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Introduction to Systems
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system
A system is an entity that manipulates one or more
signals to accomplish a function, thereby yielding new
signals.
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Example of system
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System interconnection
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System properties
Causality
Linearity
Time invariance
Invertibility
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Causality
A system is said to be causal if the present value of the
output signal depends only on the present or past values
of the input signal.
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(1) Case I y (t ) u (t )
y (t )
when
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u (t ) 0
y (t ) 0
but
2
t 1
Noncausal system
(2) Case II y (t ) u (t )
y (t )
Delay system
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causal system
y (t ) u (t ) u (t 2)
causal system
At present
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past
signals & systems
(4) Case IV
y (t ) u (t ) u (t 2)
noncausal system
At present
(5) Case V
future
y (t ) u (t 2 ) if
u (t ) is unit
y (t )
when
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t0
u (t ) 0
y (t ) 0
but
step
noncausal system
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Linearity
A system is said to be linear in terms of the system input
x(t) and the system output y(t) if it satisfies the following
two properties of superposition and homogeneity.
Superposition
x1 (t )
y1 (t )
x1 (t ) x2 (t )
x2 (t )
y2 (t )
y1 (t ) y2 (t )
Homogeneity
x1 (t )
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y1 (t )
ax1 (t )
ay1 (t )
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Example 1.19
x[n]
y[n] nx[n]
y[n]
y[n] nx[n]
let x[n] x1[n] y1[n] nx1[n]
let
let
linear system
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Example 1.20
x(t )
let
y (t ) x(t ) x(t 1)
y (t )
x(t ) x1 (t )
y1 (t ) x1 (t ) x1 (t 1)
let
x(t ) ax1 (t )
y (t ) ax1 (t )ax1 (t 1) a 2 x1 (t ) x1 (t 1) a 2 y1 (t )
y (t ) ay1 (t )
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Time invariance
A system is said to be time invariant if a time delay or
time advance of the input signal leads to an identical time
shift in the output signal.
x(t )
y (t )
Time invariant
system
y (t t0 )
x(t t0 )
t0
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t0
signals & systems
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Example 1.18
x(t )
x(t )
y (t )
R (t )
y (t )
x1 (t )
y1 (t )
R (t )
x2 (t ) x1 (t t0 )
x2 (t ) x1 (t t0 )
y2 (t )
R (t )
R (t )
x1 (t t0 )
but y1 (t )
R (t t0 )
y1 (t t0 ) y2 (t ),
for t0 0
Time varying system
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Invertibility
A system is said to be Invertible if the input of the system
can be recovered from the output.
x(t )
y (t )
x(t )
Hinv
y (t ) H {x(t )}
x(t ) H { y (t )}
inv
H { y (t )} H {H {x(t )}}
inv
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inv
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Example 1.15
x(t )
y (t ) x(t t0 )
y (t )
H x(t t0 )
H inv x(t t0 )
HH
inv
Example 1.16
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Inverse system
x(t )
y (t ) x (t )
2
y (t )
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example
The system is governed by a linear ordinary differential equation (ODE)
Linear time
invariant system
y (t )
y1(t ) 2 y1 (t ) y1 (t ) x1 (t ) 3 x1 (t )
y2(t ) 2 y2 (t ) y2 (t ) x2 (t ) 3 x2 (t )
[ax1 (t ) bx2 (t )] 3[ax1 (t ) bx2 (t )] ax1 (t ) bx2 (t ) a3x1 (t ) b3 x2 (t )
a[ x1 (t ) 3x1 (t )] b[ x2 (t ) 3 x2 (t )]
a[ y1(t ) 2 y1 (t ) y1 (t )] b[ y2(t ) 2 y2 (t ) y2 (t )]
[ay1 (t ) by2 (t )] 2[ay1 (t ) by2 (t )] [ay1 (t ) by2 (t )]
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linearity
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Transfer function
2
U ( s ) LCs RCs 1
U (s )
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LCs 2 RCs 1
Y (s )
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let
x1 (t ) y (t )
dy (t )
x2 (t )
dt
x 1 (t ) x2 (t )
R
1
x 2 (t ) x2 (t )
x1 (t ) u (t )
L
LC
x 1 (t ) 0
x (t ) 1
2 LC
u (t )
x (t )
1
R
L
x1 (t ) 0
x (t ) 1 u (t )
2
x(t )
A
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Particular solution y p (t )
Forced response
y f (t )
Zero-state response y zs (t )
Steady state response
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3
y
(
t
)
e
, t 0,
2
dt
dt
y (0) 1,
dy (0)
1
dt
d 2 y p (t )
dt 2
dy p (t )
dt
3 y p (t ) e 2t
y p (t ) e 2t
let
then
y ' p (t ) 2e 2t
yp (t ) 4e 2t
4e 2t 4(2)e 2t 3e 2t e 2t 1
we have
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y p (t ) e 2t
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[ yh (t )] 0
yh(t ) 4 yh (t ) 3 yh (t ) 0
yh (t ) Ae t Be 3t
y (t ) y p (t ) yh (t ) have to satisfy I.C.
y (0) 1
dy (0)
1
dt
y ( 0) 1 ,
dy (0)
1
dt
y h ( 0) y p ( 0) 1
yh (0) yp (0) 1
5 t 1 3t
yh (t ) e e
2
2
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(3) zero-input response: consider the original differential equation with no input.
y zi (t ) 4 y zi (t ) 3 y zi (t ) 0,
t0
y zi (0) 1,
y zi (0) 1
y zi (t ) K 1e t K 2 e 3t , t 0
y zi (0) K 1 K 2
y zi (0) K 1 3K 2
K1 2
K 2 1
y zi (t ) 2e t e 3t , t 0
zero-input response
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(4) zero-state response: consider the original differential equation but set all I.C.=0.
y zs (t ) 4 y zs (t ) 3 y zs (t ) e 2t ,
t0
y zi (0) 0 ,
y zi (0) 0
y zs (t ) C1e t C 2 e 3t e 2t
y zs (0) C1 C 2 1 0
y zs (0) C1 3C 2 2 0
1
2
1
C2
2
C1
1 t 1 3t
y zs (t ) e e e 2t
2
2
zero-state response
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3
y
(
t
)
e
, t 0,
2
dt
dt
y (0) 1,
dy (0)
1
dt
1
s Y ( s ) sy (0) y (0) 4 sY ( s ) 4 y (0) 3Y ( s )
s2
2
1
1
5
s5
1
s
2
2
Y ( s) 2
2
s 3 s 2 s 1
s 4s 3
1 3t
5 t
2t
y (t ) [Y ( s )]
e e e
2
2
1
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Complex response
Zero state response
y zs (t )
1 t 1 3t
e e e 2t
2
2
Forced response
(Particular solution)
1 3t
5
e e 2 t e t
2
2
Natural response
(Homogeneous solution)
y p (t ) e 2t
y (t )
yh (t )
5 t 1 3t
e e
2
2
Transient response
1 3t
5 t
2t
y (t )
e e e
2
2
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