*6.2. Delta Modulation*

The Delta modulation is a simple and robustA/D conversion method [42]. It has a comparator in the forward path and an integrator in the feedback path of a simple control loop, as shown in Figure 10. The signal *M*(*k*) is the input of the comparator. Meanwhile, *U*(*n*) is the integrated output, which has a binary form. The value of Delta modulation depends on the current sample, if it is less than the previous sample, then zero is transmitted as a signal, whereas if the current sample is greater than the previous one, then number one is sent as a transmitted signal. Algorithm 1 illustrates the pseudocode of the Delta modulation process.

**Algorithm 1:** Delta Modulation

**Input:** *M*(*k*). **Output:** *Mb*(*k*). **<sup>1</sup> if** *M*(*k*) > ∑ *U*(*n*)*, where* ∑ *U*(*n*) = *U*(*n* − 1) + *U*(*n* − 2) + ··· + *U*(0)*,* **then <sup>2</sup>** *Mb*(*k*)=+*v*; **<sup>3</sup> else <sup>4</sup>** *Mb*(*k*) = −*v*; **<sup>5</sup> end**
