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Digital Signal Processing
A Primer With MATLAB®
Digital Signal Processing
A Primer With MATLAB®
Samir I. Abood
MATLAB® is a trademark of The MathWorks, Inc. and is used with permission. The MathWorks does not warrant the accuracy
of the text or exercises in this book. This book’s use or discussion of MATLAB® software or related products does not constitute
endorsement or sponsorship by The MathWorks of a particular pedagogical approach or particular use of the MATLAB® software.
CRC Press
Taylor & Francis Group
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Boca Raton, FL 33487-2742
This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to pub-
lish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the
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2.4.1.3 Homogeneity.......................................................................26
2.4.1.4 Stability...............................................................................26
2.5 Linear Time-Invariant Causal Systems (LTI) ................................................. 27
2.5.1 Linearity ............................................................................................. 27
2.5.2 Time-Invariance ................................................................................. 31
2.5.3 Causality............................................................................................. 32
2.6 Definitions ....................................................................................................... 36
2.6.1 Continuous-Time System ................................................................... 36
2.6.2 Discrete-Time System ........................................................................ 37
2.6.2.1 Delay Operator.................................................................... 38
2.6.2.2 Convolution Property.......................................................... 38
2.6.2.3 Impulse Function ................................................................ 38
2.6.2.4 Impulse Response ............................................................... 38
2.6.2.5 Frequency Response ........................................................... 38
2.7 System Output ................................................................................................. 39
2.7.1 Causality............................................................................................. 39
2.7.2 Stability .............................................................................................. 39
2.7.3 Invertibility.........................................................................................40
2.7.4 Memory ..............................................................................................40
Problems..................................................................................................................... 42
xiii
xiv Preface
In Chapter 8, the principles of the Fast Fourier Transform, decimation-in-frequency method, and
decimation-in-time method are examined. Chapter 9 discusses the z-transform, region of conver-
gence (roc), properties of the z-transform, and it also discusses the inverse of z-transform. Chapter
10 describes the z-transform applications in DSP for evaluating LTI system responses using z-trans-
form and implementation of the system using z-transform. Chapter 11 introduces pole-zero stability,
difference equations and transfer function, and the stability of DSP systems.
Chapter 12 discusses sampling relating the FT to the DTFT for discrete-time signals, the sam-
pling of continuous-time signals, and instantaneous sampling. The description of digital filters and
filter types and specifications is discussed in Chapter 13. Chapter 14 presents the implementation of
IIR digital filters and their properties and the design of a notch filter by MATLAB.
Chapter 15 deals with the implementation of Finite Impulse Response (FIR), and it is design.
Chapter 16 deals with the digital filter design, the realization of digital filters, and direction-form
I realization.
Earlier experience using the MATLAB program is not needed since the author highly recom-
mends that the reader studies this material in conjunction with the MATLAB Student Version.
Chapter 1 and Appendix C of this text provides a practical introduction to MATLAB.
MATLAB® is a registered trademark of The MathWorks, Inc. For product information, please
contact:
xv
Author
Samir I. Abood received his BSc and MSc from the University of Technology, Baghdad, Iraq, in
1996 and 2001, respectively. From 1997 to 2001, he worked as an engineer at the same university.
From 2001 to 2003, he was an assistant professor at the University of Baghdad and AL-Nahrain
University, and from 2003 to 2016, he was an assistant professor at Middle Technical University
University, Baghdad, Iraq. Presently, he is doing his PhD in the Electrical and Computer Engineering
Department at Prairie View A&M University, Prairie View, Texas. He is the author of 25 papers and
four books. His main research interests are in the area of sustainable power and energy systems,
microgrids, power electronics, and motor drives, the application of digital PID controllers, digital
methods to electrical measurements, digital signal processing, and control systems.
xvii
1 Continuous and
Discrete Signals
Mathematically, signals are represented as a function of one or more independent variables. At
this point, we are focusing the attention on signals that involve a single independent variable.
