66

LINEAR TIME-INVARIANT SYSTEMS

[CHAP. 2

special case when N = 0, from Eq. (2.53)we have

which is a nonrecursice equation since previous output values are not required to compute
the present output. Thus, in this case, auxiliary conditions are not needed to determine

Y ~ I .
C. Impulse Response:

Unlike the continuous-time case, the impulse response h[n] of a discrete-time LTI
system described by Eq. (2.53)or, equivalently, by Eq. (2.54)can be determined easily as

For the system described by Eq. (2.55)the impulse response h[n] is given by

Note that the impulse response for this system has finite terms; that is, it is nonzero for
only a finite time duration. Because of this property, the system specified by Eq. (2.55) is
known as a finite impulse response (FIR) system. On the other hand, a system whose
impulse response is nonzero for an infinite time duration is said to be an infinite impulse
response (IIR) system. Examples of finding impulse responses are given in Probs. 2.44 and
2.45. In Chap. 4, we will find the impulse response by using transform techniques.

Solved Problems
RESPONSES OF A CONTINUOUS-TIME LTI SYSTEM AND CONVOLUTION
2.1.

Verify Eqs. ( 2 . 7 )and ( 2 . 8 ) ,that is,

(a) x(t)*h(t)=h(t)*x(t)
( b ) ( x ( t ) *h , ( t ) J *h , ( t ) = x ( t ) * ( h , ( t ) h,(t)J
*
( a ) By definition (2.6)

By changing the variable t - T

= A,

we have

source: Schaum's Outlines of Theory and problems of Signals

and Systems, by Hwei P. Hsu, McGraw Hill 195.

CHAP. 21

LINEAR TIME-INVARIANT SYSTEMS

( b ) Let x ( t ) * h , ( t ) =f , ( t ) and h , ( t ) * h 2 ( t ) =f2(t). Then

Substituting A = a - T and interchanging the order of integration, we have

Now, since

we have

Thus,

2.2.

Show that

(d)

x(t)

* u(t - to)=

I-to

( a ) By definition ( 2 . 6 ) and Eq. (1.22) we have

( b ) By Eqs. ( 2 . 7 ) and (1.22)we have

(c)

By Eqs. ( 2 . 6 ) and (1.19) we have

since u(t - 7 ) =

7<t
7>t'

LINEAR TIME-INVARIANT SYSTEMS

[CHAP. 2

( d l In a similar manner, we have

m

x ( t )* u(t - t,,) =

2.3.

x ( r ) u ( t- 7 - t o ) dr

Let y ( r ) = x ( r ) * h ( t 1. Then show that

By Eq. ( 2 . 6 )we have

and
Let r

t,

A . Then

T =A

+ t , and Eq. (2.63b)becomes

Comparing Eqs. ( 2 . 6 3 ~and

) (2.63~1,
we see that replacing
.
we conclude that
obtain Eq. ( 2 . 6 3 ~ )Thus,

2.4.

in Eq. ( 2 . 6 3 ~by
) r -r

, - r,,

we

The input x ( t ) and the impulse response h ( t ) of a continuous time LTI system are
given by

(a) Compute the output y ( t ) by Eq. ( 2 . 6 ) .

( b ) Compute the output y ( t ) by Eq. (2.10).
( a ) By Eq. ( 2 . 6 )

Functions X ( T ) and h(t - r ) are shown in Fig. 2-4(a)for t < 0 and t > 0. From Fig. 2-4(a)
we see that for t < 0, x ( r ) and h(t - T ) do not overlap, while for t > 0, they overlap from
T = 0 to T = I . Hence, for t < 0, y ( t ) = 0. For t > 0, we have

Thus, we can write the output y ( t ) as

CHAP. 21

LINEAR TIME-INVARIANT SYSTEMS

( b ) By Eq. (2.10)

Functions h ( r ) and x(t - 7)are shown in Fig. 2-4(b) for t < 0 and t > 0. Again from Fig.
2-4(b) we see that for t < 0, h(7)and x(t - 7 ) do not overlap, while for t > 0, they overlap
from 7 = 0 to r = t . Hence, for t < 0, y ( t ) = 0. For t > 0, we have

Thus, we can write the output y ( t ) as

which is the same as Eq. (2.64).

