) x (2) a h{n] = $(nJ - $(n-2} +S{n-4] - §[n-6] (gy yn) -y yln-1] -2 yln-2)~-x{n)4ax{n-1] (U-qpact-% 2-2) Y(z) = (-14227) X(z)He) = ao -14227 I-ypat-3e? -2 i \ l4de7 i-pe-l «h{n) =(-2 (-+)*" +()") un] (a) yln) -ty (n-1 J) - & y [n-2]=2x[n) +x (n-1) (\-sar! -£ 2?) y(e) = (2 +27) xX(e) H(z) = 2@ (1-27)? 2 Bat i-¢2t (1-# 27)? ehUn) =(2($)? + Bog =). ) alr) ta) = aC)" uln-1] = oC) (hy! uln-l -ta-t oe H(z) = oe =U) yind~ py ln = 3x ln] x(2) ( hn] = (4) un} +(4)9°? uln-1] =(3)° uln] + 2(2)°' u [n-1] = 1 _ 227 K(e) “Taber (-427 Slag og eae l-Zatape? ete) Xx C2) = yln) By In-1J4ty [n-2] = x(n} +2x[n-] - x(n-2] (9 bln} = 203)" uln-1} + Gp)" [aso] - 256(2n)] - 1 - =| H(a) = Set 4g Loe at oS) be tsi 8) i-$e7 1-27! Lb ws (Zp 27? i Bet eed) oo i-Fet 1- eG eta batae + (8 - ws e+ (Gwe te? 1 (Sr e)ets (e+ as) ete? Ewe) X (2) H(z) = 2 2, yln] -(F +05) ylo- + (hap e)yln-2)- ya) : = xLn] +g V8)xIn-1]+ (2 - qs) x [p-a}eap x[o-3] (a) h(n] = $[n] - § [n-5] H(z) = 1-275 _ we) eS y(n] = x(n] -x[n-s) o rE aot L L &) i [A 3| oes) cle > tel a 4 Htc) = c(el A). bro26 Zzem : & pole : z= (i) not all poles are insidelz|=1— Nor BOTH cousal and stable (i) all zeros ore inside |Z |= 1 —> minimom phose Vek cel Ves Be 4 oy +e 2(e+2) | => () H(z) = Zero: B20, 2= -2 ple a= -£ ( double.) Gi) Both cousal and stable Gi) Not minimum phose© ty- = .) Zyl} — yr] = 2x0 exp ." ve [2c i | | -= 27] Yo = (ar2) Ki) 1 H@)y= ae eet I ee ee eae 2(22 +!) ge, 16 (2- %) (2+ %) ee poles 2-66 2.76 CL) not both stable and causa CL) minimum phase23 (d) y(n] -2y (n-2] = x(n] -4 x[n-1] (1-227) ¥(z) = (1-be) x@ H(z) 2 z24 1-2273 z(e- “(a-4z) (242) zero: B20, Bee pole ‘ zetV2 (i) NOT both cousal and stoble Gi) minimem phase ) X [2 z wel b-[2] 2-0 91 5-103 af = 6 Le ” ol a 7 Fl " sor -A) "B43 a = oe ae 0 1 ae kk H(z) = 22 40e_ (oa pole 2 =4b (double) 220 eee (i) beth stable and causal Gi) minimum phase.24 7.8 l-4ategen? 1 1 ee Ae a?-yza+e ar -4e ty 1 3 CE) face (#-2)? pole. : B= 2 (dovble) —, not inside |2] =) h-'[n] can NOT be both causal and stable () H(2) = 222 22 “1 27-4 Hee) | ee oor ~_(#-2) (#+2) (2-4) (#+4) poe = 2=4t _, inside l2l=1, ltZ] novo holnJ e7F"" 2 helnJ=hel-n) tto*(e#*) = Hole #) ~ X Ho (24) =o (c) hota) = a a#hE-n] co Hol@= H(z) . Hey) 2c a Let H(z) = Soe , then Hoe) -S=E 2 He(@-c) (1-¢z) Ho) = ray ee + Holz) has a pair of poles at 2= Pp ond a. a jthen Ho(e)= 228 27-8 zp at-p CO) eee z-p z-t+ P « Ho(#) has a pair of zeros at 2=P and — x(n] = §(n-2]4 ${n+2] (a). x (Ce) 2aa + oO sa an (6) i) win} = xCn-1) W (2) a-"X (2) me i) wn] = x (n-3] W (2) = 2-32 X (#)+ 2710) ee te al fal (@) ylnd -tyln-1] = 2x00) yi = 2 x(a) 2 Ge) gin) ee re2a- Yie(i-be) = 3+ -2F a abet 2(1+ha-) t(u+d2-!) Meh Ee zd 2 -ta- ta-l I-32 l4¢y 2 wy lod = (Ea) 4 2(-4)?) utd () ylnJ-> yln- 2J = x(n-1] ot 9 {-]=0 Wiese x tn} =3uln) -1 eae -2 ey ase Y(2) 3 (2 Ye) ti )=2 ae ty -I Loo). 1, 3a or 2) Te oe 1 > (t+ 2627!) Ue) * -tao soe C-peWOrpeY(i-e ) - #9 - tt 23 = ose 2 a (oe aa = 32 l4y2 \-z2(©) ylnd- HF yln-13- gy tn-2}= x(n}+x{n-1] ylid=1 y C-2J= xUnj=3" uly) U(e) =-ap (SU) 41) - & (B72 Ye) +2! -1) ae = X(e)+ 27! Xe) , Xe= (pete epee es ser aret) (2-2) (-3271 Bitect) (3-279 (1-32 Y)(I- ee urge a ee 7 ts "28 ot he ost l-32a4 i-gzt tye YU(z)= 96 syn] “(e (3)? - 2(4)°- ie -%)° ) un] (a) yo) =p yla-1) + gp yln-2] = axte ylal=s y (-2] =-1 xUnd=ulnd — Xe = l-27'49 Uz)-F (27 Yea) Lz ae 22. Uz) (1-Peta te-3) TT "yt ete) yy = eee Oey beyeey) gh a 4g. -i 23+ + 27 tet jobs \-z I-ye2 Il a 2 ayo} =($-4 (=)' +Z ti ) uto3 Fo at ylo-1J = 2x[n] yl-iJ =0 i ylaj =hloJ, x€n] = ot) a ge tet + ts hin} = 2 (4) uln] (b) yln]-=- y(n-2] =x(n-1]49 H (2) (i--. zg?) =e27 H(2) eae \-ap 2? rm 2 1 -l is 4 27! I--bet ahtn}e ((& nJ=((4) o— (--4)" ) uly) (c) yn} + yln-1 J+ G yln-2J=xtnJ- x0 - n-1) H(z) (i427 +p 2-7) = {-a7 H(z) = fees (+27 ‘4 qbe> ole oe Q+ye7)* = ' 3 -h[n] =(-4)" (1+39) ulnJ fra] yi} = (147) ) yln- iy cen) = Y (2) [I- -(4)2"]= (4B) ylid- Xa xtn) = cfulnJutn-L1ySo = X(2)= ctins") - ae lel> (9) By inspection , the impulse response H(z) = ———|-__ \-(i4qe) act The system is causag since h(n]=o for n1 since tr >0 «The system is not stable since Zp i outside the unit circle (b) Natural response + x(nJ=0 => X(z)=0 (1+ 4) (-1J Uy ce) ee 1-G 4 27! yn (nd = (1+) yl (1+) ul) > (nj—, indicati ipstobiity oS ee () Ya) = Cit) ybid- xX) i-(i4 S)ec l-2 7b " X (2) leat = ¢ (4+ ate oe ee)(a) ol b-1 Ke) Sc as 2 n=o0 (con also be shown by geometric series sum) yld (1+) -¢. Be n ye) @) ee fel. t-Ik-c = 2% yz) = 4 7 (-k27! = (odi2an > (nJa? kei ie eer njz2 =l4+5 rery ' cL y 2 Tultiply both sides with 2h? ond 2 : 6 a (yedee ee, TE = =A zeke = aa ylnJ 2 : = ytode”? n=L-1 fsecond term (residual) Zero balance after L payments : 3h) =o for n2L-1 ees bi = oe 2 +(yl-k-c)2 . 2 tad’ 0 Z-kK n=oL-2 . Z ut Let f(#) =-c = 2°+(yl-lk-c)e2 From polynomial theory , the second term is “zero af f C@=k) =o, or k=14d5 is a zero of Ytz). (2) yl) (1+45)-¢ ZH (1+k “Pao t-(i+4e)7b ya TUN az) : 24 (ee i t-(14 )-EImaginary part oa o6| o.4| o2| P 7.30 — Plot 1 of 2 — P7.30(a) ° 0 08os os oa| 02, Imaginary part AS o4 P 7.30 —Plot 2 of 2- P7.30(b)733) - (a) X(2) = 32 lie z SS Ses aes ef ae ae Gy) x(2)= = = 2 t+Ze7+ p27 leat itge-! 3 ite lee ete a (&) X(2)= zt ne =" — *) oS +27 de af! | -e(h- ts ite |e 2)F382 SG3] a Te) eee eee 1- 0.0527? oO 1) 1-27! -0.39527 4 37S Z i 220) 6 oes () Tle) = (-dect+g 2258 Tal = Tf o2t poles ore inside |Z = 4, the system can be both cousal and stale , othensse not - Tf of zeros are inside |al=1, the system is Ininimum phase , otherwise not (a) both cousol ond stable ; NOT minimum phase (b) both cousat and stoble ; NOT minimum phase (c) NOT both cousal and stolele 5 minimum phase, (ad) NOT both causal and stalole ; minimum Phase (&) both causal ond stable 3} Minimum phase.P 7.34 - Plot 1 of 5s — P7.34(a) 1 os| : | é a ' -05 | [ ' = -05 0 a5 1 15 2 | Real part,Imaginary part bo P2384 - Plot 2 of 5- P7.34(6) 1 os o-o 2 -05 “4 ~2 a5 = “05 0 05 1 Real partol P7384 - Pot 3 of S- P7.34(6) 0.4] -08} 0.8! ed AreuBew 15 05 Real part 05 aImaginary part or P 734 - Plot 4 of 5- P7.34(d) 1 os 9) ° 08 a a5 [ 25 0 a5 1 75Imaginary part os os oa 02! P7234 6 “Plot 5 of 5 — P7.34(e) 05 1Magnitude o4 Pz3s - Plot 1 of Ss — P7.36(a) a 0 1 2 3 ‘Omega a 0 1 2 3 ‘OmegaP7.3as6 — Prot 20f 5- P7.35(b) = =2 3 e288 & & apnuuden, ~ Oe (pe) oseug a 72 Omega— Plot 30f5 - Pz7as P7.3s(e) 6 5 24 = i, 2 1 . 