This chapter discusses various IIR filter design methods.

The four standard

types of filters are used here:
low-pass filter;
high-pass filter;
band-pass filter; and
band-stop filter.
The design method used here is known as bilinear transformation.
The IIR filter design process can be split into several steps described in
Chapter 3.2.5 Designing IIR filters by bilinear transformation. These are:
Defining filter specifications;
Specifying the type of analog prototype filter;
Computing the filter order according to the filter specifications and specified
analog prototype filter;
Computing the transfer function of reference analog prototype filter;
Transformation into analog filter by range scaling;
Transformation into digital filter by bilinear transformation; and
If the resulting filter doesnt satisfy the given specifications or if it is possible
to decrease the filter order, then it is necessary to do it. The specified filter
order is increased or decreased according to needs, and steps 4, 5 and 6 are
repeated after that as many times as needed.
Some steps are skipped in some cases. If the filter order is known, step 3 is
skipped. If the type of reference analog prototype filter is predetermined,
step 2 is skipped.
In every given example, the IIR filter design process will be described
through these steps in order to make it easier for you to observe similarities
and differencies between various design methodes, analog prototype filters
and design of various types of filters as well.
Figure 3-6-1 illustrates the design steps along with input and output data for
each of them.

Figure 3-6-1. Steps in designing digital IIR filter

The first block refers to design of reference analog prototype filter of
appropriate order. The output data is a reference analog prototype filter
transfer function Ha(s). Regardless of the type of reference analog prototype
filter in use, the transfer function is given by:

where:
H0 is a constant;
zk is the k-th zero of the reference analog prototype filter transfer function;
M is a number of zeros of the reference analog prototype filter transfer
function;
pk is the k-th pole of the reference analog prototype filter transfer function;
and
N is a number of poles of the reference analog prototype filter transfer
function and filter order as well.
Reference analog prototype filter is always a low-pass filter. The next step is
the transformation into an analog filter of appropriate type. The expression
used to transform the reference analog prototype filter transfer function
depends on the type of filter that needs to be obtained. The final result is
the transfer function H(s) given by:

where:
H0 is a constant;
zk is the k-th zero of the reference analog prototype filter transfer function;
M is a number of zeros of the reference analog prototype filter transfer
function;
pk is the k-th pole of the reference analog prototype filter transfer function;
and
N is a number of poles of the reference analog prototype filter transfer
function and filter order as well.
As seen, the transfer functions of reference analog prototype filter and
analog filter are very similar. They differ only in the value of constant H0,
the values of the transfer function poles and zeros zk and pk as well as in
the number of transfer function zeros M. The filter order is the same if the
analog filter is a low-pass or high-pass filter, whereas it is different if the
analog filter is a band-pass or band-stop filter. In the later case, the analog
filter order (N) is twice that of the reference analog prototype filter.
The next step is the transformation into appropriate digital IIR filter using
bilinear transformation given by expression:

Filter Designer Tool is used for testing and analysing the resulting IIR filters
in this chapter. All data are calculated with the accuracy of 4 decimal digits,
which is sufficient for most examples.
3.6.1 Filter design using Butterworth filter
3.6.1.1 Example 1
Step 1:
Type of filter low-pass filter
Filter specifications:
Filter order N=2;
Sampling frequency fs=20KHz;
Passband cut-off frequency fc=2.5KHz; and
Minimum stopband attenuation ap=40dB.
Step 2:
Method- filter design using Butterworth reference analog prototype filter.
Step 3:
Filter order is predetermined, N=2.
Step 4:
The Butterworth reference prototype filter transfer function has no zeros,
only poles. These can be computed via expression:

As N = 2, the values of poles are:

The reference analog prototype filter transfer function is:

Step 5:

First it is necessary to compute the analog prototype filter cut-off frequency

c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

As the Butterworth reference prototype filter has no zeros, the expression

for transfer function is simpler:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, substituting the complex variable s into the expression for analog
filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
This general expression can be written in a simpler way in this example:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
The filter order is predetermined.
There is no need to additionally change it.
Filter realization:
Figure 3-6-2 illustrates the direct realization of designed IIR filter, whereas
Figure 3-6-3 illustrates the frequency response of the filter obtained using
Filter Designer Tool.

