TLE502_Vol_3
TLE502_Vol_3
TLE502_Vol_3
1 Classification of Signals
1.2
By the definition, a signal can be a function of one or more independent variables such as
time, position, pressure, temperature, etc. If a signal is a function of only one independent
variable, it is called one-dimensional signal and if a signal is a function of two
independent variables, it is called two-dimensional signal.
Depending upon the nature and characteristics in the time domain, the signals may be
classified into two categories –
1
Continuous-time and discrete-time signal
A continuous-time signal is a signal that can be defined at every instant of time. A
continuous-time signal contains values for all real numbers along the X-axis. It is
denoted by 𝑥(𝑡). Figure 1.1 (a) shows continuous-time signal.
Signals that can be defined at discrete instant of time is called discrete time signal.
Basically discrete time signals can be obtained by sampling a continuous-time
signal. It is denoted as x(n).Figure 1.1 (b) shows discrete-time signal.
Figure 1.1: Graphical representations of (a) continuous-time and (b) discrete-time signals.
The values of a discrete time signal are often quantized, for many practical
applications, to obtain numbers that can be represented for use in a digital circuit
or system. A quantized, discrete time, signal is considered to be a digital signal.
Thus, if both the independent and dependent variables are only defined at discrete
values, then the signal is considered to be a digital signal. Digital signals can be
represented as a sequence of finite precision numbers.
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5) Causal Signals, Anti-Causal Signals, and Non-Causal Signals
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2) Even and Odd Signals
One of characteristics of signal is symmetry that may be useful for signal analysis.
A signal which is symmetrical about the vertical axis or time origin is known
as even signal or even function. Therefore, the even signals are also called
the symmetrical signals. Cosine wave is an example of even signal. Moreover, a
signal is referred to as an even if it is identical to its time-reversed counterparts; x(t)
= x(-t).
Odd Signal: A signal that is anti-symmetrical about the vertical axis is known as
odd signal or odd function. Therefore, the odd signals are also called
the antisymmetric signals. Sine wave is an example of odd signal. Moreover, a
signal is odd if x(t) = -x(-t). An odd signal must be 0 at t=0, in other words, odd
signal passes the origin.
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Numerical Example
Find whether the signals are even or odd.
𝑥(𝑡) = 𝑒−5𝑡
𝑥(𝑡) = sin 2𝑡
𝑥(𝑡) = cos 5𝑡
Solution
Given signal is,
(𝑡) = 𝑒−5𝑡
(−𝑡) = 𝑒5𝑡
−(𝑡) = −𝑒−5𝑡
It is clear that (𝑡) ≠ (−𝑡) and (−𝑡) ≠ −(𝑡), thus the given signal is neither even
signal nor odd signal.
The given signal is,
(𝑡) = sin 2𝑡
(−𝑡) = −sin 2𝑡
−(𝑡) = −sin 2𝑡
Hence, (𝑡) ≠ (−𝑡); but (−𝑡) = −(𝑡), thus the given signal is an odd signal.
Given signal is,
(𝑡) = cos 5𝑡
(−𝑡) = cos 5𝑡
−(𝑡) = −cos 5𝑡
Therefore, (𝑡) = (−𝑡) and (−𝑡) ≠ −(𝑡), thus the given signal is an even signal.
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(𝑡 + 𝑇) = (𝑡) for − ∞ < 𝑡 < ∞
Where, T is a positive constant that represents the time period of the periodic signal.
The smallest value of the time period (T) which justifies the definition of the
periodic signal is known as fundamental time period of the signal and is denoted
by (𝑇0).
The reciprocal of the time period (T) of the periodic signal is called the frequency
(f) of the signal, i.e.,
1
𝑓=
𝑇
Since the angular frequency is given by,
𝜔 = 2𝜋𝑓
1 2π
Time period 𝑇 = =
𝑓 ω
Here, N is the time period of the periodic signal and a positive integer. The smallest
value of the time period (N) which satisfies the above condition is known as
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fundament time period of the signal. The fundamental time period (N) may be
defined as the minimum number of samples taken by signal to repeat itself.
The angular frequency of the discrete time periodic sequences is given by,
2𝜋
𝜔=
𝑁
Therefore, the time period of the sequence is
2𝜋
𝑁=
𝜔
Some examples of the discrete time periodic sequences are shown in Fig. 1.5.
