Unit-IV : Continuous and Discrete Systems

Dr.R.Subasri
Professor,EIE
Kongu Engineering College
Linear /Non -linear systems
Obeys Superposition – Additivity and Homogeneity.
y(t) = f(x(t))
y1(t) = f(x1(t))
y2(t) = f(x2(t))
ye(t) = f [a x1(t)+b x2(t)] = a y1(t) +b y2(t)
If the sum of system responses for individual inputs and the system response for combined inputs are
same, then the system is linear.
Example 1:
y(t) = 5 x(t)
y1(t) = 5 x1(t)
y2 (t) = 5 x2(t)
ye(t) = 5[x1(t) + x2(t)] = y1(t) +y2(t)
Linear system.
Example 2:
𝑑𝑦 𝑑𝑥
+𝑦 = +𝑥
𝑑𝑡 𝑑𝑡
𝑑𝑦1 𝑑𝑥1
+ 𝑦1 = + 𝑥1
𝑑𝑡 𝑑𝑡
𝑑𝑦2 𝑑𝑥2
+ 𝑦2 = + 𝑥2
𝑑𝑡 𝑑𝑡
𝑑𝑦𝑒 𝑑(𝑥1 + 𝑥2) 𝑑𝑥1 𝑑𝑥2
+ 𝑦𝑒 = + 𝑥1 + 𝑥2 = + + 𝑥1 + 𝑥2
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑦1 𝑑𝑦2
= + 𝑦1 + + 𝑦2
𝑑𝑡 𝑑𝑡

Hence Linear.
Example 3:
Y(t) = 3 log (x)
Y1(t) = 3 log (x1(t))
Y2(t) = 3 log (x2(t))
 Ye(t) = 3 log [x1(t) +x2(t)]  3 log (x1(t)) + 3 log (x2(t))  Y1(t)+ Y2(t)
Hence Non linear

Time Variant / Invariant :

If a system response for a given input presented at different time is same, then the system is
time invariant. In other words, if the internal parameters of the system do not vary, then the system is
said to be time invariant.

Example 1: y(t) = t x(t)

Hence Time variant

Example 2: Y(t) = ex(t)
Hence Time invariant

Causal and Non -Causal Systems

If a system response depends on future input, then the system is said to be non-causal.
Example:1
Y(t) = 3 x(t)+y(t-1)
Causal system
Example 2:
Y(t) = x(t2 )
Y(2) = x(4)
Output at t=2 depends on input at t=4(future input) . Hence non-causal
Example 3:
Y(t) = x(-t)
Y(-1) = x(1)
Output at t=-1 depends on input at t=1 (future input) Hence non-causal.
Static and dynamic Systems
If system response depends on present input only then the system is static. E.g Resistor
If system response depends on present input and past input and outputs then the system is dynamic
(memory system) . E.g inductor and capacitor

Example :1
Y(t) = 3 x(t)
Static system
Example 2:
Y(t) = 3x(t)+2 x(t-1) +4y(t-1)
Dynamic system
Stable and Unstable:
If the system output is bounded for every bounded input, then the system is said to be BIBO stable.
If the impulse response h(t) of the system is bounded, then the system is said to be stable.
+∞
∫−∞ ℎ(𝑡)𝑑𝑡 < ∞ 𝑜𝑟 𝑖𝑠 𝑓𝑖𝑛𝑖𝑡𝑒 , then the system is stable

Example:
y(t) = 3 t x(t)
If the input x(t) is bounded, then the output is bounded. As the input is bounded, when x(t) is zero, then
y(t) also zero. Hence the system is BIBO stable.

Example 2:
y(t) = e-t x(t)
Even if the input x(t) is unbounded, the output is bounded since exponential signal is decaying with
respect to time t. Hence the system is stable

Example 3:
y(t) = et x(t)
Even if the input x(t) is bounded, the output is unbounded since exponential signal is growing with
respect to time t. Hence the system is Unstable

Example 4:
h(t) = e-4t u(t)
The impulse response is bounded since it is exponentially decaying. Hence the system is stable.
Example 5:
h(t) = sin t u(t)
The impulse response is bounded between -1 and 1, the system is stable.

For discrete system same properties exist and can be justified with discrete time n samples.

Solution of LTI system represented in differential equation - Continuous system

Laplace transform table F(s) = L [f(t)]
Example 1: Find the system response for
(i) impulse input x(t) = (t)
(ii) unit step input x(t) =u(t). Assume initial conditions are zero
𝑑2 𝑦(𝑡) 𝑑𝑦(𝑡)
+ 5 + 4𝑦(𝑡) = 3 𝑥(𝑡)
𝑑𝑡 2 𝑑𝑡
Take L.T
(𝒔𝟐 + 𝟓𝒔 + 𝟒)𝒀(𝒔) = 𝟑 𝑿(𝒔)
𝒀(𝒔) 𝟑
= ;
𝑿(𝒔) 𝒔𝟐 +𝟓𝒔+𝟒

Poles are : -4 and -1

Input is impulse : X(s) = 1

𝟑
y(s) = (𝒔+𝟒)(𝒔+𝟏)

𝑨 𝑩
= (𝒔+𝟒) + (𝒔+𝟏)

−𝟏 𝟏
= (𝒔+𝟒) + (𝒔+𝟏)

Apply Inverse L.T

y(t) = -e-4t u(t) +e-t u(t)
(ii) Input is unit step : X(s) = 1/s
𝟑
y(s) = 𝒔(𝒔+𝟒)(𝒔+𝟏)

