Signals and systems

(Chapter 2)
Jaehak Chung
([email protected])

INHA UNIVERSITY Comm & Signal Proc. Lab.

Ch. 2. Time-Domain Representation
for LTIV Systems

INHA UNIVERSITY 2 Comm & Signal Proc. Lab.

Introduction

continuous discrete

INHA UNIVERSITY 3 Comm & Signal Proc. Lab.

1. Introduction

Time Invariant: A system is said to be time invariant if a time shift in the

input signal results ONLY in the same time shift in the output signal.
) T [ x (t − to ) ]
y (t − to=

Linear: Superposition is held.

x1 (t ) → y1 (t ), x2 (t ) → y2 (t )

a1 x1 (t ) + a2 x2 (t ) → a1 y1 (t ) + a2 y2 (t )

 We consider LTI (Linear Time Invariant) system.

 Impulse response

δ(t) H h(t)

INHA UNIVERSITY 4 Comm & Signal Proc. Lab.

1. Introduction

Cymbal

Tom

Snare

Perc

Kick

INHA UNIVERSITY 5 Comm & Signal Proc. Lab.

1. Introduction

 Impulse response: system output with impulse input

δ(t) H h(t) continuous

δ(n) H h(n) discrete

δ (t )
ex) Impulse function
1
δ (t ) = lim R∆t (t ),
∆t →0 2∆t 1/(2∆t )
S =1
 1, if t < ∆t 
where R∆t (t ) =   −∆t ∆t
 0, else  impulse

Then, the output of a arbitrary x[n] for a given h[n] ?

x(n) H(n) y(n)

INHA UNIVERSITY 6 Comm & Signal Proc. Lab.

 2. Convolution sum (discrete)

 Signal decomposition
Input x[n] representation of discrete
signal with impulse functions
x[n]δ [n −=
k ] x[k ]δ [n − k ]

x[n] =  + x[−2]δ [n + 2] +
x[−1]δ [n + 1] + x[0]δ [n] +
x[1]δ [n − 1] + x[2]δ [n − 2] + 
∞
=x[n] ∑ x[k ]δ [n − k ]
k = −∞

Graphical example illustrating the

representation of a signal x[n] as
a weighted sum of time-shifted
impulses.
INHA UNIVERSITY 7 Comm & Signal Proc. Lab.
2. Convolution sum

 Output of x [n ]
y[n] = H {x[n]}
 ∞ 
H  ∑ x[k ]δ [n − k ]
 k = −∞ 
∞

∑ H { x[k ]δ [n − k ]}
k = −∞
( linear)

∞
n : time index
∑ x[k ]H {δ [n − k ]} 
k = −∞  k : constant to system H
∞
= ∑ x[k ]h [n]
k = −∞
k hk [n] H {δ [n − k ]}
where =

Let T.I., H {δ [n − k ]}= h[n − k ]= hk [n]

∞
y[n]
∴= ∑ x[k ]h[n − k ]
k = −∞

x[n]* h[n], ⇒ Convolution sum

INHA UNIVERSITY 8 Comm & Signal Proc. Lab.

 input x[n]

output y[n]

INHA UNIVERSITY 9 Comm & Signal Proc. Lab.

 2. Convolution sum

• For discr ete,

∞
=y[n] ∑ x[k ]h[n − k ]
k = −∞

h[n − k ] = h[−(k − n)] :1.TR, 2. shifted by n on k axis

∞

∑ x[k ]h[n − k ] :
k = −∞
3. summation over k

ex) LTI h[n] having impulse response with an input x[n]

2, n = 0 1, n = −1
3, n = 1 2, n = 0

x[n] = 

h[n] = 
−2, n = 2
3, n = 1
0, otherwise 0, otherwise

INHA UNIVERSITY 10 Comm & Signal Proc. Lab.

