Shannon in his 1956 seminal paper introduced the concept of the zero error capacity, $C_{0}$ , of a noisy channel. This is defined as the least upper bound of rates, at which, it is possible to transmit information with zero probability of error. At present not many codes are known to achieve the zero error capacity. In this paper, some codes which achieve zero error capacities in limited magnitude error channels are described. The code lengths of these zero error capacity achieving codes can be of any finite length $n=1,2,\ldots$ , in contrast to the long lengths required for the known regular capacity achieving codes, such as turbo codes, LDPC codes, and polar codes. Both wrap around and non-wrap around limited magnitude error models are considered in this paper. For non-wrap around error model, the exact value of zero error capacities is derived, and optimal non-systematic and systematic codes are designed. The non-systematic codes achieve the zero error capacity with any finite length. The optimal systematic codes achieve the systematic zero error capacity of the channel, which is defined as the zero error capacity with the additional requirements that the communication must be carried out with a systematic code. It is also shown that the rates of the proposed systematic codes are equal to or approximately equal to the zero error capacity of the channel. For the wrap around model bounds are derived for the zero error capacity and in many cases the bounds give the exact value. In addition, optimal wrap around non-systematic and systematic codes are developed which either achieve or are close to achieving the zero error capacity with finite length.
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