6.

003: Signals and Systems

Discrete-Time Systems

February 4, 2010

Discrete-Time Systems

We start with discrete-time (DT) systems because they are conceptually simpler than continuous-time systems illustrate same important modes of thinking as continuous-time
are increasingly important (digital electronics and computation)

Multiple Representations of Discrete-Time Systems

Systems can be represented in dierent ways to more easily address dierent types of issues. Verbal description: To reduce the number of bits needed to store a sequence of large numbers that are nearly equal, record the rst number, and then record successive dierences. Dierence equation: y[n] = x[n] x[n 1] Block diagram: x[n]

+ 1
Delay

y[n]

We will exploit particular strengths of each of these representations.

Dierence Equations

Dierence equations are mathematically precise and compact. Example: y[n] = x[n] x[n 1]

Dierence Equations

Dierence equations are mathematically precise and compact. Example: y[n] = x[n] x[n 1] Let x[n] equal the unit sample signal [n], [n] = 1, 0, if n = 0; otherwise.
x[n] = [n]

1 0 1 2 3 4

unit sample as a primitive (building-blo

Dierence Equations

Dierence equations are mathematically precise and compact. Example: y[n] = x[n] x[n 1] Let x[n] equal the unit sample signal [n], [n] = 1, 0, if n = 0; otherwise.
x[n] = [n]

1 0 1 2 3 4

We will use the unit sample as a primitive (building-block signal) to construct more complex signals.

Step-By-Step Solutions

Dierence equations are convenient for step-by-step analysis.

Find y[n] given x[n] = [n]:

y[n] = x[n] x[n 1]

y[1] = x[1] x[2] y[0] = x[0] x[1] y[1] = x[1] x[0] y[2] = x[2] x[1] y[3] = x[3] x[2] ... =00=0 =10=1 = 0 1 = 1 =00=0 =00=0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Dierence equations are convenient for step-by-step analysis.

Find y[n] given x[n] = [n]:

y[n] = x[n] x[n 1] y[1] = x[1] x[2] y[0] = x[0] x[1] y[1] = x[1] x[0] y[2] = x[2] x[1] y[3] = x[3] x[2] ... =00=0 =10=1 = 0 1 = 1 =00=0 =00=0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Dierence equations are convenient for step-by-step analysis.

Find y[n] given x[n] = [n]:

y[n] = x[n] x[n 1] y[1] = x[1] x[2] y[0] = x[0] x[1] y[1] = x[1] x[0] y[2] = x[2] x[1] y[3] = x[3] x[2] ... =00=0 =10=1 = 0 1 = 1 =00=0 =00=0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Dierence equations are convenient for step-by-step analysis.

Find y[n] given x[n] = [n]:

y[n] = x[n] x[n 1] y[1] = x[1] x[2] y[0] = x[0] x[1] y[1] = x[1] x[0] y[2] = x[2] x[1] y[3] = x[3] x[2] ... =00=0 =10=1 = 0 1 = 1 =00=0 =00=0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Dierence equations are convenient for step-by-step analysis.

Find y[n] given x[n] = [n]:

y[n] = x[n] x[n 1] y[1] = x[1] x[2] y[0] = x[0] x[1] y[1] = x[1] x[0] y[2] = x[2] x[1] y[3] = x[3] x[2] ... =00=0 =10=1 = 0 1 = 1 =00=0 =00=0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Dierence equations are convenient for step-by-step analysis.

Find y[n] given x[n] = [n]:

y[n] = x[n] x[n 1] y[1] = x[1] x[2] y[0] = x[0] x[1] y[1] = x[1] x[0] y[2] = x[2] x[1] y[3] = x[3] x[2] ... =00=0 =10=1 = 0 1 = 1 =00=0 =00=0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Dierence equations are convenient for step-by-step analysis.

