FIR Filter Design and Applications

m. Example 1 : Determine the cutoff frequency of the digital filter whose difference equation is, yen) - ~y(n-1) = xin).

Solution : Taking z-transform of given difference equation, 1

Y(z) -2Z-1 Y(z) X(z)

Y(z) _ 1

X(z) - l-..!.Z-l 2

H(z)

'Frequency response can be obtained by putting z = (ejW) i.e.

1

1 ' 1-- e-)W

2

1

1-~ [cos (0- j sin (0]

1

( 1 - ~ cos (0 ) + j sin (0

1

1 - 2 cos (0 . sin (0

( 1 - ~ cos (Or + sin 2 (0 - ] (1 - ~ cos (Or + sin 2 (0

Hence magnitude will be,

1 "2

(3 - 1)

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FIR Filter Design & Applications

1

( 1 - ~ cos W r + sin 2 W

For W = 0, I H(ejW) I ~ 1

0.5

1.4142

This is the maximum amplitude of the filter response. Now at W = 1.4142 amplitude will be reduced to .J2 = 1. We have to determine the 'cd

We, the above

for which

I H(ejW) 1=1 . This value can be evaluated by testing H(ejW) for few sample values of W i.e.,

W 0.8, I H(ejW) I = 1.031
W 0.85, I H(ejW) I = 0.993
W 0.82, I H(ejW) I = 1.016
W 0.83, I H(ejW) I = 1.0083 Thus the cutoff frequency lies near We = 0.83 radians/sample.

m. Example 2: Let hit) denote the impulse response of a linear time invariant analog filter and hd(n) the unit sample response of a linear shift invariant digital filter.

i) If h , (t) = e-at u(t), determine the analog filter frequency response and sketch its magnitude.

ii) If ha(n)=ha(nT) with ha(t) as given above, determine the digital filter frequency response and sketch its magnitude.

Solution : i) Frequency response of analog filter

Consider, ha(t) = e-atu(t)

From standard fourier transform relations, the fourier transform of this function

becomes,

H(f)

1

a+ j2nf 1

And,

I H(j) I =

Fig. 1 shows the plot of above magnitude.

IH(f)1

Fig. 1 Plot of frequency response of analog filter

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FIR Filter Design & Applications

ii) Frequency response of digital filter After sampling of ha(t) at t = nT we get, hd(n) = ha(nT) = e-anTu(n) Taking fourier transform,

00 00

Hd(O)) = 'L,hd(n) e-jwn = 'L,e-anTu(n)e-jwn

n=::.-oo

'L,OO T' 'L,oo [ . ]n 1

e-an e-jWn = e-an e-jW = .

l-e-an e-jW

n=O n=O

This equation gives the frequency response of the digital filter.

m. Example 3: Determine the filter coefficients hd(n) for the desired frequency response of a low pass filter given by,

If we define the new filter coefficients by h(n) = hd(n) ,w(n), where

{I for O:$;n:$;4 w(n) =

o elsewhere

Determine hen) and also the frequency response H(ejW) and compare with H d (ejW) I Solution: i) To obtain hd(n)

The given Hd(ejW) is for a lowpass type of filter. Taking inverse fourier transform of Hd(eJW) we get,

1 1t/4

- f ejw(n-2) di» 21t

-1t/4

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FIR Filter Design & Applications

= J_[eio:.(n-2) ]"/4 2rc j(n-2) 1t -"4

Above equation can be simplified to,

This equation gives filter coefficients for the desired filter.

ii) To obtain h(n)

The given window function is,

{I for O:S;n::::4 w(n) =

o otherwise

This is rectangular window of length M 0:s;n:s;M-1

5. For this window, h(n) =hd(n) for

.. h(O) 0.159091
h(l) 0.224989
h(2) 0.25
h(3) 0.224989
h(4) 0.159091
iii) To obtain H(e jW) Eq. 3.2.14 gives the frequency response for odd value of M. i.e.,

{ M-3 }

-jw M-l M -1 -2- M-1

H(m) = e (2) h(-2-) + 2 ~ h(n)COsm(n--2-)

Putting M = 5 in above equation,

H(m) = e-j2w[h(2)+2tah(n)CoSm(n-2)]

Putting values of h(n),

H(m) e-j2w[h(2)+2 h(O)cosm(-2)+2 h(l)cosm(-l)]

e-j2w [2 x 0.159091 cos 2m+ 2 x 0.224989 cos m+ 0.25]

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FIR Filter Design & Applications

e-j2w [0.318 cos 2eo + 0.45 cos eo + 0.25]

Here the pseudo magnitude response is given by,

I H(eo) I

0.318 cos 2eo + 0.45 cos eo + 0.25

and

L H(eo)

{ -2eo for -2eo+ 11: for

I H(eo) I > 0 I H(eo) I < 0

Above two equations can be plotted against 'm to give frequency response. Here note that I H(eo) I will not be exactly same as Hd(eo) due to windowing op~ration.

)11. Example 4: Design an FIR filter (lowpass) using rectangular window with passband gain of 0 dB, cut-off frequency of 200 Hz, sampling frequency of 1 kHz. Assume the length of the impulse response as 7.

Solution : Given data :

Fe 200 Hz, Fs = 1000 Hz

fe

Fe 200

F = 1000 = 0.2 cycles/sample

s

211:fc = 211: x 0.2 = 0.4 11:

M 7

The impulse response of the desired filter is as given by eq. 3.4.20. Putting M = 7 and eoe = 0.4 11: in this equation we get,

{Sin[0.411:(n-3)] fi

h ( ) (3) or n *- 3

d n = 11: n-

0.4 for n=3

Since window function is rectangular, h(n) = hd(n). The coefficients are as follows:

h(O) h(l) h(2)

- 0.062341 0.093511 0.302609

h( 4) = 0.302609

h(5) = 0.093511

h(6) = - 0.062341

h(3) 0.4

These are the required filter coefficients.

