STABLE REDUCED-ORDER PADE may be easily constructed 3 with the (n 4- 1 k)th and

APPROXIMANTS USING THE (n + 2 /c)th rows of the above array. Thus a transfer function
ROUTH-HURWITZ ARRAY of reduced order k may be written as

{ak-xsk l
+ ... + a2s2 + axs + a0}
Indexing terms: Large-scale systems, Modelling, Stability Rk(s) =
A mixed method is proposed for finding stable reduced-order
models using the Pade approximation technique and the where the coefficients of the kth order denominator polyno-
Routh-Hurwitz array. This method guarantees stability of the mial are found from eqn. 3. Rk{s) may be rewritten as:
reduced model when the original system is stable.
a0 a2s2 + ... + ak-xsk
Rk(s) = (5)
Introduction: Reduced-order models are often required in the bo ~\~ bxs + b2s 4- . . . 4- b\
analysis and synthesis of high-order complex systems. The
Pade approximation technique has been successfully used to where the b coefficients are now known.
find reduced-order approximants of high-order systems. This
method has the disadvantage that the reduced model may be Step 2: For Rk(s) of eqn. 5 to be the Pade approximant of G(s),
unstable although the original system is stable. Several
we have1
methods 1 - 2 are available for arriving at stable reduced-order
Pade approximants. In Reference 1, use is made of the Koen-
ig's theorem to compute the smallest (or the largest) magnitude bo c0
pole of the original system that must be retained in the bxc0 (6)
reduced-order model. The method suffers from the drawback
that once the resultant model is found to be unstable, a succes-
sively higher, number-of origiaa^system potes are retained-and k-i = bock-i + bxck- bkc0
the reduced-order model is checked for stability each time. In
the method of Reference 2 the appropriate number of domin- The at 0 = 0, 1, 2, ..., k 1) can be found by solving the
ant poles are retained. This requires determination of the poles above k equations.
of the system, which may lead to computational problems for
very high-order systems or when the system has closely spaced Example: This is taken from Chuang 4 and is given by
repeated poles. Chuang 5 has proposed a 'partial solution' to
the stability problem, through the homographic transforma- G (vS ) =
2 6s
^ ^ 2 8 5 2 3 = 1 + 0-5s 4- 0-75s2 - 3-375s3 + ...
tion 5 = w/(a + /?w), that gives a family of reduced models of ' 2 + 5s 4- 4s 2 4- s 3
the same order. This method involves more computation and
has the further shortcoming that the choice of a and /? is arbi- The Routh-Hurwitz array of the denominator is
trary. If an unstable model results for a particular choice of a
and p, one has to resort to the trial-and-error procedure of 1 5
trying out other combinations. 4 2
The new mixed method for deriving stable low-order equiv- 4-5
alents of high-order systems, as given in this letter, is com- 2
putationally easy to program and conceptually simple. It
combines the Pade approximation technique and the Routh- The second-order reduced polynomial is then 4s 2 4- 4-5s 4- 2.
Hurwitz array method. 3 Solving eqns. 6, we obtain

5-5s + 2
Reduction method: Let the high-order transfer function G(s) be R2(s) =
given by 4s 2 + 4-5s + 2

with the poles at

n2lsm~l + nl2sm~2 + n22sm
G(s) = (1)
dxxs" + d2lsn 1
+dx2s" 2
+ d22sn 3
-0-5625 ;0-4284784
= c0 + cxs + c2.2si i
(2) The ordinary Pade approximation technique gives an unstable
model given by
where m < n and eqn. 2 is the power series expansion of eqn. 1
about 5 = 0. -0-22 - 1-775
(s 4- 01240937)(s - 1-7907603)
Step I: Form the Routh-Hurwitz stability array for the deno-
minator polynomial in eqn. 1:
Conclusions: A new mixed method for arriving at stable low-
order Pade equivalents is proposed. This method does not
require computation of the poles of the original system (by
Koenig's theorem or otherwise) for dominant pole retention. It
is computationally efficient and gives a unique stable reduced-
order model. Extension to the multivariable case is possible
(3) and is reported elsewhere.

Acknowledgments: The author acknowledges the financial sup-

port of the Electrical Engineering Department, University of
Roorkee, India.

JAYANTA PAL 16th February 1979

The above array is formed by the well-known algorithm Department of Electrical Engineering
University of Roorkee, Roorkee 247 672, India
dij = di-2j+1 - (rfi-2.1 di- 1J+1)/(di-,,,) (4)
References
for i > 3 and 1 <j <[(n- i + 3)/2], where [.] stands for the 1 SHAMASH, Y.: 'Stable reduced order models using Pade type approx-
integral part of the quantity. A polynomial of lower order k imations', IEEE Trans., 1974, AC-19, pp. 615-616