2. Convolution sum

x[n] h[n]
sol) 3 3
2
2 1
n n
0 1 2 -1 0 1
-2
y[-2]=0 y[-1]=2
y[0]=7

k k k
n=-2 n=-1 n=0

y[1]=10 y[2]=5 y[3]=-6

k k k
n=1 n=2 n=3

y[4]=0, y[5]=0,….
INHA UNIVERSITY 11 Comm & Signal Proc. Lab.
 2. Convolution sum

ex) A LTI system of an impulse response h[n] with an input x[n]

n
3
x(n) = u[n] h[n] =   u[n]
4

sol)  3 n − k  3 5− k
  ,k ≤ n
h[n − k ]  4=
= wn [k ]   , k ≤ 5
 w5 [k ] =  4 
 0, otherwise  0, otherwise
 
5− k
5
3
5
y[5] ∑
= = wn [k ] ∑  
= k 0= k 0 4
5 k 5
6
 3  5  4   3  1 − (4 / 3)
= =  ∑   
  k =0  3   4  1 − (4 / 3)
4

INHA UNIVERSITY 12 Comm & Signal Proc. Lab.

2. Convolution sum

(a) The input signal x[k] above the reflected and

time-shifted impulse response h[n – k], depicted
as a function of k.
(b) The product signal w5[k] used to evaluate y [–5].
(c) The product signal w5[k] used to evaluate y[5].
(d) The product signal w10[k] used to evaluate
y[10].

INHA UNIVERSITY 13 Comm & Signal Proc. Lab.

2. Convolution sum

 Four-point moving average system

1 3
x[n] = u[n] − u[n − 10] h[n]
= ∑
4 k =0
δ [n − k ]
input x[n]

output y[n]

INHA UNIVERSITY 14 Comm & Signal Proc. Lab.

3. Convolution integral

The output of a continuous time LTI system also is determined from the input
and the system’s impulse response.

Impulse response of
δ(t) H h(t) an continuous signal

INHA UNIVERSITY 15 Comm & Signal Proc. Lab.

3. Convolution integral

 Convolution Integral
∞
=x(t ) ∫ −∞
x(τ )δ (t − τ )dτ

y (t ) H=
= {x(t )} H {∫ −∞
∞
x(τ )δ (t − τ )dτ }
∞
= ∫ −∞
x(τ ) H {δ (t − τ )}dτ
∞
= ∫ −∞
x(τ )h(t − τ )dτ

 Definition of convolution for continuous time signal

∞
=y (t ) x=
(t ) * h(t ) ∫ −∞
x(τ )h(t − τ )dτ
where h(t ) = H {δ (t )}

INHA UNIVERSITY 16 Comm & Signal Proc. Lab.

3. Convolution integral (continuous)
•convolution

LTIV
system

t1 − τ 1
) A1h(t − τ 1 ) + A2 h(t − τ 2 ) +  + AN h(t − τ N )
i (t=
N ∞
= ∑ v(τ j )h(t=
j =1
−τ j ) ∫ v (τ ) h ( t − τ )dτ
−∞

INHA UNIVERSITY 17 Comm & Signal Proc. Lab.

 3. Convolution integral

The convolution of two signals, x(t) and h(t), is a new

function of time, y(t), written symbolically in terms of x(t)
and h(t) as
∞
• continuous: y (t ) = x(t ) ∗ h(t ) = ∫ x (τ ) h ( t − τ )dτ
−∞

• For continuous,
x(t) h(t)
y (t )
= ∫ x(τ )h(t − τ )dτ
considering h(t − τ ) t
t
h(−(τ − t )) : 1.TR, 2.shifting by t on τ axis

∫ x(τ )h(t − τ )dτ : 3.integration over τ

h(-(τ-t)) x(τ)
y(t)
= ∫ x(τ )h(t − τ )dτ
x(τ)
τ h(-(τ-t))
τ
t t
INHA UNIVERSITY 18 Comm & Signal Proc. Lab.
3. Convolution integral
ex) Find y(t) = x(t)*h(t), 1 2
∞
-2 2
t 3 t
𝑦𝑦 𝑡𝑡 = � 𝑥𝑥 𝜏𝜏 ℎ 𝑡𝑡 − 𝜏𝜏 𝑑𝑑𝜏𝜏
−∞
2
x(t)=1, −2 ≤ 𝑡𝑡 ≤ 2 1. T.R ℎ(𝜏𝜏) = − 𝜏𝜏
3
2 𝜏𝜏
h(t)= 𝑥𝑥, 0 ≤ 𝑡𝑡 ≤ 3
3
2. shift by t 2
ℎ 𝑡𝑡 − 𝜏𝜏 → ℎ − 𝜏𝜏 − 𝑡𝑡 ℎ(𝜏𝜏) = − (𝜏𝜏 − 𝑡𝑡)
3