2 4 0 omega 3 2 | z ie Oe Ea 2 3 2 OmegaMagnitude Gl Pz7as — Plot 4 of 5— P7.38(4) 2 1 3 omega 2 a 0 33 P7435 —Plot 5 of 5 P7.35(6) as| 3 g 225 Ze 15 1 3 2 a 0 1 Omega 3 2 gt t o aa 2 -3 3 = 1 0 1 OmegaPhase(tad) ~ Plot 1 of 8 — P 736 P7.26(a) 64 ~2 = ‘Omega 2Magnitude Phase(rad) P 736 — Plot 2 of 8 — 7° P7.96(0) 2 0 1 3 Omega 0 1 3 Omegaa P7436 - Plot 30f 5 P7.36(c) 7 0 = 2 1 orgs 3 2 + 0 OmegaWk From problem f.2g : A = ou -G+a)e yl-1] = 10,000 L = 60 choose 6 = Of Here b& =[y C-1](1+ih)-¢ . -coones(1,59)] a+[i-(i+5)]10000; 9000 | ‘8000 P7.3T - Plot 10of1 — 7.37 73 20 30 Month 60W ¢ 9 8 ” 2 = 9 ° a ” 9 s a N 0.1413 (142274 272) 0.6907 (1-227'42%) 1-0.FI8 B" +04NFNG 2-2 1-1.5392 2°'40,F022% (c) H(2)=iE i.eo: - Plot 10f 3- P7.39(b) ‘ Omega Omega7 P 7.39 - Plot 2 of 8 - P7.39(d) 08 Fo 9. oa 02! ° 3 2 = 0 1 2 3 Omega 1 o2| ° 3 2 =) ° 1 2 3 Omega771 d NT | l lt 50 iat aeChapter 8 BL Frevidad etc Ube channg Gercboiattt 2 net Smallly the, th rectpraul of th banami (GA eee ee Te cmpnie the or He channk oatert. Wilk Ts ps, AD small enoryh when fy Ub channd Sendak s/t 2 iF He 2 tin 8.2 The iterate outet = € seo f xen) a Tt tor @ arden re re ed ee ee ne) Ge ted HR npr sv in fr Hw vo [Elam © go) At x¢2) Tdevchagig ee oe ae | yee = {s xem £ ip ) os Je €-~I) (Spe Pa @@ Tavekig te RearrnQn Se AR anserrg Corrie eee ainme Bothy dadncs je 6}. @ URE UG Roig a qv Rag nb oohet YO a ae eso = T KG) sinc (SI) poet 6) Ex omnig ake formv Oe, ox tee oad sa UR gtr) cae he od eteteind at. pessig the hp spk xt Rey 5 Staal HG 2 E sne( er) 27 Vee megnibta resprmee SH Rie oe dap) Kk tele [Mein]W Th figne an dea belle of UR pbesinw pope nto nnd FL mayriliulh re epmes oh on “agpreniemetey” dak des pre Fee, the 2 for fe. ety Fayre % = nf pled gain The» Morton, se flie te ~ mlb dey of Th. The respmer Me (hak fie ba sp fark aprbeot ot ire bao 4 ten aly z a: = : Camas: Ie ee oe =2 ( Sice) + 5m) = = ede Po). = lopFrom SO ee fu UG the (tee tae ty Teepe A Shp Paci x) = Kee) ae Olona 4 See oe bee a der) = | uc) de 0 ot Te fetleus Thereof IKE th cunput 4% . Sp pron nmatng “ap ew. pass $26— 2c athe eater gf SR ad dg ty +4 a Te a. cts vont Ry Uber aks overshoot iF inden a man fachlio f ky Gibbs” plrommen $3 Fa by ea FG ft de Buleret Hye, Ute Sproret mom resin a tee ty [Hun = oO 1 Ar AE cay ef dhe pan bet | oe (ta ty tg [How] a iceod eG (-6 aa @ le Ca 19) De fas es te ce 6 Than Sting Ey) db oe ($2) Next, ty Le fiaitin , at us ede of 1B sip bet, we, ac fax Ines) = 8 | a © | ve Cay fay Heme setorg By. (3) fe Ce ByB4 We Start ot Uh we QGen ot {Hoe] = Ho Hes dass Fr a Raltieomrh how pe fie of oes, Jem 10 pete | Hoy Hi-s) Ore Ha fern Uy ohh uGh around hy Uarh adda a, by s- pan a: f-2brwn Leh Dts) BES) Asnols Ube encom iby (eet ts + Hor His). +heau, Ded Bes) = (SH) CS x cor mya sin He) (54 cos Hyd see") Cr+ cos 108 4 J sm 08") (S4 Cos ton’ _s sh wa") GD (s 008 204 5 828 M0s~ cor a. icine) C8~ cos 72 4s sin 72° )Cs- cos 71° 5 sm 70") Tdentfying ate eees fs) bow) in ake Qeft fay Pb esi DEY ent thes 4s ste Tiphh. 7 pOrewir Dts), we wey xpren day DED = CNC Se COP AT Sin OH) CS 9 C05 NS t4H) OS os Oee se tog) Gc eo ce pe") s —o . Se Seeley selena sthenw , ‘ Hoy = den = ' < oe ae es FSBO sy SOI Soe nek s gy Bs Oe fe ee fe Bande Hoy re da file mat tome a ree pete an ke Gept- hulf ph. Lee Re pe be Sea whe ado, We mag Ae ook Ho) = Gta) Su whe Soy a2 ta remainde fit deneminbe pabynomiat. Fw a Butreomt, Lens. per Fe of euteff topey we, woe the pte of HeyBam a er D fo ret aw mr dhe Left fott pharr. Hera ore mae have. OQaw. ee ee fo Re eee ee ee Gf am panhe Rarntin HU) Ore WrpQax, They A The td few ay tag Pale A rep plo et os ans BR A>0 mk So, cheat a Comp x pr fo He Awe 1h corffietuts ef Ho) om rel. The Sanaa Can ey be setinfind tf ot = sometnn cog prt, ot Sa ay ik hh may Ren axp cen kx conker babe ffl plore ete \ ES i) (S44 34) (84A-34) (Sea ttt eshese Cacfficints Ore 02 rad. Me Bede Candee thet fev 200m f’U rte Ny ott oe ple et HU) eccer be Corer hen. Cory banaBb Th tenefe ate fn a pe Fe foes + ———— oO C541) ( 64 O,GIBS 41) CShy 1 GUE S41) The lew pee ote Ke pre hee frie = s— Gee ee Ure eshte Foye goth hYp- pe file ae unity, ens ng soit fs 4 Ey. CD > ost fea se Ae PO (eee 2) Ace are Ue Beyy af cede Oe a CNG NG HED s s Cs4i(sh40, 8s 40) (3+ Los 41) Hts) = The meprchle renee of the Aq. pan BEG 42 plloltal on RR nexh pr:87 We are ait The hemefe, feation Hos Osa) (4 O68se)(s4legsa © Ts meskofy Uke Les pare file se a ashums & Cabeyp fore oy , wr et AR wll nw phucy s wnt S/n BU, we ebhein I CENCE 1068 F 1) (Raves san = SS ErX)Gro, Sigs Ud)Cs 4 LO ysy wy BP We am gre Aha benef: far ten a wo Ca) Osta san S . The Les - per fir +b ~ Ly ows Berd dt Bo crterd m 4, we nex At RoYu de fpDwrng bowtie s oe Bs Wie a ap mt B= 0) UR tee frrntind thes ta ve Rne = Sa &® Os a 0,001 $) (Pearse) (Shasta 4 ots 0154 oo) io 0.00; 87 SE Gee Ole Ca oir Oey The megs CRS pone q Whe Reed ~ forme PDs fA Bulyus® type a ew hod ow dhe nxh eh.) fa 7 tan as tansferm a Pprotetyps bey pass Tho w bank shar £24 Lo mith veje tan worry mt blesih Boe wey use th ene fr eon s Bs st ay Bs an i Dushrtae example , cory che AB hes pan fi dtr; Hes) = — ae wa Sts. tren rfer retin ff Oy we ethan 2 Gi ee 1 Hos) =B10 an Fie fe type (hee an eum Ciel Mood ay eee abouk MA AR ate ethene sinh uh ae ft Boel cae Atay = ALm03 : the papery resp of A fie - M Hee’) 5 > £EnI one etch may ee re forma Ga a fQisur . wee). TS bode, tee =D tose, keey ome yt IA aie = > hore, Rpm git! Defian ee ee4 We nog TR veut S.C) we ake apntect Joo: oa - sma, z He"). ¢ | D tren (ee -tcaf i ones j S aol Ce a) . aco} tar | 3 ati] oak) + a} ke wimnn = 2D atti es ts) . We Bom Gy. (4) oe mets Uh fPleony efoserctiene Py an 7 GL tye ioe fq vespenes Hee) he 2 Minny Pheer compra axem@lifies fy th axpmated @' 8% rv. AE A=0, ome Hee?) = DB, acel kee Ae At, : we ie HCe’™) = D ol C9) the tnptictine an’ ihr The am ne verhichane Pee ire) es ener cerBill Fr an Fe itt fo tye Tate MG tag ao e0en A ae ene an Ah ae cocfbicients say Uke orden ACn]= — Afm-n}, ogne the reponany resent : we’). > Alte : - ohh mony ba refomeGd fitter + ape MA bat eo we) = Stores arepe DS tod =D tee ace NS tema oe Mee Sine sO 2 Dfine alele2hC% a] , beta, # Alo} = ACEI end fat ke Minlo We mel The, revere Ey) an Be egenmeat fom + he = Sma. bX 7. ee im oie 8 wit S peeate ke) m/e aon oo 3 b= atu(e + < )- atat be ee eV S arij enc satel ky sma mre ie Dons simC kh) @ " ke From Sy wre rnd mada Je fttouny Bowen mt Gaye vistene o ea Ue a Ve Th hee peepee th Juels a Bint Compra an emp haters ee Oe ee er, Hee?) =6 me Xan Ce TRerecfox c Fey eat Hce’™ )=0'7 Bit An Ee HOG f aya «2 chorctyiws 2 feles eth GIG Rate mk 2 an oad ogee. eth Bae gymabs