COMM 602: Digital Signal Processing

Lecture 10

Digital Filter Design



Filter Types
: Remember
Practical Filter specifications
Practical Filter specifications
Practical Filter specifications
IIR Filter
M
M
IIR Filter Design
Design means calculation of the coefficients of the difference
equation or the transfer function.

We use Analog filter design and then we convert the design into
digital domain because:

Analog filter design is a well developed field and highly advanced.

Analog filter design usually give closed form solutions.

Extensive tables are available for analog filter design.


IIR Filter Design
Methods of IIR Filter Design:

- Impulse invariant
- Step invariant
- Bilinear transformation.
Impulse Invariant Method
Steps of Design:
Example:
Convert the following analog filter system function into a digital IIR
filter by means of the impulse invariance method:

1
s
s
s
( ) ( ) { } s H t h
1
1

=
t
e
5 . 0
3

=
( )
n T n
T n t
a e t h 3 3 2
5 . 0
= =

=
where
T
e a
5 . 0
=
( ) ( ) { } ( )
1
0 0
1
3
3 z 3

= = = =

az
z a z n h nT h Z H
n
n n
n
n
s
( )
5 . 0
3
+
=
s
s H
Example:
Convert the following analog filter system function into a digital
IIR filter by means of the impulse invariance method:
Example (Contd.)
It is clear that has a pole at 5 . 0 = s ( ) s H
But has a pole at
T
e a z
5 . 0
= = ( ) z H
a b a = =
1 0
, 3
y(n)
Characteristics of Analog Filters
Butterworth Filters:
All pole filter (no zeros), with no ripples in both the passband and
stop band. The transfer functions of Butterworth filter with
is:



Order Filter
Function Transfer
1
1
+ s
1 2
1
2
+ + s s
1 2 2
1
2 3
+ + + s s s
1
2
3
1 6131 . 2 4142 . 3 6131 . 2
1
2 3 4
+ + + + s s s s
4
filter ana the of
frequency off Cut
c
log
: e
1 =
c
e
Example:
Using the impulse invariant method design a LP digital filter
satisfying the following requirements: cut off frequency 500 Hz,
Sampling rate=500 Hz, 2
nd
order Butterworth filter.
Solution


( ) ( )
( )
( )
( ) ( ) 2 / 100 sin 2 100 2 / sin 2 ) (
) 2 / ( ) 2 / (
) 2 / (
2
2
) 2 / (
2
1 / 2 /
1
) (
) 2 / 100 ( ) 2 / (
2
2
2
2
2
2
2 2
2
2
t e t e t h
s
s
s s
s s
s H
t
c
t
c
c c
c
c
c
c c
c
c c
c
c c
a
c
t t e e
e e
e
e
e
e e
e
e e
e
e e
t e
= =
+ +
=
+ +
=
+ +
=
+ +
=
( )
002 . 0
500
1 1
, 2 / 100 sin 2 100 ) (
) 2 / 100 (
= = =
=

s
nT
f
T
nT e nT h t t
t
{ }
=
+

) (
cos 2 1
) sin(
) sin(
) ( ) (
2
z H Then
z aT z
aT z
naT z and
ze X e n X Since
aT naT
Step Invariant Method





Steps of Design:
{ }
n Realizatio (4)
) (
1
Find (3)
sampling by Find ) 3 (
) (
response step Find (2)
filter. analog the of Find (1)
1
nT a
z
z
H(Z)
a(nT)
s
s H
a(t)
H(s)

=
)
`

s
t u
1
) (
Example:
|
.
|

\
|

=
|
.
|

\
|

=
= =
+

+ =
+
)
`

+
=
)
`

=
+
=
+
=

T T
nT t
e z
z
e z
z
z
z
z
z
z H
nT u e nT a t u e t a Then
s
) / (
s
) / (
) s(s
s
s H
a(t)
) s(s s
H(s)
s
H(s)
5 5
5 5
1 1 -
1
1
5
1
1 5
1 1
) (
) ( )
5
1
5
1
( ) ( ) ( )
5
1
5
1
( ) (
5
5 1 5 1
5
1
5) s(s
1 ) (
5
1
Solution
filter digital it to convert
5
1
: T.F analog Given the

Bilinear Transformation
e
O
See Text book
For the derivation
Of this equation
|
.
|

