Contents PREFACE v 1 INTRODUCTION 1 1.1 Overview of Digital Signal Processing 2 1.2 A Brief Introduction to MATLAB 5 1.3 Applications of Digital Signal Processing 17 1.4 Brief Overview of the Book 20 2 DISCRETE-TIME SIGNALS AND SYSTEMS 22 2.1 Discrete-time Signals 22 2.2 Discrete Systems 36 2.3 Convolution 40 2.4 Difference Equations 47 2.5 Problems 53 3 THE DISCRETE-TIME FOURIER ANALYSIS 59 3.1 The Discrete-time Fourier Transform (DTFT) 59 3.2 The Properties of the DTFT 67 3.3 The Frequency Domain Representation of LTI Systems 74 3.4 Sampling and Reconstruction of Analog Signals 80 3.5 Problems 97 4 THE z-TRANSFORM 103 4.1 The Bilateral z-Transform 103 4.2 Important Properties of the z-Transform 107 4.3 Inversion of the z-Transform 112 4.4 System Representation in the z-Domain 118 4.5 Solutions of the Difference Equations 128 4.6 Problems 134 5 THE DISCRETE FOURIER TRANSFORM 141 5.1 The Discrete Fourier Series 142 5.2 Sampling and Reconstruction in the z-Domain 149 5.3 The Discrete Fourier Transform 154 5.4 Properties of the Discrete Fourier Transform 165 5.5 Linear Convolution Using the DFT 180 5.6 The Fast Fourier Transform 187 5.7 Problems 200 6 IMPLEMENTATION OF DISCRETE-TIME FILTERS 212 6.1 Basic Elements 213 6.2 IIR Filter Structures 214 6.3 FIR Filter Structures 228 6.4 Lattice Filter Structures 239 6.5 Overview of Finite-Precision Numerical Effects 250 6.6 Representation of Numbers 251 6.7 The Process of Quantization and Error Characterizations 266 6.8 Quantization of Filter Coefficients 273 6.9 Problems 288 7 FIR FILTER DESIGN 303 7.1 Preliminaries 304 7.2 Properties of Linear-phase FIR Filters 307 7.3 Window Design Techniques 322 7.4 Frequency Sampling Design Techniques 344 7.5 Optimal Equiripple Design Technique 358 7.6 Problems 375 8 IIR FILTER DESIGN 386 8.1 Some Preliminaries 387 8.2 Some Special Filter Types 390 8.3 Characteristics of Prototype Analog Filters 400 8.4 Analog-to-Digital Filter Transformations 423 8.5 Lowpass Filter Design Using MATLAB 443 8.6 Frequency-band Transformations 448 8.7 Problems 461 9 SAMPLING RATE CONVERSION 474 9.1 Introduction 475 9.2 Decimation by a Factor D 477 9.3 Interpolation by a Factor I 486 9.4 Sampling Rate Conversion by a Rational Factor I/D 493 9.5 FIR Filter Designs for Sampling Rate Conversion 498 9.6 FIR Filter Structures for Sampling Rate Conversion 520 9.7 Problems 530 10 ROUND-OFF EFFECTS IN DIGITAL FILTERS 538 10.1 Analysis of A/D Quantization Noise 538 10.2 Round-off Effects in IIR Digital Filters 550 10.3 Round-off Effects in FIR Digital Filters 578 10.4 Problems 590 BIBLIOGRAPHY 594