Conventionally, it will generally refer to the independent variable as time. There are two types of
signals: continuous-time signals and discrete-time signals. In this chapter will focus on the kinds
of signals
This chapter gives you a quick way to become familiar with the MATLAB software by introduc-
ing you the basic features, commands, and functions. You will discover that entering and solving
complex numbers in MATLAB is as easy as entering and solving real numbers, especially with the
help of MATLAB built-in complex functions. Upon completion this chapter, and Appendix A you
should know how to start MATLAB, how to get HELP, how to assign variables in MATLAB and
to perform the typical complex numbers operations (i.e., complex conjugate, addition, subtraction,
multiplication, division, expression simplification) and the conversions of complex numbers in both
rectangular and polar forms with and without using MATLAB built-in functions.
1
2 Digital Signal Processing
L=length(t);
for i=1:L
if t(i)<0
x1(i)=0;
x2(i)=0;
else
x1(i)=1;
x2(i)=t(i);
end;
end;
figure;
plot(t,x1);
xlabel('t');
ylabel('amplitude');
title('unit step');
grid
unit step
0.8
0.6
amplitude
0.4
0.2
x2=sin(2*pi*f2*t);
figure;
subplot(2,1,1);
plot(t,x1,’b’,t,x2,’r’);
xlabel(‘t’);
ylabel(‘amplitude’);
title(‘The signals x1(t) and x2(t)’);
x3=x1+x2;
subplot(2,1,2);
plot(t,x3);
xlabel(‘t’);
ylabel(‘amplitude’);
title(‘The sum of x1(t) and x2(t)’);
Figure 1.2 Shows the results obtained from the sum of the two functions.
0
–1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t
0
–2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t
0
–1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t
0
–1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t
Figure 1.3 shows the results obtained from multiplying the two functions.
–1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t
–1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t
x3=[zeros(1,100),x2(1☹L-100))];
subplot(2,1,2);
plot(t,x3);
title(‘the shifting of x1(t)and x2(t)’);
xlabel(‘t’);
ylabel(‘amplitude’);
Figure 1.4 shows the results obtained from shifting the function.
Discrete-time signals are often derived from sampling a continuous-time signal, such as speech,
with an analog-to-digital (A/D) converter. For example, a continuous-time signal x(n) that is sam-
pled at a rate of fs = l/Ts samples per second produces the sampled signal x(n), which is related to
xa(t) as follows:
x(n)
–2 –1 0 1 2 3 4 5 6 n
The magnitude may be derived from the real and imaginary parts as follows:
Im {z(n)}
arg {z(n)} = tan −1 (1.6)
Re {z(n)}
If z(n) is a complex sequence, the complex conjugate, denoted by z*(n), is formed by changing the
sign on the imaginary part of z(n):
T /2
1
P = lim
T →∞ T ∫ s(t )s (t )dt
−T /2
*
0<P<∞ (1.8)
∞ ∞
∫ s(t ) s (t ) dt = ∫ s(t )
2
E= *
dt 0<E<∞ (1.9)
−∞ −∞
In communication systems, the received waveform is usually categorized into the desired part that
contains the information signal and the undesired part, which is called noise.
(Continued)
10 Digital Signal Processing
(Continued)
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perhaps because they regarded the affair as a mere drunken frolic. At
all events, he was quit with a fine of 15 Peters.
It was most likely about this time that Meester Jan set to work
on his stalls, for we know that they were the gift of Abbot Peter Was,
who ruled Saint Gertrude's from 1527 to 1546. An elaborate work of
this kind must have taken a man like Beyaert many years to
complete; he died in 1543, and for a considerable period before his
death he had ceased to occupy himself with art. He had taken up
theology instead, and that was his undoing. It happened thus:
Calvinism was now making headway in all the towns of the
Netherlands, Catherine embraced the new doctrine, she was a
woman of will and of energy, and soon she became the leading spirit
of the little band of Protestants at Louvain. Of course she had no
difficulty in persuading her husband to join them, and soon the poor
artist was converted into a hot Gospeller. Strange irony of fate that
the man who had made graven images all his life should end his
days an iconoclast. He did not turn his hand against his own work;
perhaps he still, in spite of his wife, had a sneaking tenderness for
sculpture, but his practice squared with his preaching in the matter
of pictures, and one night, toward the close of the year 1542, or early
in 1543, he broke into the Church of Saint Pierre, and then into the
Church of Saint Jacques, in each of them wrecked several valuable
paintings, and afterwards, with the fragments, made a bonfire in the
Grand' Place. Presently he was arraigned for heresy and sacrilege,
found guilty, and condemned to the stake. Hope, however, seems to
have been held out to him that if he would give evidence against his
accomplices the sentence would be reconsidered, and at last, under
torture, he opened his mouth, and who shall throw a stone at him?
