+∞
X +∞
X
jkω0 t
x(t) = ak e = ak ejk(2π/T )t
k=−∞ k=−∞
Z Z
1 −jkω0 t 1
ak = x(t)e dt = x(t)e−jk(2π/T )t dt
T T T T
x(t) Periodic with period T and ak
y(t) fundamental frequency ω0 = 2π/T bk
Real and Odd Signals x(t) real and odd ak purely imaginary and odd
Even-Odd Decompo- xe (t) = Ev{x(t)} [x(t) real] ℜe{ak }
sition of Real Signals xo (t) = Od{x(t)} [x(t) real] jℑm{ak }
1 X 1 X
ak = x[n]e−jkω0 n = x[n]e−jk(2π/N )n
N n=<N >
N n=<N >
x[n] Periodic with period N and fun- ak Periodic with
y[n] damental frequency ω0 = 2π/N bk period N
Real and Odd Signals x[n] real and odd ak purely imaginary and odd
x(t) X(jω)
y(t) Y (jω)
+∞
X +∞
X
ak ejkω0 t 2π ak δ(ω − kω0 ) ak
k=−∞ k=−∞
jω0 t a1 = 1
e 2πδ(ω − ω0 )
ak = 0, otherwise
a1 = a−1 = 12
cos ω0 t π[δ(ω − ω0 ) + δ(ω + ω0 )]
ak = 0, otherwise
1
π a1 = −a−1 = 2j
sin ω0 t [δ(ω − ω0 ) − δ(ω + ω0 )]
j ak = 0, otherwise
a0 = 1, ak = 0, k 6= 0
!
this is the Fourier series rep-
x(t) = 1 2πδ(ω)
resentation for any choice of
T >0
Periodic
square wave
1, |t| < T1 +∞
x(t) = X 2 sin kω0 T1 ω0 T 1 kω0 T1 sin kω0 T1
0, T1 < |t| ≤ T2 δ(ω − kω0 ) sinc =
k π π kπ
and k=−∞
x(t + T ) = x(t)
+∞ +∞
X 2π X 2πk 1
δ(t − nT ) δ ω− ak = for all k
n=−∞
T T T
k=−∞
1, |t| < T1 2 sin ωT1
x(t) —
0, |t| > T1 ω
sin W t 1, |ω| < W
X(jω) = —
πt 0, |ω| > W
δ(t) 1 —
1
u(t) + πδ(ω) —
jω
δ(t − t0 ) e−jωt0 —
1
e−at u(t), ℜe{a} > 0 —
a + jω
1
te−at u(t), ℜe{a} > 0 —
(a + jω)2
tn−1 −at u(t), 1
(n−1)! e —
ℜe{a} > 0 (a + jω)n
Table 5: Properties of the Discrete-Time Fourier Transform
Z
1
x[n] = X(ejω )ejωn dω
2π 2π
+∞
X
jω
X(e ) = x[n]e−jωn
n=−∞
x[n] X(ejω ) Periodic with
y[n] Y (ejω ) period 2π
Linearity ax[n] + by[n] aX(e ) + bY (ejω )
jω
Symmetry for Real, Even x[n] real and even X(ejω ) real and even
Signals
X(ejω ) purely
Symmetry for Real, Odd x[n] real and odd
imaginary and odd
Signals
Even-odd Decomposition of xe [n] = Ev{x[n]} [x[n] real] ℜe{X(ejω )}
Real Signals xo [n] = Od{x[n]} [x[n] real] jℑm{X(ejω )}
+∞
X
jk(2π/N )n
X 2πk
ak e 2π ak δ ω − ak
N
k=hN i k=−∞
2πm
(a) ω0 = N
+∞
X 1, k = m, m ± N, m ± 2N, . . .
ejω0 n 2π δ(ω − ω0 − 2πl) ak =
0, otherwise
l=−∞
(b) ω 0
2π irrational ⇒ The signal is aperiodic
2πm
(a) ω0 = N
+∞ 1
2 , k = ±m, ±m ± N, ±m ± 2N, . . .
X
cos ω0 n π {δ(ω − ω0 − 2πl) + δ(ω + ω0 − 2πl)} ak =
0, otherwise
l=−∞
(b) ω 0
2π irrational ⇒ The signal is aperiodic
2πr
(a) ω0 = N1
+∞
π X 2j , k = r, r ± N, r ± 2N, . . .
sin ω0 n {δ(ω − ω0 − 2πl) − δ(ω + ω0 − 2πl)} ak = − 1 , k = −r, −r ± N, −r ± 2N, . . .
j 2j
l=−∞ 0, otherwise
(b) ω 0
irrational ⇒ The signal is aperiodic
+∞ 2π
X 1, k = 0, ±N, ±2N, . . .
x[n] = 1 2π δ(ω − 2πl) ak =
0, otherwise
l=−∞
Periodic
square wave
1, |n| ≤ N1 +∞ sin[(2πk/N )(N1 + 12 )]
x[n] = X 2πk ak = , k 6= 0, ±N, ±2N, . . .
