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2+
= (18.1)
2
or alternatively
2 1
(18.2)
+1
The result above follows from the Taylor series expansion of the
function esT/2.
Page | 201
DSP for Audio Applications Chapter 18. The bilinear transformation and IIR
filter transformations
1+ 2 + 2 + 2 +
= = = 1! 2! 3!
1+ 2 + 2 + 2 + (18.3)
1! 2! 3!
1+
2
1
2
2+ 2+ 4( + )4
| |= = =
2 2 + 4+( + )4
(18.4)
4( + )
< <1
4+( + )4
3
( )=( +2 + ) / (4 4 +
4
(18.5)
3
+(8 + 2 ) + 4+4 + )
4
Page | 202
DSP for Audio Applications Chapter 18. The bilinear transformation and IIR
filter transformations
This filter is different than the impulse invariant filter described in the
previous chapter, because the bilinear transformation is an
approximation. Figure 112 compares the magnitude response of the two
filters in the pass band and in the transition band.
Figure 112. Bilinear and impulse invariant Butterworth filters
dB Frequency (Hz)
0
10 110 210
-1
-2
-3
-4
-5
-6
-7
-8 Impulse invariance
-9
Bilinear
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DSP for Audio Applications Chapter 18. The bilinear transformation and IIR
filter transformations
0.439643 1.201904 +
( )= (18.7)
1 1.201904 + 0.439643
The high pass filter would be the difference between the two
The magnitude response of this high pass filter, however, is not as well
behaved as we might have hoped. It has a normalized magnitude
response that is greater than 1 in the pass band and that decreases slowly
with higher frequencies, although that can be corrected to some extent by
simply applying some gain to the coefficients in the numerator of the
transfer function.
An easier filter transformation would be to realize that if the following is
the magnitude response of a low pass filter
| ( )| =
(18.9)
1+
| ( )| =
(18.10)
1+
Page | 204
DSP for Audio Applications Chapter 18. The bilinear transformation and IIR
filter transformations
Given a low pass transfer function H(s / c), we can typically create a
high pass transfer function by substituting s / c with c / s.
Substituting s / c with (s2 + c2) / (B s) produces a band pass filter,
where c is the midpoint of the pass band and B is the width of the
band. Substituting s / c with B s / (s2 + c2) produces a band stop
filter.
We can then define the Butterworth filter again as the filter with the
transfer function
( )= (18.11)
( )
where n is the order of the filter and Bn(S) are the normalized Butterworth
polynomials given by
/ 2 + 1
( )= 2 +1 ,
2
2 + 1 (18.12)
( ) = ( + 1) 2 +1 ,
2
Take the transfer function for the second order Butterworth high pass
filter with G = 1.
( )= (18.13)
3
2 +
4
( ) = (4 8 + 4 )/ ( 22 + 4
(18.14)
+ 2 8 + + 22 + 4 )
dB Frequency (Hz)
0
10 210 410 610 810
-2
-4
-6
-8
-10
-12
-14
-16
-18
-20
Page | 206
DSP for Audio Applications Chapter 18. The bilinear transformation and IIR
filter transformations
The following is the formula for the second order Butterworth band pass
filter after the bilinear transformation.
+ +
( )=
+ + + +
=4
= 8
=4
(18.16)
= 16 + 82 + 4(2 + ) + 22 +
= 64 162 + 42 + 4
= 96 8(2 + ) + 6
= 64 + 162 42 + 4
= 16 82 + 4(2 + ) 22 +
Page | 207
DSP for Audio Applications Chapter 18. The bilinear transformation and IIR
filter transformations
dB Frequency (Hz)
0
10 210 410 610 810
-2
-4
-6
-8
-10
-12
-14
-16
-18
-20
=
(18.18)
= =
= =
We can rewrite the transfer function of the fourth order low pass
Butterworth filter as follows.
Page | 208
DSP for Audio Applications Chapter 18. The bilinear transformation and IIR
filter transformations
( )= (18.19)
( )( ) ( )( )
dB Frequency (Hz)
0
10 110 210 310
-5
-10
-15
-20
-25
-30
2nd order 4th order
Page | 209
DSP for Audio Applications Chapter 18. The bilinear transformation and IIR
filter transformations
( )
( )= 2 (18.20)
( )
For example, if the transfer function of some second order low pass
Butterworth filter is
+ +
( )= = (18.21)
1 + +
+
( )= 2 +
+
= (2 ) + ( )+ (18.22)
= (2 ) + ( )
= (2 ) + ( )+
= (2 ) + ( )
The phase response of our example second order low pass Butterworth
filter is shown on figure 116 for the normalized between 0 and .
Unlike the phase response of symmetric FIR filters, this phase response
is not linear.
Page | 210
DSP for Audio Applications Chapter 18. The bilinear transformation and IIR
filter transformations
2.5
2.0
1.5
1.0
0.5
0.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0
1 1
( )= = (18.23)
1+ 1+
| ( )| = (18.24)
+
1
= = 1.57 (18.25)
2 + 22 2
Page | 211
DSP for Audio Applications Chapter 18. The bilinear transformation and IIR
filter transformations
1
| ( )| = = 3 (18.26)
+ 2
Page | 212