Tables in Signals and Systems

Magnus Lundberg1
Revised October 1999

Contents

I Continuous-time Fourier series 2

I-A Properties of Fourier series . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
I-B Fourier series table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

II Continuous-time Fourier transform 4

II-A Properties of the Fourier transform . . . . . . . . . . . . . . . . . . . . . . . 4
II-B Fourier transform table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

III Discrete-time Fourier series 7

III-AProperties of discrete-time Fourier series . . . . . . . . . . . . . . . . . . . . 7
III-B Fourier series table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

IV Discrete-time Fourier transform 9

IV-A Properties of the discrete-time Fourier transform . . . . . . . . . . . . . . . 9
IV-B Discrete-time Fourier transform table . . . . . . . . . . . . . . . . . . . . . . 10

V Sampling and reconstruction 11

VI Z-transform 12
VI-A Properties of the Z-transform . . . . . . . . . . . . . . . . . . . . . . . . . . 12
VI-B Z-transform table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1
The major part of this collection of tables was originally developed at the Div. of Signal Processing,
Luleå University of Technology. It has been revised by Magnus Lundberg in October 1999
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 2

Definitions

4 sin (πt) 4 2π
sinc (t) = Ωo =
πt T0
I. Continuous-time Fourier series
A. Properties of Fourier series
Periodic signal Fourier serie coefficient
∞ Z
X 4 1
x (t) = ak ejkΩo t ak = x (t) e−jkΩo t dt
To To
k=−∞

x(t) Periodic with ak
y(t) periodT0 bk

Ax (t) + By (t) Aak + Bbk

x (t − t0 ) ak e−jk(2π/T0 )t0

ejM (2π/T0 )t x (t) ak−M

x∗ (t) a∗−k
x (−t) a−k
x (αt) , α > 0 (Periodic with period T0 /α) ak
Z
x (τ ) y (t − τ ) dτ T0 ak bk
T0
∞
X
x (t) y (t) al bk−l
l=−∞
d 2π
x (t) jk ak
dt T0
Z t
1
x (τ ) dτ (Bounded and periodic only if a0 = 0) ak
−∞ jk (2π/T0 )
If x (t) is real valued then
ak = a∗−k


 < {ak } = < {a−k }

x (t) = {ak } = −= {a−k }
 |ak | = |a−k |


arg {ak } = − arg {a−k }
xe (t) = E{x(t)} <{ak }
xo (t) = O{x(t)} j={ak }

ak ejkΩ0 t + a−k e−jkΩ0 t = 2<{ak } cos(kΩ0 t) − 2={ak } sin(kΩ0 t)

Parsevals relation for periodic signals
Z ∞
1 2
X
|x(t)| dt = |ak |2
T0 T0
k=−∞
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 3

B. Fourier series table

x(t) ak or the Fourier series expansion
P∞ 1
a) n=−∞ δ(t − nT ) ak = , all k
T
b) 1 (a0 = 1, ak = 0 otherwise), ∀ T0 > 0
c) ejΩo t a1 = 1, ak = 0 otherwise
1
d) cos Ωo t a1 = a−1 = , ak = 0 otherwise
2
1
e) sin Ωo t a1 = −a−1 = , ak = 0 otherwise
2j
1, | t |< T1
(
To Ωo T1 sin kΩo T1
f) 0, T1 <| t |≤ ak = sinc kΩπo T1 =
2 π kπ
period T0
1, 0<t<π
n
4 sin t sin 3t sin 5t


g) −1, −π < t < 0 π 1 + 3 + 5 + ···

t, 0<t<π
n
π 4 cos t cos 3t cos 5t


h) |t| = −t, −π < t < 0 2 − π 12
+ 32
+ 52
+ ···

sin t sin 2t sin 3t

i) t, −π <t<π 2 1 − 2 + 3 − ···
sin t sin 2t sin 3t


j) t, 0 < t < 2π π−2 1 + 2 + 3 + ···
2 4 cos 2t cos 4t cos 6t


k) | sin t|, −π <t<π π − π 1·3 + 3·5 + 5·7 + ···
(
0, 0<t<π−a
a 2 sin a cos t sin 2a cos 2t sin 3a cos 3t


l) 1, π − a < t < π + a π − π 1 − 2 + 3 − ···
0, π + a < t < 2π
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 4