How many of us, gentle reader, are of the stuff of which martyrs are
made? If he believed that his life would be spared he was bitterly
disappointed, but his cowardice gained for him this much—instead
of burning him they cut off his head. With all his faults, he was a
great artist. Let him rest in peace. As for poor Catherine, who had
been arrested along with her husband, hers was a more terrible fate.
On the 14th of July 1443 they buried her alive.
Reader, before quitting Saint Gertrude's, go into the chapel,
which skirts the north side of the choir, and there, on the north wall,
you will find a white marble tablet, engraved with a Latin
inscription. We have here the requiem of Abbot Renesse, and one
likes to think that he wrote it himself. Read it, and perhaps it will
make you forget the discordant notes of poor Beyaert's gruesome
dirge.
D. O. M.
Viatorum in terris implorat
suffragium
et eorum in cœlis sperat
Consortium
A. G. Baro de Renesse
Sanctæ Gertrudis Abbas
XX obiit 8 Martii 1785
R.I.P.
CHAPTER XVII
Pictures and Painters
In the early days the art of painting, like all the other arts and
crafts, was cultivated only in the cloister, and to the end of the eleven
hundreds it was submitted almost entirely to the control of the
religious orders. Not that the monks were the only artists and the
only artisans: attached to all the great abbeys, and even to some of
the smaller monasteries, and to more than one collegiate church,
were vast bodies of lay craftsmen—so vast that their numbers were
often reckoned by hundreds, sometimes by thousands, as we have
documentary evidence to show: these men lived under the
protection of the monks, had received their instruction at their
hands, worked for them and with them, on the monastic domain,
and also, but under strict regulations, for outsiders as well. Presently
a change came, brought about by the rise of the cities: the monastery
then ceased to be the only place where art could be cultivated in
peace, and a vast immigration of artists to these new havens of
refuge was the consequence. The new-comers, too feeble to stand
alone, and not at first sufficiently numerous to be able to form
distinct corporations, solved the difficulty by affiliating themselves to
existing trade companies, sculptors joining hands with masons, and
painters with glaziers and saddlers. A few abbeys here and there
continued for a while to maintain their art schools and their lay art-
workers, but their numbers gradually diminished, and by the close
of the twelve hundreds there were no lay craftsmen of any kind
outside the city walls. By this time the city artists were sufficiently
numerous to be able to combine in distinct corporations. The first
institution of this kind of which we have any record was the Guild of
Saint Luke at Ghent, which was founded by the art-workers of that
city as early as 1337; four years later the painters of Tournai followed
their example; the guild of Saint Luke, at Louvain, was founded
before 1350, that of Bruges in 1351, of Antwerp in 1382, and by the
opening of the fourteen hundreds almost every city in the
Netherlands possessed its painters' guild.
In no town where a guild was established was any outside
painter suffered to ply his craft for money, and no man could
become a member of the local guild unless he were a burgher of the
town by right of birth or of purchase. If a youth aspired to become a
painter, the first step was to enroll his name as a companion or
probationer in the register of the guild of the town in which he
intended to practise. He was then required to serve an
apprenticeship under some master painter approved by the guild,
who was responsible not only for his technical instruction but also
for his fidelity to his civil and his religious duties. During this time
he lived with his master, and was bound to serve and obey him, and
the latter in his turn was bound to thoroughly instruct him in all that
concerned his craft. Nor was this all, when he had received his
indentures he had to serve as a journeyman under some qualified
master-painter, but not necessarily a member of the guild which he
himself proposed to join. When the time of his probation had expired
—it seems to have varied from town to town—he presented himself
before the heads of the guild, and brought with him a picture which
he himself had painted. If it came up to the required standard of
excellence, and if, after examining him, they were satisfied of his
technical knowledge and skill, he solemnly declared that he would
obey the rules of the guild, promised before God that his work
should be good, honest, genuine, the best of which he was capable,
paid the prescribed fees, and, without more ado, was enrolled in the
books of the guild as an effective member. But though he was now
called a free master, had the right to set up for himself, to vote at the
annual election of the chiefs of the guild, and was himself eligible for
office, he was still submitted to the control of his association: the
Dean and Juries could search his workshop when they would, and
without warning, at any hour of the day or night, and if they
discovered there any painting materials of inferior quality they had
the right not only to seize and confiscate them, but to inflict on their
owner some penalty commensurate with
the offence; and if any dispute arose between a painter and his
patron, the matter was brought before the Dean and Juries of the
guild, and the city magistrates were bound to enforce their decision.
