16CI622 Digital Control Systems

Reconstruction of Original Signal

O. V. Ramana Murthy

B206, AB2
Electrical and Electronics Engineering
Amrita Vishwa Vidyapeetham, Coimbatore

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Sampling Theorem
To reconstruct the original signal from a sampled signal, there is a
certain minimum frequency that the sampling operation must satisfy.

Frequency spectrum of x(t) is shown below. We assume that x(t)

does not contain any frequency components above 1 rad/sec.

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 Sampling Theorem
If s, defined as 2/T is greater than 21, where 1 is the
highest-frequency component present in the continuous-time
signal x(t), then the signal x(t) can be reconstructed
completely from the sampled signal x*(t).

The frequency spectrum:

1 k 
X ( j )   X ( j  j s k )
*

T k  
1 1 1
 ...  X ( j (  s ))  X ( j )  X ( j (  s ))  ...
T T T

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 Sampling Theorem

𝜔𝑠 > 10𝜔1 , 20𝜔1

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Ideal Low-pass filter
The ideal filter attenuates all complementary components to zero and
will pass only the primary component.
If the sampling frequency is less than twice the highest-frequency
component of the original continuous-time signal, even the ideal
filter cannot reconstruct the original continuous-time signal.

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 Ideal Low-pass filter
1,  12 s  w  12 s
G I ( j )  
0, elsewhere
1  j t
g I (t )   I
G ( j  ) e d
2
1  s / 2 j t
 s / 2 e d
2

2jt
e
1 1 / 2  jst
 e 1 / 2  jst  For the ideal filter an
output is required prior to
1 st the application of the input
 sin to the filter – physically not
t 2
1 sin(st / 2) realizable.

T st / 2
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 Frequency-Response
Characteristics of the ZOH
Transfer function of ZOH 1  e Ts
Gh 0 ( s ) 
s
1  e Tj
Gh 0 ( j ) 
j
2e 1 / 2 Tj (e1 / 2 Tj  e 1 / 2 Tj )

2 j
sin( T / 2) 
sin(T / 2) 1 / 2 Tj  G ( j  )   T e  1 / 2 Tj

T T / 2
h0
e
T / 2   sin
T
 e  
 1 / 2 Tj

2
 T T
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2 2
Frequency-Response
Characteristics of the ZOH
 Frequency-Response Characteristics of the ZOH(cont.)

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Frequency-Response
Characteristics of the ZOH
ZOH is a low-pass filter, although its function is not quite good.
The accuracy of the ZOH as an extrapolator depends on the
sampling frequency.

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Folding
The phenomenon of the overlap in the frequency spectra.
The folding frequency (Nyquist frequency): N
1 
 N  s 
2 T
In practice, signals in control systems have high-frequency components,
and some folding effect will almost always exist.

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Aliasing
The phenomenon that the frequency component ns 2 shows
up at frequency 2 when the signal x(t) is sampled.
To avoid aliasing, we must either choose the sampling frequency
high enough or use a prefilter ahead of the sampler to reshape the
frequency spectrum of the signal before the signal is sampled.

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 References
 Section 3.4, Chapter 3, Discrete-time Control Systems, K.
Ogata, 2nd edition.

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