RT Control Systems Implementation The controller algorithm is executed once in every sampling period h. The sampling period is a compromise between Nyquist-Shannon Law fs>2B),the computation time delay rwith it's possible jitter and the limits of the hardware. -一般，周期抖动水1% When in a system we have 0<z<h we're facing a delay,as for when zzh we have a loss.RT Control Systems Implementation • The controller algorithm is executed once in every sampling period h. – The sampling period is a compromise between Nyquist-Shannon Law ( fs>2B), the computation time delay τ with it’s possible jitter and the limits of the hardware. – 一般，周期抖动<1% • When in a system we have 0<τ<h we’re facing a delay, as for when τ≥h we have a loss