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The discussion of properties of systems will be a bit tentative at this point, in part because
the notion of a system is so general that it is difficult to include all the details, and in part
because the mathematical description of a system might presume certain properties of
allowable input signals. For example, the input signal to a running-integrator system must
be sufficiently well behaved that the integral is defined. We can be considerably more
precise when we consider specific classes of systems that admit particular types of
mathematical descriptions. In the interim the intent is mainly to establish some intuition
concerning properties of systems in general.
• Causal System A system is causal if the output signal value at any time t depends
only on input signal values for times no larger than t. Examples of causal systems are
t
y (t ) = 3 x(t − 2), y (t ) = ∫ x(τ ) dτ , y (t ) = x3 (t )
−∞
Examples of systems that are not causal are
t +1
y (t ) = x(2), y (t ) = 3 x(t + 2), y (t ) = ∫ x(τ ) dτ
−∞
• Time-Invariant System A system is time invariant if for every input signal x(t)
and corresponding output signal y(t) the following property holds. Given any constant,
to , the input signal x (t ) = x (t − to ) yields the output signal y (t ) = y (t − to ) . This is
sometimes called “shift invariance,” since any time shift of an input signal results in the
exact same shift of the output signal. Examples of time-invariant systems are
t
y (t ) = sin( x(t )), y (t ) = ∫ x(τ ) dτ , y (t ) = 3 x(t − 2)
−∞
Examples of systems that are not time invariant are
t
y (t ) = sin(t ) x(t ), y (t ) = ∫ τ x(τ ) dτ
−∞
To check if a system is time invariant requires application of the defining condition. For
example, for
t
y (t ) = ∫ τ x(τ ) dτ
−∞
we consider the input signal x (t ) = x(t − to ) , where to is any constant. The corresponding
response computation begins with
t t
y (t ) = ∫ τ x (τ ) dτ = ∫ τ x(τ − to ) dτ
−∞ −∞
To compare this to y (t − to ) , it is convenient to change the variable of integration to
σ = τ − to . This gives
t − to
y (t ) = ∫ (σ + to ) x(σ ) dσ
−∞
which is not the same as
t − to
y (t − to ) = ∫ τ x(τ ) dτ
−∞
Therefore the system is not time invariant.
Determining invertibility of a given system can be quite difficult. Perhaps the easiest
situation is showing that a system is not invertible by exhibiting two legitimately
different input signals that yield the same output signal. For example, y (t ) = x 2 (t ) is not
invertible because constant input signals of x(t ) = 1 and x(t ) = −1 , for all t, yield
identical output signals. As another example, the system
d
y (t ) = x(t )
dt
is not invertible since x (t ) = 1 + x(t ) yields the same output signal as x(t). As a final
example, in a benign setting the running-integrator system
t
y (t ) = ∫ x(τ ) dτ
−∞
is invertible by the fundamental theorem of calculus:
d t
∫ x(τ ) dτ = x(t )
dt −∞
But the fact remains that technicalities are required for this conclusion. If two input
signals differ only at isolated points in time, the output signals will be identical, and thus
the system is not invertible if we consider such input signals to be legitimately different.
All of these properties translate easily to discrete-time systems. Little more is required
than to replace parentheses by square brackets and t by n. But regardless of the time
domain, it is important to note that these are input-output properties of systems. In
particular, nothing is being stated about the internal workings of the system, everything is
stated in terms of input signals and corresponding output signals.
Finally it is worthwhile to think of how you would ascertain whether a given physical
system, for which you do not have a mathematical description, has each of the properties
we consider. That is, what input signals would you apply, what measurements of the
response would you take, and what use you would make of these measurements. The
demonstration linked below contains a selection of unknown systems and provides a test
bed for input-output experiments to check for system properties.
System Properties