Negative Frequency
The concept of negative and positive frequency can be as simple as a wheel rotating one way or the other way. A signed value of frequency indicates both the rate and direction of rotation. The rate is expressed in units such as revolutions (aka cycles) per second (hertz) or radian/second (where 1 cycle corresponds to 2π radians).
Read more about Negative Frequency: Sinusoids, Complex Sinusoids, Sampling of Positive and Negative Frequencies and Aliasing, Negative Frequency As A Matched Filter For Positive Frequencies
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