Chapter 1

CONTINUOUS TIME
SIGNALS & SYSTEMS
 Signals and Classification of Signals
 A signal?  A physical quantity that
conveys information on the
nature of a physical
phenomenon.
 A function of one or
more variables
 A speech signal: function
of time (one-dimensional
signal).
Ø A dynamic picture
(projection of a dynamic
scene into an image plane):
multi-dimensional function
of three variables x, y, t.
 Continuous time – Discrete time signals

Continous time signal: Value varies continuously

with time.
Continuous-valued signals: can take any value in a
continuous range (finite or infinite).
 Continuous-time vs. Discrete-time signals

Discrete time signal:

Value only changes at discrete instants of time.
Can be derived from a continuous-time signal by
sampling it at discrete instants of time, usually
with a uniform rate.
 Signal Classification: Analogue -Digital

Analog signals:
continuous-time
continuous-valued
signals.
 Signal Classification: Analogue -Digital

Digital signals:
discrete-time signals
which can take only values
from a finite set→values
of digital signals are
quantized.
Signal Classification : Periodic - Aperiodic

Periodic signals:
repeating themselves after
a certain amount of time.
∃T > 0 : f(t +T) = f(t)
Fundamental period of a
periodic signal: the smallest
value of T which satisfies
the above condition.
Nonperiodic signals: there is
no value of T satisfying the
above condition
 Signal Classification :
Causal – Anti_causal - Non_causal

Causal signals: having non-zero values only on

the non-negative part of the time,
i.e., ∀t < 0 : f(t) = 0.
Anti-causal signals: having non-zero values only
on the non-positive part of the time,
i.e., ∀t > 0 : f(t) = 0.
Non-causal signals: can have non-zero values on
both positive and negative parts of time.
 Signal Classification :
Deterministic - Random

Deterministic signals: value at any instant of time

is specified by a mathematical formula or a
lookup table.
Random signals: there are some uncertainties
about the signals before they occur→unable to
determine exact values at instants of time in the
future.
 Signal Classification : Even - Odd

Even signals:

xe (t )  xe (t )

Odd signals:

xo (t )   xo (t )
 Signal Classification : Even - Odd

Any signal can be represented as a sum of an even

signal and an odd signal:

x(t )  xe (t )  xo (t )
1 1
xe (t )  [ x(t )  x(t )] xo (t )  [ x(t )  x(t )]
2 2
 Signal Classification

Multi-channel signals: represented in the form of a

vector whose components are single-channel signals
f(t) = [f1(t) f2(t) ... fN(t)]
Multi-dimensional signals: functions of multiple
independent variables f(x1,x2,...,xN)
Finite-length signals: having a finite support,
 i.e., ∃−∞ < t1 < t2 < ∞ : f(t) = 0 if t / ∈ [t1,t2].
Infinite-length signals: having an infinite support.
 Signal Classification :Energy- Power

Energy of a continuous-time signal x(t)

 2

 x
  x (t ) dt


A signal having finite energy is called an energy

signal.
Periodic signals are not energy signals: energy of a
periodic signal is always infinite.
Finite-length deterministic signals are energy
signals.
 Signal Classification :Energy- Power

If amplitude of x(t) does not 0 when t ∞,

need to measure power.
Power of a signal is defined as the average
energy of that signal over time.
For a continuous-time signals x(t) (Aperiodic)
T
1 2
 x  Tlim
  2T  x(t ) dt
T
 Signal Classification :Energy- Power

Power of a continuous-time periodic signal

x(t) with the period of T is equal to its average
energy in a period:
t 0 T
1 2
x  T  x(t ) dt
t0
Models of Continuous Time Signals

1. Rectangle signal (A pulse signal) :

[x] = 1; Ex = 1;
 Models of Continuous Time Signals

1. Rectangle signal (A pulse signal) :

t c
x(t )  a  
 b 
 Models of Continuous Time Signals

2. Triangle signal:

x(t)

t c
x(t )  a 
a  b/2 
c t

b
 Models of Continuous Time Signals

3. Cosin

 t 
x(t )  X cos(0t ).  
  0 

2X X 2

[ x]  Ex 
0 20
 Models of Continuous Time Signals

4. Sinusoidal Signals

x(t )  cos(t   )
 Models of Continuous Time Signals

A is the magnitude, ω is the angular frequency

(rad/s), and θ is phase angle (rad) of the signal.
The period of this periodic signal is T = 2π/ω.
It can also be represented in the form of a
function of the frequency variable f = 1/T (Hz):

x(t )  cos(2ft   )
 Models of Continuous Time Signals
5. Complex Sinusoids:
A complex sinusoid is
j (t  )
Ae  A cos(t   )  j sin(t   )
 Models of Continuous Time Signals

5. Complex Sinusoids:
Real sinusoid
j (t  )
{ Ae }  A cos(t   )

Complex Sinusoids
j (t  )
C{ Ae }  A sin(t   )
 Models of Continuous Time Signals

6. Exponential Signals
t
x(t )  e
If σ < 0 , x(t) is a decaying exponential
If σ > 0 , x(t) is a growing exponential
Models of Continuous Time Signals

