Digital Signal Processing

Fall 2009

Lecture 2
Fourier Transform and
Frequency Response

Book Reading for Lecture 1 & 2

Oppenheim: Pages 1-70
Course at a Glance
In Today’s Lecture

z Continuous and Discrete Frequency

z Convolution Sum
z Properties of LTI Systems
z Linear constant-coefficient difference
equations
z Fourier Transform and Frequency Response
Continuous Sinusoid
Continuous Sinusoid (Cont..)

z For every fixed value of the frequency F x(t) is

periodic.
z T=1/F is the fundamental period of the sinusoidal
signal.
z Continuous-time sinusoidal signals with distinct
frequencies are themselves distinct.
z Increasing the frequency F results in an increase in
the rate of oscillation of the signal, in the sense that
more periods are included in a given time interval.
Discrete Sinusoid
Discrete Sinusoid (Cont..)

z ω is the frequency in radians (since n is

dimensionless)
z For close analogy with continuous time we
specify the units of ω radians/sample and the
units of n to be samples.
z If we define ω = 2πf then frequency f has
dimensions of cycles/sample.
Relationship
Periodicity of Discrete Sinusoid

z The smallest value of N for which above equation is

true is called the fundamental period of the sinusoid.

z For this to be true there must exist an integer k such

that

z Thus a discrete time sinusoid is periodic only if its

frequency is a rational number
Aliased Frequencies

z Discrete time sinusoids whose frequencies are

separated by an integer multiple of 2π are identical.

z Thus all sinusoidal frequencies ωk are

indistinguishable. Where,

z Any sinusoidal with an angular frequency that falls

outside the interval –π to π is identical to sinusoidal
frequency that falls within the fundamental interval.
Convolution Sum
Forming the sequence h[n-k] (Fig 2.9 Page 25)
Computation of the Convolution Sum

z Obtain the sequence h[n-k]

– Reflecting h[k] about the origin to get h[-k]
– Shifting the origin of the reflected sequence to
k=n
z Multiply x[k] and h[n-k] for –inf < k < inf
z Sum the products to compute the output
sample y[n]
Computing a discrete convolution

z Example 2.13 page 26

Properties of LTI System

z Commutative Property

z Distributive Property
Properties of LTI System (Cont..)

z Cascaded System
Properties of LTI System (Cont..)

z Parallel System
FIR Systems – reflected in the h[n]

z Finite-duration Impulse Response System

z The impulse response has only a finite
number of nonzero samples. E.g.
– Ideal delay

– Forward Difference
IIR Systems - reflected in the h[n]

z Infinite-duration Impulse Response System

– The impulse response is infinitive in duration e.g.
z Accumulator
Stability

z Another definition for stability is that a system

is stable if its impulse response is absolutely
sum able i.e.

– FIR system are always stable, if each of h[n]

values is finite in magnitude
– IIR Systems may or may not be stable.
Causality

z A system is causal if h[n]=0 for n<0

– Ideal delay
– We can make any non causal FIR system causal
by cascading it with a sufficiently long delay.
Inverse System

z If

z Then hi[n] is called inverse of h[n]

LCCD equations

z An important class of LTI systems: input and

output satisfy an Nth-order LCCD equations

z Difference equation representation of the

accumulator
Fourier Transform

z Fourier transforms and frequency response

– Frequency-domain representation of discrete-time
signals and systems
– Symmetry properties of the Fourier transform
– Fourier transform theorems
Signal Representation

z A sum of scaled, delayed impulse

z Sinusoidal and complex exponential sequences

– Sinusoidal input → sinusoidal response with the same frequency
and with amplitude and phase determined by the system

– Complex exponential sequences are eigenfunctions of LTI

systems.

z signal representation based on sinusoids or complex

exponentials
Eigenfunctions

z Complex exponentials as input to system h[n]

Eigenvalue – called frequency response

z Frequency response is generally complex

z describes changes in magnitude and phase.

Frequency Response of the Ideal Delay

z Example 2.17 page 41

Frequency Response

z The frequency response of discrete-time LTI

systems is always a periodic function of the
frequency variable ω with period 2π.

z
z Only specify over the interval – π < ω < π
z The ‘low frequencies’ are close to 0.
z The ‘high frequencies’ are close to ±π .
Ideal frequency selective filters (Example 2.19)

z For which the frequency response is unity

over a certain range of frequencies, and is
zero at the remaining frequencies.
– Ideal low-pass filter: passes only low and rejects
high
Sinusoidal response of LTI System

z Example 2.18 page 42

Signal Representation

z More than sinusoids, a broad class of signals can be

represented as a linear combination of complex
exponentials:

z If x[n] can be represented as a superposition of

complex exponentials, output y[n] can be computed
by using the frequency response, which is similar to
the function of impulse response.
Frequency-domain representation of x[n]

z By Fourier Transform → Fourier Representation

These two equations together form a Fourier

representation for the sequence.
z In general Fourier transform is complex
Frequency and impulse responses

z Are a Fourier transform pair

z Fourier transform is periodic with period 2π

Sufficient condition for Fourier transform

z Condition for the convergence of the infinite sum

z x[n] is absolutely summable, then its Fourier

transform exists (sufficient condition).
Example: ideal low pass filter (Example 2.22 page 52)

z Frequency response
Fourier transform of a constant (Example 2.23 page 53)

z Constant sequence
z x[n]=1 for all n
– Its not absolutely summable
z Its Fourier transform is defined as the
periodic impulse train
Exercise 2
Fourier Transform Properties

z Makeup class timing??