In other words, a signal x(t) for which no value of time t satisfies the condition of
periodicity, is known as aperiodic or non-periodic signal.
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iv. Discrete Time Aperiodic Signal
If the condition of periodicity is not satisfied even for one value of n for a discrete
time signal x(n), then the discrete time signal is aperiodic or nonperiodic. Examples
of discrete time aperiodic signals are shown in Fig. 1.7.
Numerical Example
For given signals, determine whether it is periodic or non-periodic signal and if find
its fundamental period.
1) 𝑥(𝑡) = 5cos(200𝜋𝑡)
2) 𝑥(𝑛) = 12 sin(25𝜋𝑛)
𝜋 2𝜋
5) 𝑥(𝑡) = 4 cos ( 𝑡) + 2 cos ( 𝑡)
100 180
8
Solution
1. Given signal is,
𝑥(𝑡) = 5cos(200𝜋𝑡)
To check the periodicity of a signal , we compare the signal with standard cosine signal
𝑥(𝑡) = 𝐴 cos(2𝜋𝑓𝑜 𝑡)
Hence,
2𝜋𝑓𝑜 = 200𝜋𝑡
200𝜋 100
𝑓𝑜 = = = 100
2𝜋 1
1 1
Time period 𝑇 = = = 0.01 = 10𝑚𝑠
𝑓 100
Since, the given signal has time period 𝑇 =10ms, then the given signal is
periodic
2. 𝑥(𝑛) = 12 sin(25𝜋𝑛)
Given signal is discrete time signal. We know that the condition for a discrete time
signal to be periodic is
𝑘
𝑓𝑜 = i.e., the ratio of integers (such that N represent the period of the discrete time
𝑁
signal)
Therefore,
2𝜋𝑓𝑜 = 25𝜋
25𝜋 25 𝑘
𝑓𝑜 = = i.e., ratio of integers
2𝜋 2 𝑁
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Hence, the given signal 𝑥(𝑛) is periodic with period 𝑁 = 2 samples/cycle
integers
Therefore, if we compare the given signa 𝑥(𝑛) with standard cosine signal
2𝜋𝑓𝑜 = 25
25 𝑘
𝑓𝑜 = ≠ i.e., not a ratio of integers
2𝜋 𝑁
Given signal is not in the form of standard cosine or sine. We know the standard
formular
1 + cos 2𝜃 = 2 cos 2 𝜃
1 + cos 2𝜃
cos 2 𝜃 =
2
Applying this standard formular to the given signal 𝑥(𝑡)
1 + cos 2 × (2𝜋𝑡)
𝑥(𝑡) =
2
1 1
𝑥(𝑡) = + cos 2 × (2𝜋𝑡)
2 2
𝑥(𝑡) = 0.5 + 0.5 cos(4𝜋𝑡)
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Note that the first term does not have any frequency components but the second
term is a standard cosine term and has a frequency component
Hence,
2𝜋𝑓𝑜 = 4𝜋
4𝜋
𝑓𝑜 = = 2 Hz
2𝜋
1 1
The fundamental period 𝑇0 = = = 0.5𝑠𝑒𝑐
𝑓𝑜 2
Hence the given signal 𝑥(𝑡)is periodic with period 0.5 sec.
𝜋 2𝜋
5. 𝑥(𝑡) = 4 cos ( 𝑡) + 2 cos ( 𝑡)
100 180
Where,
𝜋 2𝜋
𝑥1 (𝑡) = 4 cos ( 𝑡) and 𝑥2 (𝑡) = 2 cos ( 𝑡)
100 180
Hence,
𝜋
𝑥1 (𝑡) = 4 cos ( 𝑡)
100
𝜋
2𝜋𝑓1 =
100
𝜋 1 1
𝑓1 = × =
100 2𝜋 200
1 1
Fundamental period 𝑇1 = = 1 = 200 sec
𝑓1
200
And
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2𝜋
𝑥2 (𝑡) = 2 cos ( 𝑡)
180
2𝜋
2𝜋𝑓2 =
180
2𝜋 1 1
𝑓2 = × =
180 2𝜋 180
1 1
Fundamental period 𝑇2 = = 1 = 180 sec
𝑓2
180
Hence, 𝑥1 (𝑡) and 𝑥2 (𝑡) are periodic. Hence, the given signal 𝑥(𝑡) is periodic if
𝑇1 𝑛
= i.e., ratio of integers
𝑇2 𝑚
𝑇1 200 10 𝑛
= = i.e.,
𝑇2 180 9 𝑚
Hence, λ1 = 9 and λ2 = 10
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4) Energy and Power Signals
Energy Signal: A signal is said to be an energy signal if and only if its total energy
E is finite, i.e., 0 < 𝐸 < ∞. For an energy signal, the average power P = 0. The
nonperiodic signals are the examples of energy signals.