tbout Jee non i Nga DY a eS a soy Us Candee AEay = Amd fro OfnemM The oo vaspoe of Tha FM 06 we) 2 S tore Ri wey ener bites : = =n a Hee) = D> ke’. DD hea na Mot Fe . y es. > foe Se "20 3 tena", eo) Define Ck] = 2h Se 4] Rete ma ant Let : he Meewe mag) Pan ree BO) Me ep tie fom > en ee 2 $a) C2 7) key ad = Poe 2 Re) Cos (an. 4) (>) ent From &)-G) oe oar! mela UR a etree on te Tepey resem oan Bic fir 4 tye D> 1 The phe tespme ff I Pity 1 tee PiMN/ eam pifan my, Fhe sxpmedsd fdw | 2. Ae 220, my heey wi vheun Uc TR a ne rashiicn m H€(e'4) Ae Lan, Ma cimnn SE Hoe") = € Bch) os (wee < mile = a Zz Bk) sin Crk) way RL ae cee SiN SinCmt\ eco fy a82 yy eae, qk9 613 An Fe fir of yen Fo cho Paria a fbbcoss the filler Leg Me an cay nbger, The Ge a anbizmmebric abet tte neni ae midpesar ne Mo UR on mefhiconts shy te cond ha Ala} = AEmnl fy Osnem the fepeny wespman of the Liley ot Hosa): 2 Ai] cia eee mot ceferrileG ~ flown . ot 3 te aa = 9 (Mn) SL ‘| 2Lmn Suc : S [mn] é ie = 5(m =) L Steve : Store — nso 2 eter S ce Js) ao 20 Define ma Sle] = 2AL SY -kJ fo Rat, 2--,dd ant Qt ke Mtn We mag Rn con Bren 5 athe egudeQank fon « ea Cena aol [a 1(< JC Re — e = “3. ALS 4] sin(hed) a) @& Fem Ey ot “ranp made st fang ofan inn Pe ee ele ee cae ee \, the phen respon of FYE 0 Linda ~ Bender cece np fis Ay Me eep mado aie a ALE M=0, sie os lk] en(&-Ya) 4 B mle Ae Sar, jn = ma Hoe") 2 Je ELL] sn(e-dy0) ee zo er] tay wohl cheat URE cei") Gan assure on arbrbwd va Quenal Bay Let He trast Banter of te fia fide we tg Hi) = (1—2') AG) o osha Mz) an avbiborg pty romik om z! th Her { &-O ee) on epreserbadk Let dhe sequen OLA] dencth sila inven 2a beeen rp AL. Expentiny GO: Hey = AG) - 2' AG) © ane m4 ee re Pre snnh J Ire bok diaper : Rom Eye) ee ra cady Rink RR AE aes ee ie agi no herms qf Qfr] Peo | hfe} = alnd— ofaBai ber Uke Bente Bante of ate FIR PIG be af a4 o hj > ole. io arn Fr Ce N) A Rave tro phe ue requiee Jt ful eek Fameahis about n=0: A003 < 4, Cad GQ) te RA ose mong expres He) Wee a mh tear e = +hel+ D &ole oe sad ae ere joke. tle > ore’ ole so ia et) + Koel =. > Ay Co} cas (nn) + 4, Col CRebwenin, Sr By © oe ea) oa & o ret aM Jal Hoes) = nw Je 3 ytd a 120 Sma Saas =e! zm, tylele ee er yoo ely Conditim ef by. (2) Define Hee) 2 PE aes) ‘i ede Po At sie oo Ble,23 Bib The Fie degre PNG, weak np a dieeeG_ bine Aidpernthaty un Exanrk 86 axhibit uk ena Penpedtins: « The Pista, Guayft 45 on odd rAkager, « The fon APesporac of in fife, sitifie. eee 1. Ae 2-0, Hoe) =0 2 At Me Hoe") = Thess, presher ae bose peepetss fo on FR Filer fo tye Do steamed . Pte fn We oe Vimmedioay cade Jab be Fae G3 qo Exanph 86 4 adisammsbic slvost we noniXage froint 8 = M/r.Ore B17 Aecorating Bs. (864) ow 8.65), a. ee ,__ ag ft efit ae +. [G+ + =) o Crea) 4 at — eS) eC) tae la These tr rebtinrs are Cates om ~% ze T2092 las ~) Seosow Fe Aa more geserk can of a sampling ve VE fy ek exe hawB19 fr a My h? TIL thy , te tore fy fants H02) wey be unshle if arg pe gf He) ©, gun tently, any ro fhe denon inate pefyrome Dad Lae outerole hn east Deke fo tae pa. Mecording ete Ghrgar ttansfren , He = Ho» euch Ba Rue His) ae th tran fi, fatten of on anny Pitter set as the asin fy designing ate dygbed tre Gttr, Th eels { Hee) cutricle ah onik SivOa an GE 2 p&nm comespwh Ay catia pele 4oHer mn Ste teyht RA f re =. pan. Conver sdy the pres PoHycs) an te tiyhr Rege of Ub 2- p&ar ave maggst ont ite cubicle of ate unit ci Gn uke oz. pO. New if « pte f HO Lin i te rift RY pm, re anes filly + an shlh. Menu if any et fle ae ut nn He bihingat bofrm, se hn hy pt flor 22 unchrlt&, oeld B.1q The tranny fanctian of te dinghy Ie Poor us 6.0205 (z+1) Hey = 0.0702 0 (z- 0.4893) (2-1. 208z + 0.5304) Expanding Uke Rumeraty at denom inet etc fH) an ascencking Pens +t 7 & eer) ee Te 0.0205 (1+32'+ 32-4 2°) w= 110973 2! 4 Las 2) 02595 2° tense UK BiG rey be cimplam en 4a lve =z tet ee fhieng corfigrrtior : Tapat zLnd 0.0205 Oulpue 4lo]a7 B20 We o are Gime an anekes Lats os Reve tarsf fincicn = dhinad My HG) = 2 AL i a key eee the Lala cheefum | per eee \ e — so dy ze Baten Reefer Atk te a pee respons ae ei f a 7 hie = > Ae oO) ke, Recording ee rlh wel JF pee Anvar rane, A amprhn 18 spe a fae eg CP fila dersed fon se analy file &.D a defims Yh hint =t hear) Che ee Famrbang a yO on prt thet nd Af] = > TAe 9 ce2B New vende ste Zz tee. nat ree ost ' AT 1 ead a Hen B tam fic fe gg ub agit hale a dsdnct fom ey, (1) o Ax = TA, ere D> ake toe 2 kes 9.21 Corspdv a dinereh_ time t710m ockex. cbansfy Pan Kien 49 dead ty He. By defiaclie, Hey = we her Yay mt Xt) me Hz ths 9 outst Sequene MOD pet spree x Tn). Lee Hey) caso UG 2. henner a 7 corm ATL cy ease wi Mee). Let ata] deol pts. egpnknee oulpet un reyree & YLT) GG raph. Tdetky, xa] = =[n-1J whe 1 ° GG) Hy = FayBan The phase deby Pian ER pe of eur, Lacytt. Mod abi sy mrmebic ernprbie respec 1 Lau etl forny ow vhawoon Ay Qa) =- Mn Oe in teens Constant dada Tih) BOO y 2 ax Ta pdiction of ee ee ere et Ee IG Bayt M forge, LG constant 2 an fpedwot +y Tee eg ka 42 Ore speed VY ir crssted « Ee fa3 We an Bie + eortinuere- tme chara where anpabe oulpab Bm 1. defies Ay MG) = K, x (€-£,) Ke x (4-4, ) eskve te soley fotos Ki mt Kime temelemte Pe ee ee oe 41 The ranmfe finton Fo chan aqYo Hos) = Xb) ee eevee =Ke %., Ke ~3%, fe eee =Keé (C71. ) Oo K, Re Sb al RSA URE tS tg ome fe Be hv ff{eere 4-4, Pte. Ge eeude Ob equetiey shes tranvte Lan tren Hen Se ea et Ho Hor =k, 6% @ Tede noky i Cece ee ee on emplikts selig Ay the fide K at a constant tram srnsttin Aay weet & 4. Rom (a) at theafre fbimes + By (mw Hore a We ore3/ febews ie ee Ft) eee iS K hue poh Se IO me EER) te ravens 1b appre xi een ee ee lel el es im 3) oe ae ey Ke de - to) How vy t-se j@ a a Leb % de he poke. (Mage, efarob bode te tk mths (4, 49/t, okie Tie ee somphig inet We nog ee ae eee ate equitiew 4 ayiee Fue fo oka fopeey esfmee oo Agied ly Hoo). (| ae o. ae kK, bok rons Ane oe a flue: Tapst 001[Mon Aug 24 14:58:48 1998 befird (22, 1/3, hamming (23)); subplot (21,1) plot (b} title(’Impulse Response’) grid on UH, w)=freqz (b,1,512,2*pi); subplot (2,1, 2) plot (w, abs (#) ) title('Magnitude Response’) igrid on p8_24.m 3233 8. a4 Impulse Response ry 02| oak @ "9 5 10 15 20 5 Time, & Magnitude Response 1.4 12 o.8| ost (@) Fapeg, 219:21 1998 “p8_25.m ne0:M; f=n-M/2; a = cos(pite) ./ &; % integration by parts as done b= sin(pitf) ©/ (pité.