Sec. 3,6 Fourier Sories Represantation of Discrete-Time Periodic Signals 2 TR Wecan now use Pasevt'scation tn conctude that PP + a = 12 (3.83) Substituting b, = —B-; in this equation, we obtain |b,| = 1/2, Since by is also known tobe purely imaginary, it must be either J/2 or ~j/2 ‘Now we can translate these conditions on by and by into equivalent statements on 4a and ay, First, since by = 0, Fact 4 implies that a) = 0. With k = 1, this condition implies that a; = e~/"2b., = ~ jb-1 = jby. Thus, if we take bi = 2, then a, = 12 and therefore, from eq. 3.81), x(2) = — cos(art2). Altematively if we take by = ~ J, then ay = 1/2, and therefore, x(t) = costal?) 3.6 FOURIER SERIES REPRESENTATION OF DISCRETE-TIME PERIODIC SIGNALS In this section, we consider the Foutier series representation of discrete-time periodic si nals. While the discussion closely parallels that of Section 3.3, thete are some important differences. In particular, the Foutier series representation of a discrete-time periodic si nal is ainite series, a opposed tothe infinite series representation required for continuous- time periodic signals. As a consequence, there are no mathematical issues of convergence such as those discussed in Section 3.4 3.6.1 Linear Combinations of Harmonically Related Complex Exponentials As defined in Chapter 1, a discrete-time signal x[n] is periodic with petiod N if xn] = xin +N] 3.84) ‘The fundamental period is the smallest positive integer NV for which eq. (3.84) holds, and = InN isthe fundamental frequency. For example, the complex exponential e/#/#» is periodic with period NV. Furthermore, the set of all discrete-time complex exponential signals that are periodic with period N is given by guln] = efor = eiMORINn, = 0, a1, 42, G85) All ofthese signals have fundamental frequencies that are multiples of 2—7/N and thus are hharmonically related ‘As mentioned in Section 1.3.3, there aie only 1V distinct signals in the set given by eq. (G85). This is a consequence of the fact that discrete-time complex exponen- tials which differ in frequency by a multiple of 2ar are identical. Specifically, @o{n] = ylnl, dil] = dail], and, in general, Gilt] = bes rvln) (3.86) ‘That is, when kis changed by any integer multiple of N, the identical sequence is gener- ated. This differs from the situation in continuous time in which the signals #(t) defined in eq, (3.24) are all different from one another.212 Fourier Series Representation of Peradie Signals Chap. 3 ‘We now wish to consider the representation of more general periodic sequences in ‘terms of linear combinations of the sequences ${n] in eq. (3.85). Such a linear combina. tion has the form Daedala] =D apeiot = Sy ageltonn, (3.87) 7 7 T tn] Since the sequences ¢{n] are distinct only over a range of N successive values of k, the summation in eq. (3.87) need only include terms over this range. Thus, the summation is on k, as k varies over a range of N successive integers, beginning with any value of k. We indicate this by expressing the Kimits ofthe summation as k = (N). That is, alm) =) axpatn) = agetteot = So ayeltonn, G88) iy om Sm For example, & could take on the values k = 0, 1,....N— Lor k= 3,4... + 2.1n either case, by virtue of eq. (3.86), exactly the same set of complex exponential sequences appears in the summation on the right-hand side of eq. (3.88). Equation (3.88) is referred to as the discrete-time Fourier series and the coefficients a, as the Fourier series coefi- cients 3.6.2 Determination of the Fourier Series Representation of a Periodic Signal Suppose now that we are given a sequence x(n] that is periodic with fundamental period 'N. We would like to determine whether a representation of x[n] in the form of eq. (3.88) exists and, if so, what the values of the Coefficients a; are. This question can be phrased in terms of finding a solution toa set of linear equations. Specifically, if we evaluate eq. (3.88) for N successive values of » corresponding ¢o one period of x{n], we obtain x01 = S a, 5% a= > aye? Sy G89) HIN 1] = 5) age etn nin ‘Thus, eq, (.89) represents a set of NV linear equations for the N’ unknown coefficients a, as k ranges over a set of N successive integers. It can be shown that this set of equations is linearly independent and consequently can be solved to obtain the coefficients ay i {erms ofthe given Values of x(n). In Problem 3.32, we consider an example in which te Fourier series coefficients are obtained by explicitly solving the set of V equations gives in eq, (3.89). However, by following steps patalel to those used in continuous time, itis possible to obtain a closed-form expression for the coefficients a, in terms of the values of the sequence x{7).