Sampling of Continuous-Time Signals

(Chapter-4)

Dr. Ahmad Salman

BEE

Content and Figures are from Discrete-Time Signal Processing, 2e by Oppenheim, Shafer, and Buck, ©1999-2000 Prentice Hall Inc.
 Signal Types
• Analog signals: continuous in time and amplitude
– Example: voltage, current, temperature,…

• Digital signals: discrete both in time and amplitude

– Example: attendance of this class, digitized analog signals,…

• Discrete-time signal: discrete in time, continuous in amplitude

– Example:hourly change of temperature

• Theory for digital signals would be too complicated

– Requires inclusion of nonlinearities into theory

• Theory is based on discrete-time continuous-amplitude signals

– Most convenient to develop theory
– Good enough approximation to practice with some care

• In practice we mostly process digital signals on processors

– Need to take into account finite precision effects
Why we need sampling

Analog GeoSat Communication

Channels
 Why we need sampling

Analog GeoSat Communication

Channels

Inter-Satellite Communication
Satellite-Earth Station
Communication
 Why we need sampling

Discrete-time work at satellite and Earth Station

Signal Denoising
Signal Error Correction
Signal Denoising Signal Enhancement
Signal Error Correction Channel Equalization
Signal Enhancement
Channel Equalization
Signal Resizing
Signal Classification
Pattern Matching
Signal Prediction
 Why we need sampling

Different hardware at different Earth-Stations

and at different satellites
 Why we need sampling

Different hardware at different Earth-Stations

and different satellites

So, we need to study

• Sampling and it’s criteria
• Downsampling
• Upsampling
 Periodic (Uniform) Sampling
• Sampling is a continuous to discrete-time conversion

-3 -2 -1 0 1 2 3 4

• Most common sampling is periodic

xn  x c nT     n  
• T is the sampling period in second
• fs = 1/T is the sampling frequency in Hz
• Sampling frequency in radian-per-second s=2fs rad/sec
• Use [.] for discrete-time and (.) for continuous time signals
• This is the ideal case not the practical but close enough
– In practice it is implement with an analog-to-digital converters
– We get digital signals that are quantized in amplitude and time
 Periodic Sampling
• Sampling is, in general, not reversible is not done properly
• Given a sampled signal one could fit infinite continuous signals
through the samples

0.5

-0.5

-1
0 20 40 60 80 100

• Fundamental issue in digital signal processing

– If we lose information during sampling, we cannot recover it (Aliasing)

• Under certain conditions an analog signal can be sampled without

loss so that it can be reconstructed perfectly
 Representation of Sampling
• Mathematically convenient to represent in two stages
– Impulse train modulator
– Conversion of impulse train to a sequence

s(t)

xs(t) Convert impulse

xc(t) x train to discrete- x[n]=xc(nT)
time sequence

xc(t)
s(t) x[n]

t n
-3T-2T-T 0 T 2T3T4T -3 -2 -1 0 1 2 3 4
 Continuous-Time Fourier Transform
• Continuous-Time Fourier transform pair is defined as

X c j    c
x t e  jt
dt


1
x c t    X c j e jt
d
2  
• We write xc(t) as a weighted sum of complex exponentials
• Remember some Fourier Transform properties
– Time Convolution (frequency domain multiplication)
x(t)  y(t)  X( j)Y( j)
– Frequency Convolution (time domain multiplication)
x(t)y(t)  X( j)  Y( j)
– Modulation (Frequency shift)

x(t)e jot  Xj   o 

 Frequency Domain Representation of Sampling
•

 
x s t   x c t st    x t t  nT 
c s(t)   t  nT 
n   n  

Why?
1 2 
X s j   X c j   Sj  Sj      k s 
2 T k  

1 
X s j    X c j  k s 
T k  

   2k  
X e    X c 
1 
j
j   
T k    T T 
 Very Important
• C

C
 Frequency Domain Representation of Sampling
• Convolution with pulse creates replicas at pulse location:
1 
X s j    X c j  k s 
T k  
• This tells us that the impulse train modulator
– Creates images of the Fourier transform of the input signal
– Images are periodic with sampling frequency
– If s< 2N sampling maybe irreversible due to aliasing of images

X c j 
-N N

X s j  s>2N

3s -2s s -N N s 2s 3s

X s j  s<2N

3s -2s s -N N s 2s 3s

 Frequency Domain Representation of Sampling
• Why is Spectrum drawn symmetric?

X c j 
-N N

X s j  s>2N

3s -2s s -N N s 2s 3s

X s j  s<2N

3s -2s s -N N s 2s 3s

 Frequency Domain Representation of Sampling
• Why is Spectrum drawn symmetric?
x(t)e jot  Xj   o 

X c j 
-N N

X s j  s>2N

3s -2s s -N N s 2s 3s

X s j  s<2N

3s -2s s -N N s 2s 3s

 Nyquist Sampling Theorem
• Let xc(t) be a bandlimited signal with

X c ( j)  0 for   N

• Then xc(t) is uniquely determined by its samples x[n]= x c(nT)

if 2
s   2fs  2N
T

• N is generally known as the Nyquist Frequency

• The minimum sampling rate that must be exceeded is known
as the Nyquist Rate Low pass filter

X s j  s>2N

3s -2s s -N N s 2s 3s

X s j  s<2N

3s -2s s -N N s 2s 3s

 Reconstruction of Bandlimited Signal From Samples
• Sampling can be viewed as modulating with impulse train
• If Sampling Theorem is satisfied
– The original continuous-time signal can be recovered
– By filtering sampled signal with an ideal low-pass filter (LPF)
• Impulse-train modulated signal

x s t    xnt  nT 
n  
• Pass through LPF with impulse response hr(t) to reconstruct

xr t    xnh t  nT 
n  
r

Ideal
Convert from
reconstruction
x[n] sequence to
filter xr(t)
impulse train
Hr(j)
 Ideal Reconstruction Filter
• Ideal LPF with cut of frequency of c=/T or fc=1/2T

sint / T 
hr t  
t / T
 Reconstructed Signal


sint  nT  / T 
xr t    xn
n   t  nT  / T

sinc function is 1 at t=0

sinc function is 0 at nT

 
Xr j   X e jT Hr j 
 Discrete-Time Processing of Continuous-Time Signals

xn Discrete- yn

xc(t) C/D Time D/C yr(t)
System

• Overall system is equivalent to a continuous-time system

– Input and output is continuous-time
• The continuous-time system depends on
– Discrete-time system
– Sampling rate
• We’re interested in the equivalent frequency response
– First step is the relation between xc(t) and x[n]
– Next between y[n] and x[n]
– Finally between yr(t) and y[n]
 Effective Frequency Response
• Input continuous-time to discrete-time
   2k  
xn  x c nT  Xe j

1 
 X c
 j 
T k     T
 
T 
• Assume a discrete-time LTI system
   2k  
   He Xe  1
 

Ye j j j
 H e j
T
 X c  j   
•
k    T T 
Output discrete-time to continuous-time

sint  nT  / T  
TY e jT
Yr  j   
    /T
yr t    yn
n   t  nT  / T  0 otherwise
• Output frequency response

 
H e jT X c j     / T
Yr j   
 0 otherwise
• Effective Frequency Response

Yr j   Heff j X c j  Heff j   


H e jT    /T
 0 otherwise
 Example
• Ideal low-pass filter implemented as a discrete-time system

Continuous-time
input signal

Sampled continuous-
time input signal

Apply discrete-time
LPF
 Example Continued

Signal after discrete-

time LPF is applied

Application of
reconstruction filter

Output continuous-
time signal after
reconstruction