II. Continuous-time Fourier transform

A. Properties of the Fourier transform

Non-periodic signal Fourier transform

Z ∞ Z ∞
1 4
x(t) = X(jΩ)ejΩt dΩ X(jΩ) = x(t)e−jΩt dt
2π −∞ −∞

Alternativly with frequency f instead of angular

Z ∞ frequency Ω.
Z ∞
4
x(t) = Xf (f )e j2πf t df Xf (f ) = x(t)e−j2πf t dt = X(ω){Ω=2πf }
−∞ −∞

x(t) X(jΩ)
y(t) Y (jΩ)
ax(t) + by(t) aX(jΩ) + bY (jΩ)
x(t − t0 ) e−jΩt0 X(jΩ)
ejΩ0 t x(t) X(j(Ω − Ω0 ))
x∗ (t) X ∗ (j(−Ω))
x(−t) X(j(−Ω))
 
1 Ω
x(at) X
|a| a
x(t) ∗ y(t) X(jΩ)Y (jΩ)
1
x(t)y(t) X(jΩ) ∗ Y (jΩ)
2π
d
x(t) jΩX(jΩ)
dt
Z t
1
x(t)dt X(jΩ) + πX(0)δ(Ω)
−∞ jΩ
d
tx(t) j X(jΩ)
dΩ
If x(t) is real valued
 then
 X(jΩ) = X ∗ (j(−Ω))
 <{X(jΩ)} = <{X(j(−Ω))}

x(t) ={X(jΩ)} = −={X(j(−Ω))}
 |X(jΩ)| = |X(j(−Ω))|


arg{X(jΩ)} = − arg{X(j(−Ω))}
xe (t) = E{x(t)} <{X(jΩ)}
xo (t) = O{x(t)} j={X(jΩ)}
Duality
Z ∞ F
g(t) ←→ f (jΩ)
f (u) = g(v)e−juv dv, F
−∞ f (t) ←→ 2πg(j(−Ω))
Parsevals
Z ∞ relation for non-periodic
Z ∞ signals
2 1 2
|x(t)| dt = |X(jΩ)| dΩ
−∞ 2π −∞
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 5

B. Fourier transform table

The table is valid for <{α} > 0 and <{β} > 0

x(t) X(jΩ) X(f )

T

T

sin ΩT /2 sin πf T
a) u t+ 2 −u t− 2 T T = T sinc(f T )
ΩT /2 πf T
sin W t W Wt W

W


b) = sinc u (Ω + W ) − u (Ω − W ) u f+ 2π −u f − 2π
πt π π
|t|
(
T T

sin ΩT /4
2
T
c) 1−2 , | t |< sinc2 (T f /2)
T 2 2 ΩT /4 2
0, otherwise
1 1
d) e−αt u(t)
jΩ + α j2πf + α
2α 2α
e) e−α|t|
Ω2 + α2 (2πf )2 + α2
1  −αt 1 1
− e−βt u(t)

f) e
β−α (jΩ + α)(jΩ + β) (j2πf + α)(j2πf + β)
1 1
g) te−αt u(t)
(jΩ + α)2 (j2πf + α)2
tn−1 −αt 1 1
h) e u(t)
(n − 1)! (jΩ + α)n (j2πf + α)n
√ √
2 π −(Ω/2α)2 π −(πf /α)2
i) e−(αt) e e
α α
Ωo Ωo
j) e−αt sin(Ωo t)u(t)
(jΩ + α)2 + Ω2o (j2πf + α)2 + Ω2o
−Ωo −Ωo
eαt sin(Ωo t)u(−t)
(α − jΩ)2 + Ω2o (α − j2πf )2 + Ω2o
α + jΩ α + j2πf
k) e−αt cos(Ωo t)u(t)
(jΩ + α)2 + Ω2o (j2πf + α)2 + Ω2o
α − jΩ α − j2πf
eαt cos(Ωo t)u(−t)
(α − jΩ)2 + Ω2o (α − j2πf )2 + Ω2o
"
T sin(Ω − Ωo ) T2 T

sin πT (f − fo )
2 (Ω − Ωo ) T2 2 πT (f − fo )
T T



l) (cos Ωo t) u t + 2 −u t− 2 # 
sin(Ω + Ωo ) T2 ) sin πT (f + fo )
+ +
(Ω + Ωo ) T2 ) πT (f + fo )
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 6