Find y[n] given x[n] = [n]:

y[n] = x[n] x[n 1] y[1] = x[1] x[2] y[0] = x[0] x[1] y[1] = x[1] x[0] y[2] = x[2] x[1] y[3] = x[3] x[2] ... =00=0 =10=1 = 0 1 = 1 =00=0 =00=0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis. Represent y[n] = x[n] x[n 1] with a block diagram:

x[n] 1
Delay

y[n]

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis.

Represent y[n] = x[n] x[n 1] with a block diagram: start at rest

x[n] 1
Delay

+ 0

y[n]

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis.

Represent y[n] = x[n] x[n 1] with a block diagram: start at rest

1 1 1
Delay

+ 0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis.

Represent y[n] = x[n] x[n 1] with a block diagram: start at rest

10 1 1
Delay

+ 0 1

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis.

Represent y[n] = x[n] x[n 1] with a block diagram: start at rest

10 1 0
Delay

1 0 1

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis.

Represent y[n] = x[n] x[n 1] with a block diagram: start at rest

0 1 0
Delay

+ 1

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis.

Represent y[n] = x[n] x[n 1] with a block diagram: start at rest

0 1 0
Delay

1 1 0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis.

Represent y[n] = x[n] x[n 1] with a block diagram: start at rest

0 1 0
Delay

0 1 0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis.

Represent y[n] = x[n] x[n 1] with a block diagram: start at rest

0 1 0
Delay

+ 0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis.

Represent y[n] = x[n] x[n 1] with a block diagram: start at rest

0 1 0
Delay

+ 0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Step-By-Step Solutions

Block diagrams are also useful for step-by-step analysis.

Represent y[n] = x[n] x[n 1] with a block diagram: start at rest

0 1 0
Delay

+ 0

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Check Yourself
DT systems can be described by dierence equations and/or block diagrams. Dierence equation: y[n] = x[n] x[n 1] Block diagram: x[n]

+ 1
Delay

y[n]

In what ways are these representations dierent?

Check Yourself

In what ways are dierence equations dierent from block diagrams?

Dierence equation: y[n] = x[n] x[n 1] Dierence equations are declarative. They tell you rules that the system obeys. Block diagram: x[n]

+ 1
Delay

y[n]

Block diagrams are imperative. They tell you what to do. Block diagrams contain more information than the corresponding dierence equation (e.g., what is the input? what is the output?)

From Samples to Signals

Lumping all of the (possibly innite) samples into a single object the signal simplies its manipulation. This lumping is an abstraction that is analogous to representing coordinates in three-space as points representing lists of numbers as vectors in linear algebra creating an object in Python

From Samples to Signals

Operators manipulate signals rather than individual samples.

x[n] 1
Delay

y[n]

Nodes represent whole signals (e.g., X and Y ). The boxes operate on those signals: Delay = shift whole signal to right 1 time step
Add = sum two signals 1: multiply by 1

Signals are the primitives.

Operators are the means of combination.

Operator Notation

Symbols can now compactly represent diagrams. Let R represent the right-shift operator: Y = R{X} RX where X represents the whole input signal (x[n] for all n) and Y represents the whole output signal (y[n] for all n) Representing the dierence machine

x[n] 1
Delay

y[n]

with R leads to the equivalent representation Y = X RX = (1 R) X

Operator Notation: Check Yourself

Let Y = RX. Which of the following is/are true: 1. 2. 3. 4. 5. y[n] = x[n] for all n y[n + 1] = x[n] for all n y[n] = x[n + 1] for all n y[n 1] = x[n] for all n none of the above

Check Yourself

Consider a simple signal:

X n

1 0 1 2 3 4
Then

Y = RX n

1 0 1 2 3 4

Clearly y[1] = x[0]. Equivalently, if n = 0, then y[n + 1] = x[n]. The same sort of argument works for all other n.

Operator Notation: Check Yourself

Let Y = RX. Which of the following is/are true: 1. 2. 3. 4. 5. y[n] = x[n] for all n y[n + 1] = x[n] for all n y[n] = x[n + 1] for all n y[n 1] = x[n] for all n none of the above

Operator Representation of a Cascaded System

System operations have simple operator representations. Cascade systems multiply operator expressions.