0, N1 < |n| ≤ N/2 2π ak δ ω − N sin[2πk/2N ]
2N1 +1
N ak = , k = 0, ±N, ±2N, . . .
and k=−∞ N
x[n + N ] = x[n]
+∞ +∞
X 2π X 2πk 1
δ[n − kN ] δ ω− ak = for all k
k=−∞
N
k=−∞
N N
1
an u[n], |a| < 1 —
1 − ae−jω
1, |n| ≤ N1 sin[ω(N1 + 12 )]
x[n]
0, |n| > N1
—
sin(ω/2)
sin W n
1, 0 ≤ |ω| ≤ W
=W
π sinc
Wn
X(ejω ) =
πn π 0, W < |ω| ≤ π —
0<W <π
X(ejω )periodic with period 2π
δ[n] 1 —
+∞
1 X
u[n] + πδ(ω − 2πk) —
1 − e−jω
k=−∞
δ[n − n0 ] e−jωn0 —
1
(n + 1)an u[n], |a| < 1 —
(1 − ae−jω )2
(n + r − 1)! n 1
a u[n], |a| < 1 —
n!(r − 1)! (1 − ae−jω )r
Table 7: Properties of the Laplace Transform
x(t) X(s) R
x1 (t) X1 (s) R1
x2 (t) X2 (s) R2
Linearity ax1 (t) + bx2 (t) aX1 (s) + bX2 (s) At least R1 ∩ R2
If x(t) = 0 for t < 0 and x(t) contains no impulses or higher-order singularities at t = 0, then
1. δ(t) 1 All s
1
2. u(t) ℜe{s} > 0
s
1
3. −u(−t) ℜe{s} < 0
s
tn−1 1
4. u(t) ℜe{s} > 0
(n − 1)! sn
tn−1 1
5. − u(−t) ℜe{s} < 0
(n − 1)! sn
1
6. e−αt u(t) ℜe{s} > −ℜe{α}
s+α
1
7. −e−αt u(−t) ℜe{s} < −ℜe{α}
s+α
tn−1 −αt 1
8. e u(t) ℜe{s} > −ℜe{α}
(n − 1)! (s + α)n
tn−1 −αt 1
9. − e u(−t) ℜe{s} < −ℜe{α}
(n − 1)! (s + α)n
10. δ(t − T ) e−sT All s
s
11. [cos ω0 t]u(t) ℜe{s} > 0
s2 + ω02
ω0
12. [sin ω0 t]u(t) ℜe{s} > 0
s + ω02
2
s+α
13. [e−αt cos ω0 t]u(t) ℜe{s} > −ℜe{α}
(s + α)2 + ω02
ω0
14. [e−αt sin ω0 t]u(t) ℜe{s} > −ℜe{α}
(s + α)2 + ω02
dn δ(t)
15. un (t) = sn All s
dtn
1
16. u−n (t) = u(t) ∗ · · · ∗ u(t) ℜe{s} > 0
| {z } sn
n times
Table 9: Properties of the z-Transform
x[n] X(z) R
x1 [n] X1 (z) R1
x2 [n] X2 (z) R2
Linearity ax1 [n] + bx2 [n] aX1 (z) + bX2 (z) At least the intersection
of R1 and R2
Conjugation x∗ [n] X ∗ (z ∗ ) R
1. δ[n] 1 All z
1
2. u[n] 1−z −1
|z| > 1
1
3. u[−n − 1] 1−z −1
|z| < 1
1
5. αn u[n] 1−αz −1
|z| > |α|
1
6. −αn u[−n − 1] 1−αz −1
|z| < |α|
αz −1
7. nαn u[n] (1−αz −1 )2
|z| > |α|
αz −1
8. −nαn u[−n − 1] (1−αz −1 )2
|z| < |α|
1−[cos ω0 ]z −1
9. [cos ω0 n]u[n] 1−[2 cos ω0 ]z −1 +z −2
|z| > 1
[sin ω0 ]z −1
10. [sin ω0 n]u[n] 1−[2 cos ω0 ]z −1 +z −2
|z| > 1
1−[r cos ω0 ]z −1
11. [rn cos ω0 n]u[n] 1−[2r cos ω0 ]z −1 +r 2 z −2
|z| > r
[r sin ω0 ]z −1
12. [rn sin ω0 n]u[n] 1−[2r cos ω0 ]z −1 +r 2 z −2
|z| > r