CHAPTER 3:
FREQUENCY-DOMAIN REPRESENTATION
OF SIGNALS
Why frequency-domain approach?
! Let us know other characteristics of signals, which are not
exhibited on time-domain representation
" E.g.: some voiced sounds are hardly distinguishable if only time-
domain features are used
! Let us know other characteristics of systems, which are not
exhibited on time-domain representation
" Response of a LTI system to a sinusoid is a sinusoid with same
frequency but different amplitude and phase
" Details are presented in next chapter
2
Basic ideas
! Any signal can be described as a sum or integral of
sinusoidal signals
! Exact form of the representation depends on whether
" signal is continuous-time or discrete-time
" signal is periodic or aperiodic
# Clear understanding of sinusoidal signals are essential
3
Fourier representation of signals
$ Outline:
1. Sinusoidal signals and their properties
2. Summary of Fourier series and Fourier transforms
4
Continuous-time sinusoids
Definition
A: amplitude
angular frequency (rad/s)
θ: phase (radians)
F0: frequency (Hz)
5
Continuous-time sinusoids
Relation with complex exponentials
" Every sinusoidal signal is a sum of two complex exponentials with
the same frequency
" Negative frequencies for mathematical convenience
6
Continuous-time sinusoids
Properties
" Two sinusoids with different frequencies are different
" Rate of oscillation increases indefinitely w/ increasing frequency
7
Continuous-time sinusoids
Harmonically related complex exponentials
" Fundamental frequency:
" sk(t) is the kth harmonic (“hài bậc k”)
" Example of a periodic signal composed of three sinusoids with
harmonically related frequencies
8
Discrete-time sinusoids
Definition
Often obtained by sampling the continuous- time sinusoid
or
" Normalized frequency:
" Normalized angular frequency:
9
Discrete-time sinusoids
Properties
" x[n] = A cos(2𝜋f0n + θ) is periodic if and only if f0 = k/N (f0 is a
rational number)
! If k and N are a pair of prime numbers, then N is the
fundamental period of x[n]
" Sinusoidal sequences with angular frequencies separated by
integer multiples of 2𝜋 are identical (Periodicity in frequency)
" All distinct sinusoidal sequences have frequencies within an
interval of 2𝜋 radians
# interested frequency ranges:
10
DT sinusoids
Properties
" Low frequencies (slow
oscillations) at ~ ω0 = k2𝜋
" High frequencies (rapid
oscillations) at ~ ω0 = 𝜋 + k2𝜋
11
Discrete-time sinusoids
Harmonically related complex exponentials
" For sk[n] to be periodic with fundamental period N, the frequency ωk
should be a rational multiple of 2𝜋, that is, ωk = 2𝜋k/N
" Fundamental frequency: f0 = 1/N
" There are only N distinct harmonics at frequencies fk = k/N (0≤k≤N-1)
12
Frequency variables and units
13
Fourier representation of signals
$ Outline:
1. Sinusoidal signals and their properties
2. Summary of Fourier series and Fourier transforms
14
Basic ideas revisited
! Any signal can be described as a sum or integral of
sinusoidal signals
! Exact form of the representation depends on whether
" signal is continuous-time (CT) or discrete-time (DT)
" signal is periodic or aperiodic
15
Fourier series for CT periodic signals
! Continuous-Time Fourier Series (CTFS) pair
" Analysis equation: analyzes (“breaks-up”) a periodic signal x(t) into
a set of harmonic components {ckexp(jkΩ0t)}
" Synthesis equation: synthesizes the signal x(t) from its harmonic
components
16
Fourier series for CT periodic signals
! Spectrum of CT periodic signals
" {ck}: Fourier series coefficients (k = 0,±1,±2,...)
" Spectrum: the plot of ck as a function of frequency F = kF0, which
constitutes a description of the signal in the frequency-domain
|ck|: magnitude spectrum of x(t) ∠ck: phase spectrum of x(t)
17
Fourier series for CT periodic signals
! Spectrum of CT periodic signals (cont.)
" {ck}: Fourier series coefficients (k = 0,±1,±2,...)
" Parseval’s relation:
# |ck|2: the portion of the average power of signal x(t) that is
contributed by the kth harmonic component
" Power spectrum: the plot of |ck|2 as a function of frequency F = kF0
# the power is distributed at a set of discrete frequencies
# discrete or line spectra with uniform spacing F0 = 1/T0
(F0: fundamental frequency of x(t))
18
Fourier series for CT periodic signals
! Example: Spectrum of rectangular pulse train
(c0 = Aτ/T0 ) 19
Fourier series for CT periodic signals
! Example: Spectrum of rectangular pulse train (cont.)
=5(s) 20
Fourier Transform for CT aperiodic signals
! Continuous-Time Fourier Transform (CTFT) pair
or
" X(j2𝜋F): spectrum of the aperiodic signal x(t) (called Fourier Transform)
" CTFT is of the same nature as CTFS with fund. frequency F0 = 1/T0 → 0
21
Fourier Transform for CT aperiodic signals
! Transition from the CTFS to CTFT
CTFS of periodic signal x(t) when T0 = 10τ
CTFT of aperiodic signal x(t) when T0 → ∞
22
Fourier Transform for CT aperiodic signals
! Parseval’s relation for aperiodic signals with finite energy
# total energy of x(t) may be obtained either from the signal itself
or from its spectrum
" |X(j2πF)|2∆F, for a small ∆F, provides the energy of the signal in a
narrow frequency band of width ∆F
" Energy-density spectrum: the plot of |X(j2πF)|2
23
Fourier Transform for CT aperiodic signals
! Example 1: Spectrum of causal exponential signal
This signal is absolutely integrable if a > 0.
Magnitude and phase spectra:
24
Fourier Transform for CT aperiodic signals
! Example 1: Spectrum of causal exponential signal (cont.)
x(t) is a real function of t # |X(j2πF)| has even symmetry, ∠X(j2πF) has odd symmetry
25
Fourier Transform for CT aperiodic signals
! Example 2: Spectrum of rectangular pulse signal
This signal is absolutely integrable for any finite τ. Its spectrum is computed as
Magnitude spectrum (A=2, τ =1) Phase spectrum
26
Fourier series for DT periodic signals
! Discrete-Time Fourier Series (DTFS) pair
" Analysis equation: analyzes (“breaks-up”) a periodic signal x[n] into
a set of N harmonic components {ckexp(jkω0n)}, where ω0=2𝜋/N
" Synthesis equation: synthesizes the signal x[n] from its N harmonic
components
" N: fundamental period of periodic sequence x[n]
27
Fourier series for DT periodic signals
! Parseval’s relation
The average power in one period of x[n] can be expressed
" |ck|2: portion of the average power of x[n] that is contributed by its kth
harmonic component
" Power spectrum: The graph of |ck|2 as a function of f = k/N, ω = 2πk/N, or
simply k
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