Design of FIR Filters with Better Performance Using Z-Window

Rahul Pachauri, Rajiv Saxena

Department of Electronics & Communication Engineering Jaypee University of Engineering & Technology Guna, M. P. 473226, India pachauri_r@rediffmail.com
Abstract--In this paper, a method for designing of FIR filters with very low pass band ripples (PBR) using Z-window has been proposed. The proposed filter design method is the derivative of Kaiser Window (KW). This method produces FIR filters featuring very low PBR and better stop band attenuation (SBA) with exactly marked passband and stopband frequencies with tolerable higher filter order. KeywordsFIR Filters, Kaiser Window, Z- Window

Sanjeev N. Sharma
Department of Electronics & Instrumentation Engineering Samrat Ashok Technological Institute Vidisha, M.P. 464001, India

I.

INTRODUCTION

produces a set of windows in which dips can be steered in its side lobes. By steering the dips in the side-lobes, it is possible to reduce the PBR and SBA. Analytical equations for design of FIR filters using this window are not easily accessible as cited in the paper by Zhong [5]. Also, the results of Zhong [5] cannot be used directly for the design of FIR filters using ZW. Better than desired filter specifications can be achieved by steering dips and controlling their position in the sidelobes of ZW. II. Z-WINDOW The basic idea of ZW is that spectral window can be thought of as a special low pass filter which only allows the DC components to pass. Therefore, various FIR filter design techniques have been used to design the different windows. This design technique is based on the frequency sampling method. Suppose N is the number of frequency samples, then the frequency response H(ejw) of a linear phase (i.e., with a symmetric impulse response), frequency sampling filter with real FIR is given by [7]
H (e jw ) = exp[-jw(N 1)/2] N M sin(wN / 2) H d (0) + H d (k ) f (w, k ) sin(w / 2) k =1

Digital filters are one of the most important elements used in the applications of digital signal processing. These filters have been classified as Finite Impulse Response (FIR) and Infinite Impulse Response (IIR) systems according to their duration of impulse responses. FIR filters are very popular because of their inherent stability and linear phase properties. [1] Out of many methods available, for the design of FIR filters, like optimal method (Remez Exchange), window method and frequency sampling method [1], the optimal method provides optimum designs at the cost of large amount of computation which makes this method unsuitable for real time applications [1]. Fourier series method using windows is mostly used method which involves minimal computation compared to other methods. The purpose of the window function used in Fourier series method is to truncate and smooth the infinite duration impulse response of the ideal filter. In the literature, many windows have been proposed [2, 3]. One of the most popular window in designing the FIR filters is KW with two designing parameters. Before this work, FIR filter design using Z window (ZW) has been carried out by S.N. Sharma et al. [4] in which filter order has been reduced keeping tolerable higher PBR. In this paper, an alternate approach for the designing of very low ripples in pass band and better attenuation in stopband FIR filters using ZW is proposed. This technique

(1)

where, for N odd, ( N 1) / 2 M = (2) for N even, N / 2 sin[ N ( w / 2 k / N )] sin[ N ( w / 2 + k / N )] f ( w, k ) = (3) + sin( w / 2 k / N ) sin( w / 2 + k / N ) and |Hd(k)| are the samples of a desired magnitude response at 2k/N, for k = 0, 1,, N-1. For designing window functions, it has been assumed1, H k (k ) = x k 0 k =0 1 k L LkM (4)

with L being the number of transition samples. Thus, the expression of the spectral window W (ejw) has been given as-

exp[-jw(N 1)/2] N sin(wN / 2) L + xk f (w, k ) (5) sin(w / 2) k =1 which is 2 periodic. Therefore, Inverse Discrete Fourier Transform (IDFT) of the samples of W(ejw) at 2k/N, k = 0, 1,, N-1, and normalizing the peak to unity, the temporal weights of general L+1 term window has been defined as [7]L 1 ( 2 n + 1) k w(n ) = 0 .5 + ( 1) k x k . cos L N k =1 0.5 + x k W (e jw ) =
k =1

N/2. The same pattern is followed in the frequency response of the filters designed by ZW.
0 -20 -40 Magnitude in dB -------> -60 -80 -100 -120 -140 -160 -180 Dip at 2 Dip at N/4 Dip at N/2

for

n = 0 , 1,..., N- 1

(6)

where,
w k k . 1 cot 2 l tan 2 N l =1 2 N xk = k 1 i k i k L 2. cot 2 tan 2 1 . 1 cot 2 tan 2 N N N 2 i =k +1 i =1 for k = 1, 2,..., L. (7)
L