(a)

Fig. 2-4

70

2.5.

[CHAP. 2

LINEAR TIME-INVARIANT SYSTEMS

Compute the output y(t for a continuous-time LTI system whose impulse response
h ( t ) and the input x ( 0 are given by

By Eq. ( 2 . 6 )
) ( t )* h

1 x ( r ) h ( t -r ) dr
m

)=

-m

Functions ~ ( 7and
) h(t - 7 ) are shown in Fig. 2-5(a) for t < 0 and t > 0. From Fig. 2-5(a) we
see that for t < 0, X ( T ) and h(t - 7 ) overlap from 7 = - w to 7 = t , while for t > 0, they overlap
from 7 = -01 to 7 = 0. Hence, for t < 0, we have
y(r)

j'

e'Te-'V-T)

- rn

dr

= e - a ' G 2 a ' d r = -eat

2a

For t > 0, we have

(4
Fig. 2-5

(2.66~)

CHAP. 21

LINEAR TIME-INVARIANT SYSTEMS

) (2.6681, we can write y ( t ) as

Combining Eqs. ( 2 . 6 6 ~and
y(t)

1
-e-uIrl

CY>O

2a

which is shown in Fig. 2 - S b ) .

2.6.

Evaluate y ( t ) = x ( t ) * h ( t ), where x ( t ) and h ( t ) are shown in Fig. 2-6, ( a ) by an

analytical technique, and ( b ) by a graphical method.

Fig. 2-6

( a ) We first express x(t and h ( t ) in functional form:

Then, by Eq. ( 2 . 6 )we have

Since

O<r<t,t>O
otherwise

u ( 7 ) u ( t- 7 ) =
u ( r ) u ( t- 2 - 7 ) =
~ ( 7 3-) u ( t

-7)=

U ( T - ~ ) U ( ~ - ~ - T=)

(A

0<7<t-2,t>2
otherwise
3<7<t,t>3
otherwise
3<~<t-2,t>5
otherwise

LINEAR TIME-INVARIANT SYSTEMS

[CHAP. 2

we can express y(t ) as

=tu(t)

- ( t - 2)u(t - 2) - ( t - 3)u(t -3) + ( r - 5)u(t - 5 )

which is plotted in Fig. 2-7.

Fig. 2-7

( b ) Functions h ( r ) , X ( T ) and h(t - 71, x ( r ) h ( t - 7 ) for different values of t are sketched in

Fig. 2-8. From Fig. 2-8 we see that x ( r ) and h(t - 7 ) do not overlap for t < 0 and t > 5,
and hence y ( t ) = 0 for t < 0 and t > 5. For the other intervals, x ( r ) and h(t - T ) overlap.
Thus, computing the area under the rectangular pulses for these intervals, we obtain

which is plotted in Fig. 2-9.

2.7.

Let h ( t ) be the triangular pulse shown in Fig. 2-10(a) and let x ( t ) be the unit impulse
train [Fig. 2-10(b)] expressed as

Determine and sketch y ( t ) = h ( t )* x( t ) for the following values of T: ( a ) T = 3, ( b )

T = 2, ( c ) T = 1.5.

CHAP. 21

-2

-1

LINEAR TIME-INVARIANT SYSTEMS

1-2

Fig. 2-8

LINEAR TIME-INVARIANT SYSTEMS

[CHAP. 2

Fig. 2-9

(b)

Fig. 2-10

Using Eqs. (2.59) and (2.91, we obtain

( a ) For T = 3, Eq. (2.69) becomes

which is sketched in Fig. 2-1 l(ah

( b ) For T = 2, Eq. (2.69) becomes

which is sketched in Fig. 2-1 1(b).

( c ) For T = 1.5, Eq. (2.69) becomes

which is sketched in Fig. 2-ll(c). Note that when T < 2 , the triangular pulses are no
longer separated and they overlap.

CHAP. 21

LINEAR TIME-INVARIANT SYSTEMS

(c)

Fig. 2-11

2.8.