1. T.R., 2. shifting by t on τ axis 𝜏𝜏

t
ℎ(−𝜏𝜏) ℎ(−(𝜏𝜏 − 𝑡𝑡)) 3. integrate
3. Integrate over τ
𝑡𝑡 < −2: 𝑦𝑦 𝑡𝑡 = 0 𝜏𝜏
-2 2 5
𝑡𝑡 2 (𝑡𝑡+2)2
−2 ≤ 𝑡𝑡 ≤ 1: 𝑦𝑦 𝑡𝑡 = ∫−2 1 � − 𝜏𝜏 − 𝑡𝑡 𝑑𝑑𝜏𝜏 = t
3 3
1 < 𝑡𝑡 ≤ 2: 𝑦𝑦 𝑡𝑡 = 3 3
2 2 − 𝑡𝑡−2 2
2 < 𝑡𝑡 ≤ 5: 𝑦𝑦 𝑡𝑡 = ∫𝑡𝑡−3 1 � − 𝜏𝜏 − 𝑡𝑡 𝑑𝑑𝜏𝜏 = +3
3 3
5 < 𝑡𝑡: 𝑦𝑦 𝑡𝑡 = 0 1 2 5
𝑡𝑡
-2

INHA UNIVERSITY 19 Comm & Signal Proc. Lab.

3. Convolution integral

 Evaluate the convolution integral

𝑥𝑥(𝑡𝑡) = 𝑢𝑢(𝑡𝑡 − 1) − 𝑢𝑢(𝑡𝑡 − 3) and ℎ(𝑡𝑡) = 𝑢𝑢(𝑡𝑡) − 𝑢𝑢(𝑡𝑡 − 2)

1≤ t < 3
1,1 < τ < t
wt (τ ) = 
0, otherwise
3≤t <5
1, t − 2 < τ < 3
wt (τ ) = 
0, otherwise

INHA UNIVERSITY 20 Comm & Signal Proc. Lab.

3. Convolution integral

ex)
 x(t ) = u (t ) − u (t − 2)
 −t
 h (t ) = e u (t )
y (t ) = ?

x(t) h(t)

t t
0 2 0

y (t )
= ∫ x(τ )h(t − τ )dτ
INHA UNIVERSITY 21 Comm & Signal Proc. Lab.
3. Convolution integral
Sol) 𝑦𝑦(𝑡𝑡) = �𝑥𝑥(𝜏𝜏)ℎ(𝑡𝑡 − 𝜏𝜏)𝑑𝑑𝑑𝑑

ℎ(−(𝜏𝜏 − 𝑡𝑡)): 1. 𝑇𝑇𝑇𝑇, 2. shifting by 𝑡𝑡 on 𝜏𝜏 axis

�𝑥𝑥(𝜏𝜏)ℎ(𝑡𝑡 − 𝜏𝜏)𝑑𝑑𝑑𝑑 : 3. integration over 𝜏𝜏

h(t-τ) x(τ)
τ
t 0 2
t < 0, y (t ) =
0

τ t
0 ≤ t < 2, y (t ) =∫ e −( t −τ ) dτ =1 − e − t
0 t 2 0

2
∫
− ( t −τ )
τ t ≥ 2, y (t ) = e dτ (
= e 2
− 1) e −t
0
0 t 2

INHA UNIVERSITY 22 Comm & Signal Proc. Lab.

3. Convolution integral

ex) Radar measurement

Measuring distance using round trip delay time.

x(t) y(t)
h(t) Delay: β

INHA UNIVERSITY 23 Comm & Signal Proc. Lab.

3. Convolution integral

analysis)
sin( 𝜔𝜔𝑐𝑐 𝑡𝑡), 0 ≤ 𝑡𝑡 ≤ 𝑇𝑇0
transmitting RF pulse: 𝑥𝑥(𝑡𝑡) = �
0, 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜
impulse response between radar and target: ℎ(𝑡𝑡) = 𝑎𝑎𝑎𝑎(𝑡𝑡 − 𝛽𝛽)
∞

received signal after reflection: 𝑟𝑟(𝑡𝑡) = � 𝑥𝑥(𝜏𝜏)𝑎𝑎𝑎𝑎((𝑡𝑡 − 𝛽𝛽) − 𝜏𝜏)𝑑𝑑𝑑𝑑

−∞
= 𝑎𝑎𝑎𝑎(𝑡𝑡 − 𝛽𝛽)

𝛽𝛽 𝛽𝛽 + 𝑇𝑇0

(a) Transmitted RF pulse.