X 1
Delay

Y1 1
Delay

Y2

Using operator notation:

Y1 = (1 R) X Y2 = (1 R) Y1 Substituting for Y1 : Y2 = (1 R)(1 R) X

Operator Algebra

Operator expressions can be manipulated as polynomials.

X 1
Delay

Y1 1
Delay

Y2

Using dierence equations: y2 [n] = y1 [n] y1 [n 1] = (x[n] x[n 1]) (x[n 1] x[n 2]) = x[n] 2x[n 1] + x[n 2] Using operator notation: Y2 = (1 R) Y1 = (1 R)(1 R) X
= (1 R)2 X
= (1 2R + R2 ) X

Operator Approach

Applies your existing expertise with polynomials to understand block diagrams, and thereby understand systems.

Operator Algebra

Operator notation facilitates seeing relations among systems.

Equivalent block diagrams (assuming both initially at rest):
Y1 + + Y2 X

Delay

1 +

Delay

X
Delay

2
Delay Equivalent operator expressions:
(1 R)(1 R) = 1 2R + R2 The operator equivalence is much easier to see.

Check Yourself

Operator expressions for these equivalent systems (if started at rest) obey what mathematical property?

X 1 X 1
Delay Delay Delay

Delay

+
Delay

1. commutate 2. associative 3. distributive 4. transitive 5. none of the above

Check Yourself

X 1
Delay Y = R(1 R)X

Delay

X 1

Delay Delay Delay

Y = (R R2 )X

Multiplication by R distributes over addition.

Check Yourself

Operator expressions for these equivalent systems (if started at rest) obey what mathematical property? 3

X 1 X 1
Delay Delay Delay

Delay

+
Delay

1. commutate 2. associative 3. distributive 4. transitive 5. none of the above

Check Yourself

How many of the following systems are equivalent to Y = (4R2 + 4R + 1) X ?

Delay

Delay

Delay

Delay

Delay

Delay

Check Yourself

X
Delay 2

Delay

Y = (2R + 1)(2R + 1) X

Delay

Delay

Y = (4R2 + 4R + 1) X
Delay

Delay

Y = (4R2 + 4R + 1) X All implement Y = (4R2 + 4R + 1) X

Check Yourself

How many of the following systems are equivalent to Y = (4R2 + 4R + 1) X ? 3

Delay

Delay

Delay

Delay

Delay

Delay

Operator Algebra: Explicit and Implicit Rules

Recipes versus constraints.

Recipe: subtract a right-shifted version of the input signal from a copy of the input signal.

X 1
Delay

Y
Y = (1 R) X

Constraint: the dierence between Y and RY is X.

+
Delay

Y = RY + X
(1 R) Y = X

But how does one solve such a constraint?

Example: Accumulator

Try step-by-step analysis: it always works. Start at rest. x[n] + y[n] Delay Find y[n] given x[n] = [n]:

y[n] = x[n] + y[n 1]

y[0] = x[0] + y[1] = 1 + 0 = 1 y[1] = x[1] + y[0] =0+1=1 =0+1=1 y[2] = x[2] + y[1] ... y[n]

x[n] = [n]

1 0 1 2 3 4

1 0 1 2 3 4

Example: Accumulator

Try step-by-step analysis: it always works. Start at rest. x[n] + y[n] Delay Find y[n] given x[n] = [n]:

y[n] = x[n] + y[n 1] y[0] = x[0] + y[1] = 1 + 0 = 1 y[1] = x[1] + y[0] =0+1=1 =0+1=1 y[2] = x[2] + y[1] ... y[n]

x[n] = [n]