𝑨 𝑩 𝑪
= 𝒔 + (𝒔+𝟒) + (𝒔+𝟏)

𝟑/𝟒 𝟏/𝟒 −𝟏
= + (𝒔+𝟒) + (𝒔+𝟏)
𝒔

Apply Inverse L.T

𝟑 𝟏
𝒚(𝒕) = + 𝟒 𝒆−𝟒𝒕 𝒖(𝒕) − 𝒆−𝒕 𝒖(𝒕)
𝟒

Example 2: Find the system response for impulse input x(t) = (t) .
Assume initial conditions are zero
𝑑2 𝑦(𝑡) 𝑑𝑦(𝑡)
2
+2 + 10𝑦(𝑡) = 3 𝑥(𝑡)
𝑑𝑡 𝑑𝑡
Take L.T
(𝒔𝟐 + 𝟐𝒔 + 𝟏𝟎)𝒀(𝒔) = 𝟑 𝑿(𝒔)
𝒀(𝒔) 𝟑
𝑿(𝒔)
= 𝒔𝟐 +𝟐𝒔+𝟏𝟎
;
Poles are : -13i

Input is impulse : X(s) = 1

𝟑
y(s) = (𝒔+𝟏)𝟐 −𝟏+𝟏𝟎

𝟑
= (𝒔+𝟏)𝟐 +𝟑𝟐

Apply Inverse L.T

y(t) = 3e-t sin 3t u(t)

Example 3: Find the system response for impulse input x(t) = (t) .
Assume initial conditions are zero
𝑑2 𝑦(𝑡) 𝑑𝑦(𝑡)
+ 6 + 9𝑦(𝑡) = 3 𝑥(𝑡)
𝑑𝑡 2 𝑑𝑡
Take L.T
(𝒔𝟐 + 𝟔𝒔 + 𝟗)𝒀(𝒔) = 𝟑 𝑿(𝒔)
𝒀(𝒔) 𝟑
= ;
𝑿(𝒔) 𝒔𝟐 +𝟔𝒔+𝟗

Poles are : -3, -3

Input is impulse : X(s) = 1

𝟑
y(s) = (𝒔+𝟑)𝟐

Apply Inverse L.T

y(t) = 3 t e-t u(t)
Example 4: Find the system response for impulse input x(t) = (t) .
Assume initial conditions are zero
𝑑2 𝑦(𝑡)
+ +9𝑦(𝑡) = 3 𝑥(𝑡)
𝑑𝑡 2
Take L.T
(𝒔𝟐 + 𝟗)𝒀(𝒔) = 𝟑 𝑿(𝒔)
𝒀(𝒔) 𝟑
= ;
𝑿(𝒔) 𝒔𝟐 +𝟗
Poles are : 3i

Input is impulse : X(s) = 1

𝟑
y(s) = 𝒔𝟐 +𝟗

Apply Inverse L.T

y(t) = 3 sin 3t u(t)

Solution of LTI system represented in difference equation - discrete system

Z transform for discrete signal x(n)
∞

𝑿(𝒛) = ∑ 𝒙(𝒏)𝒛−𝒏
−∞

Example 1: Find X(Z)

X(Z) = 1 - 2 Z-1 + 3 Z-2+ 6 Z-3

Example 2 : Find X(Z)

X(Z) = - Z2 + 2Z -3 + 5Z-1-1+6Z-2 - 4 Z-3

Z transform for time delayed signal:

Z [x(n-1)] = Z-1 X(Z) – x(-1)

Z [x(n-2)] = Z-2 X(Z) – Z-1 x(-1)-x(-2)

Example:1

Determine the response of the system for (i) x (n) = (n) (ii) x(n) =u(n)

5y(n-2) + 6y(n-1) + y(n) = 5x(n) Assume initial conditions are zero.

Take Z transform

(5Z-2 + 6Z-1 +1)Y(Z) = 5 X(Z)

 𝒀(𝒛) 𝟓
=
𝑿(𝒛) 𝟓𝒁−𝟐 + 𝟔𝒁−𝟏 + 𝟏

Input X(z) =1

𝟓𝒁𝟐
𝒀(𝒁) =
𝒁𝟐 + 𝟔𝒁 + 𝟓

Poles are : Z = -1 and Z = -5

System is unstable (poles outside the unit circle)

Take Inverse Z transform using long division method

Y(Z) = 5- 6 Z-1 +29 Z-2 - 144 Z-3

= y(0) –y(1) Z-1 + y(2) Z-2 - y(3) Z-3

Relation between Laplace transform and Z transform

Z = esT ; s =  j

Z = e( j)T = e T ejT

Z = r ej

• j axis of S plane mapped to unit circle in z plane

• LHS of S plane mapped to inside the unit circle in z plane
• RHS of S plane mapped to outside the unit circle in z plane

Example 1:

If a continuous system has poles at s = -0.2 and 0.5 , then the system is unstable. One pole
at RHS of s-plane

Example 2:
If a discrete system has poles at z = -0.2 and 0.5 then the system is stable. Both the poles
are inside the unit circle of z-plane.

Example 3:

If a continuous system has poles at s = -2 and -0.5 , then the system is stable. Both the poles
at LHS of s-plane

Example 4:

If a discrete system has poles at z = -2 and -0.5 then the system is unstable. One of the poles
lies outside the unit circle of z-plane.