ELECTRONICS LETTERS 12th April 1979 Vol. 15 No. 8 225

2 SHAMASH, Y.: 'Multivariable system reduction via modal methods
and Pade approximation', ibid., 1975, AC-20, pp. 815-817
3 KRISHNAMURTHY, v., and SESHADRI, v.: 'Model reduction using the
Routh stability criterion', ibid., 1978, AC-23, pp. 729-730
4 CHUANG, s. c : 'Application of continued fraction method for
modelling transfer functions to give more accurate initial transient
response', Electron. Lett., 1970, 6, pp. 861-863
5 CHUANG, s. c : 'Homographic transformation for the simplification
of continuous-time transfer functions by Pade approximation', Int.
J. Control, 1976, 23, pp. 821-826
0013-5194/79/080225-02$! .50/0
DESIGN OF MINIMUM-PHASE
CHARGE-TRANSFER TRANSVERSAL
FILTERS
Indexing terms: Charge-coupled device circuits, Filters
The interest of the minimum-phase charge-transfer transver-
sal filters is pointed out in terms of sensitivity. When used in
communication networks, such filters are indispensable for
meeting the CCITT group-delay requirements. An exper-
imental example for time-division multiplex equipment is
described.
Charge-transfer devices proved to be very efficient for design-
ing nonrecursive discrete-time analogue filters. Extensive work
has been carried out on the synthesis of linear-phase (l.p.)
transversal filters.1"3 For that case, minimax solutions are well
characterised and several approaches are possible. However,
when applied to communications, such filters admit a group
delay that is rarely consistent with CCITT requirements. This
latter condition implies that the linear-phase specification be
removed and replaced by minimum phase (m.p.) operation.
Owing to the development of sophisticated charge-transfer
transversal filters, this problem is no longer academic 4 and its
solution is required, for example, in the synthesis of filters for
time- or frequency-division multiplex.
The synthesis of minimum-phase transversal filters has been
theoretically solved by Herrmann and Schuessler5 using
linear-phase synthesis as a first step. This method necessitates
finding the roots of a polynomial whose degree is equal to the
order of the filter. As pointed out by Schmidt and Rabiner, 6
this is a difficult approach in numerical analysis for sophist-
icated filters, but a direct synthesis is also possible.7
The frequency response of any transversal filter is computed
from the equation
s(z)= (1)
where z = exp (jcor), a> being the angular frequency and T the
clock period. The synthesis problem is then to find the N pa-
rameters Ak (k = 0 , 1 , . . . , N 1). The l.p. synthesis is obtained
by forcing
Ak = (2)
Such a symmetrical weighting leads to a real amplitude
response, followed by a pure delay of half the duration of the
impulse function, i.e. a linear-phase response. In that case, the
parameters Ak are synthesised by several techniques including
windowing of an infinite impulse response 8 and digital algor-
ithms such as the Remez exchange algorithm 3 or linear
programming. 2
Of course, a more efficient synthesis can be obtained by
removing the constraints of eqn. 2. The advantage is clear in
terms of actual group delay, since minimum phase implies min-
imum delay. In addition, Rabiner et al.9 have shown that, when
using m.p. filters, the gain in terms of number of taps depends
226
upon the relative bandwidth of the filters: the larger the band-
width, the larger the gain in number of taps.
On the other hand, when the same number of taps is used in
both implementations and with the same amplitude variations,
the advantages of m.p. synthesis can be expressed in terms of
sensitivity. For any transversal filter, we will assume that the N
weighting coefficients are random independent variables with
the same standard deviation aA. Then clearly the signal var-
iance is
= {s(z)s(z*)- |s(z)| 2 }
N-l N - l
{AkAl-AkAl)zk~l
and finally,
(the line stands for mathematical expectation). Owing to this
sensitivity, the maximum insertion loss in the stopband can be
evaluated for a lowpass filter as
- 2 0 log 10 - 2 0 log 10
where ar = oA jAmax is the relative standard deviation, Amax is
the maximum modulus of the coefficients Ak and | 5 m a x | is the
maximum value of \s(z)\ reached for z ~ 1 (co ~ 0).
Direct comparison between optimum l.p. and m.p. filters is
not very easy, since there is generally no connection between
the two syntheses, and the question arises of what is to be
compared. When the response is obtained by cascading two
identical filters, the overall transmittance admits only double
roots in the z-plane and can then be implemented in both l.p.
and m.p. devices with the same number of taps. Neither syn-
thesis is optimum, but a direct comparison in terms of sensiti-
vity is then straightforward. This comparison procedure has
been chosen starting from an 88 taps m.p. prototype as follows:
(a) Synthesise an m.p. prototype with N taps: so(z)
(b) Compute so(z)so(l/z) and implement a l.p. filter Slp(co)
2
(c) Compute [s o (z)] and implement an m.p. filter Smp((o)
(d) Use a Monte Carlo variation on the weighting coefficients
on both Sip and Smp and compute the sensitivity.
From a theoretical point of view, if the prototype coefficients
are Rk (k = 0, 1, 2 , . . . , n 1) it is easily seen that the
coefficients Alkp of the linear phase filter are:
n-l l/2 l n - 1
ln-1 \l/2
( ;=o \/=o /
(k = -n, ... + n)
(we have used Schwarz's inequality). Then
A'f = Rf
Similarly, we have for the m.p. filter
(using again Schwarz's inequality) and finally
Alp -~> Amp
^max ^ "-max
Since we have (for the lowpass filter)
ELECTRONICS LETTERS 12th April 1979 Vol. 15 No. 8