Académique Documents
Professionnel Documents
Culture Documents
1
10/5/2012
2
10/5/2012
3
10/5/2012
FIR filters
A non-recursive filter has no feedback and its input-output
relation is given by
4
10/5/2012
IIR Filters
A recursive filter has feedback from output to input,
and in general its output is a function of the previous
output samples and the present and past input samples
as described by the following equation
5
10/5/2012
6
10/5/2012
7
10/5/2012
s-plane
-1 1 Re(z)
z = esT
s = +j
8
10/5/2012
Design steps:
1. For the given specifications, find Ha(s) the transfer function
of an analog filter.
2. Select the sampling rate of the digital filter, T seconds per
sample.
3. Express the analog filter transfer function as the sum of
N
single pole filters. c
H a (s) = k
k =1 s p k
9
10/5/2012
Frequency warping
10
10/5/2012
2
= tan
T 2
For small values of , = 2 =
T 2 T
= T
For low frequencies the relationship between and
are linear, as a result the digital filter have the same
amplitude response as the analog filter.
For high frequencies the relationship between and
becomes non-linear & distortion is introduced in
the frequency scale of the digital filter to that of the
analog filter. Warping effect.
10/5/2012 S. THAI SUBHA CHAPTER-IV 21
11
10/5/2012
Design steps:
1. Find prewarping analog frequencies using
2
= tan
T 2
12
10/5/2012
N N
ck ck
H a (s) =
k =1 s p k
H(z) = p k T 1
k =1 1 e z
2 2
H (s) =
(s (1)) (s (2))
(s p k ) (1 e pkT
z 1 )
Here , p k p 1 , p 2
p 1 = 1; p 2 = 2 ; T = 1sec
13
10/5/2012
2 2
H(z) = 1 1
1 e z 1 e 2 z 1
2 2
= 1
1 0.3678z 1 0.1353z 1
Simplifying,
0.465z 1
H(z) =
1 0.503z 1 + 0.0497z 2
14
10/5/2012
2
H(z) =
1 z1 1 z1
2 1 +1 2 1 + 2
1+ z
1+ z
=
(1+ z )1 2
6(1 z )
1 1
3
15
10/5/2012
H ( j )
1.0
1 p (dB)
1 + 2
s (dB)
1
1 + 2
p s
10/5/2012 S. THAI SUBHA CHAPTER-IV 32
16
10/5/2012
17
10/5/2012
18
10/5/2012
Solution:
p = 0.2; s = 0.4 0.9
1
= 0 . 9 = 0 .4843
1 + 2
1 0.2
= 0 . 2 = 4 .899
2
1+
10/5/2012 S. THAI SUBHA CHAPTER-IV
0.2 0.4 38
19
10/5/2012
log
N 3.34
s
log
p
N=4
1
H(s) =
(s + 0.76537s + 1)(s 2 + 1.8477s + 1)
2
20
10/5/2012
100.1 s 1
log 0.1
N 10 p 1 3.37 N = 4
log s
p
1
H(s) =
(s + 0.76537s + 1)(s 2 + 1.8477s + 1)
2
p
c = = 21.3868
(10 0.1 p
1) 1
2N
0.20921 10 6
H(s) = 2
(s + 16.3686s + 457.394)(s 2 + 39.5176s + 457.394)
10/5/2012 S. THAI SUBHA CHAPTER-IV 42
21
10/5/2012
4.899
log log
N
0.75
1.71
s log 3
log
p
N=2
For N = 2, the transfer function of normalized Butterworth
filter is, 1
H(s) =
s 2 + 2s + 1
22
10/5/2012
0.5266
=
s 2 + 1.03s + 0.5266
0.5266
=
(s + 0.51 + j0.51)(s + 0.51 j0.51)
Applying partial fractions,
j0.516 j0.516
Ha (s) =
s (0.51 j0.51) s (0.51+ j0.51)
10/5/2012 S. THAI SUBHA CHAPTER-IV 45
j0.516 j0.516
H(z ) = 0.51 j0.51 1
0.51+ j0.51 1
1 e z 1 e z
j0.516 j0.516
= 0.51 j0.51 1
0.51 j0.51 1
1 e e z 1 e e z
j0.516(1 e e z ) j0.516(1 e 0.51e j0.51z 1 )
0.51 j0.51 1
=
(1 0.6e j0.51z 1 )(1 0.6e j0.51z 1 )
j0.516 - j0.516e-0.51e j0.51z 1 j0.516 + j0.516e-0.51e j0.51z 1
=
1 + 0.36e - j0.51e j0.51z 2 0.6e j0.51z 1 0.6e j0.51z 1
10/5/2012 S. THAI SUBHA CHAPTER-IV 46
23
10/5/2012
0.3022
H(z) =
1 - 1.047z -1 + 0.36z 2
24
10/5/2012
4.899
log log
N
0.75
1.3
1 log(4.235)
log
k
N=2
For N = 2, the transfer function of normalized Butterworth filter is,
1
H(s) =
s 2 + 2s + 1
H a (s) = H(s) s s
c
0.5625
= 2
s + 1.06s + 0.5625
Assume T = 1sec.
10/5/2012 S. THAI SUBHA CHAPTER-IV 50
25
10/5/2012
0.5625(1 + z -1 ) 2
H (z) =
4(1 z -1 ) 2 + 2.12(1 z -2 ) + 0.5625(1 + z -1 ) 2
0.084(1 + z -1 ) 2
=
1 1.028z -1 + 0.3651z -2
a = p
[ 1
N
1
N ]
; b = p
[ 1
N + N
1
]
2 2
0.1 p
where, = -1 + -2 + 1; = 10 1
26
10/5/2012
27
10/5/2012
cosh -1
N = 2.564 = 1.208
2.122
cosh -1 s
p
N=2
To find a & b:
= -1 + -2 +1 = 3
a =
[
p
N
1
N
1
= 0.3752
]
2
b = p
1
[
N + N
1
= 0.75
]
2
10/5/2012 S. THAI SUBHA CHAPTER-IV 56
28
10/5/2012
29
10/5/2012
= -1 + -2 +1 = 3
10/5/2012 S. THAI SUBHA CHAPTER-IV 59
30
10/5/2012
0.263
H (s) =
(s + 0.257 + j0.515)(s + 0.257 j0.515)
Applying partial fractions,
j0.257 j0.257
H (s) =
(s + 0.257 + j0.515) (s + 0.257 j0.515)
N N
ck ck
If H a (s) = , then H (z) = p k T 1
k =1 s p k k =1 1 e z
P1 = 0.257 j0.515
P2 = 0.257 + j0.515
10/5/2012 S. THAI SUBHA CHAPTER-IV 61
j0.257 j0.257
H (z) =
0.257 j0.515 1 0.257 j0.515 1
1 e e z 1 e e z
=
[
j0.257 1 e 0.257 j0.515 1
e ] [
z j0.257 1 e 0.257 e j0.515 z 1 ]
[ ][
1 0.77e j0.52 z 1 1 0.77e j0.52 z 1 ]
j0.515 1 j0.515 1
j0.198e z + j0.198e z
= 2 1
1 + 0.5929z 1.34z
=
[ ]
j0.198z 1 e j0.515 e j0.515 j0.198z 1 [2 j sin 0.52]
=
1 + 0.5929z 2 1.34z 1 1 + 0.5929z 2 1.34z 1
0.1967z 1
H(z) =
1 + 0.5929z 2 1.34z 1
31