Figure 3-6-2. Digital IIR filter direct realization in this example

Figure 3-6-3. Digital IIR filter frequency characteristic in this example

3.6.1.2 Example 2
Step 1:
Type of filter high-pass filter
Filter specifications:
Filter order N=3;
Sampling frequency fs=20KHz;
Passband cut-off frequency fc=5KHz; and
Minimum stopband attenuation ap=40dB.
Step 2:
Method- filter design using Butterworth reference analog prototype filter
Step 3:
Filter order is predetermined, N = 3.
Step 4:

The Butterworth reference prototype filter transfer function has no zeros,

only poles. These can be computed via expression:

As N = 3, the values of poles are:

The reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

As the Butterworth reference prototype filter has no zeros, the expression

for transfer function is simpler:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, substituting the complex variable s into the expression for analog
filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
This general expression can be written in a simpler way in this example:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
The filter order is predetermined.
There is no need to additionally change it.
Filter realization:
Figure 3-6-4 illustrates the direct realization of designed IIR filter.

Figure 3-6-4. Digital IIR filter direct realization in this example

Figure 3-6-5. Digital IIR filter frequency characteristic in this example

3.6.1.3 Example 3
Step 1:
Type of filter band-pass filter
Filter specifications:
Filter order N=4;
Sampling frequency fs=20KHz; and
Passband cut-off frequency fc1=4KHz, fc2=6KHz.
Step 2:
Method filter design using Butterworth reference analog prototype filter
Step 3:
Filter order is predetermined, N = 4.
Step 4:
The Butterworth reference prototype filter transfer function has no zeros,
only poles. These can be computed via expression:

When designing an IIR band-pass filter, the reference prototype filter order
is half that of the required IIR filter order. In this example for N=4, the order
of reference prototype filter is 2, so the values of poles are:

The reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

As the Butterworth reference prototype filter has no zeros, the expression

for transfer function is simpler:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, by substituting the complex variable s into the expression for

analog filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
In this example, the general expression can be written in a simpler way:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
Filter order is predetermined.
There is no need to additionally change it.
Filter realization:
Figure 3-6-6 illustrates the direct realization of designed IIR filter.

Figure 3-6-6. Digital IIR filter direct realization in this example

Figure 3-6-7. Digital IIR filter frequency characteristic in this example

3.6.1.4 Example 4
Step 1:
Type of filter band-stop filter
Filter specifications:
Filter order N=4;
Sampling frequency fs=20KHz; and
Passband cut-off frequency fc1=3000Hz, fc2=3300Hz.
Step 2:
Method filter design using Butterworth reference analog prototype filter.
Step 3:
Filter order is predetermined, N = 4.
Step 4:
The Butterworth reference prototype filter transfer function has no zeros,
only poles. These can be computed via expression:

When designing an IIR band-stop filter, the reference prototype filter order is
half that of the required IIR filter order. In this example for N = 4, the order
of reference prototype filter is 2, so the values of poles are:

The reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

As the Butterworth reference prototype filter has no zeros, the expression

for transfer function is simpler:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, by substituting the complex variable s into the expression for

analog filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
In this example, the general expression can be written in a simpler way:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
Filter order is predetermined.
There is no need to additionally change it.
Filter realization:

Figure 3-6-8 illustrates the direct realization of designed IIR filter.

Figure 3-6-8. Digital IIR filter direct realization in this example

Figure 3-6-9. Digital IIR filter frequency characteristic in this example

3.6.2 Filter design using Chebyshev filter
3.6.2.1 Example 1
Step 1:
Type of filter low-pass filter
Filter specifications:
Sampling frequency fs=44100Hz;
Passband cut-off frequency fc1=15KHz;
Stopband cut-off frequency fc2=18KHz;
Maximum passband attenuation ap=1dB; and
Minimum stopband attenuation as=40dB.
Step 2:
Method filter design using Chebyshev reference analog prototype filter
Step 3:
Filter order is not pre-determined, so it is necessary to choose an initial
solution from which iterative method starts. The solution is redefined

progressively until some pre-determined requirements are satisfied. Lets

assume that the initial filter order is 4.
Step 4:
The Chebyshev reference prototype filter transfer function has no zeros,
only poles. These can be computed via expression:

As N = 4, the values of poles are:

The Chebyshev filter transfer function is expressed as:

In this case, the value of constant A0 is:

A0 = 0.2457
so that the Chebyshev reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

As the Chebyshev reference prototype filter has no zeros, the expression for
transfer function is simpler:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, by substituting the complex variable s into the expression for

analog filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
This general expression can be written in a simpler way in this example:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
By analyzing the resulting filter using Filter Designer Tool, it is obvious that
the attenuation amounting to 31.2dB approximately at the frequency of
18KHZ is not sufficient. The frequency characteristic of the resulting digital
filter is illustrated in Figure 3-6-10 below.

