This textbook offers a fresh approach to digital signal processing (DSP) that combines heuristic reasoning and physical appreciation with sound mathematical methods to illuminate DSP concepts and practices. It uses metaphors, analogies and creative explanations, along with examples and exercises to provide deep and intuitive insights into DSP concepts. Practical DSP requires hybrid systems including both discrete- and continuous-time components. This book follows a holistic approach and presents discrete-time processing as a seamless continuation of continuous-time signals and systems,...