A growing sinusoid is given by

t
x(t )  e cos(t   )

Exponential growth (σ > 0) or decay (σ < 0)

 Models of Continuous Time Signals

Complex Exponential Signals:

(  j  ) t t
e  e (cos(t   )  j sin(t   ))
A exponential growth or decay
 Models of Continuous Time Signals

7. Sa signal:
 sin(0t ) ,t  0

x(t )  Sa (0t )   0t
 1 ,t  0
 Models of Continuous Time Signals

8. Sa2 Signal:
 sin 2 (0t )
 ,t  0
x(t )  Sa (0t )   (0t ) 2
2

 ,t  0
1
 Models of Continuous Time Signals

9. The continuous-time unit step signal 1(t),u(t):

1 ,t  0
u (t )  
0 ,t  0
Models of Continuous Time Signals

Uses for the unit step:

x(t )  u (t  1)

t
x(t )  e .u (t )
 Models of Continuous Time Signals

Uses for the unit step:

 t
x(t )  (1  e )u (t );
 Models of Continuous Time Signals

10. Unit Ramp:

t t0
r (t )  t.u (t )  
0 t0
 Models of Continuous Time Signals

Examlpe:

x(t)

A
A
(t  T )u (t  T )
T
t

T A
x(t )  [t.u (t )  (t  T ).u (t  T )]
T
 Models of Continuous Time Signals

11. Sign signal: x(t) = Sgn(t)

 Models of Continuous Time Signals

Dirac delta Unit impulse signal

function:
 , t  0
 (t )  
0 ,t  0
Điều kiện

,   (t )dt  1

 Models of Continuous Time Signals

Dirac delta Unit impulse

function: signal
1 ,t  0
 (t )  
0 ,t  0
Điều kiện


  (t )dt  1

 Models of Continuous Time Signals

Unit Impusle properties

 

 a (t )dt  a   (t )dt  a;
 
aR

x(t ) (t )  x(0) (t )

x(t ) (t  t 0 )  x(t 0 ) (t  t 0 )
 Models of Continuous Time Signals

Unit Impusle properties

t 
    t0  (t )
 t0 
 (t )   (t )

x(t ) *  (t )  x(t )

x(t ) *  (t  t 0 )  x(t  t 0 )
 Models of Continuous Time Signals

Train impulse signal


x(t )  (t )    (t  n)
n  

(t )

-4 -3 -2 -1 0 1
2 3 4
 Models of Continuous Time Signals

Properties
(t )  (t )

(t  n)  (t )

t 
1 t 
 
 
  (t  n )       (t  n )
n       n  
 Models of Continuous Time Signals

Uses for train impulse


x(t ). (t )   x(n) (t  n)
n  

1 t 
 x(t ). ( )   x(nT ) (t  nT )
T T n  
 Models of Continuous Time Signals

Uses for train impulse


x(t ) * (t )   x(t  n)
n  
 Models of Continuous Time Signals

Uses for train impulse

1 t 
x(t ) * ( )   x(t  nT )
T T n  
 Models of Continuous Time Signals

Example: y(t)=x1(t)* x2(t),

a)

b)
1 t
x(t )  ( )
2T 2T
 CONTINUOUS -TIME SYSTEMS

The relation between a system’s input and

output signals, e.g. the system behavior, can be
described by a mathematical model.
Mathematical models are used to solve the
system: determining the output signal when the
input signal is known.
Mathematical models are also used in analyzing
and designing systems.
 CONTINUOUS -TIME SYSTEMS

Overview of specific systems

Input signal Output signal

 Overview of specific systems

Overview of specific systems

Overview of specific systems
Overview of specific systems
 System Classification

Continuous-time systems: input, output and

intermediate signals are continuous-time signals.
Discrete-time systems: input and output signals
are discrete-time signals.
 System Classification

SISO (single-input single-output) systems.

SIMO (single-input multiple-output) systems.
MISO (multiple-input single-output) systems.
MIMO (multiple-input multiple-output) systems.
 System Classification

A system whose output depends only on the

present value of the input signal is said to be
memoryless.
 A system whose output depends on past values
of the input signal is said to have memory.
 System Classification

Causal systems: output signal depends only on

the present and/or past values of the input signal.
Noncausal systems: output signal depends on
future values of the input signal.
 System Classification

A system initially at rest characterized by a

transform function T is said to be linear if and
only if:
∀α,β ∈R : T[αx1(t)+βx2(t)] =
αT[x1(t)]+βT[x2(t)]

A system is said to be nonlinear if it does not

satisfy the above condition.
 System Classification

Time-invariant systems: a time shift of the

input signal leads to identical time shift of the
output signal→the input-output relation does not
depend on the time origin, i.e.,
 y(t) = T[x(t)] ⇒ ∀t0 : y(t−t0) = T[x(t−t0)]
Time-variant systems: the input-output relation
depends on the time origin.
 System Classification

A system is said to be BIBO (bounded-input

bounded-output) stable if and only if the output
signal is bounded whenever the input signal is
bounded,
i.e : |x(t)| < ∞ ⇒ |y(t)| < ∞
If a bounded input produces an unbounded
output, the system is unstable.