1 0 1 2 3 4

1 0 1 2 3 4

Example: Accumulator

Try step-by-step analysis: it always works. Start at rest. x[n] + y[n] Delay Find y[n] given x[n] = [n]:

y[n] = x[n] + y[n 1] y[0] = x[0] + y[1] = 1 + 0 = 1 y[1] = x[1] + y[0] =0+1=1 =0+1=1 y[2] = x[2] + y[1] ... y[n]

x[n] = [n]

1 0 1 2 3 4

1 0 1 2 3 4

Example: Accumulator

Try step-by-step analysis: it always works. Start at rest. x[n] + y[n] Delay Find y[n] given x[n] = [n]:

y[n] = x[n] + y[n 1] y[0] = x[0] + y[1] = 1 + 0 = 1 y[1] = x[1] + y[0] =0+1=1 =0+1=1 y[2] = x[2] + y[1] ... y[n]

x[n] = [n]

1 0 1 2 3 4

1 0 1 2 3 4

Example: Accumulator

Try step-by-step analysis: it always works. Start at rest. x[n] + y[n] Delay Find y[n] given x[n] = [n]:

y[n] = x[n] + y[n 1] y[0] = x[0] + y[1] = 1 + 0 = 1 y[1] = x[1] + y[0] =0+1=1 =0+1=1 y[2] = x[2] + y[1] ... y[n]

x[n] = [n]

1 0 1 2 3 4

1 0 1 2 3 4

Example: Accumulator

Try step-by-step analysis: it always works. Start at rest. x[n] + y[n] Delay Find y[n] given x[n] = [n]:

y[n] = x[n] + y[n 1] y[0] = x[0] + y[1] = 1 + 0 = 1 y[1] = x[1] + y[0] =0+1=1 =0+1=1 y[2] = x[2] + y[1] ... y[n]

x[n] = [n]

1 0 1 2 3 4

1 0 1 2 3 4

Persistent response to a transient input!

Example: Accumulator

The response of the accumulator system could also be generated by a system with innitely many paths from input to output, each with one unit of delay more than the previous.

X
Delay Delay Delay Delay Delay Delay

...
Y = (1 + R + R2 + R3 + ) X

...

Example: Accumulator

These systems are equivalent in the sense that if each is initially at rest, they will produce identical outputs from the same input. (1 R) Y1 = X1 ? Y2 = (1 + R + R2 + R3 + ) X2

Proof: Assume X2 = X1 : Y2 = (1 + R + R2 + R3 + ) X2
= (1 + R + R2 + R3 + ) X1
= (1 + R + R2 + R3 + ) (1 R) Y1
= ((1 + R + R2 + R3 + ) (R + R2 + R3 + )) Y1
= Y1
It follows that Y2 = Y1 .

Example: Accumulator

These systems are equivalent in the sense that if each is initially at rest, they will produce identical outputs from the same input. (1 R) Y1 = X1 ? Y2 = (1 + R + R2 + R3 + ) X2

Proof: Assume X2 = X1 : Y2 = (1 + R + R2 + R3 + ) X2
= (1 + R + R2 + R3 + ) X1
= (1 + R + R2 + R3 + ) (1 R) Y1
= ((1 + R + R2 + R3 + ) (R + R2 + R3 + )) Y1
= Y1
It follows that Y2 = Y1 . It also follows that (1 R) and (1 + R + R2 + R3 + ) are reciprocals.

Example: Accumulator

The reciprocal of 1R can also be evaluated using synthetic division.

1 +R +R2 +R3 + 1R 1 1 R R R R2 R2 R2 R3 R3 R3 R4
Therefore 1 = 1 + R + R2 + R3 + R4 + 1R

Feedback

Systems with signals that depend on previous values of the same signal are said to have feedback.

Example: The accumulator system has feedback.

+
Delay

By contrast, the dierence machine does not have feedback.

x[n] 1
Delay

y[n]

Cyclic Signal Paths, Feedback, and Modes

Block diagrams help visualize feedback.

Feedback occurs when there is a cyclic signal ow path.

