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, beginning with a review of continuous-time signals and systems, frequency response, and filtering. The synergistic combination of continuous-time and discrete-time perspectives leads to a deeper appreciation and understanding of DSP concepts and practices. * For upper-level undergraduates * Illustrates concepts with 500 high-quality figures, more than 170 fully worked examples, and hundreds of end-of-chapter problems, more than 150 drill exercises, including complete and detailed solutions * Seamlessly integrates MATLAB throughout the text to enhance learning