Figure 3-6-10. Frequency characteristic of the resulting IIR filter

It is necessary to additionally redefine the filter order until the predefined

requirements are satisfied. The filter order is incremented by 1 and is 5
therefore. All steps starting with step 3 are iterated.
Step3:
The filter order is incremented in the second iteration. A new filter order is 5.
Step 4:
The Chebyshev reference prototype filter transfer function has no zeros,
only poles. These can be computed via expression:

As N = 5, the values of poles are:

The Chebyhsev filter transfer function is expressed as:

In this case, the value of constant A0 is:

A0 = 0.1228
so the Chebyshev reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

As the Chebyshev reference prototype filter has no zeros, the expression for
transfer function is simpler:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, substituting the complex variable s into the expression for analog
filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
This general expression can be written in a simpler way in this example:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
By analyzing the resulting filter using Filter Designer Tool, it is obvious that
the attenuation amounting to 41.6dB approximately at the frequency of
18KHZ is not sufficient. The frequency characteristic of the resulting digital
filter is illustrated in Figure 3-6-11 below.

Figure 3-6-11. Frequency characteristic of the resulting IIR filter

It is not necessary to further increase the filter order as this one is
appropriate. Sometimes more iterations are needed to determine the filter
order. The whole procedure is the same, only it takes more time.
Filter realization:
Figure 3-6-12 illustrates the direct realization of designed IIR filter, whereas
Figure 3-6-13 illustrates the frequency characteristic of the filter obtained
using Filter Designer Tool.

Figure 3-6-12. Digital IIR filter direct realization

Figure 3-6-13. Frequency characteristic of digital IIR filter

3.6.1.2 Example 2
Step 1:
Type of filter high-pass filter
Filter specifications:
Filter order N = 3;
Sampling frequency fs = 20KHz;
Passband cut-off frequency fc = 5KHz; and
Maximum passband attenuation ap = 1dB.
Step 2:
Method filter design using Chebyshev reference analog prototype filter
Step 3:
Filter order is predetermined, N = 3.
Step 4:
The Chebyshev reference prototype filter transfer function has no zeros,
only poles. These can be computed via expression:

As N = 3, the values of poles are:

The Chebyshev filter transfer function is expressed as:

In this case, the value of constant A0 is:

A0 = 0.4913
The reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

As the Chebyshev reference prototype filter has no zeros, the expression for
transfer function is simpler:

After substitution of poles and c into expression:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, substituting the complex variable s into the expression for analog
filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
This general expression can be written in a simpler way in this example:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
The filter order is predetermined.
There is no need to additionally change it.
Filter realization:
Figure 3-6-14 illustrates the direct realization of designed IIR filter.

Figure 3-6-14. Direct realization of digital IIR filter in this example

Figure 3-6-15. Frequency characteristic of digital IIR filter in this example

3.6.1.3 Example 3
Step 1:
Type of filter band-pass filter
Filter specifications:
Filter order N = 4;
Sampling frequency fs = 20KHz;
Passband cut-off frequencies fc1 = 4KHz, fc2 = 6KHz; and
Maximum passband attenuation ap = 1dB.
Step 2:
Method filter design using Chebyshev reference analog prototype filter.
Step 3:
Filter order is predetermined, N = 4.
Step 4:
The Chebyshev reference prototype filter transfer function has no zeros,
only poles. These can be computed via expression:

When designing an IIR band-pass filter, the reference prototype filter order
is half that of the required IIR filter order. In this example for N = 4, the
order of reference prototype filter is 2, so the values of poles are:

The Chebyshev filter transfer function is expressed as:

In this example, the value of constant A0 is:

A0 = 0.9826
The reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

As the Chebyshev reference prototype filter has no zeros, the expression for
transfer function is simpler:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, substituting the complex variable s into the expression for analog
filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
In this expression, the general expression can be written in a simpler way:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
Filter order is predetermined.
There is no need to additionally change it.
Filter realization:
Figure 3-6-16 illustrates direct realization of designed IIR filter.