(b) The received echo is an attenuated and delayed version
of the transmitted pulse.
INHA UNIVERSITY 24 Comm & Signal Proc. Lab.
3. Convolution integral
In general, received signal is weak and contaminated
 We need to maximize SNR of the received signal.
 Receiver utilizes “matched filter”: time-reversed version of the
transmitted signal. hm(t)=x(-t).

r(t)
x(t) h hm y(t)
receiver

− sin(ωc t ), −T0 ≤ t ≤ 0
hm (t ) = 
0, otherwise

INHA UNIVERSITY 25 Comm & Signal Proc. Lab.

3. Convolution integral
hm(t) For causal system, hm(t)
hm(t)=x(T0-t)

𝑦𝑦(𝑡𝑡) = 𝑟𝑟(𝑡𝑡) ∗ ℎ𝑚𝑚 (𝑡𝑡) = 𝑎𝑎𝑎𝑎(𝑡𝑡 − 𝛽𝛽) ∗ 𝑥𝑥(𝑇𝑇0 − 𝑡𝑡) = 𝑎𝑎 �𝑥𝑥(𝜏𝜏 − 𝛽𝛽)𝑥𝑥(𝑇𝑇0 − 𝑡𝑡 − 𝜏𝜏)𝑑𝑑𝑑𝑑

hm(t-τ)

τ
𝛽𝛽 + 𝑇𝑇0
t 𝛽𝛽

T0

t
Matched filter output
𝛽𝛽b 𝛽𝛽 +2T

INHA UNIVERSITY 26 Comm & Signal Proc. Lab.

6. Interconnections of LTI Systems

 Parallel Connection of Systems

 Cascade Connection of Systems

INHA UNIVERSITY 27 Comm & Signal Proc. Lab.

6. Interconnections of LTI Systems
 Parallel Connection of Systems
h1(t)
x(t) y(t)
+
h2(t)

x(t) h(t)=h1(t)+h2(t) y(t)

y (t ) = y1 (t ) + y2 (t ) = x(t ) * h1 (t ) + x(t ) * h2 (t )
∞ ∞
= ∫ x(τ )h (t − τ )dτ + ∫ x(τ )h (t − τ )dτ
−∞
1
∞
2

∞
= ∫ x(τ ) ( h (t − τ ) + h (t − τ ) ) dτ
−∞
1 2

∞
= ∫ x(τ )h(t − τ )=
−∞
dτ x(t ) * h(t )

INHA UNIVERSITY 28 Comm & Signal Proc. Lab.

 6. Interconnections of LTI Systems
 Cascade Connection of System 1

x(t) z(t) y(t)

h1(t) h2(t)

x(t) h(t)=h1(t)*h2(t) y(t)

∞
y (t ) (t ) * h2 (t )
z= ∫ z (τ )h (t − τ )dτ
−∞
2 (Let η =
τ − v, then dη =
dτ τ =
η + v)

 ∞ ∞

 ∞ ∞

= ∫  ∫ x(v)h1 (τ − v)=
dv  h2 (t − τ )dτ ∫−∞ x(v)  −∞∫ h1 (η )h2 (t − v −η )dη  dv
−∞  −∞ 
∞ ∞ ∞

= ∫ ∫ x(v)h (τ − v)h (t − τ )dvdτ

1 2
= ∫ x(v)h(t − v)=
−∞
dv x(t ) * h(t )
−∞ −∞

INHA UNIVERSITY 29 Comm & Signal Proc. Lab.