‘8e0.3.6 Fourier Series Representation of Discrete-Time Periodic Slonals 213 ‘The basis for this result is the fact, shown in Problem 3.54, that N, k= 0,+N,22N, 0, otherwise ellen (3.90) B Equation (3.90) states that the sum over one period of the values of a petiodie comples exponential is zero, unless that complex exponential is constant Now consider the Fourier series representation of eq, (3.88). Multiplying both sides by e-J@r¥" and summing over N terms, we obtain Saale FeO PT aye veeaie Gon =m carey Interchanging the order of summation on the right-hand side, we have Same POH SS ay ST elt retain 92) <0 0 iS, From the identity in eg. (3.90), the innermost sum on non the right-hand side of eg, (3.92) is zero, unless k ~ ris zero or an integer multiple of N. Therefore, if we choose values for ‘rover the same range as that over which k varies inthe outer summation, the innermost sum on the right-hand side of eq. (3.92) equals N it k = rand Oif k # r. The right-hand side of eq. (3-92) then reduces to Na,, and we have 1 Saye 00 693) 1B * this provides a closed-form expression for obtaining the Fourier series coefficients, and we have the discrete-time Fourier series pair Sy aged" = $7 ayeiteton, 3.04) Sin Sin i a > jean = ES ameter = ES tae oa a =n Wy ‘These equations play the same role for discrete-time periodic signals that eqs. (3.38) and (3.39) play for continuous-time periodic signals, with eq. (3.94) the synthesis equation and. €q. (3.95) the analysis equation. As in continuous time, the discrete-time Fourier series coefficients a are often referred to as the spectral coefficients of x{n]. These coefficients specify a decomposition of x(n] into a sum of N harmonically related complex exponen- tials. Referring to eq. (3.88), we sec that if we take & in the range from 0 to N ~ 1, we have ln] = aggofn] + ardiln] +... + ay-1dy-ile 6.96)24 Fourier Sores Representation of Period Signals Chap. 3 Similarly, if k ranges from to NY, we obtain x(n] = ay bila) + aadain +... + and) oa From eq, (2.86), dol] = din}, and therefore, upon comparing eqs, (3.96) and (3.97), we conclude that dp = ay. Similarly, by fetting k range over any set of N’ consecutive integers and using eq, (3.86), we can conclude that Oy = akan 3.98) ‘Thatis, if we consider more than NV sequential values of f, the values ay repeat periodically ‘with period N. Itis important that this fact be interpreted carefully. In particular, since there are only N distinct complex exponentials that are periodic with period N, the discrete- time Foutier series representation is a finite series with N terms. Tterefore, if we fx the 1N consecutive valves of & over which we define the Fourier series in eq. (3.94), We will obtain a set of exactly N Fourier coefficients from eq. (3.95). On the other hand, at times it will be convenient to use different sets of NV values of k, and consequently, it is useful to regard eq. (3.94) as a sum over any arbitrary set of NV successive values of &, For this reason, it is sometimes convenient (0 think of ay as a sequence defined for all values of &, but where only NV successive elements in the sequence will be used in the Fourier series representation, Furthermore, since the 4,[n] repeat periodically with period N ax wwe vary k [eq. (3.86), so must the a; [eq, (3.98)]. This viewpoint is illustrated in the next example, Example 3.10 Consider the signal a Afr] = sinwon 3m ‘whichis the diserete-time counterpart of the signal x() © sinavy of Bxarype 3.3 xf {is periodic only if2a/ay is an integer ora rato of integers. For the case when 2/ay is = am integer N, that is, when {nl is periodic with fundamental period N, and we obtain a result that is exactly anal- ‘gous tothe continuous-time case. Expanding the signal as a sum of two complex expo ential, we get sel = ete Brae _ Comparing ¢9. (3.100) with eq. (2.94), we see dy inspection that 1 a=, 101) 2 CSec. 3.6 Fourier Series Representation af Discrete-Time Periodic Signals as and the remaining coefficients over the interval of summation are zero. As described ‘revionsly, these coefficients repeat with period N thus, ay+1 is also equal to (1/2,) and ‘ay. equals (~1/2j). The Fourier series coefficients for this example with NV = 5 are illustrated in Figure 3.13, The fact that they repeat periodically is indicated, However, only one period is ulize in the synthesis equation (3.94). Figure 3.13 Fourier coefficients for x(n] = sin(2x/5)n (Consider now the