-200

10 15 Frequency in Bins ------>

20

25

cos

Fig. 1(a) Variation of ZW SLFOR with insertion of one dip for N=51
0 -20 -40 -60 -80 -100 -120 -140 -160 -180 -200 Dips at 3, 3.1 Dips at 0.25*N, 0.25*N+0.1 Dips at 0.5*N-0.1, 0.5*N

In this window, instead of using the traditional approaches of minimizing the Maximal Side Lobe Level (MSLL) with steepest descent or linear programming [7, 8], frequencies wl, l=1,, L, have been chosen in the sidelobes such that |W(ejw)| = 0. Thus the linear equations with xk as unknown have been obtained asL sin( w l N / 2 ) 1 f ( w l , k ) . x k = sin( w / 2 ) k= l for l = 1 ,.....L. (8) In this way, W(ejw) will have L dips at wl satisfying the condition2 L > wl > , for l = 1,..., L (9) N then it has been found, x1 > x 2 > .... > x L > 0 (10) and each xk is upper bounded by-

Magnitude in dB ------>

10 15 Frequency in Bins ------>

20

25

Fig. 1(b) Variation of ZW SLFOR with insertion of two dips for N=51

III.

FILTER DESIGN TECHNIQUE

It has been observed in [4] that the transition width (TW) of the filter varies with dip displacement (DD) as

xk <

( L!) 2 <1 ( L + k )! . ( L + k )!

(11)

TW = 0.082228 + 0.121141 DD 0.0330173 DD 2 (12)

This relationship holds due to the variation of main width (MLW) of ZW with the dip displacement. lobe

Condition (9) tells us that apart from finite set of frequencies: 2 (L+1)/N, 2M/N, where zeros of W (ejw) already exists, wl can be assigned anywhere in the sidelobes region, i.e. (2L/N, ). The meaningfulness of the solution is guaranteed by (10) and (11) gives the upper bound of the solutions. It has been observed in [5] that SLFOR and MSLL of the ZW can be increased by increasing the number of Steerable Side Lobe Dips (SSLD) and their position. It has been verified in this work as shown in Figs.1 (a) and 1 (b). From these figures, it can be seen that SLFOR increases upto SSLD and MSLL becomes constant after the dips. It can be increased in the entire side-lobe region by inserting dips in the vicinity of

In this work, we have observed that the MLW of the ZW varies linearly (as shown in fig. 2) with DD as:

MLW = 0.0187 DD 0.00139

(13)

and (13) holds true for 1 to 2 bins of DD for the insertion one dip in the side lodes, 1.5 to 3 bins DD for two dips, 2 to 4 bins DD for three dips and so more and ZW loses the basic properties of window functions if the dips are inserted below these ranges. The MLW of this window becomes constant if

the dips are inserted beyond these ranges and maximum MLW is given by( L + 1) MLW = (14) N where, L is the number of SSLD and N is the length of the ZW.
0.08
X: 4.1 Y: 0.0781

(b) Insert the SSLD to control the shape of ZW from (L+1)/N to N/2. (c) As shown in Fig.3 the maximum SBA achieved by the insertion of one, two, three and four dips is about 55 dB, 75 dB, 95 dB and 115 dB respectively and hence increase the number of dips according to the desired SBA and vary the position of dips from (L+1)/N to N/2 for better SLFOR of filter.
300 KWF with TW =0.2 Hz KWF with TW =0.1Hz KWF with TW =0.05 Hz ZWF with TW =0.2 Hz ZWF with TW =0.1 Hz ZWF with TW =0.05 Hz Three dips 150 Two dips
X: 55 Y: 89 X: 75 Y: 95 X: 95 Y: 123 X: 75 Y: 137

0.07 Mainlobe Width of Z Window ------->

One dip Two dips Three dips

0.06
X: 3 Y: 0.0581

Five dips

250

0.05

Four dips
X: 95 Y: 185 X: 115 Y: 233

0.04
X: 2.05 Y: 0.0381

200 Filter Order, N ------->

0.03

X: 115 Y: 151

0.02

0.01

10 15 20 Dip Displacement in Bins ------->

25

30

100

One dip

Fig. 2 Variation of MLW of ZW with DD for N=51.

