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Contents

Preface Chapter 1 Signals

1-1 1-2 1-3 1-4 1-5 Overview Types of Signals Signal Transformations Waveform Properties Nonperiodic Waveforms Signal Power and Energy Chapter 1 Summary Problems

xiii 1
2 3 6 9 11 21 24 25

Chapter 3 Laplace Transform

3-1 3-2 3-3 3-4 3-5 3-6 3-7 3-8 3-9 3-10 3-11 Overview Denition of the (Unilateral) Laplace Transform Poles and Zeros Properties of the Laplace Transform Circuit Analysis Example Partial Fraction Expansion Transfer Function H(s) Poles and System Stability Invertible Systems Bilateral Transform for Continuous-Time Sinusoidal Signals Interrelating Different Descriptions of LTI Systems LTI System Response Partitions Chapter 3 Summary Problems

83
84 84 87 88 96 97 104 106 109 111 112 115 121 122

Chapter 2 Linear Time-Invariant Systems

2-1 2-2 2-3 2-4 2-5 2-6 2-7 2-8 2-9 Overview Linear Time-Invariant Systems Impulse Response Convolution Graphical Convolution Convolution Properties Causality and BIBO Stability LTI Sinusoidal Response Impulse Response of Second-Order LCCDEs Car Suspension System Chapter 2 Summary Problems

30
31 31 35 40 46 49 57 60 64 71 77 78

Chapter 4 Applications of the Laplace Transform

4-1 4-2 4-3 4-4 Overview s-Domain Circuit Element Models s-Domain Circuit Analysis Electromechanical Analogs Biomechanical Model of a Person Sitting in a Moving Chair

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129 129 131 137 143

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x 4-5 4-6 4-7 4-8 4-9 4-10 4-11 4-12 Op-Amp Circuits Congurations of Multiple Systems System Synthesis Basic Control Theory Temperature Control System Amplier Gain-Bandwidth Product Step Response of a Motor System Control of a Simple Inverted Pendulum on a Cart Chapter 4 Summary Problems 146 151 154 157 164 168 170 173 178 179 6-5 6-6 6-7 6-8 6-9 6-10 6-11 6-12 Filter Design by Poles and Zeros Frequency Rejection Filters Spectra of Musical Notes Butterworth Filters De-Noising a Trumpet Signal Resonator Filter Amplitude Modulation Sampling Theorem Chapter 6 Summary Problems 268 272 278 279 287 290 292 306 321 323

Chapter 5 Fourier Analysis Techniques

Overview 5-1 5-2 5-3 5-4 5-5 5-6 5-7 5-8 5-9 5-10 5-11 5-12 5-13 Phasor-Domain Technique Fourier Series Analysis Technique Fourier Series Representations Computation of Fourier Series Coefcients Circuit Analysis with Fourier Series Parsevals Theorem for Periodic Waveforms Fourier Transform Fourier Transform Properties Parsevals Theorem for Fourier Transforms Additional Attributes of the Fourier Transform Phasor vs. Laplace vs. Fourier Circuit Analysis with Fourier Transform The Importance of Phase Information Chapter 5 Summary Problems

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188 188 190 192 193 207 210 212 217 224 225 228 229 230 236 237

Chapter 7 Discrete-Time Signals and 331 Systems

Overview 7-1 7-2 7-3 7-4 7-5 7-6 7-7 7-8 7-9 7-10 7-11 7-12 7-13 7-14 7-15 7-16 Discrete Signal Notation and Properties Discrete-Time Signal Functions Discrete-Time LTI Systems Properties of Discrete-Time LTI Systems Discrete-Time Convolution The z-Transform Properties of the z-Transform Inverse z-Transform Solving Difference Equations with Initial Conditions System Transfer Function BIBO Stability of H(z) System Frequency Response Discrete-Time Fourier Series (DTFS) Discrete-Time Fourier Transform (DTFT) Discrete Fourier Transform (DFT) Fast Fourier Transform (FFT) Chapter 7 Summary Problems 332 333 336 341 344 348 350 354 359 362 364 365 367 372 377 383 387 390 391

Chapter 6 Applications of the Fourier Transform

Overview 6-1 6-2 6-3 6-4 Signal Filtering Passive Filters Active Filters Ideal Brick-Wall Filters

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246 246 254 262 266

Chapter 8 Applications of 396 Discrete-Time Signals and Systems

Overview 8-1 8-2 8-3 Discrete-Time Filters Notch Filters Comb Filters 397 397 402 407

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xi 8-4 8-5 8-6 8-7 Deconvolution and Dereverberation Deconvolution and Filtering Using the DFT Computing Spectra of Periodic Signals Computing Spectra of Nonperiodic Signals Chapter 8 Summary Problems 411 417 422 426 432 433

Appendix C Mathematical Formulas Appendix D MATLAB and NI LabVIEW MathScript RT Module Appendix E Answers to Selected Problems Index

443 446

454

Appendix A Symbols, Quantities, and 437 Units Appendix B Review of Complex Numbers 439

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