The electrical engineering handbook = Circuits, signals, and speech and image processing

The Electrical Engineering Handbook

Third Edition

Circuits, Signals, and

Speech and Image

Processing

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The Electrical Engineering Handbook Series

Series Editor

Richard C. Dorf

University of California, Davis

Titles Included in the Series

The Handbook of Ad Hoc Wireless Networks, Mohammad Ilyas

The Avionics Handbook, Cary R. Spitzer

The Biomedical Engineering Handbook, Third Edition, Joseph D. Bronzino

The Circuits and Filters Handbook, Second Edition, Wai-Kai Chen

The Communications Handbook, Second Edition, Jerry Gibson

The Computer Engineering Handbook, Vojin G. Oklobdzija

The Control Handbook, William S. Levine

The CRC Handbook of Engineering Tables, Richard C. Dorf

The Digital Signal Processing Handbook, Vijay K. Madisetti and Douglas Williams

The Electrical Engineering Handbook, Third Edition, Richard C. Dorf

The Electric Power Engineering Handbook, Leo L. Grigsby

The Electronics Handbook, Second Edition, Jerry C. Whitaker

The Engineering Handbook, Third Edition, Richard C. Dorf

The Handbook of Formulas and Tables for Signal Processing, Alexander D. Poularikas

The Handbook of Nanoscience, Engineering, and Technology, William A. Goddard, III,

Donald W. Brenner, Sergey E. Lyshevski, and Gerald J. Iafrate

The Handbook of Optical Communication Networks, Mohammad Ilyas and

Hussein T. Mouftah

The Industrial Electronics Handbook, J. David Irwin

The Measurement, Instrumentation, and Sensors Handbook, John G. Webster

The Mechanical Systems Design Handbook, Osita D.I. Nwokah and Yidirim Hurmuzlu

The Mechatronics Handbook, Robert H. Bishop

The Mobile Communications Handbook, Second Edition, Jerry D. Gibson

The Ocean Engineering Handbook, Ferial El-Hawary

The RF and Microwave Handbook, Mike Golio

The Technology Management Handbook, Richard C. Dorf

The Transforms and Applications Handbook, Second Edition, Alexander D. Poularikas

The VLSI Handbook, Wai-Kai Chen

The Electrical Engineering Handbook

Third Edition

Edited by

Richard C. Dorf

Circuits, Signals, and Speech and Image Processing

Electronics, Power Electronics, Optoelectronics,

Microwaves, Electromagnetics, and Radar

Sensors, Nanoscience, Biomedical Engineering,

and Instruments

Broadcasting and Optical Communication Technology

Computers, Software Engineering, and Digital Devices

Systems, Controls, Embedded Systems, Energy,

and Machines

The Electrical Engineering Handbook

Third Edition

Circuits, Signals, and

Speech and Image

Processing

Edited by

Richard C. Dorf

University of California

Davis, California, U.S.A.

A CRC title, part of the Taylor & Francis imprint, a member of the

Taylor & Francis Group, the academic division of T&F Informa plc.

Boca Raton London New York

Published in 2006 by

CRC Press

Taylor & Francis Group

6000 Broken Sound Parkway NW, Suite 300

Boca Raton, FL 33487-2742

© 2006 by Taylor & Francis Group, LLC

CRC Press is an imprint of Taylor & Francis Group

No claim to original U.S. Government works

Printed in the United States of America on acid-free paper

10 9 8 7 6 5 4 3 2 1

International Standard Book Number-10: 0-8493-7337-9 (Hardcover)

International Standard Book Number-13: 978-0-8493-7337-4 (Hardcover)

Library of Congress Card Number 2005054346

This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with

permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish

reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials

or for the consequences of their use.

No part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or

other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information

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Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for

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Library of Congress Cataloging-in-Publication Data

Circuits, signals, and speech and image processing / edited by Richard C. Dorf.

p. cm.

Includes bibliographical references and index.

