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00_Hsu_Probability_FM_Schaum's design 31/08/19 4:11 PM Page i

Probability,
Random Variables,
and Random Processes
00_Hsu_Probability_FM_Schaum's design 31/08/19 4:11 PM Page ii
00_Hsu_Probability_FM_Schaum's design 31/08/19 4:11 PM Page iii

Probability,
Random Variables,
and Random Processes
Fourth Edition

Hwei P. Hsu, PhD

Schaum’s Outline Series

New York Chicago San Francisco Athens London Madrid


Mexico City Milan New Delhi Singapore Sydney Toronto
HWEI P. HSU received his BS from National Taiwan University and his MS and PhD from Case Institute of Technology. He
has published several books which include Schaum’s Outline of Analog and Digital Communications and Schaum’s Outline of
Signals and Systems.

Copyright © 2020, 2013, 2009, 1998 by McGraw-Hill Education. All rights reserved. Except as permitted under the United States
Copyright Act of 1976, no part of this publication may be reproduced or distributed in any form or by any means, or stored in a
database or retrieval system, without the prior written permission of the publisher.

ISBN: 978-1-26-045382-9
MHID: 1-26-045382-0

The material in this eBook also appears in the print version of this title: ISBN: 978-1-26-045381-2,
MHID: 1-26-045381-2.

eBook conversion by codeMantra


Version 1.0

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marks of McGraw-Hill Education and/or its affiliates in the United States and other countries and may not be used without written
permission. All other trademarks are the property of their respective owners. McGraw-Hill Education is not associated with any
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is subject to these terms. Except as permitted under the Copyright Act of 1976 and the right to store and retrieve one copy of the
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00_Hsu_Probability_FM_Schaum's design 31/08/19 4:11 PM Page v

Preface to The Second Edition


The purpose of this book, like its previous edition, is to provide an introduction to the principles of probability,
random variables, and random processes and their applications.
The book is designed for students in various disciplines of engineering, science, mathematics, and manage-
ment. The background required to study the book is one year of calculus, elementary differential equations,
matrix analysis, and some signal and system theory, including Fourier transforms. The book can be used as a self-
contained textbook or for self-study. Each topic is introduced in a chapter with numerous solved problems. The
solved problems constitute an integral part of the text.
This new edition includes and expands the contents of the first edition. In addition to refinement through the
text, two new sections on probability-generating functions and martingales have been added and a new chapter
on information theory has been added.
I wish to thank my granddaughter Elysia Ann Krebs for helping me in the preparation of this revision. I also
wish to express my appreciation to the editorial staff of the McGraw-Hill Schaum’s Series for their care, cooper-
ation, and attention devoted to the preparation of the book.

HWEI P. HSU
Shannondell at Valley Forge, Audubon, Pennsylvania

v
00_Hsu_Probability_FM_Schaum's design 31/08/19 4:11 PM Page vi

Preface to The First Edition


The purpose of this book is to provide an introduction to the principles of probability, random variables, and
random processes and their applications.
The book is designed for students in various disciplines of engineering, science, mathematics, and manage-
ment. It may be used as a textbook and /or a supplement to all current comparable texts. It should also be
useful to those interested in the field of self-study. The book combines the advantages of both the textbook and
the so-called review book. It provides the textual explanations of the textbook, and in the direct way character-
istic of the review book, it gives hundreds of completely solved problems that use essential theory and techniques.
Moreover, the solved problems are an integral part of the text. The background required to study the book is one
year of calculus, elementary differential equations, matrix analysis, and some signal and system theory, includ-
ing Fourier transforms.
I wish to thank Dr. Gordon Silverman for his invaluable suggestions and critical review of the manuscript.
I also wish to express my appreciation to the editorial staff of the McGraw-Hill Schaum Series for their care,
cooperation, and attention devoted to the preparation of the book. Finally, I thank my wife, Daisy, for her patience
and encouragement.