°2); & in equation 8.59 anb: ksisnan(h); h(k) h_rec bohat 8 get rid of Nan + hamming (Length (h) )’; U4, w]=freqz (h_rect ,1,512,2*pi); | subplot (2,1,1) plot (h_rect) title("Rectangular Windowed Differentiator’) subplot (2,1, 2) plot (w, abs (H)) ;gria figure (H,w]=£reqaz (h_hamm, 1,512,2*pi); subplot (2,1, 1) plot (h_hamm) title("Hamming Windowed Differentiator’) subplot (2, 1,2) plot (w, abs (i) );gria35 9.250) Rectangular Windowed Differentiator os| 20 40 60 80 100 120 4 7 4 7 4 a : ol 05 1 15 2 25 3 35 G) RecterpeQoe evincesg.as Ch) Hamming Windowed Differentiator os Perey lb { E 2 0 0s 1 15 2 25 3 3537 20 a eG fo fhe +L arty NS te Syrored Magnrtake respere os (io) a i Cs whe Bo He cuted frmz G) We ar gin wb Febraig sarvfialin , Gi) Qa an x 800 tod /t ce ae G) Aeon 2 to Ly | Hesen| = - 15 f6 oy, epen GHy 2 {Hise} = 31. 6217 Substlty Ka ee on Bice = 7. a) 2m x Boo Se Ge3% 7 7 oe = (ly 30, eee Aq 1-5) = 4.21q,° Bo wt choos Nes, (4) The Mate be emi fe er'saig nm sh next AK Li jn The pogr, PRorey ee col hesbs 1 2 7S ark he pee $u ah SE Crees pein TAK on fs (© The forny vesprae PO hike ns Prvimbh on Fey t,Tue Aug 25 15:06:19 1998 2*ph wo=tan (omegaC/2) coer: 2 3.2361 5.2361 5.2361 3.2361 1); ds=coefé.*(we.*[0:N]); [ns=we*N [nz dz]=bilinear(ns,ds,.5); [H,w)=freqz (nz, dz,512) subplot (2,1,1)} plot (W, abs (#)) xlabel(/rad/s'); title(’Magnitude Response’) grid on phizangle(H); phi=(180/pi) *phi; subplot (2, 1,2) plot (W, phi) title(’Phase Response’); xlabel (‘rad/s’); ylabel(‘degrees') grid on set(gcf, ‘name’, (‘Low Pass: order=' num2str(N) ‘ we='num2str(omegac) 1)40os! os oa a2] 200 100 degrees =100 200) 0 Al Magnitude Response 05 1 15 2 25 3 5 redis Phase Response 08 dl 15 2 25 3 35 rads Figen | Prcyetag vette ot a4a £27 The transfe forctim Hoy gf Me vaby tisk. por fle mt bef fort Hix) of 1 tre ty rt Kh pn fle ae A sR ee > eo Coe pn The AIATERAE Cm fe dey ary Ee 35 oye oe eee Fig. olay ee eee Fespre ae Prete Mm Ae nef ee ee43 Tue Aug 25 15:07:25 1998 p8_27.m omegac=.6; N=5; we=tan (omegac/2) ; coef: 1 3.2361 5.2361 5.2361 3.2361 11; As=fliplr (coef Et. /(we.*f0:N])); ns=[1/(we*N) zeros (1,N)]; | nz dz]=bilinear (ns, ds, 5); (H, W) =freqz (nz, dz,512); subplot (2, 1,1) plot (W, abs (H)) xlabel (‘rad/s’); title(‘Magnitude Response’) grid on 180/pi) *phi; subplot (2, 1,2) plot (W,phi) title(’Phase Response’); xlabel(‘rad/s'); ylabel(‘degrees’} grid on set (gcf, ‘name’, (‘High Pass: order=' num2str(N) ’ wo=’num2str (omegac) ])Magnitude Response 05 1 15 2 rads Phase Response 05 1 15 2 rads Figua | ze high pow #8 25 2546 B29 The fooproy respon f LG chennt 2 cleft Jy H Gen) = ! Ce The a pont rank ai k cles igm on Fae fh fv eqtinig te chant. Tole. Ply, we nag dere AE frpany respeee ff fa 2potur a -dad, H Wars one G ~ x Th) = ~ pe ea Cen) cs enCka) i sinCkn) @ he fo rncdndsA tte meta Batine fede - Yor Ube Ae osseceBA wid Qh. We oy rms desevte AS compaita UE Lingua Ye space A oaJ of te equitien . 1 A sine Banden Sree spacing to the anita &,. 2. hn adi rg memes Fie ae, Ae mid — geist coeffi cindk 42 8, acconnhing fe Mz du tern - ak Famosos Fil 2M accouatig de Ax Q@ay Gre IR Eda SIS yO). th sum of THae TR cor bibulins 2 falty war ghd Ay fe aes fea ee eG tS ee ey ane an tenetig Fe aprtion 2 compe. x, Cee ee compuliigse mid-point corfficint of tk Re Boe. Ry _ define, ce fare n eas Ti Atod= = ( wa) eM sa « a fh nee a -y} 2 oan Hoes) a n=O: 1 4,01 a. A H Ci) axe Fe tte pret at fas f, tod . al (1+ Syan uly seftwore amplemeabGe f Ub Fi lene, an eer epuke | dts cod ad srt inf he B ted = als. te prow sie mated & code fe Lhe te plewatelon ae pre dented on Se nxt PK (vee + Tn Problin 5:79 as Fesperee Huy hart be ho ees Lod fonlin «) channel fraguenyy Secerd - ee 7‘Thu Aug 27 15:29:46 1998 :pi/S11:pi den=sqrt (142* ((w/pi) .°2)+(w/pi) Hehan=1./den; aps-1; -H/2; rrr ry ./£; beein(pité). Snan(h); h(k) * (hamming (taps) ’ .*h) /pi, (2. / (pire) (2.1 (Dire) 72) hh3c = (2./(pi*£).*3) 0 o* hh3=hh3a+hh3b+hh3e hh3=hamming(taps) . *hh3’; hh=hh1’ +hh2+hh3’; hhh (48) =2/3 (Hea, w] =freqz (hh, 1,512,2*pi) ; p = 0.7501; Hoheg= (p*abs (Hea) ) . *Hchan’; plot (w,p*abs (Hea) , “b-~") hold on plot (w, abs (Hehan) , ’g-.") plot (w, abs (Hehea) , ’r-") Legend(‘Heq’, "Hchan’, ‘Wcheg’ ,1) hold off p8_28. m4): (pit£.r2) 5 sin(pit£); cos(pité); sin(pi£); 450 (jee ee pefrren lal f wh cpuelien. Sacp oD, Rea naga choke Yt Spesee ere ald: The darhat dolGA Ce Ort sprdy Oe chant. Tia ld Oe ee Lom prt, AG eprtier- oe The sehek Cree me Prk 2 Ue Corcate Corradi rf 1 channel one Ute eprekirr - qh, fey hmerbeles Prot pe Be oe chant ove ~ bage fark: OL(M Em, eH fe ho ot ee fas bot rrinne parade fr edase = 1 Ane itads fokee Le Ceehet tere ai stim Leta -08 Figere | 25 35 51Chapter 4 FA @) Th eloved- forp gan of Ke forte k anplfiar 7 +y a Co 4 BA We are given tte fltrog las fe te frum amplfiebn A poten fit f: A= 2yf00 B= 0.01 Subebebatip TRie nee 4 We Dee ameee Gite | ye te 201 nares @) The serecdia of foster A amphfe A Change oe Ae gin dy Ss. a TS BAA ie BA 3b wok (A/a) [o/ = ol — A Seo SA) = (0,10) = 6.6038 = 0.38/ oe :Gd @) The chesal~ Loop gain fa Satbrck phe 1+ HQG, () the vebrrn dfferers of as green oe Frits HES + ee ee ” Cheyer 6 G Row io bt/t a. AG 46/6, al F 1pHEG, Oe oe Hel aod x s 2h, Meas fm a Me aot, me weymre Fz leo Th cwonesperdig tee f Gm oe Ce ee HG ce ie96 oe eo a AA eke Ley gain G (Cle HG). ha hep pan of a hte oe poe tr. GE G/OHHG) Ve KEG /G4 HG) K, GG, te ae + Kes 9A The cheat Lon gars of A perio! amplifr a Yo Zw Vor 7 Zar We ave owe 42402 KR mt Aue KR he — te bent Coop gain bere fortin 17 apriten! wncb np PT ol Vay - Vo 6 | | | | |Zee The ener fe fan Hi of he aptrtr ee? ameter ee MM Ze — Zo = Re Re << sok eee wo (450K, AeA pot hn ot prey a ie seeify Ae cond tinn t Be Sk wt ney spp |. Yu Yar ~~ SOR Thet = te mpythinel amplity at > + Lt frartdbr,9.6 @) The" sense” hewefer font oo Hey = = sleet heat bere gan Che, eee fir foe: ) Toe ples Lo Ld 00 mdt hove 6 Fg. Cie Vor Gur go) te Ga) Ho) ~My HC 1/®&) ‘ te K, Hoy i. Ky Hor (1/k») wo SK Ho Oo potin fee VK Hideo! SSO, ore rey teenie SU a wih genhy We cm bibin vay 8 Ky Hin ((/K,) am © K Hor = Ky Comespetiey , ea ted wk Ne) ~ + 4 seyFD Throwyhent the petOn, bre | @) We are Byisen Goya ass (x48 43) Th conbel gethe tKecloe ctype 0 The stony ~ sob ere fy oat 67 ao Ke 0 Cas Hey 530 Theh ow Ce so0 68#Cs43) St 2 oo stlens, &,-—--2 eeO & Coe 5 SC54 N44) Pa embe apttin ng The slay = oh cow fe OP ap ae tee, font te, Ee Gedy — FE tere ae va ok Ke Lin —2— se OFNGD =o 4 The aeedy — sh eer ae brdoe € cs oe prove vogak Sia dy tke ae afiaitely Loge O Guy, 36+) s(s43) AL mle ryiRen tym 2 thee te nely sh emw a exe fe ant 6p tree eeShE tny eo a2 C7 50540) a The Gedy — eB