Power Signal: A signal is said to be a power signal if its average power P is finite,
i.e., 0 < 𝑃 < ∞. For a power signal, the total energy E = ∞. The periodic signals are
the examples of power signals.
Function = 𝒙(𝒕)
1. |𝒙(𝒕)|
𝑻
2. ∫−𝑻|𝒙(𝒕)|𝟐 𝒅𝒕 = ()
3. 𝑬 = 𝐥𝐢𝐦 () = − − − − 𝒋𝒐𝒖𝒍𝒆𝒔 (finite energy, infinity power signal)
𝑻→∞
()
4. 𝑷 = 𝐥𝐢𝐦 = − − − − 𝒘𝒂𝒕𝒕𝒔 (finite power signal)
𝑻→∞ 𝟐𝑻
Numerical Example
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1. 𝒙(𝒕) = 𝒆−𝟐𝒕 𝒖(𝒕)
2. 𝑥(𝑡) = 5𝑒 𝑗𝜋⁄2𝑡
𝑒 𝑗𝜃 = 𝑐𝑜𝑠𝜃 + 𝑗𝑠𝑖𝑛𝜃
|𝑒 𝑗𝜃 | = √cos 2 𝜃 + sin2 𝜃 = 1
|𝑥(𝑡)| = 5(1)
𝑻 𝑻
∫ |𝒙(𝒕)|𝟐 𝒅𝒕 = ∫ 52 𝒅𝒕 = [𝟐𝟓𝒕]𝑻−𝑻 = 𝟐𝟓[𝒕]𝑻−𝑻 = 𝟐𝟓[𝑻 − −𝑻] = 𝟐𝟓(𝟐𝑻)
−𝑻 −𝑻
𝐸 = lim 25(2𝑇) = 25(2∞) = ∞ is infinite (hence, a power signal)
𝑇→∞
25(2𝑇)
𝑃 = lim = lim 25 = 25𝑊 (since power is finite it is a power signal)
𝑇→∞ 2𝑇 𝑇→∞
3. 𝑥(𝑡) = 4𝑠𝑖𝑛6𝜋𝑡
|𝑥(𝑡)| = 4𝑠𝑖𝑛6𝜋𝑡
𝑻 𝑻
∫−𝑻|𝒙(𝒕)|𝟐 𝒅𝒕 = ∫−𝑻 16 sin2 6𝜋𝑡 𝒅𝒕
1−cos 2𝜃
But sin2 𝜃 =
2
14
𝑻 𝑻 𝑻
1 − cos 2(6𝜋𝑡)
∫ |𝒙(𝒕)|𝟐 𝒅𝒕 = 𝟏𝟔 ∫ 𝒅𝒕 = 𝟖 ∫ [1 − cos 12𝜋𝑡]𝒅𝒕
−𝑻 −𝑻 2 −𝑻
𝑻 𝑇
= 8 [∫ 𝑑𝑡 − ∫ cos 12𝜋𝑡 𝒅𝒕] = 8([𝑡]𝑇−𝑇 − [sin 12𝜋𝑡]𝑇−𝑇 )
−𝑻 −𝑇
𝟖𝒔𝒊𝒏𝟏𝟐𝝅𝑻 + 𝟖𝒔𝒊𝒏𝟏𝟐𝝅𝑻)
= lim 8 −
𝑇→∞ 2𝑇
𝟖𝒔𝒊𝒏𝟏𝟐𝝅∞ + 𝟖𝒔𝒊𝒏𝟏𝟐𝝅∞)
= lim 8 −
𝑇→∞ 2∞
=8−0
𝑃=8W
Important Points
Both energy and power signals are mutually exclusive, i.e., no signal can be
both power signal and energy signal.
A signal is neither energy nor power signal if both energy and power of the
signal are equal to infinity.