case when 2g isa ato of integers—that is, when 2nd oy = 7) Ascuming that Mf and N do aot have any common factors, xfn) has & fundamental period ‘of. Again expanding x[7] asa sum of two complex exponentials, we have from which we can determine by inspection that ay = (1/2), ay = (~1/2j), andthe remaiting coefficients over one period of length NV are zero. The Fourier coeficients d for this example with M = 3 and N = 5 are depicted in Figure 3.14, Again, we have indicated the periodicity ofthe coefficients. For example, for N'= 5, ap =: a-s, which incur example equals (— 2), Note, howeves, that oves any peru of length 5 there are ® only two nonzero Fourie coefficient, and therefore there are only two nonzero terms in the synthesis equation, g486 [8 0001 | 15 + 2h Figure 3.14 Fourier cooficonts for xin} sin 3(2/5.Fourier Series Representation of Periodic Signals Example 3.11 ‘Consider the signal a(n] = ‘This signal is periodic with period N, and, as in Example 3.10, we can expand x{y) ageltiton, G.10n ithe then with M = N/2, this sum consisty of W terms, and again, we can conclude from eq. (3:94) that 4{n] = x{nl. Tn contrast, a continuous-time periodic signal takes on a continuum of values ovet a single period, and an infinite number of Fourier coefficients are required to represent iec.3.7 Properties of Discrete-Time Fourier Series 221 ‘Thus, in general, none ofthe finite partial sums in eq. (3.52) yield the exact values of x(), and convergence issues, such as those considered in Section 3.4, arise as we consider the problem of evaluating the limit as the number of terms approaches infinity. 3.7 PROPERTIES OF DISCRETE-TIME FOURIER SERIES ‘There are strong similarities between the properties of discrete-time and continuous-time Fourier series, This can be readily seen by comparing the discrete-time Fourier series properties summarized in Table 3.2 with their continuous-time counterparts in Table 3.1 ‘TABLE 3.2 PROPERTIES OF DISCRETE-TIME FOURIER SERIES Property Periodic Signal Fourier Series Coeticients 1 | Pevodi with period 9 and oa th dir J tondamental frequency | period w Linearity ‘Aa + Bylo} ‘ne Sting Hn ma) Frequeney Shifting eta] Conjugation Stn) Time Revers! oe «seat, _ [2m itnisarmitipleofm 1 (viewed ax pei Tia Sang nat [Ae itngewoeiigentn Gomi’) (ceric With peiod mi) Parodi Conyotton Danyin-n Newby Maliptication stnlyin} Dates Fimst Difference abn) = xin 0) dea, 5 yl valued and pid only 1 ec ) (ean Geta = Rela.) Conjugate Symmetry for ar real ay) ~ Sioa Real Signals Jes = baa a= ~ta, Real and Even Sigals sna and even ‘ay real and even Real and Odd Signals “tn real and odd 4 prey imaginary and odd Bvea-Odd Decomposition of Real Signals Greasy ssa) Parsoval's Relation fr Pedi Signals FD bow «> la?222 Fourier Series Representation of Periodic Signals Chap. 9 ‘The derivations of many of these properties are very similar to those of the corresponding properties for continuous-time Fourier series, and several such derivations are considered in the probems atthe end of the chapter. In addition, in Chapter 5 we will see that most of the properties can be inferred from corresponding properties ofthe discrete-time Fourier transform. Consequently, we limit the discussion in the following subsections to only a few of these properties, including several that have important differences relative to those for continuous time. We also provide examples illustrating the usefulness of various discrete time Fourier series properties for developing conceptual insights and helping to reduce the complexity of the evaluation of the Fourier series of many periodic sequences. As with continuous time, itis often convenient to use a shorthand notation to indicate the relationship between a periodic signal and its Fourier series coefficients. Specifically, if x[n] isa periodic signal with period N and with Fourier series coefficients denoted by a, then we will write xt) Ss ay 3.7.1 Multiplication ‘The multiplication property of the Fourier series representation is one example of a prop: erty that reflects the difference between continuous time and discrete time. From Table 3.1, the product of two continuous-time signals of period T results in a periodic signal with pe. riod T whose sequence of Fourier series coefficients is the convolution of the sequences of Fourier series coefficients of the two signals being multiplied. In discrete time, suppose that ss x(n] > ay ss yin] > by are both periodic with period N. Then the product x[n]y{1] is also periodic with period N, and, as shown in Problem 3.57, its Fourier