eer peel Bey. CG Fr 5 (s4t)G+2) S'(s4a3) SAE conlek pps a yet. Th Mey hE erew ae thaagou zane ol Gp of mn? anguts oe por Wee wap te sy = Gu) = sR kaw F(8YCse0 S47 3 The sGiy sh ere one 3/o.Se ee Shendy hte rears CRB on THE 5.9 w hy oe fartkah Brbeh ry bom os pre O & O) of oe po hh hae re ahha. GO GW Ho) 2 ie G45 ea) Te Aad 2 (8408439) 207 = st casa yp rate wats fe mein He ete Reap pm The eye enfoe able. @ GG (yy secs Nera SCS ECS aN) a = 2 ss igs AG ee Apdyig Se “Roath Horeite witeem : s ' 4 oe 7 si © 610 There arn ae Sign choy an te fine tan ft de Gam 5 ite rye a ei ewe{ {ioe ste i&. © Gor Hay. 849 7 s\(>4 3) 2 a : Pe eseeaeece cease mee cee cece Ee th Rorth. teyewite 8 3 . s i = st 3 y 1 a. ° sO. aw fia ee ah a eR cheer orbamn af effin » ak He conker Re Refer re Le 5 (sats 2) (a) Goo Hor = S543) a L . Oe ee ee 3 . = Sas 4 IS S400 athe Routh thywite one] oss t 6 oe ® o eG z > te ° 4 3 (Oe ee a map, oe on ty bE ik fot ee te Eee ent etee ece n Cee | missig, frm Ae chante apedor He cm ve the eet AY coh a hy’12 uk Rok Snug : | a as | ' 0 | Os 5 slo thy o Og There oe two sign cheer 1. te fen ectama L ong Alek nek att he chee Bist epee AL ee yay ey fe ee eee ee yn | ie ia frevinely Grew. 2 © ee Th Dest oe 0 so 3 ¥ oe . 2 ne zs id ° ce oThere Oe Pwo 59m a 2 fang octtrcinb , baoty se poues Y Bf ee we PS ciyht hf Fe fhm mb syste as Thee uns ob quo The Char etarihe ep be ee gee = eo Aretyg Ae ee s 1 1 sé ' i: st i-K 0 orc 6 The cone rgibn hecef shee prssdnd ss be pot Koontifie ce cathe. OgK Riri Sd a Th ye 60, SJ, A Fe he Rare canted tht tte wer 4 PD Cle fe te | char Land ie ae Gl athe) dh sien eye t26 417 The bomasfe forctim of s& PID coh 15 chefiras A K+ A Ks. The Fegurremenl «2 % A eh beds Zeer at Sop ay, a tee forbes f Hh ferchack Sieben » tere cm &/«%)s + CK, /K) = Guan 7 S4as4 s Comparing Lemme : Th Loop tonnefr fantom f WE compercabt fetnh sytem ae Lis) = ne = oe CS +i\Cs42) Kp Cs*4.25 +5) SCs+i\C5 +2) Figure 1m bh paxt poe oop ays St. root Locus flo f vog’5 Ky. From es fon ex tux HE WE ot Lous aa emfort be Me Goff hoy a 5. pln fo 222 pesidise veQuas fo Ky rhe fardenk oi 7a ek27ack Let K, Seog ach f “ Preprint! conbrrlly We a express ee Loop tafe foion 4 SR Con byeOQt in ver Gh Per deetn = ion Kp (s+ 3.00s- 3.) S* (sy 4.4) (5-4-4) poe 6 ee Se 0G evel 2) ee por aed ee Ces eeeay, et A ee ae hapram shen ML fo 02h po tes value. of Kp 1 me loans. Lop tere fe eae 7 gee wih be - pte ae ris. Rey pee otk a por Yo ple w Ae I~ ax. spon Figurea9 Accoretinghy , AE inverted pendulum cannot be Steed Using a cbreporlkenk contrelly fr 0 ie ee es cen Rusrin fe K O°imag Axis, 37 08 0.6 0.4: 02 ° ° < ° o Real Axis33 22 We are gine the Loop bre fe fmt: GS) eek (Set) (es) 7. Liga) = Pat K Covet} Cae 4 3) Pots (@), Cb) mw le) ef Fyl om tke neck pape shew ples fo he Nagueat hos f the stim f i. Tt, ow 100. oo Ma bras of a. fit oe On me Peony shreds ; eB Ke 50 te Loms dee rot end, tr Me erbs © pont (21,0) mt the sysbo ao seb 2 Ge Ke ieee hoes ert te ool Pert CAN, 8) md She tytn ae un skh wy Ke Jt Le Ny qponik Lms proses heap Ie 2 evel pent C1, a) a ee ee ve very 4 insh ohh - Se eg ee eee ctts on Kee x = n (+9) —] 2sy | Loa] =Imag Axis 39 Gyitied point ¥ C-1,01 10Imag Axis 40 15 10 -10 -15| “5 - a rat Cystic pois C1, 0! ——. 5 Real Axis Fig te 1B Ke 7 10 15Imag Axis 4! 15 10) Real Axis _ ; a) poe 10 15 20here oy oe uke phe Cestewr fry “a. Igo. 2 tes" (ea) 4 4n'( SE) fr a gan marys f Sok: ze fas = 22 ey 7 alere ee atfey (0.25) 7783 Cc) Fr K = 40.49 Ub Ce resevy fore y = (ue.udy = ie aye 255 sy) 4 xt se tem dk eye on SE fam of a enbic epebe an x 3 Se og el ea the oy pote vot f Xan 6, 242q. tHe > aay fe waq 2 4936 je pee EG) ce ee aw ates! (owen) + aC. a) = 2268.2 ,4a05 = iba. 4° The ple magn = Hedoe Pog oP 2-T = me43 4.23 We are ann Les) = = ss +i) fy S20, Low) = = IBC awe) from ehtiu vee dakew ; Jucias| = —K o wast yh on {howi} ase Ca) @ Bom ey.(1) oe ebseve SRE UK ple re speee ong { Low} ce Ca Rpad “he he -Torge fcoigads the vedee ef lige Sadhana ab Wso0, ae oR. ferns we se fen ey. G) ue IK Mognitesa vespese PLiderl 42 240 dew be Nagunsk focus onl ney ended Ua obo goint Cio) fy ake pao die whe f Kk. IL fortel aye thier abe fy 00 KS,4 Given oa Les) = K SOc) Fry Se ue, Liga) = = =o (dort) from hi we dee: K (eo Ie cde) = ony} bedi (ge a) Skew the Ngqest Loewy will eneryds the o bl post (-10) fy of K >0 5 ThE +, ks oe ae vaste f ott K 30 We vray fae ve AY Te 4 sete ae oe Ge = tO od K si 7K 0 oO There ore 2 84h choy fn Ut fare cxtam of cocffededs in sta Om, 2 kK >o, dew abe sah ae sash be f, ame K>o ©.45 42s We cre gion te Cop a K S(S #0 s 42) Fy Ssuu, Los Lowe O8CSa nD (ISed) sere Kq ao Juco f 2K w (ear) Corany on} bert es ae". tes'Gar —n'(2) & Sali K = 6 - 0) unde te condita [b@egi=1 : Be =o (of ai) (oto) Cotiny och Be Ita hese = reasswr fore: BPs x pnd reanegig tems: X 4 Sa 4 4x- Be=0 Saar Ue td oe moby me porn veel Ob 22 ene ae ve Soo Atontuy che vee J. Syn):46 og btupf - ~ 90-400) — tec) oot Theo teanth can ferens me 8 phone ceseee Prego a Ke6 a he ote whe 9 te solky fiw py ohh Ma My past a fo Ld) premee They Me eliol prin oe We may ates aif he wrete Ly pL me ee 0 o sok th Bye ee 6 vege fo asthe bly f& K=6AT Gi fr Kar A gain agin oo oe ty 6. alga sant 3s Wry as TC te phew magn fr Kat ox need & bens a gain ~ ovistovr forsy 4. At ae oo [ecows) = 1 eae fy ee pectin foe ee Oa) (oa a! Let “ Se fe my ake Ren aK, eye o 3 a 48a axl gq -0 th a eodie rot of the apelke 26 x= 05006, Thee, % 2 Jostie : 0.7444 The phe mepe, THidnc Bo- (4°. +2'(0.7¥94) 4451 (02749)) = qou Buqr.oes> = 3G48 @ bet 4 clone th Jains Coase rere - JE ager pb meg Pos. m4 oe oe | L cduyo] =! ogi tus} = ae. 4ei"C oy) Te! (42) hac og Ltrs f SS oe th bane 70 = Tes'CH) ete!) ef te ebtein te eke! = 0.9% Fy Th goyy at ose ee y io 8 Cat Ct ya" = 0.972(1. quae) (4.9 u49)" = 3.0143 the Sain magn un Rede 6 = wy (ses) = 24.7 = O86q2b fe pepe of Mushibe, eoprre Loot for repo Lad Lo ~ fuk maga ctods of 20. Sapper Pao 1 fertheb syien repre Ay LW ed 45 2h LG. by troy shes shot th Nyqunt Loom gf He syibm & OLwen, ededeng Je apn flow pregen Provisions , om feller: te {bd} Ref bert Come ted The phew manger of syibe oe at th yarvanen fapeg %)- Th ja agen a et 7a phe a? (7 eV bday! crater peepee): 4950 9.97 We ave gw A Looe foyny Te Spree Live) = — ek (der+iouirXsiea) - GK Go 6) ae @ Fisaie \ mm the next pay ele te Bote 0 ogee fo Lise) fy Kel Charging tl Vee og K merely shifte 1a Loop Sara 10 Sprnee uy Cree aprornt ayes be aa by Ki Thee Coutant poe hb asd we fblao ‘ 45 46 a 7 1.40 ] 5 18. 