All practical signals have finite energy; thus they are energy signals.
In practice, the physical generation of power signal is impossible since its
requires infinite duration and infinite energy.
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All finite duration signals of finite amplitude are energy signals.
Sum of an energy signal and power signal is a power signal.
A signal whose amplitude is constant over infinite duration is a power signal.
The energy of a signal is not affected by the time shifting and time inversion.
It is only affected by the time scaling.
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Numerical examples
Find which of the following signals are causal or non-causal
1. 𝑥(𝑡) = 𝑒 2𝑡 𝑢(𝑡 − 1)
Causal signal
Non-causal signal
3. 𝑥(𝑡) = 3𝑠𝑖𝑛𝑐(2𝑡)
Non-causal signal
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Non-causal signal
5. 𝑥(𝑡) = 𝑠𝑖𝑛2𝑡𝑢(𝑡)
Causal signal
1.3 System
A system is defined as a physical device that can produce an output or response for
the given input.
A system may also be defined as an entity, which works on an input signal and
transforms it into an output signal.
A system can also be defined as a set of elements, which are connected together and
generates an output signal corresponding to an input signal.
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Generally, a block diagram as shown in Fig. 1.10 represents a system. Here, the arrow
entering the box denotes the input signal or excitation [r(t)] and the arrow leaving the box
denotes the output signal or response [c(t)].
Fig. 1.10:
The relationship between the input signal 𝑟(𝑡) and the output signal 𝑐(𝑡) of a system is
given as
(𝑡) = 𝑇[r(𝑡)]
The output or response of the system depends upon the transfer function of the system. The
actual structure of the system determines the exact relation between the input r(t) and the
output c(t) of the system and specify the output for every input.
There are various types of systems such as mechanical system, electrical system,
electromechanical system, biological system, etc. All the physical devices such as an
electric motor, generator, filter, turbine, etc. are also examples of systems.
Depending upon the number of input and output, the systems may be single input and single
output systems or multi input and multi output systems.
Depending upon the time domain, the systems may be classified into two categories −
1) Continuous-Time Systems
2) Discrete-Time Systems
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Continuous-Time System
A system which transforms a continuous-time input signal into a continuous time output
signal is called the continuous-time system.
If r(t) and c(t) are the input and output signals of a continuous time system respectively,
then the relation between input and output signals of the continuous time system is defined
as
𝑐(𝑡) = 𝑇[𝑟(𝑡)]
Amplifiers, integrators, differentiators and filter circuits, etc. are some examples of
continuous time systems.
Discrete-Time System
A system which processes the discrete-time input signals and produces discrete time output
signals is shown as discrete-time system.
A signal is said to be discrete time signal if it is defined only at the discrete instants of time.
If r(n) and c(n) are the input and output signals of a discrete time system respectively, then
the relation between input and output of the discrete-time system is defined as
𝑐(𝑛) = 𝑇[𝑟(𝑛)]
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Fig. 1.12: discrete-time system
Microprocessors, digital devices, semiconductor memories, shift registers, etc. are some
examples of discrete-time systems.
Linear System: A system is said to be linear if it obeys the principle of homogeneity and
principle of superposition.
Principle of Homogeneity
The principle of homogeneity says that a system which generates an output y(t) for an input
x(t) must produce an output ay(t) for an input ax(t).
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Superposition Principle
According to the principle of superposition, a system which gives an output 𝑦1(𝑡) for an
input 𝑥1(𝑡) and an output 𝑦2(𝑡) for an input 𝑥2(𝑡) must produce an output [𝑦1(𝑡) + 𝑦2(𝑡)] for
an input [𝑥1(𝑡) + 𝑥2(𝑡)].
Filter circuits, communications channels, etc. are few examples of linear systems.
Non-Linear System: A system is said to be a non-linear system if it does not obey the
principle of homogeneity and principle of superposition.
Generally, if the equation describing the system contains square or higher order terms of
input/output or product of input/output and its derivatives or a constant, the system will be
a non-linear system. Triangulation of GPS signals is an example of non-linear system.
