Optimization of frequency quantization
  We obtain the functional defining the price and quality of sample readings of the generalized velocities. It is shown that the optimal sampling frequency, in the sense of minimizing the functional quality and price depends on the sampling of the upper cutoff frequency of the analog signal of the order of the generalized velocities measured by the generalized coordinates, the frequency properties of the analog input filter and a maximum sampling rate for analog-digital converter (ADC). An example of calculating the frequency quantization for two-tier ADC with an input RC filter. 
V. N. Tibabishev
math.OC cs.SD