Motivated by the quest for experimentally accessible dynamical probes of Floquet topological insulators, we formulate the linear response theory of a periodically driven system. We illustrate the applications of this formalism by giving general expressions for optical conductivity of Floquet systems, including its homodyne and heterodyne components and beyond. We obtain the Floquet optical conductivity of specific driven models, including two-dimensional Dirac material such as the surface of a topological insulator, graphene, and the Haldane model irradiated with circularly or linearly polarized laser, as well as semiconductor quantum well driven by an ac potential. We obtain approximate analytical expressions and perform numerically exact calculations of the Floquet optical conductivity in different scenarios of the occupation of the Floquet bands, in particular, the diagonal Floquet distribution and the distribution obtained after a quench. We comment on experimental signatures and detection of Floquet topological phases using optical probes.
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