Fourier Series (Lecture 13)

Todays Objectives:
Students will be able to:
a) Determine the Fourier
Coefficients for a periodic
signal
b) Find the steady-state
response for a system forced
with general periodic forcing

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Rarely is forcing actually harmonic

Fouriers Theorem: Any

periodic function can be
expressed by a constant term
plus an infinite series of sins
and cosines with increasing
frequency

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Lets look at Fourier Series

Given a periodic function f(t) with a period T and f(t) piecewise continuous then
f(t) can be expressed as

f (t ) = a 0 + a1 cos( 0 t ) + a 2 cos(2 0 t ) + L + b1 sin( 0 t ) + b2 sin( 2 0 t ) + L

n =1

n =1

= a 0 + a n cos(n 0 t ) + bn sin(n 0 t )
where

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Fourier Coefficients

n =1

n =1

f ( t ) = a0 + an cos( n0t ) + bn sin( n0t )

Where

1
a 0 = f (t )dt
T0
T

2
an =
T

f (t ) cos(n

2
bn =
T

t )dt

f (t ) sin(n

t )dt

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Summary of Fourier Series

Summary

Complex Form

1
a 0 = f (t )dt
T0

f (t) =

Xe

n =

2
a n = f (t ) cos(n 0 t )dt
T0

where

2
bn = f (t ) sin(n 0 t )dt
T0

i0 tdt

T /2

or

T /2

n =1

and

3T

or

= c0 + c n cos(n0 t + n )

1
X n = f (t)e i0 t dt
T0

Note: These integrals can

be over any period
T

etc.

2T

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c0 = X 0
cn = 2 X n
n = X n

You will often see magnitude and phase plots

of the spectra
Square wave 10 terms of Fourier Series

Spectra

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Websites and tools are available

http://www.jhu.edu/~signals/fourier2/index.html

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Odd and Even Functions

Odd: f(x) is odd if f(-x) = -f(x)
Examples: sin(x), sin(nt)

Even: f(x) is even if f(-x) = f(x)

Examples: cos(x), cos(nt)

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Fourier Series of Even and Odd functions

Why do we care?
Fourier series of even functions
Even functions cannot be expressed in terms of odd functions.
Therefore:

Fourier series of odd functions

Odd functions have an average value of zero and cannot be
expressed in terms of even functions.
Therefore:

Helps us interpret Maple results

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Example
3 0<t <5

Find the Fourier Series of: f ( t ) =

5 < t < 10

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Periodic

System response to multiple inputs

f1(t) = 2sin(5t)
f2(t) = 1cos(15t)
f3(t) = 4cos(25t)

System with
transfer function
H(s)

Assuming the transfer function is: H (s ) =

xss(t)

1/ k
s 2 2
+
s +1
2

We know the steady state response is:

x xx (t ) = H ( j )(Input Amplitude) sin(t + H ( j ))

So, all we need to do is apply superposition!

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System response to multiple inputs (cont.)

x xx (t ) = H ( j )(Input Amplitude) sin(t + H ( j ))
0

3
2.5

Phase of H (degrees)

Magnification factor = xss/(F0/k)

If we plot the magnitude and phase of this after letting s = j we get:

2
1.5
1
0.5
0
0

10

15

20

25

30

10

15

20

25

30

35

40

0
-20
-40
-60
-80
-100
-120
-140
-160
-180

35

Frequency (rad/s)

Frequency (rad/s)

(rad/s)

Input amp.

MF

Phase

f1(t) = 2sin(5t)

1.11

-8.5

f2(t) = 1cos(15t)

15

2.5

-90

f3(t) = 4cos(25t)

25

0.53

-159

Term

So xss(t) = 2(1.11)sin(5t-8.5)+1(2.5)cos(15t-90)+4(0.53)cos(25t-159_
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General Periodic Forcing Steady State Response

If a known periodic function f(t) is applied to a
linear system represented by the transfer function
H(s) we use the principle of superposition.
where

f(t)

n =1

n =1

TF(s)

yss(t)

f ( t ) = a0 + an cos( n0t ) + bn sin( n0t )

and

y ss ( t ) = a0 H ( j 0 ) + an TF ( jn0 ) cos( n0t + H ( jn0 )) + bn H ( jn0 ) sin( n0t + H ( jn0 ))

n =1

n =1

f ( t ) = a known periodic function

T = Period of f ( t )
2
= fundamental frequency
T
n0 = n th harmonic

0 =

an ,bn = Fourier coefficients

a 0 = DC bias or zero frequency gain
TF ( jn0 ) = transfer function magnitude evaluated at the n th harmonic
TF ( jn0 ) = transfer function phase evaluated at the n th harmonic
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How many terms do you need to keep?

TF ( j )
0 as increases (usually)
a n , bb
0 as n increases (always)

Magnification factor = xss/(F0/k)

Often we only have to keep a few because those terms whose frequencies lie outside the
bandwidth can be neglected as a result of the filtering property of the system (look at the
frequency response plots).
3
2.5
2
1.5
1
0.5
0
0

10

15

20

Frequency (rad/s)

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25

30

35

Maple Example
A vibrating system is found to be governed by the differential equation:

&x& + 2 x& + 100 x = f (t )

where:

t2 0 < t < 1
f (t ) =
0 1 < t < 2

Periodic

Determine the steady state response of the system.

See Maple worksheet

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What you need to modify in Maple

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Homework
Start the paper
Input the Maple worksheet
Bring working Maple worksheet to class on Monday

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