Generalized Fourier transform (power signals)

x(t) X(jΩ) X(f )
a) δ(t) 1 1

b) δ(t − t0 ) e−jΩt0 e−j2πf t0

∞ ∞ ∞
X 2π X 2π 1 X n
c) δ(t − nT ) δ(Ω − n) δ(f − )
n=−∞
T n=−∞ T T n=−∞ T

1 1 1
d) u(t) πδ(Ω) + δ(f ) +
jΩ 2 j2πf
t 2 1
e) sgn(t) =
|t| jΩ jπf
1
f) −jsgn(Ω) −jsign(f )
πt
g) K 2πKδ(Ω) Kδ(f )
1 j 0 1
h) tu(t) jπδ 0 (Ω) − δ (f ) − 2 2
Ω2 4π 4π f
 n
j
i) tn 2π(j)n δ (n) (Ω) δ (n) (f )
2π
1
j) cos Ωo t π[δ(Ω − Ωo ) + δ(Ω + Ωo )] [δ(f − fo ) + δ(f + fo )]
2
π 1
k) sin Ωo t [δ(Ω − Ωo ) − δ(Ω + Ωo )] [δ(f − fo ) − δ(f + fo )]
j j2
∞ ∞   ∞
X 2π X 2πn X
cn ej T nt n


l) 2π cn δ Ω − cn δ f − T
n=−∞ n=−∞
T n=−∞

m) ejΩo t 2πδ(Ω − Ωo ) δ(f − fo )

n) Periodic square wave
∞ ∞
1, | t |≤ T1
( X X
Ak (Ω)δ (Ω − kΩo ) Ak (f )δ (f − kfo )
To
0, T1 <| t |≤ k=−∞ k=−∞
2 2 sin kΩo T1 sin k2πfo T1
periodTo Ak (Ω) = Ak (f ) =
k kπ
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 7

III. Discrete-time Fourier series

A. Properties of discrete-time Fourier series
Periodic signal Fourier serie coefficient
X 4 1 X
x[n] = ak ejk(2π/N )n ak = x[n]e−jk(2π/N )n
N
k=<N > n=<N >

x[n] Periodic with ak Periodic with
o
y[n] period N bk period N

Ax[n] + By[n] Aak + Bbk

x[n − n0 ] ak e−jk(2π/N )n0

ejM (2π/N )n x[n] ak−M

x∗ [n] a∗−k
x[−n] a−k
n
x[n/m], If n is a multiple av m 1
x(m) [n] = 0, otherwise ak , period mN
m
X
x[r]y[n − r] N ak bk
r=<N >
X
x[n]y[n] al bk−l
l=<N >
1 − e−j2π/N k ak


x[n] − x[n − 1]
n
X Bounded and periodic 1
x[k] only if a = 0 ak
k=−∞
0 1 − e−jk2π/N

If x[n] is real valued then

ak = a∗−k


 <{ak } = <{a−k }

x[n] ={ak } = −={a−k ]}
 |ak | = |a−k |


arg{ak } = − arg{a−k }
xe [n] = E{x[n]} <{ak }
xo [n] = O{x[n]} j={ak }
Parsevals relation for periodic signals
1 X X
|x[n]|2 = |ak |2
N
n=<N > k=<N >
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 8