06 a 19,08 10 10,60 uf wo, §3 Aprtyg TEx cgnrtenb Zin major beens (7 hm | a te Gey zarn sesrome fo FH+ 1, HeSl Frequency (rad/sec) aco “@p UD, o os 7 ° 8 & a Bep eseug Frequency (rad/sec)2 ma Feoouy rhe nla : 7 | The fated ont os eg ee £4 : RFE a me A vee rash belly ge Koco TE we ons & stl, The ee hh he Ke 10 3. req hee We ote fray A pty Rowle Maw Gin fe Wi Chan teks epain : s : + 6S kus + 6( Kar) ao Spey | oe Pane s ' in 6 GC Kar) s! seeen 0 s? Gta) o Stew tte sy a Me reef arb betly f, K 210 (web: 2, he fut pote fo te bet mumatty fo Lids) that reer 6K)53 (Fe K=7 A gatin Mager ae roby C2) = ast a6 To en te phe meaye ore me oe Ore owe feepey ee) LPs conte a ost au “Tas ye C os «) on ay” Let . rece lee ape i eae a Cres O Th why pete rect of eo ee ok we 7.54 at. thee igo ten! (2. Bock) —ten'(t.Moes) — ten" 9335) = 180. ey? su.y 43° = tr.v Protng oe = Hn Re Cle oe geh — ye solh: ; Stn egies 1.937 36 Phen megin a 73° “: 8 2 ete ees, nn mye = O.US AG Phe mein s de?J V9 Consily frit He ery eg The hes Ay tb ene fod Ts) = 48 saa (ses pasa s'4 0. t 740 5p #4308) Th Comenpody Bas tape , othe dy petlig S 2 8, 45 pol oa Ap mn as ext pe Corridy nexb Ute vedeat ~ ot mend ce svikal 4 RR perf foe Woo oe 3°4 0.279954 4. Ysor ehh ve ohdein fo- Tu) Jy nod aa clisheat pr mh Se 2G wy reajerby Cf content ye fre. FY hm HK ef Ae ert we, plo 7b Be ape af (fpr motif rye Com pari Ikra ovo we See Kate SEe ferry wre spenece of Hts. ijt feedbek eyttm owt LS yeduud - cvdy approx or model aye” Chere of Te fred Fege 02 64.0,SS Frequency (radisec) Figue | & San t wig il sg7Om56 10° 10 Frequency (rad/sec) Figme © Fragen y reducsl — ray boo qespoe57 9.29 Figwees (Oe ee ge~ fae pe oe Bei hapems fr 1B fetumig Coop tafe fone + @) boy 2 22 O40 540) Oj. aN Oer) () Les) = : Gt? @ tay. Cee os) Cs40)Csary(s4r)10° 10! Frequency (rad/sec) Figux d (a) La) = Ose sed10 10° 40° 10 Frequency (rad/sec) Fp . (A) lars Ce )Oeyias?bo Frequency (rad/sec) Fin 1ol 107 40" 10° 10° 10° Frequency (rad/sec) oe | eof 54 0.5) Po) eee ae Geiser ses)6a Gas ee ea ee ee eee Lop bree wfontee Los) = 05K Geo) S(3 + 12)(5.4) Gr sade, ie 0.5K Ot dal Sa+ NO) (da-4) Figuees 1,2, ma 8 © cite next Three payer pee UR Bek diegrame f Lise fr K = #09, 128, wd 100, Te spdieedy. From co Figs we vy mi UG PM oles gatkoe @ The phe - creevy fore Osa fx att K, © Fr Ke it? Be Ber Hepen anochhy sf a Ce Gol =| ay oy Ludwts ise, pa te system so om bey : ¢ ey to nsk bre ty Keg. 7 () Fy Katoo SER atin Magis ao 2 lB, ee we negtiee the Hythe oe Rada wastrbts oe (@) Fr K= 160 he gain magin o 1qu db, Aad poihie, The sytem ae TReefoe shih Ly Ka 160. thie ctae tere yecefiorm UE condone veabi ee te sb DILL pfs ef LUD ik Bromee F001 (vee. rut fuk pent fo Wt, nfrw dhs Oe oe | Gane i 4)63Fon 2 Kras G Spin ae me Re TF ins hb Dy)os a Frequency (fad/sec) FG 3 Ks lho C bm a ph)bo 9.3) Let fee) derot She felled ( rehon) Fi5net Proved hy SE Seasee His). Then, fetomig we mtr prenebl ny Sets 9.17 , exe may, nsefor x2 se compcttm gg Be bp Ba bomen Ros Lbrcerp 12 coma, ot ray n pees wh Sanp ht ebb pen ZL cs dko,) oe ~ Ls an/T- Rem Fey. P4.31 ese ons, uc Eo) = HG) Yo)oF dtberu Eo = Hoos Yor @) EU minh Ew kehem. Ey) mG): sor = beer Ha Xo) '+ Loy . Chae dk ack Bde 2 ee Yo Soe t+ La okere Yay = Yo las 22 ad ke om fy Lied, HO), mt XO2)-oF 9.32 Bom te mbar presents i. Setinr 9,17, ot nek UGE Con &- 09. 121) G) oe Xo) 0, V+ Le . skew. Lo = Ao Ro @ Fa ha cprtlam ox Fed, AO mg Gor oe dead oe frees, ve speci vy = W A= Ce) Re @ whe Do = De| Ze Ts cS 2. Boat 2 Bs dkey) , oa, = ae k=-00 whe Bo=a + Gu) K sWe are gis Dee K(is+ Z) ce BGs oe) The ek of 03) then Joe Ro i ce )G@. 6 |) = K (as ase”, 67") Cone spertify , oe ar oof INO) a en Net, oh Bor = K/s? E Soe “4 ver 1 4H=2h feu} = KE ues1 Th ue fg 4) Gime L a @= <°| - eo =z = Aw Be) =K (as asi! 2) z'lez 4 (t- (1-282 9.33 Hare ogein a Hh moti Pro Peer om Sabre 917, of meg shite lee Mie ty Xz) t+ Lee) kre bey = Len \ & ts e ko = Ao 8 Ao = (1-e7%) eo ao = BG skou), i \ ka zz nly Bs) =1 Coy s = s*(S +2) = BH . Sh, Sh . st $42 To ekaat Bi ot ee ee —2t Be) 2- Sue +FtuH+ Fe ue) = + 4Corte sponcinghy , we aa won Biz) « _s a From ok 2xpPteSSim fy Aw: Aw) = (i-2') The deep trans Roactien of) tb qystm ib afc Lid = Aw Be) =a-29[-2 ee ss. ] a OFF 7 4 ere Paling Ce eee fey z' (cie2s + e) +1 - €Gs2n) =") C2) C1 7? z") + The eloset~ Loop tran ify fan te 5 ez) = bez) 1+ Lez)‘4 (a) Fe Sampo ly prof T2013, A Loop paarfe fanckne baler sh valne : -o.2 oo z (1 ea ee) | Gi 2 cys’) Lea S # Tis 5 z' (4.019 + 0.017 2') Ct -2')Ct-0. 8192) (+ 3 2'(0.019 + 0172") (= 2')(1-0.8192') + 2 2'( 6.019 40.017 =") £ z'(0.014 + o.017 2) 1 1.798 2! 4 0.8402" een Tt2) Rosa eee or ee 0 8q5) complax Pts at 220.8984 5O18G. The pte are aside Se ant Orde ot te sym = Ror fre Shnbo7s @ fe Samp lig pei T= 9.088, Lez) ee, & vw Ly, Be te -29 Cone) Ce )C1 ee) _ = 2' (0.005 + 0.008 z') ae )Ct-0.996 2') he closed Loop beefe abel + te 2' (0.008 40,005 2) Ply TQ) = )(-0.996 z') Zz '(o.00s + 0.0082") = ieee a G2) (0.992) + 2 ‘(2.005 0,052") 0.006 1-1. 9892 1 too z tea) has a ze ab 2e-1 ork a pare of COmpden phe at 220.995 t Ja109. th ps La anh Ihe unit ele ih He 2 pO at SR sampdul da sgithm vemans shbhe. NG, Rover, I reducer uv ata Sampbig pict be pashy Ke Chast Loo? pte meh Clee & fia unit Cord% In beth tre agree f- frotom conblle Bhoen n FG. 9,34, ee have forme 4.34 Coneprrne a Gin tn additem b SO Conpri kn Provided 4 Se contree, phe asd 6& fotel Lup. Bh bot comfisualina , rh by\e te fferoend Coneptne lin 22 HE sin db oe cubic JO fated be ) ie Ane nt nfler se roots fe Chercbritld apt of Ae crip fated sp Bn The phir ond Zen gf te food Comprmonty CemheEy) rey ee ee pots nh er YR Lal- tap tre fp fax of te gh A passe olisaduenleg J Me confignmhim Fy POO he ef, COneftinaly roy ford addicted rece area Ae falta bag ane fo porte bation Prdwot or pe & a spou Shan77 oe We ae sue K lcs) = —S s+)? The MATLAB command fe Piro g oe é. 4k corremardiy a deterd poe of ebret or pee ot oS eon fy Sou. gem Pe path OK the yoot Low L He oarty fort lend syn prsnd on pl A bepy fro Googe cone oe oo ee Cnr +t fro", Alena Holy AR eo mre olen shank phe prt, ee that, She wen at. the onrere ty vette PAR ny Qe Clad key pte me Sz Ot OPE ew ite pa prey aS Joss. 964" =![Thu Aug 27 14:35:27 1998 num=1; den={1 33 11; rlocus (num, den) ; grid on Ksrlocfind (num, den) 7Imag Axis 15 0.5 -0.5 0.5 Real Axis 05 15 7980 FH The MATEMS common qe Tee ergot mente te Prost m ce pope afte He name me Fy! cei ee ee hone eraxfe fodin a s(s¢ era a) rh vhs A Ky Cortney os pr 