Digital Signal Processing and

Machine Vision
Lecture 05 – Sampled Data Systems
R . A . P R A B H AT H B U D D H I K A
D E PA R T M E N T O F E L E C T R I C A L , E L E C T R O N I C A N D S Y S T E M S E N G I N E E R I N G
FA C U LT Y O F E N G I N E E R I N G
NSBM GREEN UNIVERSITY
Sampling
Discrete-time signals are usually preferred for computers.
However, most of the natural signals are continuous-time signals.
Sampling continuous-time signals periodically can produce discrete-time signals.
The ,mathematical background of the sampling process is the subject to this lecture.

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Sampled Data System
Analog to Digital to
Sample and
Digital Analog
Hold 𝑥[𝑛] 𝑦𝑐 (𝑡)
𝑥𝑐 (𝑡) Conversion conversion

𝜔𝑠
𝑥𝑐 𝑡 is sampled at an angular rate of 𝜔𝑠 and held until the sample is converted to a digital number
𝑥𝑛.
The sample is obtained at time 𝑡 = 𝑛𝑇 𝑤ℎ𝑒𝑟𝑒 𝑇 = 2𝜋/𝜔𝑠
𝑥 𝑛 is again converted to a continuous signal by a DAC to produce 𝑦𝑐 𝑡 .
Sampling period is thus, T.

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DAC to reconstruct the continuous-time
signal
Given the same sampling period, the DAC will reconstruct the continuous-time signal as follows.

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An equivalent model for the sampled
data system
𝑥𝑐 (𝑡) 𝑥 s(t) 𝑧𝑐 (𝑡)
ZOH

𝑆𝑇 (𝑡)

… …
t
-T 0 T 2T

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An equivalent model for the sampled
data system - impulse train
𝑆𝑇 (𝑡) is an impulse train.
∞

𝑆𝑇 𝑡 = ෍ 𝛿(𝑡 − 𝑛𝑇)
𝑛=−∞

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An equivalent model for the sampled
data system - ZOH
ZOH, Zero Order Hold has an impulse response as follows.
ℎ𝑍𝑂𝐻 (𝑡)

t
0

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Output of the equivalent model of the
sampled data system

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Sampling and Aliasing
𝑥𝑐 (𝑡) 𝑥 s(t) 𝑧𝑐 (𝑡) = 𝑦𝑐 (𝑡)
ZOH

𝑆𝑇 (𝑡)

… … t
-T 0 T 2T
𝑥𝑆 𝑡 = 𝑥𝑐 𝑡 𝑆𝑇 (𝑡)

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Sampling and Aliasing
𝑥𝑆 𝑡 = 𝑥𝑐 𝑡 𝑆𝑇 𝑡

∴ 𝑋𝑆 𝑗𝜔 = 𝑋𝑐 𝑗𝜔 ∗ 𝑆𝑇 𝑗𝜔

∞
1
𝑋𝑆 𝑗𝜔 = න 𝑆𝑇 𝑗𝜉 𝑋𝐶 𝑗𝜔 − 𝑗𝜉 𝑑𝜉
2𝜋
−∞

𝑆𝑇 𝑗𝜔 = 𝜔𝑠 ෍ 𝛿(𝑗𝜔 − 𝑗𝑘𝜔𝑠 )
𝑘=−∞

∞
𝜔𝑠
𝑋𝑆 𝑗𝜔 = ෍ 𝑋𝐶 (𝑗𝜔 − 𝑗𝑘𝜔𝑠 )
2𝜋
𝑘=−∞

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Sampling and Aliasing

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Sampling and Aliasing
If 𝑥𝑐 𝑡 is band limited to −𝜔𝑁 < 𝜔 < +𝜔𝑁 and
𝜔𝑁 < 𝜔𝑠 /2
Then 𝑥𝑐 𝑡 can be recovered from 𝑥𝑆 𝑡 by passing it through a low pass filter that has the cut
off frequency somewhere between 𝜔𝑁 and 𝜔𝑠 - 𝜔𝑁 .