50

X: 55 Y: 67

The filters have been designed by the insertion of SSLD in the side lobes of ZW up to which the MLW varies with DD in [4] and hence the order of the filter has been reduced in comparison of filter designed using KW at cost of tolerable higher pass band ripples. In the present work, the emphasis has been given to minimize the PBR by tolerable increased filter order and hence filters have been designed by the insertion of SSLD from (L+1)/N to N/2 maintaining desired filter specifications. Designing of ZW filters (ZWF) follows the same design procedure as KW filters (KWF) except shape parameter of ZW is varied by the SSLD and filter order holds the relationship as shown in Fig.3. It has been observed from Fig. 3 that the order of ZWF and KWF has the following relationshipM=N+L/f (15) IV.

0 20

30

40 50 60 70 80 90 100 Minimum Stopband Attenuation in dB ------>

110

120

Fig.3 Variation of ZWF orders with respect to KWF orders.

SIMULATION RESULTS AND PERFORMANCE ANALYSIS

To carry out a comparative performance analysis, LPF have been designed by KWF method and by following the design methodology developed in this work, namely filter design by ZWF method. Figs 4(a), 4(b) and 4(c) show the frequency response of the three filters, with parameters corresponding to these filters included in Table I(a), I(b) and I(c). From Table I(a), it can be observed that by the insertion of one dip in the sidelobes of ZW gives the PBR and SBA comparative to KWF. From Fig. 4(a) it can be seen that there is only slight improvement in SLFOR when dip is inserted at the center or last of the mainlobe of ZW. By the comparison of Table I(a) with Table II(a) it have been observed that by the insertion of one dip, there is no significant improvement in the performance of ZWF as compared to KWF. From Tables I(b) and I(c), it can be seen that there is a drastic improvement in SBA and PBR by the insertion of two or more dips in the sidelobes of ZW. The SBA and PBR further can be improved by the insertion of dips in the beginning of mainlobe. From Figs. 4(b) and 4(c) it can be seen that SLFOR improves by increasing the number of dips and their position.

where, N is the filter order calculated by KWF method and f is the transition band of the filter. since, and if, therefore, L 1, f < 1, M>N

Thus the procedure for designing the Low Pass Filters (LPF) using ZW is embodied in the following steps: (a) Calculate the filter order using KWF method and increase the order by using (15).

LPF Responses Magnitude in dB -------> 0 -50 -100 -150 -200 ZWF, Dip at 2/N Hz KWF KWF with order of ZWF ZWF, Dip at 0.25 Hz ZWF, Dip at 0.5 Hz

Finally, comparing the Table I(b) and I(c) with Table II(b) and II(c) respectively it can be concluded that the ZWF gives much better PBR and SBA in comparison to KWF even at the order of ZWF and it can be further improved by increasing the number of dips. It has been also found that PBR of KWF cannot be reduced below 0.02 dB with any higher filter order.
0.4 0.45 0.5

0.05

0.1

0.15

0.2 0.25 0.3 0.35 Frequency in Hz -------> Expanded view of LPF Passband

Table I (a) Comparative Performances of ZWF for Fig. 4(a)

Filter Type, No. of dips and their position ZWF, dip at 2/N Hz ZWF, dip at 0.25 Hz ZWF, dip at 0.5 Hz

-0.05

-0.1

0.05

0.1

0.15 0.2 Frequency in Hz ------>

0.25

0.3

0.35

Filter Order (N) 73 73 73

Magnitude in dB ------>

SBA (dB) 52.26 44.1 44.1

Max. PBR(dB) 0.0596 0.06983 0.07061

Fig.4 (a) (i) Comparative LPF frequency response plots (ii) expanded view of passband for fp = 0.25, fs = 0.3, F = 1 Hz, Ap = 0.1 dB, As = 44 dB with insertion of one dip.
LPF Responses 0 Magnitude in dB -----> -50 -100 -150 -200 ZWF, Dips at 3/N, 3.1/N Hz KWF KWF with order of ZWF ZWF, Dips at 0.24, 0.25 Hz ZWF, Dips at 0.499, 0.5 Hz

Table I (b) Comparative Performances of ZWF for Fig. 4(b)

Filter Type, No. of dips and their position ZWF, dips at 3/N, 3.1/N Hz ZWF, dips at 0.24, 0.25 Hz ZWF, dips at 0.49, 0.5 Hz

Filter Order (N) 93 93 93

SBA (dB) 74.22 61.49 61.49

Max. PBR(dB) 0.002749 0.008748 0.00875

0.05

0.1

0.15

0.2 0.25 0.3 Frequency in Hz ----->

0.35

0.4

0.45

0.5

Table I (c) Comparative Performances of ZWF for Fig. 4(c)

Expanded view of LPF Passband Magnitude in dB -----> 0 -0.02 -0.04 -0.06 -0.08 -0.1 0 0.05 0.1 0.15 0.2 Frequency in Hz -----> 0.25 0.3 0.35