B. Fourier series table

x[n] ak
∞
X 1
δ(n − kN ) ak = ,for all k
N
k=−∞

1, k=0,±N,±2N,...
n
1 ak = 0, otherwise


2πm

 ωo =
N



(
1, k=m,m±N,m±2N,...
ejωo n



 ak =
 0, otherwise
ωo
= irrational : The signal is non-periodic
2π

2πm

 ωo =
N



( 1
 2 , k=±m,±m±N,±m±2N,...
cos ωo n
 ak =



0, otherwise
ωo
= irrational : The signal is non-periodic
2π

2πm

 ωo =
N




 1
  2j , k=m,m±N,m±2N,...
sin ωo n 

 ak =

  −1, k=−m,−m±N,−m±2N,...
2j

ωo
= irrational : The signalen is non-periodic
2π

2πk 1


sin N N 1 + 2
1, | n |≤ N1
(
,

 k6=0,±N,±2N,...
N sin πk

N

ak = N
0, N1 <| n |≤
2
 2N1 + 1 ,

period N


k=0,±N,±2N,...
N
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 9

IV. Discrete-time Fourier transform

A. Properties of the discrete-time Fourier transform
Non-periodic signal Fourier transform
Z ∞
1 4 X
x[n] = jω jωn
X(e )e dω jω
X(e ) = x[n]e−jωn
2π 2π n=−∞
 
x[n] X(ejω ) Periodic with
y[n] Y (ejω ) period 2π

ax[n] + by[n] aX(ejω ) + bY (ejω )

x[n − n0 ] e−jωn0 X(ejω )

ejω0 n x[n] X(ej(ω−ω0 ) )

x∗ [n] X ∗ (ej(−ω) )
x[−n] X(ej(−ω) )
x[n/m], n multiple of m
n
x(m) [n] = 0, n not multiple av m X(ej(mω) )

x[n] ∗ y[n] X(ejω )Y (ejω )

Z
1
x[n]y[n] X(ejθ )Y (ej(ω−θ) )dθ
2π 2π
1 − ejω X(ejω )


x[n] − x[n − 1]
n ∞
X 1 jω ) + πX(0)
X
x[k] X(e δ(ω − 2πk)
1 − ej ω
k=−∞ k=−∞

d
nx[n] j X(ejω )
dω
If x[n] is real valued
 then

 X(ejω ) = X ∗ (ej(−ω) )
 <{X(ejω )} = <{X(ej(−ω) )}


x[n] ={X(e jω )} = −={X(ej(−ω) )}
   


 X(ejω ) = X(ej(−ω) )

arg{X(ejω )} = − arg{X(ej(−ω) )}


xe [n] = E{x[n]} <{X(ejω )}

xo [n] = O{x[n]} j={X(ejω )}
Parsevals relation for non-periodic signals
∞ Z
X
2 1
|x[n]| = |X(ejω )|2 dω
n=−∞
2π 2π
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 10

B. Discrete-time Fourier transform table

x[n] X(ejω )
δ[n] 1
δ[n − n0 ] e−jωn0
∞ ∞  
X 2π X 2πk
δ(n − kN ) δ ω−
N N
k=−∞ k=−∞
∞
X
1 2π δ (ω − 2πk)
k=−∞
∞
X
ejωo n 2π δ (ω − ωo − 2πk)
k=−∞
∞
X
cos ωo n π [δ(ω − ωo − 2πk) + δ(ω + ωo − 2πk)]
k=−∞
∞
π X
sin ωo n [δ(ω − ωo − 2πk) − δ(ω + ωo − 2πk)]
j
k=−∞
∞
1 X
u[n] +π δ(ω − 2πk)
1 − e−jω
k=−∞

1
an u(n), |a| < 1
1 − ae−jω
1
(n + 1)an u[n], |a| < 1
(1 − ae−jω )2
(n + m − 1)! n 1
a u[n], |a| < 1
n!(m − 1)! (1 − ae−jω )m
1 1
a|n| , |a| < 1
1 − a2 1+ a2 − 2acosω
1, |n| ≤ N1
(
∞  
N X 2πk
0, N1 < |n| ≤ 2π ak δ ω
2 N
period N k=−∞

1


1, |n| ≤ N1 sin ω N1 + 2
0, |n| > N1 sin ω2

sin W n W Wn
(
1, |ω| ≤ W
= sinc 0, W < |ω| ≤ π
πn π π
0<W <π period 2π
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 11

V. Sampling and reconstruction

The sampling theorem:
Let x(t) with transform Xc (jΩ) be a bandlimited signal such that Xc (jΩ) = 0, |Ω| > ΩM .
Then x(t) is uniquely described by the samples x(nT ), n = 0, ±1 ± 2 . . . if

Ωs > 2ΩM

where
2π
Ωs =
= 2πfs
T
Given x(nT ), if the sampling theorem is satisfied, it is possible with an ideal reconstruction
filter to exactly reconstruct x(t).