9, op Qx pte eh lene fe T= 0.0707, 4 competi fete Ke he ancy hes find » Figen 2 presente se Meds ingen gq bey fe Kets fem Hh fly a fed fa fllewiy- o Gan margin 5 6.1 do Phese cretiewe rey 2 La red Mee Coe ae Gals eration frepang 2 0.6 Fad fas (No&: In port tod A prettr Aeth ver 0.0707 and not 0.707 08 nm Sle fore poste ot Ta. &xch) &num=l; den=[1 1.2 01; rlocus t=64num, dent); grid on Kerlocfind (num, den) figure margin (eéenum, dent) ; p9_36.m gl82 ~06 04 02 o 02 «(0406 Real Axis 08 25) 2 18h 1 os | ‘soxy Bew 0.5) ashPhase (deg); Magnitude (dB) Bode Diagrams Gm=6.1 dB (Weg=1.4); Pm=71.3 deg. (Wop=0.6) Ga mogins GH 10" 10° Frequency (rad/sec) Foe 2 10’ a34 4.37 The MATLAE cody fr the ripe ae Prt m fe nak aoe. Figen | sar Bye He rect hous fae fat tok 450m fined fy foo? thm fe pote LG) ee ene G+!) (sta san) Ung Ae commend obec frd , x fon ee fe et fo Aa Ae ty eae tert Lane eee a ea es (de, & Byte ae ow Me eye oF arte billy) 1, KL by may vinfy wtr Hy cmotwchig te Routt anny fo Mt Chen eteithi epetie: Ge) (sks su) 4 Ku 20 ham dy oe t 2ek s* 2 -k Bl case 0as a Sy yn chore frit ubsonn 7 Qing cache ach Figo daphne 4 Nye owns 4 Ne ee he A Go hko® Lisa fe K=O8. mt Ahaades Pe frock not ented , pont as aie ae atte Fyoe dep ege a 1. Fem he Pye we thin we lnee oe ye flies y Gan magin = 20 4B Phere = erence y= 0 tla Not. Her 1h. JON Mop xa tly ayeed bo wae yk 2 ao ty an 246Thu Aug 27 14:05:06 1998 pon=(1 -1); Gen=(1 2.2 11; Elocus (@etnum, den) ; ‘oct ind (num, den) num=.8*num; nyquist (enum, den}) ; | figure margin (teéstnum, den) ;25) 15 os) Imag Axis -0.5| = 05 0 Real Axis Figse | 08 1S 87Imaginary Axis ‘Nyquist Diagrams ea wen Magn f Ka OP BePhase (deg); Magnitude (4B) Bode Diagrams ‘Gm=2.0 dB (Weg=0.0); Pm=Inf deg. (Wop=NaN) 10 20 200 100] a i | 10 Frequency (rad/sec) ae if Boo cinpan fe KeOk90 9.38 Th MATLAB ce fy the super iment ao Pe Ge We an gun a Rotoet aysbe as ake op bearfr Katie Ge Kes) 7 Ss "45s" 4 6s", 25-8 Ths LE) 49 nprerecttore of cons 4: vay shhe seb m mn Ahe h ub te hth, Komen vasele a ethno FT oben The choy rrithe epee f Uh spn 6 bs 4 2 So Sse Ge Ges Ges) Oo Conshrochng ths Rea tt oreny > 1 } K-g se s Kaa 0 s* ee a = 0ae From he ed we Gn mk UG Peto daduchace + Fr shblity » K 58 ban pltewe fu ta Gr eh AB dort @ctamn of One cre ffs . ew K=g ub ao eee eed tn rhb bay From te fowh ves, ab fiten tht the ccones L920, From ats femih ven f ite Ored , Jr ate fddene URE Ko mer ottify Ja cowl sh2 + 02kK-02K 50 fe te gee bt hb 2 That o, CK = 16. S03)(K + 15.508) <@ fon whieh a fillere AK fe seb by K £16. 50g Th [Ke conditie ao ser fiat, Mn F.6-0.2K50, Wie Kos teSoB Kase as again ow IG seg of in oh bs, Freon Ui Mird yes of th array , Ae cera thy (6-0.2K)8 + CK-9 =O a = 231-9234a. Aca dig , we i Sea ee syrbm ae tek he Porat BRK tt, Ae conn BKK to, ov The ve sudh 1. het weg oe Pliny erbukine « () Rest Locus Figuce 1 sheers ste vost Locus ef Uh syche. Using te Commend hoc fill, we etn fPowag Kiwi te we f K: ee Kee ie ae kg ee syste (ha sigh ket Looe pte He pe RY Om. Bk > tore Complex eles herp prés f Se sim move & ee LY pin. tera fe shbiddy, oe eh938 © Beer chopan . Figure 2a) shy SR Bede Anegren f bey fe Knee + Kua 2 - 1654 F cao = 1d, 257 oe fen cn eben Ha few ye abn tly Ke Margins Cain Machin a5. 701 dB; pli orenen fap = 0 teas Pha Morin = las8° Jt = ier pry Sy rey Fgue 204) Shen 4 Beda ob apa fe Ke 2 fom Me Ssamd Tod Deeper ot sae Ue He Zain meen eee at ate pt te Ree fom om 2 verge instr b Bly. Figne ete) shea FO Boe dhoprem fy Ka tes03. Rom tke thd Toke dinpan et ae Ut FR ple magn ah ma, wt fukin syk— gem we very fms bbe Ly,Oo 1 | sae cole Frys Bla) thewe Ae Nyyrrb Aopen f Lia) fy Ke day, Th evtok poise (a) eh) fe tin ber AK wt A Sapte ae Hi fox pbb, Fp 2) shew 7 Nyguast Slee ef Ley) yee Cee ge vie fos 4 pp Mal pore Bod PF as fe feme (=H 0) exe tly st epee at on te veg Ff in abbey Figs xe) Aheoo a nigger Aaoas é i gy Res The Bows 4 Fy 3c) tnpdee de ee bed port CY me pie on Ref mel Fig $d) shen 2 Ny gust Laur gfe K > Iere?, randy, K= 20 Fhe Lowe fo AG, HA) emer LR er hl pone A) ue nphe Phonfon Anttila, Finally Fy 32) pleas 78 Mygesie Hons de Kee ten the prc ce em HE PR Lows pranne Thramt Oe ee see Meg ish RLY Can be bore acer a Ge iby peble F Neve Ny g ash Bot, he Sa teetm fr & te yb Shadi. “‘Thu Aug 27 15:44:56 1998 p9_38.m pum=(1 1}; den=[1 5 6 2-8); rlocus (enum, dent) ; ‘Toef ind (num, den) =rlocfind (num, den) figure nun=K*num; nyquist (Enum, den¥) ; figure |margin (tistoum, denf) +Imag Axis Figur | Root Cotus ae97 Gm=-3.701 dB, (w= 0) Pm=14.58 deg. (w=1.54) 50; go 1 8 -50| =100! 107 10" 10° 10° 10° Frequency (rad/sec) 0 -90) 2 8 3 @ -180 | | a | -270 360 107 10" 10° 10" 10° Frequency (rad/sec) Fgr 20) Bode hepan fe KetGm=0 dB, (w= 0) Pr 98 ° —< -50 Gain dB 100} -150 10° 10 Frequency (rad/sec) 10 : Ef FT -180) i -360! 10° 10" 10° 10! 10° Frequency (rad/sec) Figen 2) Beds dtayaem te Ko8Gain dB Phast 50; Gm=-6.292 dB, (w= 0) Pm=- aa 0.004735 deg. (w=1.924) 50) -100 10i 10° 10° 10° Frequency (rad/sec) 90) ee 4 -270 hh 360 10 10° 10' 10° Frequency (rad/sec) Figan 8) Boos ryan fe Kx 1658Imag Axis 100 Figo 301 Nyguirt hows fe Ke eur Cele ribo)lol oar,’ - a “1-09-08 -07 -06 -05 ~04 -03 -02 -01 0 Real Axis Figue 310) , ke? Mygwik Loon & Crysb age sk brbly )Imag Axis 04 102 .4' 4b 7. 0.6 05 04 -03 0.2 0.1 0 Real Axis Figns 26) My guatt oo eee S Cetin perk Cy 2 enurbd G oe a) Ba harm oJ A 1hImag Axis Gitid pont (eu 0.5} 103Imag Axis 0s oF 05) 4 m1 e “Bs 2 ar a 08 Real Axis Figo Se) Mygui Lom fe Ks ree Cyst a me ee tal kD 14w Th chose. Loop tans fy funtion of He syste a a t+ LO) K ~ a) S454 @ Rak Kal, Tey take te vue Tos) = : sta say a) En gererck, he Gansfe, Lanter fon Bt ovdy sytem ae disor kk o> To) Sa “) S42 Done, wt Comparing Eys-(3) oy @): Way} Gear106 The clesed. log ports of Ki urcompersaGd systim wh Kal ae Guth ot s._ Figure | skew Me yoot Loems f Mz eae gy ‘ Uncompen s oGr sys&m. leant —loxp eae spe “et Cg are | hop pre oth aa 2 mt S205. hat oy A clamprig fod ae Bft unchanged kat He Natu rt egeeny a doubled. The set f perfictine 2 egronGit 4 pe Loaline at s2-) ifs emo a FG.2, who on uke next page. Te 15 elo, fom th veot toms Ff FG.I eb hes veguicremet annck te serisfind ty102 5- pbx Figund en a charge un He fark op K Urcompensat Loop connor ford: Les). Rathe, te og foe he Wee a phe Cent compen Saby ne rn de Gk in ths prteen shbmal. We moy ve shl Lesign regent mark ¢ s Design a phase. Lek compineGd yin so Ab A esutlip rook Lotus Ai clominent per sf best. Loop pls ot Sa -1 te we nde 4 Fy2. ha ek