HWEI P. HSU
Montville, New Jersey

vi
00_Hsu_Probability_FM_Schaum's design 31/08/19 4:11 PM Page vii

Contents

CHAPTER 1 Probability 1
1.1 Introduction 1
1.2 Sample Space and Events 1
1.3 Algebra of Sets 2
1.4 Probability Space 6
1.5 Equally Likely Events 9
1.6 Conditional Probability 10
1.7 Total Probability 10
1.8 Independent Events 11
Solved Problems 12

CHAPTER 2 Random Variables 50


2.1 Introduction 50
2.2 Random Variables 50
2.3 Distribution Functions 52
2.4 Discrete Random Variables and Probability Mass Functions 53
2.5 Continuous Random Variables and Probability Density Functions 54
2.6 Mean and Variance 54
2.7 Some Special Distributions 55
2.8 Conditional Distributions 64
Solved Problems 65

CHAPTER 3 Multiple Random Variables 101


3.1 Introduction 101
3.2 Bivariate Random Variables 101
3.3 Joint Distribution Functions 102
3.4 Discrete Random Variables—Joint Probability Mass Functions 103
3.5 Continuous Random Variables—Joint Probability Density Functions 104
3.6 Conditional Distributions 105
3.7 Covariance and Correlation Coefficient 106
3.8 Conditional Means and Conditional Variances 107
3.9 N-Variate Random Variables 108
3.10 Special Distributions 110
Solved Problems 112

vii
00_Hsu_Probability_FM_Schaum's design 31/08/19 4:11 PM Page viii

viii Contents

CHAPTER 4 Functions of Random Variables, Expectation, Limit Theorems 149


4.1 Introduction 149
4.2 Functions of One Random Variable 149
4.3 Functions of Two Random Variables 150
4.4 Functions of n Random Variables 151
4.5 Expectation 152
4.6 Probability Generating Functions 154
4.7 Moment Generating Functions 155
4.8 Characteristic Functions 156
4.9 The Laws of Large Numbers and the Central Limit Theorem 158
Solved Problems 159

CHAPTER 5 Random Processes 207


5.1 Introduction 207
5.2 Random Processes 207
5.3 Characterization of Random Processes 208
5.4 Classification of Random Processes 209
5.5 Discrete-Parameter Markov Chains 211
5.6 Poisson Processes 216
5.7 Wiener Processes 218
5.8 Martingales 219
Solved Problems 222

CHAPTER 6 Analysis and Processing of Random Processes 271


6.1 Introduction 271
6.2 Continuity, Differentiation, Integration 271
6.3 Power Spectral Densities 273
6.4 White Noise 275
6.5 Response of Linear Systems to Random Inputs 276
6.6 Fourier Series and Karhunen-Loéve Expansions 279
6.7 Fourier Transform of Random Processes 280
Solved Problems 282

CHAPTER 7 Estimation Theory 312


7.1 Introduction 312
7.2 Parameter Estimation 312
7.3 Properties of Point Estimators 312
7.4 Maximum-Likelihood Estimation 313
7.5 Bayes’ Estimation 314
7.6 Mean Square Estimation 314
7.7 Linear Mean Square Estimation 315
Solved Problems 316

CHAPTER 8 Decision Theory 331


8.1 Introduction 331
8.2 Hypothesis Testing 331
8.3 Decision Tests 332
Solved Problems 335
00_Hsu_Probability_FM_Schaum's design 31/08/19 4:11 PM Page ix

Contents ix

CHAPTER 9 Queueing Theory 349


9.1 Introduction 349
9.2 Queueing Systems 349
9.3 Birth-Death Process 350
9.4 The M/M/1 Queueing System 352
9.5 The M/M/s Queueing System 352
9.6 The M/M/1/K Queueing System 353
9.7 The M/M/s/K Queueing System 354
Solved Problems 355

CHAPTER 10 Information Theory 367


10.1 Introduction 367
10.2 Measure of Information 367
10.3 Discrete Memoryless Channels 369
10.4 Mutual Information 371
10.5 Channel Capacity 373
10.6 Continuous Channel 374
10.7 Additive White Gaussian Noise Channel 375
10.8 Source Coding 376
10.9 Entropy Coding 378
Solved Problems 380

APPENDIX A Normal Distribution 411

APPENDIX B Fourier Transform 413


B.1 Continuous-Time Fourier Transform 413
B.2 Discrete-Time Fourier Transform 414

INDEX 417

*The laptop icon next to an exercise indicates that the exercise is also available as a video with step-by-step
instructions. These videos are available on the Schaums.com website by following the instructions on the inside
front cover.
00_Hsu_Probability_FM_Schaum's design 31/08/19 4:11 PM Page x
01_Hsu_Probability 8/31/19 3:55 PM Page 1

CHAPTER 1

Probability
1.1 Introduction
The study of probability stems from the analysis of certain games of chance, and it has found applications in
most branches of science and engineering. In this chapter the basic concepts of probability theory are presented.