\
|
O
=
2
tan
2
T
e
Bilinear Transformation

Derivation of:
(1)
Frequency Warping Effect
|
.
|

\
|
O
=
2
tan
2
T
e
Properties of Bilinear Transformation
0 ) ( tan 2
0 1
0 1
0 1
: have we (3) and (2) From
) 3 (
1
tan
1
tan ) arg(
) 2 (
1
1
: by defined are angle and radius the where
: as
represent may we (1), equation in Putting . 2 Let
1
1 1
2 1
2 2
2 2
= =
> >
= =
< <
|
.
|

\
|

+
|
.
|

\
|
+
= =
(

+
+ +
= =
=
+ = =

o e u
o
o
o
o
e
o
e
u
f or
f or r
f or r
f or r
z and
) (
) (
z r
e r z
z
j s T
/
j
Properties of Bilinear Transformation
Accordingly, we may state the properies of bilinear
transformation:

(1) The left-half s-plane is mapped onto the interior of the unit circle
in the z-plane.
(2) The entire axis of the s-plane is mapped onto one complete
revolution of the unit circle in the z-plane
(3) The right-half of the s-plane is mapped onto the exterior of the
unit circle in the z-plane.

Then if the analog filter is stable and causal, the resulting digital filter
is also causal and stable.
e j
BILINEAR Z TRANSFORMATION (Contd.)
S-Plane
LHS RHS
J-axis
Z-Plane
Unit Circle
z =1 z = -1
Steps of Bilinear Transformation
e
) (e H
H(z)
|
.
|

\
|
O
=
2
tan
2
T
e
Example:
e
e
+
=
s
s H ) (
= O
) (e H
O
e
3249 . 0 ) 1 . 0 tan(
2
tan = =
|
.
|

\
|
O
= t e
|
.
|

\
|
O
=
2
tan
2
T
e
For T=2
H
e
e
+
=
s
s H ) (
H(z)
245 . 0

( ) n y
1
z

( ) n x
+
1
z
+
509 . 0
( )
( )
1
1
509 . 0 1
1 245 . 0

+
=
z
z
z H
Example:
( )
5 . 0
3
+
=
s
s H
1
1
1
1 2

z
z
T
s
( )
5 . 0
1
1 2
3
1
1
+
|
|
.
|

\
|
+

z
z
T
z H
( )
( )
( )
1
1
1
1
1 5 . 0
1
1 2
1 3

+
|
|
.
|

\
|
+
|
|
.
|

\
|
+

+
=
z
z
z
T
z
z H
Convert the following analog filter system function into a digital
IIR filter by means of the bilinear transformation method:
Solution
Example (Contd.)
( )
( )
( )
1
1
1
1
1 5 . 0
1
1 2
1 3

+
|
|
.
|

\
|
+
|
|
.
|

\
|
+

+
=
z
z
z
T
z
z H
( )
( )
( ) ( )
1 1
1
1 5 . 0 1
2
1 3

+ +
+
=
z z
T
z
z H
( )
( )
1
1
2
5 . 0 5 . 0
2
1 3

|
.
|

\
|
+
|
.
|

\
|
+
+
=
z
T T
z
z H
( )
( ) ( )
1
1
1
1
1
1
5 . 0
2
2
5 . 0
1 5 . 0
2
1 3

+
+
=
|
|
|
|
|
.
|

\
|
|
.
|

\
|
+
|
|
.
|

\
|

+
|
.
|

\
|
+
+
=
z
z
z
T
T
T
z
z H
s
|
o
Example (Contd.)
( )
( ) ( )
1
1
1
1
1
1
5 . 0
2
2
5 . 0
1 5 . 0
2
1 3

+
+
=
|
|
|
|
|
.
|

\
|
|
.
|

\
|
+
|
|
.
|

\
|

+
|
.
|

\
|
+
+
=
z
z
z
T
T
T
z
z H
s
|
o
2
5 . 1
3
5 . 0
2
3
= =
|
.
|

\
|
+
=
T
o
333 . 0
5 . 0
2
2
5 . 0
=
|
.
|

\
|
+
|
.
|

\
|

=
T
T
|
( )
( )
1
1
333 . 0 1
1 2

+
=
z
z
z H
For T=2
Example (Contd.)
2

( ) n y
1
z

( ) n x
+
1
z
+
33 . 0
( )
( )
1
1
33 . 0 1
1 2

+
=
z
z
z H