A simple algorithm for detection of timing error of a synchronous, band-limited, BPSK or QPSK data stream is proposed. The algorithm requires only two samples per symbol for its operation. One of the two samples is also used for the symbol decision. Derivation of the <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">s</tex> curve reveals a sinusoidal shape.
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F. F. Gardner (1986) studied this question.
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