ISBN 0-8493-7337-9 (alk. paper)

1. Signal processing. 2. Electric circuits. I. Dorf, Richard C. II. Title.

TK5102.9.C495 2005

621.3--dc22 2005054346

Visit the Taylor & Francis Web site at

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and the CRC Press Web site at

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Taylor & Francis Group

is the Academic Division of Informa plc.

7337_Discl.fm Page 1 Thursday, November 17, 2005 3:26 PM

Preface

Purpose

The purpose of The Electrical Engineering Handbook, 3rd Edition is to provide a ready reference for the

practicing engineer in industry, government, and academia, as well as aid students of engineering. The third

edition has a new look and comprises six volumes including:

Circuits, Signals, and Speech and Image Processing

Electronics, Power Electronics, Optoelectronics, Microwaves, Electromagnetics, and Radar

Sensors, Nanoscience, Biomedical Engineering, and Instruments

Broadcasting and Optical Communication Technology

Computers, Software Engineering, and Digital Devices

Systems, Controls, Embedded Systems, Energy, and Machines

Each volume is edited by Richard C. Dorf, and is a comprehensive format that encompasses the many

aspects of electrical engineering with articles from internationally recognized contributors. The goal is to

provide the most up-to-date information in the classical fields of circuits, signal processing, electronics,

electromagnetic fields, energy devices, systems, and electrical effects and devices, while covering the emerging

fields of communications, nanotechnology, biometrics, digital devices, computer engineering, systems, and

biomedical engineering. In addition, a complete compendium of information regarding physical, chemical,

and materials data, as well as widely inclusive information on mathematics is included in each volume. Many

articles from this volume and the other five volumes have been completely revised or updated to fit the needs

of today and many new chapters have been added.

The purpose of this volume (Circuits, Signals, and Speech and Image Processing) is to provide a ready

reference to subjects in the fields of electric circuits and components, analysis of circuits, and the use of the

Laplace transform. We also discuss the processing of signals, speech, and images using filters and algorithms.

Here we provide the basic information for understanding these fields. We also provide information about the

emerging fields of text-to-speech synthesis, real-time processing, embedded signal processing, and biometrics.

Organization

The information is organized into three sections. The first two sections encompass 27 chapters and the last

section summarizes the applicable mathematics, symbols, and physical constants.

Most articles include three important and useful categories: defining terms, references, and further

information. Defining terms are key definitions and the first occurrence of each term defined is indicated in

boldface in the text. The definitions of these terms are summarized as a list at the end of each chapter or

article. The references provide a list of useful books and articles for follow-up reading. Finally, further

information provides some general and useful sources of additional information on the topic.

Locating Your Topic

Numerous avenues of access to information are provided. A complete table of contents is presented at the

front of the book. In addition, an individual table of contents precedes each section. Finally, each chapter

begins with its own table of contents. The reader should look over these tables of contents to become familiar

with the structure, organization, and content of the book. For example, see Section II: Signal Processing, then

Chapter 18: Multidimensional Signal Processing, and then Chapter 18.2: Video Signal Processing. This tree￾and-branch table of contents enables the reader to move up the tree to locate information on the topic of

interest.

Two indexes have been compiled to provide multiple means of accessing information: subject index and

index of contributing authors. The subject index can also be used to locate key definitions. The page on which

the definition appears for each key (defining) term is clearly identified in the subject index.

The Electrical Engineering Handbook, 3rd Edition is designed to provide answers to most inquiries and direct

the inquirer to further sources and references. We hope that this handbook will be referred to often and that

informational requirements will be satisfied effectively.

Acknowledgments

This handbook is testimony to the dedication of the Board of Advisors, the publishers, and my editorial

associates. I particularly wish to acknowledge at Taylor & Francis Nora Konopka, Publisher; Helena Redshaw,

Editorial Project Development Manager; and Susan Fox, Project Editor. Finally, I am indebted to the

support of Elizabeth Spangenberger, Editorial Assistant.