Filter 3-6-16. Direct realization of digital IIR filter in this example

Figure 3-6-17. Frequency characteristic of digital IIR filter in this example

3.6.1.4 Example 4
Step 1:
Type of filter band-stop filter
Filter specifications:
Filter order N = 4;
Sampling frequency fs = 20KHz;
Passband cut-off frequencies fc1 = 3000Hz, fc2 = 3300Hz; and
Maximum passband attenuation ap = 1dB.
Step 2:
Method filter design using Chebyshev reference analog prototype filter.
Step 3:
Filter order is predetermined, N = 4.
Step 4:
The Chebyshev reference prototype filter transfer function has no zeros,
only poles. These can be computed via expression:

When designing an IIR band-pass filter, the reference prototype filter order
is half that of the required IIR filter order. In this example for N = 4, the
order of reference prototype filter is 2, so the values of poles are:

The Chebyshev filter transfer function is expressed as:

In this example, the value of constant A0 is:

A0 = 0.9826
The reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

As the Chebyshev reference prototype filter has no zeros, the expression for
transfer function is simpler:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, substituting the complex variable s into the expression for analog
filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
In this expression, the general expression can be written in a simpler way:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
Filter order is predetermined.
There is no need to additionally change it.
Filter realization
Figure 3-6-18 illustrates the direct realization of designed IIR filter.

Figure 3-6-18. Direct realization of digital IIR filter in this example

Figure 3-6-19. Frequency characteristic of digital IIR filter in this example

3.6.3 Filter design using inverse Chebyshev filter
3.6.3.1 Example 1
Step 1:
Type of filter low-pass filter
Filter specifications:
Sampling frequency fs = 44100Hz;
Passband cut-off frequency fc1 = 15KHz;
Stopband cut-off frequency fc2 = 18KHz;
Maximum passband attenuation ap = 1dB; and
Minimum stopband attenuation as = 40dB.
Step 2:
Method filter design using inverse Chebyshev reference analog prototype
filter.
Step 3:

Filter order is not pre-determined, so it is necessary to choose an initial

solution from which iterative method starts. The solution is redefined
progressively until some pre-determined requirements are satisfied. Lets
assume that the initial filter order is 4.
Step 4:
The Chebyshev reference prototype filter transfer function has no zeros,
only poles. These can be computed via expression:

As N = 4, the values of poles are:

The inverse Chebyhsev filter transfer function is expressed as:

In this example, the value of constant H0 is:

H0 = 0.01
so that the Chebyshev reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

In this example, the analog filter transfer function becomes:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, substituting the complex variable s into the expression for analog
filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
This general expression can be written in a simpler way in this example:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
By analyzing the resulting filter using Filter Designer Tool, it is obvious that
the attenuation amounting to 5.2dB approximately at the frequency of
15KHZ is not sufficient. The frequency characteristic of the resulting digital
filter is illustrated in Figure 3-6-20 below.

Figure 3-6-20. Frequency charactersitic of designed IIR filter

The attenuation at 15KHz is higher than 1dB and the resulting filter doesnt
satisfy the specifications therefore. It is necessary to additionally redefine
the filter order until the predefined requirements are satisfied. The filter
order is incremented by 1, and becomes 5 therefore. All steps starting with
step 3 are iterated.
Step 3:
The filter order is incremented in the second iteration. A new filter order is 5.
Step 4:
The inverse Chebyshev reference prototype filter transfer function has no
zeros, only poles.
These can be computed via expression:

As N = 5, the values of poles are:

The Chebyhsev filter transfer function is expressed as:

In this case, the value of constant H0 is:

H0 = 0.05

so the inverse Chebyshev reference analog prototype filter transfer function

is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

In this example, the analog filter transfer function becomes:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, substituting the complex variable s into the expression for analog
filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
This general expression can be written in a simpler way in this example:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
By analysing the resulting filter using Filter Designer Tool, it is obvious that
the attenuation at 18KHZ is less than 1dB (approximately 0.8dB). The
frequency characteristic of the resulting digital filter is illustrated in Figure 36-21 below.

Figure 3-6-21. Frequency characteristic of IIR filter

It is not necessary to further increase the filter order as this one is
approriate. Sometimes more iterations are needed to determine the filter
order. The whole procedure is the same, only it takes more time.
Filter realization:
Figure 3-6-22 illustrates the direct realization of designed IIR filter, whereas
Figure 3-6-23 illustrates the frequency characteristic of the filter obtained
using Filter Designer Tool.