6. Interconnections of LTI Systems
 Cascade Connection of System 2
x(t) h1(t) z(t) h2(t) y(t)

x(t) h2(t) h1(t) y(t)

h(t ) = h1 (t ) * h2 (t )
∞
= ∫ h (τ )h (t − τ )dτ
−∞
1 2

(Let v = t − τ )
∞
= ∫ h (t − v)h (v)dv
−∞
1 2

= h2 (t ) * h1 (t )
INHA UNIVERSITY 30 Comm & Signal Proc. Lab.
6. Interconnections of LTI Systems
 Cascade Connection of System 3
h1(n) +
x(t) +
+ h3(n) + y(t)
+
h2(n) -

h4(n)

h1[n] = u[n], h2 [n] = u[n + 2] − u[n], h3 [n] = δ [n − 2], h4 [n] = α nu[n]

h[n] =+
(h1[n] h2 [n]) * h3 [n] − h4 [n]
h12 [n] = u[n] + u[n + 2] − u[n] = u[n + 2]
h123 [n] = u[n + 2]* δ [n − 2] = u[n]
u[n] α nu[n] =
h1234 [n] =− (1 − α n )u[n]

INHA UNIVERSITY 31 Comm & Signal Proc. Lab.

7. Relations between LTI System and IR

 Memoryless Systems
 Causal Systems
 Stable Systems
 Invertible Systems and Deconvolution
 Step Response

INHA UNIVERSITY 32 Comm & Signal Proc. Lab.

7. Relations between LTI System and IR
 Memoryless LTI system
• The output of a memoryless system depends only on the
present input.
• LTI discrete-time system ∞
=y[n] h=
[n]* x[n] ∑ h[k ]x[n − k ]
−∞

→ h[k= ] cδ [k ]
] 0 for k ≠ 0 → h[k=
• LTI continuous-time
∞
system
=y (t ) ∫ h(τ ) x(t − τ )dτ
−∞

→ h(t= ) cδ (t )
) 0 for t ≠ 0 → h(t=
ex) h(t ) =
K δ (t − d ), d ≠ 0, Is h(t ) memoryless? No
h(t ) = u (t ) − u (t − 1), Is h(t ) memoryless? No

INHA UNIVERSITY 33 Comm & Signal Proc. Lab.

7. Relations between LTI System and IR
 Causal LTI System
• The output of a causal system depends only on the past
input.
• LTI discrete-time system∞
= y[n] h= [n]* x[n] ∑ h[k ]x[n − k ]
−∞
∞
h[k ] 0 for k < 0 → =
→= y[n] ∑ h[k ]x[n − k ]
0
• LTI continuous-time system
∞
=y (t ) ∫ x(τ )h(t − τ )dτ
−∞
∞

ex)
(t ) 0 for t < 0 → =
→ h= y (t ) ∫ h(τ ) x(t − τ )dτ
0

Causal? h(t ) =
u (t + 1)? no, h(t ) =
u (t − 1)? yes

INHA UNIVERSITY 34 Comm & Signal Proc. Lab.

 7. Relations between LTI System and IR

 Stable LTI systems

• BIBO stable systems
• Discrete-time systems : absolute summability of the
impulse response
∞
| y[n] | | h=
= [n]* x[n] | ∑ h[k ]x[n − k ]
k = −∞
∞ ∞ ∞
≤ ∑
k = −∞
h[k ] x[n − k ] ≤ M x ∑
k = −∞
h[k ] ,  x[n] ≤ M x < ∞ ⇒ ∑
k = −∞
h[k ] < ∞

• Continuous-time systems :
∞
similarly, ∫
−∞
h(τ ) dτ < ∞

INHA UNIVERSITY 35 Comm & Signal Proc. Lab.

7. Relations between LTI System and IR

ex)
n
a system: =h[ n ] a u[n + 2]
- stability? stable if |a|<1
∞ ∞ ∞

∑ h[n] =
−∞
∑
k = −2
n
a = a −2
+a −1
+ ∑ an
k =0

- causality? noncausal
- memoryless? Memory

ex) ∞
= h(t ) e u (t ). If a > 0, stable? ⇒ yes, ∫ h (τ ) dτ < ∞.
− at
−∞
∞
=h(t ) e u (t ). If a < 0, stable? ⇒ no, ∫ h (τ ) dτ → ∞.
− at
−∞

INHA UNIVERSITY 36 Comm & Signal Proc. Lab.

7. Relations between LTI System and IR

 Invertible System and Deconvolution

• Invertible system: if the input to the system can be
recovered from the output except for a constant scale
factor.
• Deconvolution: the process of recovering x(t) from
h(t)*x(t)
( )
x(t ) * h(t ) * hinv (t ) = x(t )
h(t ) * hinv (t ) = δ (t )
h[n]* hinv [n] δ [n],
or= hinv [n] ≡ h −1[n]

INHA UNIVERSITY 37 Comm & Signal Proc. Lab.