Richard C. Dorf

Editor-in-Chief

Editor-in-Chief

Richard C. Dorf, Professor of Electrical and Computer Engineering at the University of California, Davis,

teaches graduate and undergraduate courses in electrical engineering in the fields of circuits and control

systems. He earned a Ph.D. in electrical engineering from the U.S. Naval Postgraduate School, an M.S. from

the University of Colorado, and a B.S. from Clarkson University. Highly concerned with the discipline of

electrical engineering and its wide value to social and economic needs, he has written and lectured

internationally on the contributions and advances in electrical engineering.

Professor Dorf has extensive experience with education and industry and is professionally active in the fields

of robotics, automation, electric circuits, and communications. He has served as a visiting professor at the

University of Edinburgh, Scotland; the Massachusetts Institute of Technology; Stanford University; and the

University of California, Berkeley.

Professor Dorf is a Fellow of The Institute of Electrical and Electronics Engineers and a Fellow of the

American Society for Engineering Education. Dr. Dorf is widely known to the profession for his Modern

Control Systems, 10th Edition (Addison-Wesley, 2004) and The International Encyclopedia of Robotics (Wiley,

1988). Dr. Dorf is also the co-author of Circuits, Devices and Systems (with Ralph Smith), 5th Edition (Wiley,

1992), and Electric Circuits, 7th Edition (Wiley, 2006). He is also the author of Technology Ventures (McGraw￾Hill, 2005) and The Engineering Handbook, 2nd Edition (CRC Press, 2005).

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Advisory Board

Frank Barnes

University of Colorado

Boulder, Colorado

Joseph Bronzino

Trinity College

Hartford, Connecticut

Wai-Kai Chen

University of Illinois

Chicago, Illinois

Delores Etter

United States Naval Academy

Annapolis, Maryland

Lyle Feisel

State University of New York

Binghamton, New York

William Kersting

New Mexico State University

Las Cruces, New Mexico

Vojin Oklobdzia

University of California, Davis

Davis, California

John V. Oldfield

Syracuse University

Syracuse, New York

Banmali Rawat

University of Nevada

Reno, Nevada

Richard S. Sandige

California Polytechnic State

University

San Luis Obispo, California

Leonard Shaw

Polytechnic University

Brooklyn, New York

John W. Steadman

University of South Alabama

Mobile, Alabama

R. Lal Tummala

Michigan State University

East Lansing, Michigan

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Contributors

Taan El Ali

Benedict College

Columbia, South Carolina

Nick Angelopoulos

Hoffman Engineering

Scarborough, Canada

A. Terry Bahill

University of Arizona and

BAE Systems

Tucson, Arizona

Norman Balabanian

University of Florida

Gainesville, Florida

Sina Balkir

University of Nebraska

Lincoln, Nebraska

Glen Ballou

Ballou Associates

Guilford, Connecticut

Mahamudunnabi Basunia

University of Dayton

Dayton, Ohio

Stella N. Batalama

State University of New York

Buffalo, New York

Peter Bendix

LSI Logic Corp.

Milpitas, California

Theodore A. Bickart

Michigan State University

East Lansing, Michigan

Bill Bitler

InfiMed

Liverpool, New York

Theodore F. Bogart, Jr.