Filter Type, No. of dips and their position ZWF, dips at 4/N, 4.1/N, 4.2/N Hz ZWF, dips at 0.24, 0.25, 0.26 Hz ZWF, dips at 0.48, 0.49, 0.5 Hz

Filter Order (N) 67 67 67

SBA (dB) 93.67 77.69 78.7

Max. PBR(dB) 0.0003864 0.001154 0.001308

Table II (a) Comparative Performances of KWF for Fig. 4(a)

Fig.4 (b) (i) Comparative LPF frequency response plots (ii) expanded view of passband for fp = 0.25, fs = 0.3, F = 1 Hz, Ap = 0.1 dB, As = 44 dB with insertion of two dips.
LPF Responses Magnitude in dB ------> 0 -50 -100 -150 -200 ZWF, Dips at 4/N, 4.1/N, 4.2/N KWF ZWF with order of ZWF ZWF, Dips at 0.24, 0.25, 0.26 ZWF, Dips at 0.48, 0.49, 0.5 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 Frequency in Hz -----> Expanded view of LPF Passband 0.4 0.45 0.5

Filter Type KWF (Normal Filter Order) KWF (Order of one dip ZWF)

Filter Order (N) 53 73

SBA (dB) 46.74 51.96

Max. PBR(dB) 0.06748 0.027

Table II (b) Comparative Performances of KWF for Fig. 4(b)

Filter Type KWF (Normal Filter Order) KWF (Order of two dips ZWF)

Magnitude in dB ------>

0.01 0 -0.01 -0.02 -0.03

Filter Order (N) 53 93

SBA (dB) 46.74 52.67

Max. PBR(dB) 0.06748 0.02382

Table II (c) Comparative Performances of KWF for Fig. 4(c)

Filter Type
0 0.05 0.1 0.15 0.2 Frequency in Hz ------> 0.25 0.3 0.35

Filter Order (N) 37 67

SBA (dB) 52.21 51.96

Max. PBR(dB) 0.02721 0.02585

KWF (Normal Filter Order) KWF (Order of three dips ZWF)

Fig.4 (c) (i) Comparative LPF frequency response plots (ii) expanded view of passband for fp = 0.2, fs = 0.3, F = 1 Hz, Ap = 0.1 dB, As = 60 dB with insertion of three dips.

V. CONCLUSION The FIR filters with ZW have been designed and compared with KW and Parks-McClellan window method in [4]. The superiority of FIR filters designed with ZW has been established in [4]. However, it has been observed that the smaller order of ZW based FIR filters has been obtained at the cost of inferior PBR and SBA. In this study an attempt has been made to improve the PBR and SBA significantly at the cost of order of the filter. Simultaneously, it has also been observed that the PBR and SBA of FIR filters designed with ZW found better than KWF having similar order. During this study, the bounds on steerable dip positions for improvising the performance of FIR filters have been determined. REFERENCES
[1] [2] [3] [4] [5] [6] [7] [8] A. Antonion., Digita Signal Processing: Signal, Systems and Filters, McGraw-Hill, 2005. J. F. Kaiser, Nonrecursive Digital Filter Dsign Using I0-sinh Window Function in Proc. IEEE Int. Symp. Circuits and Systems (ISCAS 74). C. L. Dolph, A Current Distribution for Brodside Arrays Which Optimizes the Relationship Between Beamwidth and Side-Lobe Level Proc. IRE, vol. 34, pp.335-38, June 1946. S. N. Sharma, Rajiv Saxena and S.C. Saxena. Design of Narrowband Frequency Sampling FIR Filters using Z-window Signal Processing, vol. 86, pp. 3299-3308, 2006. J. Zhong and Zhenxiang Han, Design of Windows with Steerable Sidelobe Dips in Proc. IEEE on Signal Processing, vol. 40, no. 6, June 1992. L.R. Rabiner and B. Gold, Theory and Applications of Digital Signal Processing, Engelwood Cliffs, NJ: Prentice-Hall, 1975, ch.3. L.R. Rabiner, B. Gold and McGonega,lAn Approach to the Approximation Problem for Nonrecursive Digital Filters, IEEE Trans. Audio Electroaccoust., vol. 18, no.2, pp. 83-106, June 1970. L.R. Rabiner, Linerat Program Design of Finite Impulse Response Digital Filters, IEEE Trans. Audio Electroaccoust., vol. 20, no.4, pp. 280-288, Oct. 1972..