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Sampling and Aliasing
𝜔𝑠
If 𝑥𝑐 𝑡 is not band limited or 𝜔𝑁 > , then we have Aliasing.
2

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Nyquist Theorem
Let 𝑥𝑐 𝑡 be a band limited signal with
𝑋𝐶 (𝑗𝜔) = 0 𝑓𝑜𝑟 𝜔 > 𝜔𝑁

𝑥𝑐 𝑡 is uniquely determined by its samples 𝑥 𝑛 = 𝑥𝑐 𝑛𝑇 , 𝑛𝜖 𝕫 if

2𝜋
𝜔𝑠 = > 2𝜔𝑁
𝑇
𝜔𝑁 is called the Nyquist Frequency
2𝜔𝑁 is called the Nyquist Rate

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Exercise 01
Let 𝑥𝑐 (𝑡) be a signal with Nyquist rate 𝜔0 . Determine the Nyquist rate for the following signals.
1. 𝑥𝑐 𝑡 + 𝑥𝑐 (𝑡 − 1)
𝑑𝑥𝑐 (𝑡)
2. 𝑑𝑡

3. 𝑥𝑐2 (𝑡)
4. 𝑥𝑐 𝑡 cos(𝜔0 𝑡)

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Exercise 02
The signal 𝑥𝑐 𝑡 = cos(𝜔0 𝑡) is sampled at a rate of 1000Hz to obtain the sequence, 𝑥 𝑛 =
𝜋𝑛
cos[ ].
4

What are the possible positive values for 𝜔0 ?

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Anti-Aliasing Filter
In most practical cases 𝑥𝑐 𝑡 is not band limited but beyond a certain
frequency 𝜔0 it has only a negligible energy.
Controlling aliasing for such cases is done with an anti-aliasing filter.
The cut-off frequency is chosen to be 𝜔𝑐 = 𝜔0
The sampling frequency is chosen to be 𝜔𝑠 > 2𝜔0

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Anti-Aliasing Filter

Even if 𝑥𝑐 𝑡 is band limited, using an anti-aliasing filter can help to eliminate high frequency
noise causing aliasing into 𝑥𝑐 𝑡 frequency band.

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Bandpass Sampling
Suppose a particular signal is bandpass such that its bandwidth 𝜔𝐵 is much smaller than its center
frequency, 𝜔𝑐 .
𝜔𝐵 << 𝜔𝐶

The maximum frequency component of this signal is 𝜔𝐶 + 𝜔𝐵 /2

This signal can be sampled at a much lower sampling rate than 2𝜔𝐶 + 𝜔𝐵 without being affected by
aliasing.

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Bandpass Sampling
suppose ⍵s = ⍵c - ⍵B/2

sampling and frequency translation can be done simultaneously.

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Bandpass Sampling
Aliasing does not occur if the following conditions are satisfied.

2𝜔𝐶 + 𝜔𝐵 2𝜔𝐶 − 𝜔𝐵
≤ 𝜔𝑠 ≤ 𝑓𝑜𝑟 𝑠𝑜𝑚𝑒 𝑚 𝜖 ℤ
𝑚+1 𝑚

2𝜔𝐵 < 𝜔𝑠

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Bandpass Sampling – Example
𝜔𝐵 = 10 rad/s 𝜔𝐶 = 40 𝑟𝑎𝑑/𝑠
m 2𝜔𝐶 + 𝜔𝐵 2𝜔𝐶 − 𝜔𝐵 2𝜔𝐶 + 𝜔𝐵 2𝜔𝐶 − 𝜔𝐵
≤ 𝜔𝑠 ≤
𝑚+1 𝑚 𝑚+1 𝑚
1 45 70 ✓

2 30 35 ✓

3 22.5 23.33 ✓

4 18 17.5 x

5 15 14 x

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Quantization Error of an ADC
𝑥𝑐 𝑥𝑑
ADC

𝜔𝑠

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Quantization Error of an ADC
Suppose an ADC has following properties:
◦ Reference voltages: ±𝑉
◦ Number of output bits: B
2𝑉 𝑉
Quantization step/resolution, Δ= =
2𝐵 2𝐵−1

Quantization Error, q = 𝑥𝑐 − 𝑥𝑑 can be modeled as a white noise process uniformly distributed between
± Δ/2.
Power(same as the variance) of Quantization Error:
+Δ/2 2 2
1 Δ 𝑉
𝜎𝑞2 = න 𝑞2 𝑑𝑞 = =
−Δ/2 Δ 12 3 ∗ 4𝐵

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Signal to quantization noise ratio
𝜎𝑥2 𝑉2
𝑆𝑁𝑅 = 10𝑙𝑜𝑔 2 = 6.0206𝐵 + 4.7712 − 10𝑙𝑜𝑔 2
𝜎𝑞 𝜎𝑥

𝜎𝑥2 𝑉
𝑆𝑁𝑅 = 10𝑙𝑜𝑔 2 = 6.0206𝐵 + 4.7712 − 20𝑙𝑜𝑔
𝜎𝑞 𝜎𝑥

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Exercise 03
Reference voltage of an ADC, V = 5V. For the signal given below, determine the number of bits
required in the ADC output to obtain an SNR better than 50dB.
𝑥𝑐 (𝑡) = 0.8 cos 𝜔1 𝑡 + sin(𝜔2 𝑡)

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