Numerical Example
Check whether the given systems are linear or non-linear systems −
𝑑 2 𝑦(𝑡)
i. + 3𝑡𝑦(𝑡) = 𝑡 2 𝑥(𝑡)
𝑑𝑡 2
𝑑𝑦(𝑡)
ii. 3 + 4𝑦(𝑡) = 𝑥 2 (𝑡)
𝑑𝑡
Solution
i. The given system is,
𝑑 2 𝑦(𝑡)
+ 3𝑡𝑦(𝑡) = 𝑡 2 𝑥(𝑡)
𝑑𝑡 2
22
Consider an input 𝑥1(𝑡) which produces an output 𝑦1(𝑡), then,
𝑑 2 𝑦1 (𝑡)
+ 3𝑡𝑦1 (𝑡) = 𝑡 2 𝑥1 (𝑡) … … (1)
𝑑𝑡 2
𝑑 2 𝑦2 (𝑡)
+ 3𝑡𝑦2 (𝑡) = 𝑡 2 𝑥2 (𝑡) … … (2)
𝑑𝑡 2
Now, the linear combination of the equations (1) and (2) gives,
𝑑 2 𝑦1 (𝑡) 𝑑 2 𝑦2 (𝑡)
{𝑎 + 𝑎3𝑡𝑦1 (𝑡)} + {𝑏 + 𝑏3𝑡𝑦2 (𝑡)} = 𝑎𝑡 2 𝑥1 (𝑡) + 𝑏𝑡 2 𝑥2 (𝑡)
𝑑𝑡 2 𝑑𝑡 2
Then
𝑑2
[𝑎𝑦1 (𝑡) + 𝑏𝑦2 (𝑡)] + 3𝑡[𝑎𝑦1 (𝑡) + 𝑏𝑦2 (𝑡)] = 𝑡 2 [𝑎𝑥1 (𝑡) + 𝑏𝑥2 (𝑡)] .. ..(3)
𝑑𝑡 2
Where, [𝑎𝑦1(𝑡) + 𝑏𝑦2(𝑡)] is the weighted sum of outputs and [𝑎𝑥1(𝑡) + 𝑏𝑥2(𝑡)] is the
weighted sum of inputs.
Hence, the equation (3) shows that the weighted sum of inputs to the given system
generates an output that is equal to the weighted sum of outputs to each of the
individual inputs. Therefore, the given system is a linear system.
𝑑𝑦(𝑡)
3 + 4𝑦(𝑡) = 𝑥 2 (𝑡)
𝑑𝑡
𝑑𝑦1 (𝑡)
3 + 4𝑦1 (𝑡) = 𝑥12 (𝑡) … …(1)
𝑑𝑡
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𝑑𝑦2 (𝑡)
3 + 4𝑦2 (𝑡) = 𝑥22 (𝑡) … …(2)
𝑑𝑡
Then, the linear combination (i.e., homogeneity and superposition) of the equations (1) and
(2) can be written as,
𝑑𝑦1 (𝑡) 𝑑𝑦2 (𝑡)
{𝑎3 + 𝑎4𝑦1 (𝑡)} + {𝑏3 + 𝑏4𝑦2 (𝑡)} = 𝑎𝑥21 (𝑡) + 𝑏𝑥22 (𝑡)
𝑑𝑡 𝑑𝑡
Hence,
𝑑
3 [𝑎𝑦1 (𝑡) + 𝑏𝑦2 (𝑡)] + 4[𝑎𝑦1 (𝑡) + 𝑏𝑦2 (𝑡)] = 𝑎𝑥21 (𝑡) + 𝑏𝑥22 (𝑡)
𝑑𝑡
Where, [𝑎𝑦1 (𝑡) + 𝑏𝑦2 (𝑡)] is the weighted sum of outputs but [𝑎𝑥21 (𝑡) + 𝑏𝑥22 (𝑡)] is not the
weighted sum of inputs. Here, the principle of superposition is not satisfied. Therefore, the
given system is a non-linear system.
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Invertible System: A system is said to be a non-invertible system if the system does not
have a unique relationship between its input and output. In other words, if there is many
to one mapping between input and output at any given instant for system, then the system
is known as non-invertible system.
Numerical Example
Find whether the given systems are invertible or non-invertible −
𝑦(𝑡) = 5𝑥(𝑡)
𝑦(𝑡) = 3 + 𝑥(𝑡)
𝑦(𝑡) = 5𝑥2(𝑡)
Solution (1)
The given system is,
(𝑡) = 5(𝑡)
(𝑡) = 5 × 3 = 15
25
(𝑡) = 5 × (−3) = −15
Hence, for different inputs, there is different outputs. Therefore, the system is invertible
system.