The art associations of the Low Countries were most powerful
during the latter half of the fourteen hundreds, precisely the period
when Flemish art attained the zenith of its magnificence. They were
united to one another by ties of the closest friendship: members of
one guild never had any difficulty in obtaining admission to another,
and some painters seem to have belonged to several guilds at the
same time. From the middle of the fourteen hundreds onwards,
delegates from all the painters' guilds in the Netherlands were wont
to meet together every three years in some town or other, where they
spent several days discussing topics of common interest, comparing
notes, and communicating to one another any new professional
discoveries that had been made: hence the remarkable uniformity in
the technique of all the Flemish pictures of the period which have
come down to us. Such were the institutions which produced some
of the greatest painters whom the world has ever seen. They never
considered themselves, and were never considered, superior to other
craftsmen, but in those days, be it borne in mind, every craftsman
was an artist.
Roger van der Weyden was born at Tournai in the year 1400; he
was apprenticed to the Tournai painter, Robert Campin, on the 5th of
March 1426, and admitted a free master of the Guild of Saint Luke in
that city on the 1st of August 1432.
We know very little of Roger's life between 1436 and 1450, but it
is certain that during this time he worked not only for the town of
Brussels, but also for various convents and corporations, and for
private individuals as well. In 1443 he was commissioned by Willem
Edelheere and his wife, Adelaïde Cappuyns, to decorate their
oratory in the Church of Saint Peter at Louvain; and the triptych—a
'Descent from the Cross,' with portraits of Edelheere and his wife
and their patron saints—which still adorns this chapel, is said to be
Roger's work. Indeed, according to M. van Even, the archivist of
Louvain, we have here the only painting in Belgium which is
certainly Roger's work. Its authenticity, however, is disputed, and it
has been much spoiled by restoration.
Roger van der Weyden died at Brussels on the 18th of June 1464.
He left several children. One of them, Peter, followed his father's
calling; another, Corneille, after having made his studies at the
University of Louvain, became a monk in the Carthusian Priory
which the burghers of Brussels had recently founded at Scheut, by
Anderlecht.
Dierick Boudts
Dierick Boudts was born a few years later than Van der Weyden;
the exact date of his birth is unknown, but it cannot have been much
before 1420. He was a native of Haarlem, where at this time there
was a flourishing school of painters noted for their beautiful
landscape backgrounds, and for the care with which they executed
their drapery. His father, who was also named Dierick, was one of
them, and it was doubtless in his workshop that young Dierick
Boudts received his artistic education.
These two pictures and the pictures above men tioned of Saint
Peter's, of Munich, of Berlin, are, of all the works attributed to
Dierick Boudts, the only ones whose authenticity is incontestable.
Some of the rest are most probably genuine, more, perhaps, than in
the case of pictures attributed to Van der Weyden, for Boudts had a
peculiar style of his own, which is more distinctive than Roger's.
Hugo van der Goes was probably a native of Ghent, and if, as
Van Mander says, he was a pupil of John van Eyck, who died in 1441,
he must have been born somewhere about the year 1420. Be this as it
may, his work bears witness that he was more deeply impressed by
the great Bruges master than any other of the Flemish primitives. He
was certainly at Ghent in 1465, and henceforth this town was his
home until 1476, when, following the example of his brother, the
only one of his kinsmen of whom we have any knowledge, he
became a monk of Rouge-Cloître, near Brussels.
