The time response of LTI systems

1
 Time response
• Consider a Single-Input-single-Output (SISO) LTI system
𝑓
as 𝑥 𝑡 𝑦 𝑡 or 𝑦 𝑡 = 𝑓 𝑥 𝑡
𝑥 𝑡 𝑓 𝑡 𝑦 𝑡

• The impulse response of the system is defined as the

output that results from an input of a unit impulse
function 𝛿 𝑡 and is ℎ 𝑡 = 𝑓 𝛿 𝑡 or this could be
𝑓
shown as 𝛿 𝑡 ℎ 𝑡
• Since the system is LTI we have:
𝑓
𝑘𝛿 𝑡 𝑘ℎ 𝑡
𝑓
𝛿 𝑡 − 𝑡0 ℎ 𝑡 − 𝑡0
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 Properties of unit impulse function
• The multiplication of unit impulse function to any
function I as below 𝛿 𝑡 𝛿 𝑡−𝑡 0
1 1

• We can say
𝑡
𝛿 𝑡 ×𝑔 𝑡 =𝑔 0 0 0 𝑡0 𝑡
× ×
𝛿 𝑡 − 𝑡0 × 𝑔 𝑡 = 𝑔 𝑡0 𝑔 𝑡 𝑔 𝑡

0 𝑡 0 𝑡

𝑔 0
𝑔 𝑡0

0 𝑡 0 𝑡0 𝑡
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 Properties of unit impulse function
𝑓
• In this way we for the system 𝑥 𝑡 𝑦 𝑡 and hence
𝑓
𝛿 𝑡 ℎ 𝑡 based on linearity we have
𝑓
𝛿 𝑡−𝜏 ℎ 𝑡−𝜏
• By multiplying the two sides by 𝑥 𝜏 we have
𝑓
𝑥 𝜏 𝛿 𝑡−𝜏 𝑥 𝜏 ℎ 𝑡−𝜏
• By integrating the two sides on the whole time interval
as −∞ < 𝜏 < ∞ we have
∞ 𝑓 ∞
𝑥 𝜏 𝛿 𝑡 − 𝜏 𝑑𝜏 𝑥 𝜏 ℎ 𝑡 − 𝜏 𝑑𝜏
−∞ −∞
• The left side of this equation is equal to 𝑥 𝑡
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 Convolution
𝑓
• Knowing that 𝑥 𝑡 𝑦 𝑡 and the last equation of the
previous slide we can write
∞
𝑦 𝑡 = 𝑥 𝜏 ℎ 𝑡 − 𝜏 𝑑𝜏
−∞
• And this equation is shown as
𝑦 𝑡 =𝑥 𝑡 ∗ℎ 𝑡

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 Convolution
• Example: For an integrator system find the output for a unit
ramp input.
• Solution:
𝑡
𝑦 𝑡 = 𝑥 𝜏 𝑑𝜏
−∞
𝑥 𝑡 = 𝑡𝑢 𝑡
𝑡
0 𝑡<0
ℎ 𝑡 = 𝛿 𝜏 𝑑𝜏 = 𝑢 𝑡 =
−∞ 1 𝑡>0
∞
𝑦 𝑡 = 𝑥 𝑡 ∗ ℎ 𝑡 = 𝑡𝑢 𝑡 ∗ 𝑢 𝑡 = 𝜏𝑢 𝜏 𝑢 𝑡 − 𝜏 𝑑𝜏
−∞
∞ 𝑡
𝜏 𝑡 𝑡2
2
= 𝜏𝑢 𝑡 − 𝜏 𝑑𝜏 = 𝜏𝑑𝜏 = = 𝑢 𝑡
0 0 2 0 2
 Convolution
• Sometimes the system functions or the input signal are
more complicated and could not be defined with just
one equation.
• To deal with such signals or systems we need to break
them down to some time ranges (for example
− ∞ < 𝑡 < 𝑡1 and 𝑡1 ≤ 𝑡 < 𝑡2 and 𝑡2 ≤ 𝑡 < ∞ ) which
exhibit simple known functions and then solve the
problem for these known parts using the convolution
integration.
• At the end the results of each time range could be put
together to form the total response for −∞ < 𝑡 < ∞
• To deal with these systems, we need to do the
convolution garaphically.
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 Convolution
• Example: For a
system with the
impulse response as
ℎ 𝑡 and the input
as 𝑥 𝑡 find the
output.