Solution (2)
The expression describing the system is,
(𝑡) = 3 + (𝑡)
(𝑡) = 3 + 10 = 13
(𝑡) = 3 + (−10) = −7
Since, for the given system, different inputs lead to a different output. Therefore, the
system is an invertible system.
Solution (3)
The given system is,
(𝑡) = 5𝑥2(𝑡)
(𝑡) = 5 × 52 = 125
Since, for the given system, different inputs generate same output. Hence, the given system
is a non-invertible system.
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1.3.2.3 Causal and Non-Causal System
Causal System: A system whose output or response at any time instant (t) depends only
on the present and past values of the input but not on the future values of the input is called
the causal system. For a causal system, the output or response does not begin before the
input signal is applied. This is why, a causal system is also called a non-anticipated
system.
The causal systems are real time systems and they can be physically realised. For a causal
system, the impulse response of the system is zero for negative time (i.e., t < 0) because
the impulse signal δ(t) or δ(n) exists only at t = 0 or n = 0, i.e.,
(𝑡) = (𝑡 − 3) + 3(𝑡)
𝑦(𝑡) = 𝑡𝑥(𝑡)
(𝑛) = (𝑛 − 1) + (𝑛)
𝑦(𝑛) = 𝑛𝑥(𝑛)
Where, y(t) or y(n) and x(t) or x(n) are the output and input of the system respectively.
Non-Causal System: A system whose output or response at any time instant (t) depends
upon future values of the input is called the non-causal system. The non-causal systems
can generate an output before the input is given, hence they are also known as anticipative
systems.
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The non-causal systems do not exist in real time. Also, these systems are not physically
realisable. The image processing systems are the examples of noncausal systems.
(𝑡) = (𝑡 + 3) + 2(𝑡)
Solved Example
Find whether the following systems are causal or non-causal system −
Solution
Given system is,
(𝑡) = 𝑥2(𝑡) + 𝑥(𝑡 − 3)
Causality of the given system can be determined by considering different values of t as
follows −
𝑡 = 0 → (0) = 𝑥2(0) + 𝑥(−3)
𝑡 = (−2) → (−2) = 𝑥2(−2) + 𝑥(−5)
𝑡 = 2 → (2) = 𝑥2(2) + 𝑥(−1)
Hence, for all the values of t, the output depends only on the present and past values of the
input. Thus, the given system is a causal system.
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Given System is,
(𝑡) = (3 − 𝑡) + (𝑡 − 2)
Causality of the given system can be determined by considering different values of t as
follows −
𝑡 = 0 → (0) = (3) + (−2)
𝑡 = (−1) → (−1) = (4) + (−3)
𝑡 = 1 → (1) = (2) + (−1)
It is clear that for some values of t, the output of the system depends on the future values of
the input. Hence, the given system is a non-causal system.
Given,
(𝑛) = (3𝑛)
The output of the system at different time instants is
𝑛 = 0 → (0) = (0)
𝑛 = −1 → (−1) = (−3)
𝑛 = 1 → (1) = (3)
𝑛 = 2 → (2) = (6)
Hence, for positive values of n, the output of the system depends upon the future values of
the input. Therefore, the given system is a non-causal system.
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The given system is,
2𝑡
𝑦(𝑡) = ∫−𝑎 𝑥(𝑢)𝑑𝑢
Hence, for the positive values of t, the output of the system depends upon the future
values of the input. Therefore, the given system is a non-causal system.
𝑐(𝑡) = 𝑟(𝑡)
(𝑡) = 2𝑟2(𝑡)
𝑐(𝑛) = 𝑟(𝑛)
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(𝑛) = 5𝑟2(𝑛)
Where, c(t) or c(n) and r(t) or r(n) are the output and input of the system respectively.
Dynamic System: A system whose response or output depends upon the past or future
inputs in addition to the present input is called the dynamic system. The dynamic systems
are also known as memory systems. Any continuous-time dynamic system can be
described by a differential equation or any discrete-time dynamic system by a difference
equation.
An electric circuit containing inductors and (or) capacitors is an example of dynamic
system. Also, a summer or accumulator, a delay circuit, etc. are some examples of discrete-
time dynamic systems.