coefficients, dg, are given by alniyln) > dy = S asbyer @.108 a Equation (3.108) is analogous to the definition of convolution, except that the summation variable is now restricted to an interval of NV consecutive samples. As shown in Problem 3.57, the summation can be taken over any set of N consecutive values off. We refer to this type of operation as a periodic convolution between the two periodic sequences of Fouriet coefficients. The usual form of the convolution sum (where the summation variable ranges from ~2» to «) is sometimes referred to as aperiodic convolution, to distinguish it from periodic convolution 3.7.2 First Difference "The discrete-time parallel to the differentiation property of the continuous-time Fouriet series involves the use of the firstdifference operation, which is defined as x(n] x[n~ 1].Sec.3.7 Properties of Discrete-Time Fourier Series 223 If x[n] is periodic with period N, then so is y(n}, since shifting x{n] or linearly combising -x{n] with another periodic signal whose period is V always results in a periodic signal with period N. Also, if afr) > ay, then the Fourier coefficients corresponding to the first difference of x[n] may be expressed as xn] —afn— 1) os = eI Qy, 3.109) which is easily obtained by applying the time-shifting and linearity properties in Table 3.2 A.common use ofthis property is in situations where evaluation of the Fourier series co- efficients is easier for the first difference than for the original sequence. (See Problem 331) 3.7.3 Parseval's Relation for Discrete-Time Periodic Signals As shown in Problem 3.57, Parseval’s relation for discrete-time periodic signals is given by FD, be? = > lal, @n0 = oy ‘here the ay are the Fourier series coefficients of x{n] and N is the period. As in the continuous-time case the left-hand side of Parseval’s elation is the average power in one period for the periodic signal x{n). Similarly, |a,/? is the average power in the kth harmonic component of z[n]. Thus, once again, Parseval’s relation states that the average power in a periodic signal equals the sum of the average powers in all of its harmonic eomaponents In discrete time, of course, there are only NV distinct harmonic components, and since the ‘a, ate periodic with period N, the sum on the right-hand side of eq. (3.110) can be taken over any N consecutive values of k 3.7.4 Examples In this subsection, we present several examples illustrating how properties of the diserete- time Foutier series can be used to characterize discrete-time periodic signals and to com- pute their Fourier series representations. Specifically, Fourier series properties, such as, those listed in Table 3.2, may be used to simplify the process of determining the Fourier series coefficients ofa given signal. This involves first expressing the given signal in terms of other signals whose Fourier series coefficients are already known or ate simpler to com- pute. Then, using Table 3.2, we can express the Fourie: series coefficients of the given signal in terms of the Fourier series coefficients of the other signals. This i itustrated in Example 3.13. Example 3.14 then illustrates the determination of a sequence from some pattial information. In Exarnple 3.15 we illustrate the use ofthe periodic convolution prop- erty in Table 3.2.224 Fourir Sores Representation of Periodic Signals Chap. 3 Example 3.13 Let us consider the problem of finding the Fourier series coeficients a ofthe sequence i +n] shown in Figure 3.19@). This sequence has a fundamental period of 5, We observe that xn] may be viewed as the sum ofthe square wave x(n} in Figure 3.19(b) and the [Pde sequence xa{n] in Figure 3.19(C). Denoting the Fourier series coefficients of x(n] by JF bx and those of safn] by cy, we use the linearity property of Table 3.2 to conclude that a = bi +4 Gu 2 xo) tl bibl oe LT sale EET a(ale(e)e [61s )a(se)ela(aielenc, ° a © Figure 3.19 (a) Periodic sequence x(n] for Example 3.19 and its rpresen- tation as a sum of (b) the square wave %[n} and (c) the de sequence xe [7 ‘From Example 3.12 (with Ny = Land N = 5), the Fourier sevies coefficients by come- sponding tox {7} can be expressed as for k # 0, #5, =10, b= 112) for k = 0,5, +10, ‘The sequence x:[n] has only a de value, which is captured by its zeroth Fourier series coefficient = 2S nln) «1 ou) ‘Since the discrete-time Fourier series coefficients are periodic, it follows that cy = 1 ‘wheaver kis an integer mltpl of 5. The remaining eoefcints of rln] must be 220, Because a(n] contains only a de component. We ean now substtite the expressions 2g and into 