SIGNALS AND SYSTEMS USING MATLAB

Chapter 8 Sampling Theory

Luis F. Chaparro

Uniform sampling
x(t)
xs (t)

Ts (t)

Ts 0 Ts 2Ts

Ts (t) =

Ts 2Ts

(t nTs )

1 X
xs (t) = x(t)Ts (t) =
x(t)e jks t
Ts
k=

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 Modulation

Ts (t), periodic, s = 2/Ts ,

Ts (t) =

Dk e jks t

k=

Dk =

1
,
Ts

xs (t) = x(t)Ts (t) =

1
Ts

X
k=

1 X
Xs () =
X ( ks )
Ts
k=

Discretetime Fourier transform

xs (t) =

x(nTs )(t nTs )

n=

Xs () =

x(nTs )e jTs n

n=

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x(t)e jks t

X()

(a)

max

max

Xs ()

1/Ts

(b)

max
Xs ()

1/Ts

no aliasing

s max

s < 2 max

(c)

s 2 max

s = max

aliasing

(a) Spectrum of bandlimited signal, (b) spectrum of sampled signal when satisfying the Nyquist
sampling rate condition, (c) spectrum of sampled signal with aliasing (superposition of spectra, shown
in dashed lines, gives a constant shown by continuous line)

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Bandlimited signals and Nyquist condition

A signal x(t) is bandlimited if its lowpass spectrum X () is such that

|X ()| = 0 for || > max ,

max : max frequency in x(t)

can be sampled uniformly and without frequency aliasing using a sampling frequency
s =

2
2max
Ts

Nyquist sampling rate condition

Example: x(t) = 2 cos(2t + /4), < t < , bandlimited

Ts = 0.4, s = 2/Ts = 5 > 2max = 4, satisfy Nyquist


4

x(nTs ) = 2 cos(2 0.4n + /4) = 2 cos

n+
<n <
5
4

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Ts = 1, s = 2 < 2max = 4 aliasing

x(nTs ) = 2 cos(2n + /4) = 2 cos(/4) = 2.
(b)
2

x(t), x(0.4n)

x(t), x(0.2n)

(a)
2

0
1
2

0
1
2

(d)

x(t), x(n)

x(t), x(0.5n)

(c)

0
1

0
1

2
0

Sampling of x(t) = 2 cos(2t + /4): (a) Ts = 0.2, (b) Ts = 0.4, (c) Ts = 0.5 and (d) Ts = 1
sec/sample

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Example: Causal exponential x(t) = e t u(t) is not bandlimited

X () =

1
1 + j

so that

|X ()| =

1
1 + 2

Frequency M so that 99% of the energy is in M M :

Z M
Z
1
0.99
|X ()|2d
|X ()|2d =
2 M
2
2 tan1()|0 M = 2 0.99 tan1()|
0

M = tan

0.99
2


= 63.66 rad/sec

Choose s = 2/Ts = 5M or Ts = 2/(5 63.66) 0.02 sec/sample

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NyquistShannon sampling theorem

Lowpass signal x(t) is bandlimited (i.e., X () = 0 for || > max )
Information in x(t) preserved by sampled signal xs (t), with samples
x(nTs ) = x(t)|t=nTs , n = 0, 1, 2, , provided
sampling frequency s 2max (Nyquist sampling rate condition), or
sampling rate fs (samples/sec) or sampling periodTs (sec/sample) are
1
max
fs =

Ts

When Nyquist condition is satisfied, x(t) can be reconstructed by ideal lowpass

filtering xs (t):

frequency response ideal LPF H(j) =

Ts s /2 < < s /2
0
otherwise

Reconstructed (sinc interpolation)

xr (t) =

X
n=

x(nTs )

sin((t nTs )/Ts )

(t nTs )/Ts

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Antialiasing filtering

For signals that do not satisfy the bandlimitedness condition

Xa ()

X()

c
H(s)
1

H(j)

Antialiasing filtering of non bandlimited signal

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Example: Aliasing effects

x1(t) = cos(0t), x2(t) = cos((0 + 1)t) 1 > 20
sampling signals with Ts = 2/1
x1(nTs ) = cos(0nTs ), x2(nTs ) = cos((0 + 1)nTs ) = cos(0Ts n) = x1(nTs )
No frequency aliasing in x1(nTs ), frequency aliasing in x2(nTs )
x1(t)
x2(t)

x1(t),x2(t),x1(nTs)

x1(nTs)

0.5

0.5

1
0

Sampling sinusoids of frequencies 0 = 1 and 0 + 1 = 8 with Ts = 2/1 . The higher frequency

signal is undersampled, causing aliasing and making the two sampled signals coincide

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Practical aspects of sampling Sampleandhold sampling

xs (t)

x(t)

ys (t)

h(t)
h(t)
1

Ts (t)

ys (t)

x(t)
xs (t)

Ts

Ts

Sampleandhold sampling system for = Ts ; ys (t) multilevel signal

"

#
X
1
sin(/2) j/2
ys (t) = (xs h)(t) Ys () =
X ( ks )
e
Ts
/2
k

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Practical aspects of sampling Quantization and coding

x
(nTs )
01

00

11
10

x(nTs )

Fourlevel quantizer and coder.

Sampled signal x(nTs ) = x(t)|t=nTS
fourlevel quantizer: k x(nTs ) < (k + 1) x(nTs ) = k, k = 2, 1, 0, 1
coder assigns binary number to each output level of quantizer

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Application to digital communications

PCM transmitter
m(t)

Sample
and hold

LPF

Quantizer
and coder

1011100

Channel
1011100

Repeater

Repeater

Repeater

PCM receiver
1011100

LPF

Decoder

PCM system: transmitter, channel and receiver.

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m(t)

1011100

m
1 (t)

m1 (t)
m2 (t)

Quantizer
& encoder

m3 (t)

Channel

Decoder

m
2 (t)
m
3 (t)

Commutator

Decommutator

Time Division Multiplexin (TDM) system: transmitter, channel and receiver

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