Figure 3-6-22. Direct realization of digital IIR filter in this example

Figure 3-6-23. Frequency characteristic of digital IIR filter in this example

3.6.1.2 Example 2
Step 1:
Type of filter high-pass filter
Filter specifications:
Filter order N = 3;
Sampling frequency fs = 20KHz;
Passband cut-off frequency fc = 5KHz; and
Minimum stopband attenuation 40dB.
Step 2:
Method filter design using inverse Chebyshev reference analog prototype
filter.
Step 3:
Filter order is predetermined, N=3.
Step 4:

The Chebyshev reference prototype filter transfer function has no zeros,

only poles. These can be computed via expression:

As N = 3, the values of poles are:

The inverse Chebyshev filter transfer function is expressed as:

In this case, the value of constant H0 is:

H0 = -0.03

The reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

In this example, the transfer function is:

After substituting the poles and c into expression:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, by substituting the complex variable s into the expression for

analog filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
This general expression can be written in a simpler way in this example:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
The filter order is predetermined.
There is no need to additionally change it.
Filter realization:
Figure 3-6-24 illustrates the direct realization of designed IIR filter.

Figure 3-6-24. Direct realization of digital IIR filter in this example

Figure 3-6-25. Frequency characteristic of digital IIR filter in this example

3.6.1.3 Example 3
Step 1:
Type of filter band-pass filter
Filter specification:
Filter order N = 4;
Sampling frequency fs = 20KHz;
Passband cut-off frequencies fc1 = 4KHz, fc2 = 6KHz; and
Minimum stopband attenuation 40dB.
Step 2:
Method filter design using inverse Chebyshev reference analog prototype
filter.
Step 3:
Filter order is predetermined, N = 4.
Step 4:
The Chebyshev reference prototype filter transfer function has no zeros,
only poles. These can be computed via expression:

When designing an IIR band-pass filter, the reference prototype filter order
is half that of the required IIR filter order. In this example for N=4, the order
of reference prototype filter is 2, so the values of poles are:

The Chebyshev filter transfer function is expressed as:

In this example, the value of constant H0 is:

H0 = 0.01
The reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

For this example, the analog filter transfer function is:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, substituting the complex variable s into the expression for analog
filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
In this example, the general expression can be written in a simpler way:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
Filter order is predetermined.
There is no need to additionally change it.
Filter realization:
Figure 3-6-26 illustrates direct realization of designed IIR filter.

Figure 3-6-26. Direct realization of digital IIR filter in this example

Figure 3-6-27. Frequency characteristic of digital IIR filter in this example

3.6.1.4 Example 4
Step 1:
Type of filter band-stop filter
Filter specification:
Filter order N=4;
Sampling frequency fs=20KHz;
Stopband cut-off frequencies fc1=3000Hz, fc2=3300Hz; and
Minimum stopband attenuation 40dB.
Step 2:
Method filter design using inverse Chebyshev reference analog prototype
filter.
Step 3:
Filter order is predetermined, N = 4.
Step 4:

The inverse Chebyshev reference prototype filter transfer function has no

zeros, only poles. These can be computed via expression:

When designing an IIR band-stop filter, the reference prototype filter order is
half that of the required IIR filter order. In this example for N = 4, the order
of reference prototype filter is 2, so the values of poles are:

The inverse Chebyshev filter transfer function is expressed as:

In this example, the value of constant H0 is:

H0 = 0.01

The reference analog prototype filter transfer function is:

Step 5:
First it is necessary to compute the analog prototype filter cut-off frequency
c.

The analog filter transfer function is obtained from the reference analog
prototype filter transfer function using expression:

In this example, the analog filter transfer function is:

Step 6:
The transformation into a digital filter through bilinear transformation:

Generally, substituting the complex variable s into the expression for analog
filter transfer function, the following is obtained:

where:
zk are the zeros of analog filter transfer function; and
pk are the poles of analog filter transfer function.
In this expression, the general expression can be written in a simpler way:

A more condensed form of the previous expression is:

The result is the IIR filter transfer function.

Step 7:
Filter order is predetermined.
There is no need to additionally change it.
Filter realization:
Figure 3-6-28 illustrates the direct realization of designed IIR filter.

Figure 3-6-28. Direct realization of digital IIR filter in this example

Figure 3-6-29. Frequency characteristic of digital IIR filter in this example

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Introduction
1. Introduction to Digital Filter Design

1.1 Basic concepts of digital filtering

1.2.Types of digital filters
2. Finite Impulse Response (FIR) Filter

2.1 Introduction
2.2 Finite impulse response (FIR) filter design methods
2.3 Window functions
2.4 Examples
2.5 Finite word-length effects
3. Infinite Impulse Response (IIR) Filters

3.1 Introduction
3.2 Infinite impulse response (IIR) filter design
3.3 Reference Analog Prototype Filter
3.4 Analog prototype filter to analog filter transformation
3.5 Bilinear transformation
3.6 Examples

3.6 Examples by MikroElektronika is licensed under a Creative Commons

Attribution 4.0 International License, except where otherwise noted.
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