If x , ( t ) and x 2 ( t ) are both periodic signals with a common period To, the convolution
of x ,( t ) and x 2 ( t ) does not converge. In this case, we define the periodic conaolution
of x , ( t ) and x 2 ( t ) as

( a ) Show that f ( t ) is periodic with period To.

( b ) Show that
f ( t )=

la'T 0 x , ( ( l x 2 ( t-

7 )d~

(2.71)

for any a .
( c ) Compute and sketch the periodic convolution of the square-wave signal x ( t )
shown in Fig. 2-12 with itself.

LINEAR TIME-INVARIANT SYSTEMS

To

31

3
Fig. 2-12

lit

70

(b)

Fig. 2-13

To

[CHAP. 2

CHAP. 21

LINEAR TIME-INVARIANT SYSTEMS

( a ) Since x 2 ( t )is periodic with period To, we have

x 2 ( t + To - 7 ) = x Z ( t- T )
Then from Eq. (2.70)we have

Thus, f ( t ) is periodic with period To.

( b ) Since both x l ( r ) and x , ( i ) are periodic with the same period To,x1(7)x2(t- T ) is also
periodic with period To. Then using property (1.88) (Prob. 1.17), we obtain

(c)

for an arbitrary a.
We evaluate the periodic convolution graphically. Signals x ( r ) , x(t - T ) , and x ( r ) x ( t - T )
are sketched in Fig. 2-13(a), from which we obtain

f(t)=

I!&

0 < t 5 T0/2
T0/2 < t ITo

- To)

and

f(t

+ T o ) =f ( t )

which is plotted in Fig. 2-13(b).

PROPERTIES OF CONTINUOUS-TIME LTI SYSTEMS

2.9.

T h e signals in Figs. 2-14(a) and ( b ) are the input x ( t ) and the output y ( t ) , respectively, of a certain continuous-time LTI system. Sketch the output t o the following
inputs: ( a ) x ( t - 2); ( b ) i x ( t ) .
( a ) Since the system is time-invariant, the output will be y(t - 2) which is sketched in Fig.
2-14(~).
( b ) Since the system is linear, the output will be fy(t) which is sketched in Fig. 2-14(d).

2.10. Consider a continuous-time LTI system whose step response is given by

s ( t )=ebru(t)
Determine and sketch the output of this system to the input x ( t ) shown in Fig.
2-15(a).
From Fig. 2-15(a) the input x ( t ) can be expressed as
x ( t ) = u ( t - 1) - u ( t - 3 )
Since the system is linear and time-invariant, the output y ( t ) is given by
y(t)=s(t-1)-s(t-3)
=e - ( l - l)u(t

which is sketched in Fig. 2-15(b).

1 ) - e-(+3u(t- 3 )

[CHAP. 2

LINEAR TIME-INVARIANT SYSTEMS

(4
Fig. 2-14

(b)

Fig. 2-15

2.11. Consider a continuous-time LTI system described by (see Prob. 1.56)

Find and sketch the impulse response h ( t ) of the system.

( b ) Is this system causal?
(a)

(a)

Equation (2.72) can be rewritten as

CHAP. 21

LINEAR TIME-INVARIANT SYSTEMS

Using Eqs. (2.61) and ( 2 . 9 ) , Eq. (2.73) can be expressed as

Thus, we obtain

f)- u ( ~ -f)]

h ( t ) = :T[ ~ ( t +

( 2.75)

- T / 2 < t r T/2
otherwise

which is sketched in Fig. 2-16.

( b ) From Fig. 2-16 or Eq. (2.75) we see that h ( t ) # 0 for t < 0. Hence, the system is not
causal.

-Tn

rn

Fig. 2-16

2.12. Let y ( t ) be the output of a continuous-time LTI system with input x ( t ) . Find the
output of the system if the input is x l ( t ) , where x l ( t ) is the first derivative of x ( t ) .
From Eq. (2.10)

Differentiating both sides of the above convolution integral with respect to

1,

we obtain

which indicates that y l ( t ) is the output of the system when the input is x l ( t ) .

2.13. Verify the B I B 0 stability condition [Eq. (2.21)] for continuous-time LTI systems.
Assume that the input x ( t ) of a continuous-time LTI system is bounded, that is,
Ix(t)ll k,

all t

(2.77)