X R 2 R

Y X +
Delay

acyclic

cyclic

Acyclic: all paths through system go from input to output with no cycles. Cyclic: at least one cycle.

Feedback, Cyclic Signal Paths, and Modes

The eect of feedback can be visualized by tracing each cycle through the cyclic signal paths.

+ p0
Delay

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Each cycle creates another sample in the output.

Feedback, Cyclic Signal Paths, and Modes

The eect of feedback can be visualized by tracing each cycle through the cyclic signal paths.

+ p0
Delay

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Each cycle creates another sample in the output.

Feedback, Cyclic Signal Paths, and Modes

The eect of feedback can be visualized by tracing each cycle through the cyclic signal paths.

+ p0
Delay

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Each cycle creates another sample in the output.

Feedback, Cyclic Signal Paths, and Modes

The eect of feedback can be visualized by tracing each cycle through the cyclic signal paths.

+ p0
Delay

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Each cycle creates another sample in the output.

Feedback, Cyclic Signal Paths, and Modes

The eect of feedback can be visualized by tracing each cycle through the cyclic signal paths.

+ p0
Delay

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Each cycle creates another sample in the output.

Feedback, Cyclic Signal Paths, and Modes

The eect of feedback can be visualized by tracing each cycle through the cyclic signal paths.

+ p0
Delay

x[n] = [n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

Each cycle creates another sample in the output.

The response will persist even though the input is transient.

Check Yourself

How many of the following systems have cyclic signal paths?

X R X

X R

+ R +

+ R

+ R

Y R

Check Yourself

How many of the following systems have cyclic signal paths? 3

X R X

X R

+ R +

+ R

+ R

Y R

Finite and Innite Impulse Responses

The impulse response of an acyclic system has nite duration, while that of a cyclic system can have innite duration.

X 1
Delay

+
Delay

1 0 1 2 3 4

1 0 1 2 3 4

Analysis of Cyclic Systems: Geometric Growth

If traversing the cycle decreases or increases the magnitude of the

signal, then the fundamental mode will decay or grow, respectively.
If the response decays toward zero, then we say that it converges. Otherwise, we it diverges.

Check Yourself

How many of these systems have divergent unit-sample responses?

+ 0.5
Delay

+ 1.2
Delay

Delay

1.2
Delay

0.5

Check Yourself

X + 0.5
Delay

y[n]

1 0 1 2 3 4
X + 1.2
Delay

y[n]

1 0 1 2 3 4 y[n] X +
Delay

1.2
Delay

Y n

0.5

1 0 1 2 3 4

Check Yourself

X + 0.5
Delay

y[n]

1 0 1 2 3 4 X + 1.2
Delay

y[n]

1 0 1 2 3 4 y[n] X +
Delay

1.2
Delay

Y
X

0.5

1 0 1 2 3 4

Check Yourself

How many of these systems have divergent unit-sample responses? 1

+ 0.5
Delay

Y
X

+ 1.2
Delay

Delay

1.2
Delay

Y
X

0.5

Cyclic Systems: Geometric Growth

If traversing the cycle decreases or increases the magnitude of the

signal, then the fundamental mode will decay or grow, respectively.

+ 0.5
Delay

+ 1.2
Delay

y[n]

y[n]

1 0 1 2 3 4

1 0 1 2 3 4

These are geometric sequences: y[n] = (0.5)n and (1.2)n for n 0. These geometric sequences are called fundamental modes.

Multiple Representations of Discrete-Time Systems

Now you know four representations of discrete-time systems. Verbal descriptions: preserve the rationale. To reduce the number of bits needed to store a sequence of large numbers that are nearly equal, record the rst number, and then record successive dierences. Dierence equations: mathematically compact. y[n] = x[n] x[n 1] Block diagrams: illustrate signal ow paths. x[n] +

y[n]

Delay

Operator representations: analyze systems as polynomials.

Y = (1 R) X

MIT OpenCourseWare http://ocw.mit.edu

6.003 Signals and Systems

Spring 2010

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