happen, te aryl er brim Ff 1B vobHoot Locus must be set fas af sia yf, Nk he oper. boop pte of th unco Ga 7 ak S20 of Sz}, wg venddty ie fern Fig. et SE sum fo cerhibuhesr 2 These two ple ln angle Cribin a p 120.) oo) ae We Thee vopvin a ples adtimn Y 30° hb Seriify te any er brn. Figor 2 also ncdndsr 2 ph. ro poten of te phan. Lend compen sete, hey Ik ages 8 at I x bfied a 7 dso 7 (=) wt Rete ( @ oO eshe 1h pormeis of and T porters be He. COongersi be, 108109 To vender a phar aca of fe" eg Oe so OB - 304 8 Tobig be ego ff Look sitar of the egvitin’, ao 8 tan 30 4 ten OL a fan 30 ben 8. @ mee Ey Ow Gj A (2) at Fearranging Lams y i oe conrle Tee eonthednsd Ly fe epee T Oat 4Oar 20 Schoing dhe equ fr t; T2O,923 wv T= 0.017 ee ee compinsaby her tpanefe pnt: b 2 ay he riyht of te desiad domirent plesNo and a port ~ here Bath. ak ee i be Shin t200a7 64 Ya pO tr tem 7G Comperseiy Lia de Ate gf Hh dominant cleat lop pree , toh forms b & pieharn Pebrjet a Fy.2. So ve chee 620.027, ae segger4 wn Sle Pb bon ht but, ©) he Lowe frmefe fondo of Pe compinanSs fas den A ste at 0 Lo) = Go Le) fe TS +! K TS4l 3Cs4r) Seta en) 505490 9.027 540) Fig we 3a skew a eonphti root Los J Les), An expardeh Varin of ska rack homs Crow 4 eign ae hon on FG 8b. Mary a Rlocr md Commend ff mATAD , th port 143 te a Looks on te yock Loos. TH value of K comspartig bo Tha chart Aree PO 12 9-846,Imag Axis Ww 60| 40| 20 , -40 0 20 40 60 Real Axis 3a)Imag Axis Wd -2 A 0 Real Axis Figen 3th)3 9.40 The Loop ttanify furchin af 0 cempers Ct far bnd system at Les) = GO) Ha) 10K (eb TS +0) $00.25 41)CTS +!) of < oO We start Sh a clerign oth the Feguiremet fr 2 sheady SAE rw - Oj a sere ope 7 Cant skp. The pegsbarn Unc, Stiady ao Qe gion The weboeily err errortent f tie pen agen Ki 2 tim 8 Gt He) Heaw ec 7 7 10K (ets +1) Cf es (Cee ee) = 10K eo fe ha | 01 keut Hee Kel, ue the preseksy mbu Nese ci of perartey cov chet to ali Ak Pin, him promise phase maryin We bo TR. a two ships: ; 1. We use the ren between Ona clemp.irg ots S fate obs sue shook Gat oO) PO. = Joo ey 2 wih PO = 10%, 45 Ye spmer apt, the Uae ¢ Fy.) gills — at hy 0 = 07349 => = ‘e Hera, exboig ae v 5.20590“US 2. We use TK RO bebe phar mage & wh damming abs FO, &}. (4.104) WVevoita, -2r0e = 40" (1.0767) ) = oa Slee oe meg sth fe sa The next sb Uke desion Cae Gr minimmiinn velar ef ste Barn crostowy ferey Wy Te do te use uk Ub Pe quavemet teh ute 57, sig Cine ef SR slp resp chet te Bs) the 25 . We mny gpain cprocal a tue shape: Usig oe fer make fee Selling ee 37, 2 008 ( te Exonrk qs) ae wa £ aHo = as Tos /s 2 Using 2.04103) fr JB gein~ cross oor fermy: So eee Le tes Sous mo sk oy = The stp <> nen set $f, CoB en a org tk fH corer sling metend Fees params at (C4) shes fis ancomttnsafah Lewy gat pheae respons, re sta deoeky Poh: UE tells, 10 fespoet rh fore Bom Rp Cn) ae ee ht ok ee ancompine BK Lop gain ve corre speds KT Rei Gale 23, Hea We oth ob ef 0:14) 33 UBb Ut werner Geptoyy hee ee ee We afte nat oR coinrdsney Gain dB sol, a Wy 10° Tyree Gat . @ Frequency (rad/sec) Frequency (rad/sec) ce) ) FIG ure : eo eeHe “Og P = 29 sect Th eh fate of th conmpinnty ot Tad Hor 2 K( XESs1) Ts 44 ce Gs, za s41 Pacfevenens eon Wie and Fie Thay Th compensiis Looe hrwefy fake Lest = Ow Hor to(S.6s 40) 5(0,25 41)(29541) Figen = theus dh compen nti foe? reser of ois bed sym. Preceding b the : me a tH Pye, r mieten te oe Ge BUr~ Ossie Opry Ge bee mts, tok of RL ot wilh he design kenbibons.HF Gmzinf dB, (w= NaN) Pm=65.46 deg. (w=1.823) 100, fae Gain dB = "0 10" dO ien 10: 10° Frequency (rad/sec) “3 -360!5 - 7 . : 7 10 40° wo 1 10 i Frequency (radisec) “> ie) Figua ® Compferc «G4 Long Shoe Mors Sit! ras 4!120 Co) 2 4 6 8 10 12 14 16 Time (secs) Figen 3 Step response 2 copia FgeB.. $42 4! HO) = res 4Jal Figee 3 sheurs Pb veleeree ee fhe cOsge = Loep age A Re apr. The ee hook 6 he Ahan presenta ff of Bat Le sf, seth hime grant hi Be bree bad eee eee de Refer 6 fiw ating tte Compennnter den, We Prrpre b& more Ute prhi- tro peli Puta compen’ te fi feu Ho! ee] fe te on nl Set lig Gime, Smo f Ply ce mek fy HO) a a thers tte merfis Loop dena fond. o toy 2 10 C85 +1) a ere ayrerr @) s(0.15)( 20541) Fie ao © shes te eri ford Looe frpey vespree ort chet - Leg step resp Fe feted cyibe, perpen Gan Min Forres vn ovens ex KOLeng13a Gm-=Inf dB, (w= NaN) Pm=61.3 deg. (w=2.359) Gain dB -100) 10° 107 10" i” 10° 0 (@) Frequency (rad/sec) oy dary 0 10 10" ion | 10° 10° a Frequency (rad/sec) 4, Figen 4 Love freeing veuteman Comps aby: fir - Ft Ho) ae! ws 4y193 04 0.2: 0! oO | 4 6 8 10 12 Time (secs) < fnee erga Gp respec tel é tonal Compares by fare HOD) = wer al134 1. the pheme magn 4s 613° ah gan Cros) owe fons arg ete Hf Ad ae eth aha design her Bdiine | 2 The perenteye wovihent Yo He Ae vespnne ee jek andy coL mt Sea fre eA iy Kips ee pub ede re Cony - mw Go. the fe bay SE Me madi fik how for forded J Fy (3) dete pln mech ne Ve press bel casein seed: odin. Design of te Conpensaty Figuee 6 Aho s 0x per lod anplifa wronr foo rnp nent ing 1% Phan — Land Co repsnmnbr Chanctecreas Ay fem beh fdr 5. + fo ee aos 4 The drofe ae ee Mon 4 Gs +1 Yo ~ &: pau)15 Ya) Figus | KG = v2 +8) 20 Choose G = oe ee ee sete fe AE testes clan gf Me wot: R= 0.52 MQ R= bak ma Rye bee OL136 9.41 The MATLAD cede ae altedal, We are grin He top traf ee i ee (Sat)(8*+ 541) ce Fitblim 4.37, exupr fe 2 fpr Ar de tone Let Ve ye fw Ka maple, a _K'30 Ws or ie ev& LG) a KC sr) Ga(s'+ tes) Les) = Nas of Can proved exe tly A sare emg boepoe , bran tog foe pote ye fom. Figure 1 phew fe veck Louw dq Lil Using He command loc fit , a fd hs th sy 8m Com Hh ye f padebel ly (it, B Bnet. toy pte vests xe tly ee) ee ee wy Keo,137 We may very fhe speed ln yk ase te Raske Prwrite er Brin. Tha che Betis apr df az he ~ oe (2-*')s + (4k) = 9 Alexa coashachy tte “Rea ared it i ie Pa 7 eas 6 3G.) 7 EY 0 ke phe thet elawenk fa fir ectim f Ory ee Ths scout uf 28° 4 Cick’) AeWed Aug 26 15:53:28 1998 = p9_41.m rlocus (SS§num, dens) ; figure subplot (2,3, 4); rlocus (eetnum, den¥) ; title({'K = ‘mumastr(K(1))]) end 128Imag Axis 15) 05 -0.5| 15 25 Bq130 We ae gine Ae bony tenn folie Lis)= KO tr) ese en ice eh a) ere aed Pit 939, scopt the me Kas mgabr. Set Ke kK’, otke Ko an nonasprlee Heng we veut LO) eee oe oe oes oo he prosed as Ua Same oo) a bo Figue 3 skew fa wok Locus Z be) oe sie effect vebete PK, remly, Ket 3 3 at K= -O1, -02,-63 ae fr oe has extnte of Ko oy HR core spetig tne Ke ta He reek hoes bs a ped in oe oe by PAN. 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