7. Relations between LTI System and IR

ex) Design a discrete-time inverse system to eliminate the

distortion associated with an undesired echo in a data
transmission problem.
y[n] = x[n] + a x[n-1]
x(n)
x[n] y(n)

ax[n-1]
Mobile Station
Base Station

INHA UNIVERSITY 38 Comm & Signal Proc. Lab.

7. Relations between LTI System and IR

1, 𝑘𝑘 = 0
Sol) ℎ[𝑘𝑘] = �𝑎𝑎, 𝑘𝑘 = 1 , ℎ[𝑛𝑛] = 𝛿𝛿[𝑛𝑛] + 𝑎𝑎𝑎𝑎[𝑛𝑛 − 1]
0, 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜

Since ℎ[𝑛𝑛] ∗ ℎ−1 [𝑛𝑛] = 𝛿𝛿[𝑛𝑛], satisfy ℎ−1 [𝑛𝑛] + 𝑎𝑎ℎ−1 [𝑛𝑛 − 1] = 𝛿𝛿[𝑛𝑛]
For 𝑛𝑛 = 0 ℎ−1 [0] + 𝑎𝑎ℎ−1 [−1] = 1
→ ℎ−1 [0] = 1 ∵ ℎ−1 [𝑛𝑛]: causal system
For 𝑛𝑛 > 0 ℎ−1 [𝑛𝑛] + 𝑎𝑎ℎ−1 [𝑛𝑛 − 1] = 0ℎ−1 𝑛𝑛 = −𝑎𝑎ℎ−1 [𝑛𝑛 − 1]
𝑛𝑛 = 1, ℎ−1 [1] = −𝑎𝑎ℎ−1 [0] = −𝑎𝑎
𝑛𝑛 = 2, ℎ−1 [2] = −𝑎𝑎ℎ−1 [1] = 𝑎𝑎2
𝑛𝑛 = 3, ℎ−1 [3] = −𝑎𝑎ℎ−1 [2] = −𝑎𝑎3
∴ ℎ−1 [𝑛𝑛] = (−𝑎𝑎)𝑛𝑛 𝑢𝑢[𝑛𝑛]
𝑖𝑖f 𝑎𝑎 < 1, 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠
An exact inverse system may be
difficult to find or implement.
Determination of an approximate
solution is often sufficient.

INHA UNIVERSITY 39 Comm & Signal Proc. Lab.

8. Step and Sinusoidal Response

 Step Response
• The response of a LTI system to a step characterizes
how the system responds to sudden changes in input
• Step Response
- Discrete time system
∞
=s[n] h=
[n]* u[n] ∑ h[k ]u[n − k ]
k = −∞
n
= ∑ h[k ]
k = −∞
- Continuous time system
t
s (t ) = ∫ h(τ )dτ
−∞

INHA UNIVERSITY 40 Comm & Signal Proc. Lab.

8. Step and Sinusoidal Response

 Impulse response in terms of the step response

- Discrete time system
h[n] = s[n] − s[n − 1]

- Continuous time system

d
h(t ) = s (t )
dt

INHA UNIVERSITY 41 Comm & Signal Proc. Lab.

8. Step and Sinusoidal Response

ex)
R

x(t) _
+ C y(t)
RC = 1
1 −𝑡𝑡
ℎ(𝑡𝑡) = 𝑒𝑒 𝑅𝑅𝑅𝑅 𝑢𝑢(𝑡𝑡)
𝑅𝑅𝑅𝑅
𝑡𝑡
1 −𝜏𝜏
𝑠𝑠(𝑡𝑡) = � 𝑒𝑒 𝑅𝑅𝑅𝑅 𝑢𝑢(𝜏𝜏)𝑑𝑑𝑑𝑑
𝑅𝑅𝑅𝑅
−∞
𝑡𝑡
1 −𝜏𝜏
=� 𝑒𝑒 𝑅𝑅𝑅𝑅 𝑑𝑑𝑑𝑑
𝑅𝑅𝑅𝑅
0
0, 𝑡𝑡 < 0
𝑠𝑠(𝑡𝑡) = � −𝑡𝑡
1− 𝑒𝑒 𝑅𝑅𝑅𝑅 , 𝑡𝑡 ≥0
INHA UNIVERSITY 42 Comm & Signal Proc. Lab.