1.2 Sample Space and Events


A. Random Experiments:
In the study of probability, any process of observation is referred to as an experiment. The results of an obser-
vation are called the outcomes of the experiment. An experiment is called a random experiment if its outcome
cannot be predicted. Typical examples of a random experiment are the roll of a die, the toss of a coin, drawing a
card from a deck, or selecting a message signal for transmission from several messages.

B. Sample Space:
The set of all possible outcomes of a random experiment is called the sample space (or universal set), and it is
denoted by S. An element in S is called a sample point. Each outcome of a random experiment corresponds to a
sample point.

EXAMPLE 1.1 Find the sample space for the experiment of tossing a coin (a) once and (b) twice.

(a) There are two possible outcomes, heads or tails. Thus:

S  {H, T}

where H and T represent head and tail, respectively.

(b) There are four possible outcomes. They are pairs of heads and tails. Thus:

S  {HH, HT, TH, TT}

EXAMPLE 1.2 Find the sample space for the experiment of tossing a coin repeatedly and of counting the number
of tosses required until the first head appears.
Clearly all possible outcomes for this experiment are the terms of the sequence 1, 2, 3, … Thus:

S  {1, 2, 3, …}

Note that there are an infinite number of outcomes.


1
01_Hsu_Probability 8/31/19 3:55 PM Page 2

2 CHAPTER 1 Probability

EXAMPLE 1.3 Find the sample space for the experiment of measuring (in hours) the lifetime of a transistor.
Clearly all possible outcomes are all nonnegative real numbers. That is,

S  {τ : 0  τ  ∞}

where τ represents the life of a transistor in hours.


Note that any particular experiment can often have many different sample spaces depending on the observa-
tion of interest (Probs. 1.1 and 1.2). A sample space S is said to be discrete if it consists of a finite number of
sample points (as in Example 1.1) or countably infinite sample points (as in Example 1.2). A set is called
countable if its elements can be placed in a one-to-one correspondence with the positive integers. A sample
space S is said to be continuous if the sample points constitute a continuum (as in Example 1.3).

C. Events:
Since we have identified a sample space S as the set of all possible outcomes of a random experiment, we will
review some set notations in the following.
If ζ is an element of S (or belongs to S), then we write

ζ僆S

If S is not an element of S (or does not belong to S), then we write

ζ∉S

A set A is called a subset of B, denoted by

A⊂B

if every element of A is also an element of B. Any subset of the sample space S is called an event. A sample point
of S is often referred to as an elementary event. Note that the sample space S is the subset of itself: that is, S ⊂
S. Since S is the set of all possible outcomes, it is often called the certain event.

EXAMPLE 1.4 Consider the experiment of Example 1.2. Let A be the event that the number of tosses required
until the first head appears is even. Let B be the event that the number of tosses required until the first head appears
is odd. Let C be the event that the number of tosses required until the first head appears is less than 5. Express
events A, B, and C.

A  {2, 4, 6, …}
B  {1, 3, 5, …}
C  {1, 2, 3, 4}

1.3 Algebra of Sets


A. Set Operations:

1. Equality:
Two sets A and B are equal, denoted A  B, if and only if A ⊂ B and B ⊂ A.

2. Complementation:

Suppose A ⊂ S. The complement of set A, denoted A, is the set containing all elements in S but not in A.

A  {ζ : ζ ∈ S and ζ ∉ A}
01_Hsu_Probability 8/31/19 3:55 PM Page 3

CHAPTER 1 Probability 3

3. Union:
The union of sets A and B, denoted A ∪ B, is the set containing all elements in either A or B or both.

A ∪ B  {ζ : ζ ∈ A or ζ ∈ B}

4. Intersection:
The intersection of sets A and B, denoted A ∩ B, is the set containing all elements in both A and B.

A ∩ B  { ζ : ζ ∈ A and ζ ∈ B}

5. Difference:
The difference of sets A and B, denoted A\ B, is the set containing all elements in A but not in B.

A\ B  {ζ : ζ ∈ A and ζ ∉ B}

Note that A\ B  A ∩ B .