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 Convolution solution
• Re-draw the 𝑥 𝜏 and h 𝜏 by changing the name of
time axis from 𝑡 to 𝜏
• Transform the ℎ 𝜏 as ℎ 𝑡 − 𝜏

𝑡−4 𝑡−2

• Find the proper ranges for ℎ 𝑡 − 𝜏 based on the values

of 𝑡 and move ℎ 𝑡 − 𝜏 across 𝑥 𝜏 and calculate the
convolution integral.

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 Convolution solution
• For 𝑡 − 2 < 0 which means 𝑡 < 2 we have

𝑡−4 𝑡−2 0 1

∞ ∞
𝑦 𝑡 = 𝑥 𝜏 ℎ 𝑡 − 𝜏 𝑑𝜏 = 0𝑑𝜏 = 0
−∞ −∞
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 Convolution solution
• For 0 ≤ 𝑡 − 2 < 1 which means 2 ≤ 𝑡 < 3 we have

𝑡−4 0 𝑡−2 1

∞ 𝑡−2
𝑡−2
𝑦 𝑡 = 𝑥 𝜏 ℎ 𝑡 − 𝜏 𝑑𝜏 = 2𝑑𝜏 = 2𝜏 = 2𝑡 − 4
−∞ 0 0
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 Convolution solution
• For 𝑡 − 2 ≥ 1 and 𝑡 − 4 < 0 which means 3 ≤ 𝑡 < 4 we
have

𝑡−4 0 1 𝑡−2

∞ 1
1
𝑦 𝑡 = 𝑥 𝜏 ℎ 𝑡 − 𝜏 𝑑𝜏 = 2𝑑𝜏 = 2𝜏 = 2
−∞ 0 0
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 Convolution solution
• For 0 ≤ 𝑡 − 4 < 1 which means 4 ≤ 𝑡 < 5 we have

0 𝑡−4 1 𝑡−2

∞ 1
1
𝑦 𝑡 = 𝑥 𝜏 ℎ 𝑡 − 𝜏 𝑑𝜏 = 2𝑑𝜏 = 2𝜏 = 10 − 2𝑡
−∞ 𝑡−4 𝑡−4
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 Convolution solution
• For 𝑡 − 4 ≥ 1 which means 𝑡 ≥ 5 we have

0 1 𝑡−4 𝑡−2

∞ ∞
𝑦 𝑡 = 𝑥 𝜏 ℎ 𝑡 − 𝜏 𝑑𝜏 = 0𝑑𝜏 = 0
−∞ −∞
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 Convolution solution
• The final answer could be written as
0 𝑡<2
2𝑡 − 4 2≤𝑡<3
𝑦 𝑡 = 2 3≤𝑡<4
10 − 2𝑡 4≤𝑡<5
0 5≤𝑡

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 Time transformations of a signal
• Take all the time transformations as 𝑦 𝑡 = 𝑥 𝑎𝑡 + 𝑏
• On the plot of the original signal, replace 𝑡 with 𝜏
• Given the time transformation 𝜏 = 𝑎𝑡 + 𝑏, solve for
𝜏 𝑏
𝑡= −
𝑎 𝑎
• Draw the transformed 𝑡-axis directly below the 𝜏-axis
• Plot 𝑦 𝑡 on the 𝑡-axis
 Time transformations of a signal
𝑡
𝑦 𝑡 =𝑥 1−
2
Time transformations of a signal

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