9, (3.111 obtain A sin@rW/S) ot , for k 0,25, 210, 5 sin(at5) c on for k = 0,5, +10, bo : 3'900.3.7 Properties of Disorete-Time Fourier Series 225 Example 3.14 [ff Se wee even he flowing a tbout a sequence sa © 1 atntis protic wi period N = 6, Fa Shox =2 3, Theat Data = 1 4. afr] has the minimum power pr period among the stof signals satisfying the preceding three conditions, 4, From Fact 2, we cooclude that 40 = 1/3. Noting that (1)! =e"! = ‘we see from Fact 3 that a; = 1/6, Fom Parseval’s relation (see Table 3.2), the average B power in eis P= dial. Gus) Since each nonzero coefficient contibutes a postive amaunt ta P, and since the values, of ap and as are prespecified, the value of P is minimized by choosing a = a, = a = as = 0, It then follows that (U3) + (16X17, G16) ip basel™ alr] Which is sketched in Figure 3.20, xin] 4 “ih - 2-04 2 3 7 Figure 3.20 Sequence xf] that is consistent wit the properties spectied ‘in Evample 2.46 Example 3.15 Qa, n this example we determine and sketch aperiodic sequence, given an algebraic expres- sion for its Fourier series coefficients. In the process, we will also exploit the periodic convolution property (see Table 3.2) ofthe discrete-time Fourier series. Specifically, as stated in the table and as shown in Problem 3.58, ifx[n] and ylm] are periodic with petiod 1N, then the signal whl = > xen [Eis also petiodic with period N, Here, the summation may be taken over any set of N consecutive values of r. Furthermore, the Fourier series coeficients of w{n] are equal to ‘Naby, where ay and by are the Fourier coeflicients of s(n] and y(n}, respectively226 Fourier Series Representation of Perlodio Signals Chap. ; Suppose now that we are told that a signal win] is periodic with a fondamental period of N= 7 and with Fourier series coefficients Garhi) AI) Gury Tein We observe that o, = 7d}, where d; denotes the sequence of Fourier series coefficients of a square wave x(n], asin Example 3.12, with Ny = Land N = 7. Using the pesiodie convolution property, we see that wel = So asin 7) = S° ateain = a, Guts here, inthe last equality, we have chosen to sum over the interval ~3 = r = 3.Excegt for the fact that the sum is limited to a finite interval, the product-and-sum method for ‘evaluating convolution is applicable here. In fact, we can convert eg, (3.118) to an ord nary convolution by defining a signal £[a] that equals xf] for ~3 = n= 3and is 2219 i ‘otherwise. Then, from eq, (3.118), win) = 3° slain) = S$ steixin 1 ‘That is, w{vl isthe aperiodic convolution of the sequences 2} and x[n}. ‘The sequences xr, 8{7], and x{n—r] are sketched in Figure3.21 (a)-(c). Frome figure we can immediately calculate [In particular we see thet w(0] = 35.0{—1] = | 2 w(l] = 2; wl-2] = w(2} = 15 and w{—3) = v(3] = 0. Since w() is periodic with period 7, we can then sketch w(n} as shown in Figure 3.21(4). 3.8 FOURIER SERIES AND LTI SYSTEMS In the preceding few sections, we have seen that the Fourier series representation can i be used to construct any periodic signal in discrete time and essentially all periodic continuous-time signals of practical importance. In addition, in Section 3.2. we saw that I the response of an LTT system to a linear combination of complex exponentials takes & particularly simple form. Specifically, in continuous time, if x(¢) = e* is the input 0 j 4 continuous-time LTT system, then the output is given by (0) = H()e", where, from | 4.3.6), | HG) = |" Maye"as, @.19) {in which A() is the impulse response ofthe LT system. ‘Similarly, if x(n] = z* is the input to a discrete-time LTI system, then the outputs i given by y{n] = H(z", where, from eq, (3.10), > ataz He) G10) in which h(n] is the impulse response of the LTI system.‘9@0.38 Fourier Series and LT Systems 227 HAT, oo cot ecelteeth. ie le allie Figure 3.21) The square-vave eequance x{/] in Example 3.15; () the sequence f[r] equal to x[r] for ~3 == r= 3 and zero others () the sequence x{n— 7} (€) the sequence {0} equal to the periodic convolution of (nl with tet and to the aperiodic convolution of Ro] with xin When 5 or z are genefal complex numbers, H(s) and H(2) are referred t0 as the system junctions of the corresponding systems. For continuous-time signals and systems in this and the following chapter, we focus on the specific case in which Rees} = 0, so that 5 = jw, and consequently, e* is ofthe form e This input is a complex exponential at frequency «. The system function of the form s = jo—ie., H(jw) viewed as a function of o—is referred to asthe frequency response of the system and is given by HGo) = | eat 62D