6. Symmetrical Difference:
The symmetrical difference of sets A and B, denoted A Δ B, is the set of all elements that are in A or B but not
in both.

A Δ B  { ζ: ζ ∈ A or ζ ∈ B and ζ ∉ A ∩ B}
– –
Note that A Δ B  (A ∩ B ) ∪ (A ∩ B)  (A\ B) ∪ (B \ A).

7. Null Set:
The set containing no element is called the null set, denoted ∅. Note that

∅S

8. Disjoint Sets:
Two sets A and B are called disjoint or mutually exclusive if they contain no common element, that is,
if A ∩ B  ∅.
The definitions of the union and intersection of two sets can be extended to any finite number of sets as
follows:

n
∪ Ai  A1 ∪ A2 ∪  ∪ An
i 1

 {ζ : ζ ∈ A1 or ζ ∈ A2 or  ζ ∈ An }
n
∩ Ai  A1 ∩ A2 ∩  ∩ An
i 1

 {ζ : ζ ∈ A1 and ζ ∈ A2 and  ζ ∈ An }

Note that these definitions can be extended to an infinite number of sets:


∪ Ai  A1 ∪ A2 ∪ A3 ∪ 
i 1

∩ Ai  A1 ∩ A2 ∩ A3 ∩ 
i 1
01_Hsu_Probability 8/31/19 3:55 PM Page 4

4 CHAPTER 1 Probability

In our definition of event, we state that every subset of S is an event, including S and the null set ∅. Then

S  the certain event


∅  the impossible event

If A and B are events in S, then



A  the event that A did not occur
A ∪ B  the event that either A or B or both occurred
A ∩ B  the event that both A and B occurred

Similarly, if A1, A2, …, An are a sequence of events in S, then

n
∪ Ai  the event that at least one of the Ai occurreed
i 1
n
∩ Ai  the event that all of the Ai occurred
i 1

9. Partition of S :
k
If Ai ∩ Aj  ∅ for i ≠ j and ∪ Ai  S , then the collection {Ai ; 1  i  k} is said to form a partition of S.
i 1
10. Size of Set:
When sets are countable, the size (or cardinality) of set A, denoted ⎪ A ⎪, is the number of elements contained
in A. When sets have a finite number of elements, it is easy to see that size has the following properties:

(i) If A ∩ B  ∅, then ⎪A ∪ B⎪  ⎪A⎪  ⎪B⎪.


(ii) ⎪∅⎪  0.
(iii) If A ⊂ B, then ⎪A⎪  ⎪B⎪.
(iv) ⎪A ∪ B⎪  ⎪A ∩ B⎪  ⎪A⎪  ⎪B⎪.

Note that the property (iv) can be easily seen if A and B are subsets of a line with length ⎪A⎪ and ⎪B⎪, respectively.

11. Product of Sets:


The product (or Cartesian product) of sets A and B, denoted by A  B, is the set of ordered pairs of elements
from A and B.

C  A  B  {(a, b): a ∈ A, b ∈ B}

Note that A  B ≠ B  A, and ⎪ C⎪  ⎪ A  B⎪  ⎪ A⎪  ⎪ B⎪ .

EXAMPLE 1.5 Let A  {a1, a2, a3} and B  {b1, b2}. Then

C  A  B  {(a1, b1), (a1, b2), (a2, b1), (a2, b2), (a3, b1), (a3, b2)}
D  B  A  {(b1, a1), (b1, a2), (b1, a3), (b2, a1), (b2, a2), (b2, a3)}

B. Venn Diagram:
A graphical representation that is very useful for illustrating set operation is the Venn diagram. For instance, in
the three Venn diagrams shown in Fig. 1-1, the shaded areas represent, respectively, the events A ∪ B, A ∩ B,
– –
and A. The Venn diagram in Fig. 1-2(a) indicates that B 傺 A, and the event A ∩ B  A\ B is shown as the shaded
area. In Fig. 1-2(b), the shaded area represents the event A Δ B.
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