Numerical Example
Find whether the following systems are static or dynamic −
𝑦(𝑡) = 𝑥(𝑡 − 4)
𝑦(𝑛) = 𝑥(6𝑛)
𝑦(𝑛) = 𝑥(𝑛 − 1) + 𝑥(𝑛)
Solution
Given system is,
(𝑡) = (𝑡 − 4)
From the equation of the system, it is clear that the output depends upon the past
values of the input. Hence, the given system is a dynamic system.
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Given system is,
(𝑛) = (6𝑛)
For this system, the output depends upon the present inputs only. Thus, it is a static
system.
Given,
(𝑛) = (𝑛 − 1) + (𝑛)
The given discrete-time system is described by a difference equation. Hence, the
system is a dynamic system.
Time-Invariant System: If the input and output characteristics of a system do not change
with time, the system is called the time-invariant system.
Continuous-time Case
The time-invariance property of a continuous time system can be tested as follows −
Let x(t) is the input and x(t-t0) is the delayed input by t0 units. Then, the output of the system
for the input x(t) is
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Also, the output delayed by t0 units is
(𝑡 − 𝑡0) = (𝑡)|𝑡=(𝑡−𝑡0)
If
That is, when the delayed output of the system is equal to the output due to delayed input
for all possible values of t, then the given system is a timeinvariant system.
The system expressed by the above differential equation is a time-invariant system because
all its coefficients are constants.
Discrete-time Case
In the discrete-time case, the time-invariance property is known as shift invariance. A
given system is time invariant or not can be tested as follows −
Consider x(n) is the input and x(n-k) is the delayed input to the given discrete time system.
Then, the output of the system corresponding to the x(n) is given by
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𝑥(𝑛 − 𝑘) → 𝑦(𝑛, 𝑘) = 𝑇[𝑥(𝑛 − 𝑘)] = 𝑦(𝑛)|𝑥(𝑛)=𝑥(𝑛−𝑘)
𝑦(𝑛 − 𝑘) = 𝑦(𝑛)|𝑛=(𝑛−𝑘)
If
𝑦(𝑛, 𝑘) = 𝑦(𝑛 − 𝑘)
That is, when the delayed output of the system is equal to the output due to delayed input
for all possible values of k, then the given system is a timeinvariant system.
The system described by the above difference equation is a time-invariant system because
all the coefficients are constants.
Time-Variant System: A system whose input and output characteristics change with the
time is known as time-variant system.
Continuous-time Case
For a continuous-time, time-varying system, the delayed output of the system is not equal
to the output due to delayed input, i.e.,
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𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
5𝑡 2 2
+ 4𝑡 + 3𝑦(𝑡) = 2𝑥(𝑡)
𝑑𝑡 𝑑𝑡
The system described by this differential equation is a time-varying system because all its
coefficients are not constant or functions of time.
Discrete-time Case
For a discrete-time, time varying system, the output of the system is not equal to the output
due to delayed input, i.e.,
𝑦(𝑛, 𝑘) ≠ 𝑦(𝑛 − 𝑘)
If a difference equation is used to describe a discrete-time system, then the system will be a
time-varying system if its coefficients are the functions of time.For example,
This system is a time varying system because some of the coefficients are functions of
time.
Numerical Example
Determine whether the following systems are time-invariant or time-variant −
𝑦(𝑡) = 2𝑡2 𝑥(𝑡)
𝑦(𝑡) = 3𝑒3𝑥(𝑡)
Solution (1)
The given system is,
Here,
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(𝑡) = [(𝑡)] = 2𝑡2 (𝑡)
The output of the system for the delayed input by 𝑡0 seconds is,
Therefore,
Solution (2)
The given system is,
(𝑡) = 3𝑒3(𝑡)
Here,
The output of the system for the input delayed by 𝑡0 seconds is,
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1.3.2.6 linear Time variant (LTV) and linear Time Invariant (LTI) Systems
If a system is both linear and time variant, then it is called linear time variant (LTV) system.
Linear Time-Invariant Systems: A system that possesses two basic properties namely
linearity and timeinvariant is known as linear time-invariant system or LTI system.
A system for which the principle of superposition and the principle of homogeneity are
valid and the input/output characteristics do not change with time is called the linear time-
invariant (LTI) system
There are two major reasons behind the use of the LTI systems −
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