University of Southern Mississippi

Hattiesburg, Mississippi

Bruce W. Bomar

University of Tennessee Space Institute

Tullahoma, Tennessee

N.K. Bose

Pennsylvania State University

University Park, Pennsylvania

John E. Boyd

Cubic Defense Systems

San Diego, California

Marcia A. Bush

Xerox Palo Alto Research Center

Palo Alto, California

James A. Cadzow

Vanderbilt University

Nashville, Tennessee

Yu Cao

Queen’s University

Kingston, Ontario, Canada

Shu-Park Chan

International Technological University

Santa Clara, California

Rulph Chassaing

Roger Williams University

Bristol, Rhode Island

Rama Chellappa

University of Maryland

College Park, Maryland

Chih-Ming Chen

National Taiwan University

of Science and Technology

Taipei, Taiwan

Wai-Kai Chen

University of Illinois

Chicago, Illinois

Michael D. Ciletti

University of Colorado

Colorado Springs, Colorado

J.R. Cogdell

University of Texas

Austin, Texas

Israel Cohen

Israel Institute of Technology

Haifa, Israel

Reza Derakhshani

University of Missouri

Kansas City, Missouri

Hui Dong

University of California

Santa Barbara, California

Richard C. Dorf

University of California

Davis, California

Yingzi Du

Indiana University/Purdue University

Indianapolis, Indiana

Gary W. Elko

Agere Systems

Murray Hill, New Jersey

Yariv Ephraim

George Mason University

Fairfax, Virginia

Delores M. Etter

United States Naval Academy

Annapolis, Maryland

Jesse W. Fussell

U.S. Department of Defense

Fort Meade, Maryland

Jerry D. Gibson

University of California

Santa Barbara, California

Lawrence Hornak

West Virginia University

Morgantown, West Virginia

Jerry L. Hudgins

University of Nebraska

Lincoln, Nebraska

Mohamed Ibnkahla

Queen’s University

Kingston, Ontario, Canada

J. David Irwin

Auburn University

Auburn, Alabama

Robert W. Ives

United States Naval Academy

Annapolis, Maryland

W. Kenneth Jenkins

The Pennsylvania State University

University Park, Pennsylvania

David E. Johnson

Birmingham-Southern College

Birmingham, Alabama

Dimitri Kazakos

University of Idaho

Moscow, Idaho

William J. Kerwin

The University of Arizona

Tucson, Arizona

Yong Deak Kim

Ajou University

Suwon, South Korea

Allan D. Kraus

Naval Postgraduate School

Pacific Grove, California

Dean J. Krusienski

Wadsworth Center

Albany, New York

Pradeep Lall

Auburn University

Auburn, Alabama

Kartikeya Mayaram

Oregon State University

Corvallis, Oregon

Michael G. Morrow

University of Wisconsin-Madison

Madison, Wisconsin

Paul Neudorfer

Seattle University

Seattle, Washington

Norman S. Nise

California State Polytechnic University

Orange, California

Keshab K. Parhi

University of Minnesota

Minneapolis, Minnesota

Sujan T.V. Parthasaradhi

Bioscrypt, Inc.

Markham, Ontario, Canada

Clayton R. Paul

Mercer University

Macon, Georgia

Michael Pecht

University of Maryland

College Park, Maryland

S. Unnikrishna Pillai

Polytechnic University

Brooklyn, New York

Alexander D. Poularikas

University of Alabama

Huntsville, Alabama

Jose C. Principe

University of Florida

Gainesville, Florida

Sarah A. Rajala

North Carolina State University

Raleigh, North Carolina

J. Gregory Rollins

Technology Modeling Associates Inc.

Sunnyvale, California

Amit K. Roy-Chowdhury

University of California

Riverside, California

C. Sankaran

Electro-Test

Seattle, Washington

Juergen Schroeter

AT&T Labs

Florham Park, New Jersey

Stephanie A.C. Schuckers

Clarkson University

Potsdam, New York

Yun Q. Shi

New Jersey Institute of Technology

Newark, New Jersey

Theodore I. Shim

Polytechnic University

Brooklyn, New York

L.H. Sibul

Pennsylvania State University

University Park, Pennsylvania

L. Montgomery Smith

University of Tennessee Space Institute

Tullahoma, Tennessee

M. Mohan Sondhi

AT&T Labs

Florham Park, New Jersey

Wei Su

U.S. Army RDECOM CERDEC

Fort Monmouth, New Jersey

Ahmad Iyanda Sulyman

Queen’s University

Kingston, Ontario, Canada

David D. Sworder

University of California

San Diego, California

Ferenc Szidarovszky

University of Arizona

Tucson, Arizona

Ronald J. Tallarida

Temple University

Philadelphia, Pennsylvania