Nonlinear circuits embrace compandors, multipliers (frequency mixers, voltage-controlled amplifiers), voltage-controlled filters, voltage-controlled oscillators, and phase-locked loops. According to Alan V. Oppenheim and Ronald W. Schafer, the ideas of signal processing may be discovered in the classical numerical analysis techniques of the seventeenth century. They further state that the digital refinement of those strategies could be discovered in the digital control systems of the 1940s and Nineteen Fifties.
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