Discrete-time processing of continuous-time signals

Sampling:
∞
X ∞
X
xd (t) = x(nT )δ(t − nT ) ←→ Xd (jΩ) = x(nT )e−jΩnT
n=−∞ n=−∞

”Normalization in time” gives

∞
X ∞
X
x[n] = x(nT ) ←→ X(ejω ) = x[n]e−jωn = x(nT )e−jΩnT
n=−∞ n=−∞

where
Ω f
ΩT = ω = or f T = q =
fs fs
Poissons summation formula:
∞
1 X
Xd (jΩ) = Xc (j(Ω − kΩs ))
T
k=−∞

∞
jω 1 X Ω 2πk
X(e ) = Xc (j( − ))
T T T
k=−∞

If the sampling theorem is satisfied then

1 π π
Xd (jΩ) = X(jΩ), − < Ω <
T T T
or
1 1 1
Xd (f ) = X(f ), − <f <
T 2T 2T
Ideal reconstruction:
∞
X
xr (t) = x(nT )h(t − nT )
n=−∞

where
Ωc Ωc t | ω |≤ Ωc
←→ H(jΩ) = T,
n
h(t) = T sinc 0, otherwise
π π
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 12

VI. Z-transform
A. Properties of the Z-transform
signal Z-transform ROC
∞
4 X
x[n] X(z) = x[n]z −n Rx
n=−∞

ax[n] + by[n] aX(z) + bY (z) Contains Rx ∩ Ry

x[n − n0 ] z −n0 X(z) Rx , except possible addition
or deletion of the origin or ∞

z0n x[n] X(z/z0 ) |z0 |Rx

x∗ [n] X ∗ (z ∗ ) Rx
x∗ [−n] X ∗ (1/z ∗ ) 1/Rx
x[n] ∗ y[n] X(z)Y (z) Contains Rx ∩ Ry
d
nx[n] −z X(z) Rx , except possible addition
dz
or deletion of the origin or ∞

<{x[n]} 1
2 [X(z) + X ∗ (z ∗ )] Contains Rx

={x[n]} 1
2j [X(z) − X ∗ (z ∗ )] Contains Rx

Initial value theorem

x[n] = 0, n < 0 limz→∞ X(z) = x[0]
TABLES IN SIGNALS AND SYSTEMS, OCT. 1999 13

B. Z-transform table
x[n] X(z) ROC
δ[n] 1 All z
δ[n − n0 ] z −n0 All z, except 0(n0 > 0)
or ∞(n0 < 0)
1
u[n] |z| > 1
1 − z −1
1
−u[−n − 1] |z| < 1
1 − z −1
1
an u[n] |z| > a
1 − az −1
1
−an u[−n − 1] |z| < a
1 − az −1
az −1
nan u[n] |z| > a
(1 − az −1 )2
az −1
−nan u[−n − 1] |z| < a
(1 − az −1 )2
1 − [cos ω0 ]z −1
[cos ω0 n]u[n] |z| > 1
1 − [2 cos ω0 ]z −1 + z −2
1 − [sin ω0 ]z −1
[sin ω0 n]u[n] |z| > 1
1 − [2 cos ω0 ]z −1 + z −2
1 − [r cos ω0 ]z −1
[rn cos ω0 n]u[n] |z| > r
1 − [2r cos ω0 ]z −1 + r2 z −2
1 − [r sin ω0 ]z −1
[rn sin ω0 n]u[n] |z| > r
1 − [2r cos ω0 ]z −1 + r2 z −2
n
an , 0 ≤ n ≤ N − 1 1 − aN z −N
0, otherwise |z| > 0
1 − az −1