Why this sudden flight from the world? Grief, suggests
Alphonse Wauters,40 at the loss of a wife. It is a mere conjecture; we
do not even know for certain that Hugo was ever married. Van
Mander tells how, when he was still a vry gheselle—that is, a bachelor
—hence, notes Wauters, it follows that he presently ceased to be such
—he painted on a wall, over a chimney-piece in her father's house at
Ghent, the portrait of the woman he loved, in the guise of Abigail
coming forth to meet David.
'In the year of Our Lord 1482 died Brother Hugo, a lay brother
professed in this monastery. He was so famous a painter that on this
side the mountains, in those days, his like was not to be found. He,
and I who write these things, were novices together. At the time of
his clothing and during his novitiate, Father Thomas, our prior,
allowed him many mundane consolations of a nature to incline him
rather to the pomps of this world than to the way of humility and
penance; and this was by no means pleasing to some, who said that
novices should not be exalted, but, on the contrary, put down. And
because he was so excellent a painter, great folk were wont to visit
him, and even the most illustrious Archduke Maximilian himself; for
they ardently desired to behold his pictures, and Father Thomas
allowed him to receive them in the Guest Chamber, and to feast with
them there. Some five or six years after his profession it so happened
that Brother Hugo made a journey to Cologne along with his
brother, Brother Nicholas, an oblate here, and Brother Peter, canon-
regular of Trone, then residing in the Jéricho41 at Brussels, and
several others. One night, on the way home, as I learned at the time
from Brother Nicholas, our Brother Hugo was seized by a strange
mental derangement, which caused him to cry out continually that
he was damned and condemned to eternal perdition; and he would
fain have laid violent hands on himself, and would certainly have
done so had he not been, but with difficulty, restrained by the aid of
some who were standing by. And thus the last stage of that journey
was not a cheerful one. 'Albeit, having obtained assistance, they
presently reached Brussels, and forthwith summoned Father
Thomas, who, when he had seen Brother Hugo and had heard all
that had taken place, suspected that his malady was similar to that
which vexed King Saul, and, calling to mind how that monarch had
been soothed by David's harping, he caused not a little music to be
played in the presence of our brother, and strove also to divert him
by various spectacular performances; but in vain: he kept on crying
out that he was a son of perdition, and in this sorry plight they
brought him to Rouge Cloître. The kindness and attention with
which the choir brethren watched over him by night and by day,
anticipating all his wants and always striving to console him, these
things God will never forget. But false reports were spread abroad,
and by great folk too, that such was not the case.
'As to the nature of the malady with which Brother Hugo was
afflicted, opinion was divided. Some said he was mad, others that he
was possessed (he had symptoms of each of these troubles), but
throughout his illness he never attempted to injure anyone but
himself; and this is not the wont of lunatics nor of men possessed by
devils, and therefore what it was, I believe, God only knows.
How long a time Hugo lived after he had recovered his reason
his biographer does not say, nor does he tell us any of the details of
his death or of his burial. After again enlarging on his skill in
painting, and after some further notes on the origin of madness and
a long theological disquisition, he simply says, 'Sepultus est in nostro
atrio, sub divo.' He was buried in our cloister, in the open air.
Of all the works of Hugo van der Goes there is only one whose
authenticity has as yet been established—
Quentin Metsys
Quentin Metsys, the son of old Josse Metsys, the metal worker of
Louvain, was born in that city in 1466. Like his elder brother, Josse
II., whose acquaintance we have already made, he was a man of
many parts. By trade, of course, he was a painter, but he by no means
confined himself to this craft; he made designs for wrought iron, and
carried them out too—witness the exquisite well cover by the great
porch of Antwerp Cathedral. He was also an accomplished musician,
busied himself with wood engraving, and dabbled, it is said, with
some success in Flemish letters.
Orley was now married and living with his wife, Agnes
Zeghers, in a house on the Senne, hard by the old Church of Saint
Géry; and Zelle, who was town physician and chief medical
attendant to the Hospital of Saint John—an institution which was
founded in the twelve hundreds, and which still exists—was his
friend and near neighbour. Here there is an unsigned picture, dated
August 11, 1520—subject, the 'Death of Our Lady'—which, tradition
says, is Van Orley's work. The same year that he painted the portrait
of Georges Zelle, Orley was commissioned by the Aumoniers of
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