“…Over the last few years, the quantizers and modulators have gain popularity due to their important role in many engineering fields including measurement, instrumentation, power converters and analog to digital conversion (ADC) [ 1 , 2 ]. In particular, the binary quantizers including delta modulators ( -Ms) and delta sigma modulators ( -Ms) are widely utilized in power conversions for their implementation simplicity [ 3 , 4 ], networked and quantized control systems for their low-data rate [ 5 , 6 ], and as typical complex systems for their high nonlinearity, periodicity and robustness at the same time [ 7 , 8 ].…”