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Slide 1
Chengbin Ma
Associative property
Commutative property
Slide 2
Chengbin Ma
inv
inv
h
[
n
]
*
h
[
n
]
d
[
n
]
,
h
(
t
)
*
h
(t ) d (t )
Invertible:
Slide 3
Chengbin Ma
This Class
Step response (2.8)
Discrete-time and continuous-time systems
Slide 4
Chengbin Ma
Class#6
- Step response (2.8)
- Differential and difference equation representations of LTI systems (2.9)
Slide 5
Chengbin Ma
n
s[n] u[n] * h[n] h[n] * u[n]
x[k ]h[n k ]
x[0]h[n] x[1]h[n 1]
UM-SJTU Joint Institute
Slide 6
Chengbin Ma
dt
t
y(t ) x( )h(t )d
Slide 7
Chengbin Ma
Class#6
- Step response (2.8)
- Differential and difference equation representations of LTI systems (2.9)
Slide 8
Chengbin Ma
Connection:
UM-SJTU Joint Institute
d
x[n] x[n 1]
x(t )
dt
Ts
Slide 9
Chengbin Ma
Difference/Differential Equations
Basic elements in electrical and mechanical
systems
Electrical (current vs voltage): Resistance,
Capacitors, Inductance
Mechanical (position, speed or even
acceleration and jerk vs torque/force):
Translational/Rotary motion: mass/inertia, spring
and damper
Slide 10
Chengbin Ma
Mass-spring-damper System
x
..
m x c x kx 0
k = 0.4, c = 0.2, m = 1
..
c .
k
x x x
m
m
Exponentially Damped Sinusoidal Signals (class#2)
Velocity
integral
Position
integral
Slide 11
class6_massSprin
gDamper.mdl
Chengbin Ma
RLC Circuit
d
1 t
Ri (t ) L i (t ) i ( )d v(t )
dt
C
1
d
d2
d
i (t ) R i (t ) L 2 i (t ) v(t )
C
dt
dt
dt
Suppose v(t ) u (t ), i (0) i0
k = 0.4, c = 0.2, m = 1
UM-SJTU Joint Institute
Slide 12
Chengbin Ma
Difference Equations
The difference equations are abstract because
real systems are continuous-time systems.
Example: trapezoidal approximation of
integral.
xk
xk-1
x[k ] x[k 1]
y[k ] y[k 1]
T
2
2 y[k ] 2 y[k 1] Tx[k ] Tx[k 1]
yk-1
(k-1)T
kT
Slide 13
Chengbin Ma
z-transfer Function
An efficient tool to represent and analyze
discrete-time systems.
Example 2.16, p143 (initial condition: y[-1]=1
and y[-2]=2):
Y [ z ] 1.143Y [ z ]z 1 0.4128Y [ z ]z 2
0.0675 X [ z ] 0.1349 X [ z ]z 1 0.675 X [ z ]z 2
Y [ z ] 0.0675 0.1349 z 1 0.675 z 2
X [ z]
1 1.143z 1 0.4128 z 2
class6_zTransfer.m
UM-SJTU Joint Institute
Slide 14
Chengbin Ma
Homework
Problem 2.50(b)(c)(e)(f)
Problem 2.52(a)(b)
Slide 15
Chengbin Ma