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FIR Filter Design & Applications

m. Example 5: Using a rectangular window technique, design a low pass filter with passband gain of unity, cutoff frequency of 1000 Hz and working at a sampling frequency of 5 kHz. The length of impulse response should be 7.

Solution: Here Fe = 1000 Hz, F, = 5000 Hz

Fe 1000

Fs = 5000 = 0.2 cycles/sample

2rtfc = Zrt x 0.2 = O.4rt

M 7

Note that these specifications are exactly similar to those of last example. Hence filter coefficients will be same as calculated in last example i.e.,

h(O) h(1) h(2)

- 0.062341 0.093511 0.302609

h( 4) = 0.302609 h(5) = 0.093511 h(6) = - 0.062341

h(3) 0.4

m. Example 6: Design an ideal bandpass filter with frequency response.

Use rectangular window with N = 11 in your design.

Solution : i) To obtain h d (n)

The given bandpass filter has a passband from (Oct = i to (OQ = ~rt rad/sample.

The desired unit sample response of the ideal bandpass filter is given by eq. 3.4.25 as,

{sin (Oe2 (n-"C) +sin (Oct (n-"C) fi

or n","C

hdn) = rt(n-"C)

(02 -(Oct

e for n = "C

rt

H M-1 11-1 5 P' I . b .

ere "C = -2- = -2- = , uthng va ues in a ove equation,

. [3rt(n-5)] . [rt(n-5)]

sm 4 -sm -4-

rt(n-5) 3rt rt

4-'4 1 -rt--S

for n '" 5

for n=5

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FIR Filter Design & Applications

ii) To obtain h(n) by windowing

Here since rectangular window is given,

i.e.

hen) hen)

for 0 ~ n ~ M-1

for 0 ~ n ~ 10

Following are the values calculated as per above equation:

h(O) 0 h(6) = 0
h(l) 0 h(7) = - 0.3183
h(2) = 0 h(8) = 0
h(3) - 0.3183 h(9) = 0
h(4) 0 h(10) = 0
h(5) 1
5 m. Example 7: Oesign a lowpass filter with a cutoff frequency We = ~, a transition width L1w= 0.02n and a stopband ripple Os = 0.01. Use Kaiser for your design.

Solution : Given data

n
We 4
L1w 0.02 n
05 0.01
.. A - 20 log10 Os = 40 dB i) To obtain ~ and M

. Here A = 40, hence ~ can be calculated by,

~ 0.5842 (A - 21)°.4 + 0.07886 (A - 21) 0.5842 (40 - 21)°·4 + 0.07886 (40 - 21) 3.395

Value of M is given as,

A-8 M = 2.285L1w

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FIR Filter Design & Applications

40-8

==

2. 285 x 0 . 02 TC

222.88

Observe that the values of ~ and M are same as in previous example. Value of COe == i == 0.25 TC and it is 0.2 TC in previous example. Hence all the design steps and

calculations will be same as given in previous example.

))'. Example 8: Obtain linear phase realization of

Z-l Z-2

H(z) == 1+-+-+z-3

4 4

Solution From the given system function we can write h(n) as,

1 1

h(O) == 1, hO) == 4' h(2) ==4' h( 3) == 1

Here M == 4 (even). Hence linear phase structure can be obtained using Fig. 3.10.5 in the book. The structure is shown below.

h(O) = 1

x(n) -,...------1

Fig. 2 Linear phase realization of H(z) of Ex. 8

m. Example 9 Obtain the cascade realization of system function,

Htz) == l+~Z-l +2z-2 +2z-3

2

Solution

Here,

H(z)

5

1 + _Z-l + 2z-2 + 2z-3

2

H(z)

5

z3 +_Z2 +12+2

2

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FIR Filter Design & Applications

(Z+2)(Z2 +0.5z+1) Z2

The cascade realization of above equation is shown in Fig. 3.

y(n)

Fig. 3 Cascade realization of H(z) of Ex. 9

Exampl 10: The frequency response of a linear phase FIR filter is given by,

H( ej (j)) = ej 3 co [2 + 1.8 cos 3w + 1.2 cos 2w + 0.5 cosec] Find the impulse response sequence of the filter.

M-l

Solution: Here -2- = 3 ::::::> M=7. For odd length of M, the frequency response is given

as,

{ M-3 }

M-l -2-

-jw - M-l M-l

e (2) h (-2-)+2 n~o hen) casco (n - -2-)

ej 3 co {h( 3) + 2 n~o h( n) cos co (n - 3)}

= ej 3w {he 3)+ 2 h(O) cos 3 co+ 2 h(l) cos 2 co+ 2 h(2) cos co} Comparing with given H( ej w) we get,

2 h(O) 2 h(l) 2 h(2)

1.8 ::::::> h(O) = 0.9 1.2 ::::::> h(l) = 0.6 0.5 ::::::> h(2) = 0.25

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FIR Filter Design & Applications

h(3) = 2

Since filter has linear phase, h( n) = heM -I-n)

hen) h(4) h(S)

h(6-n) h(6-4)=h(2) = 0.25 h(6-S)=h(I) = 0.6

h(6) h(6-6)=h(0) = 0.9

Thus

hen)

{0.9, 0.6, 0.25, 2, 0.25, 0.6, 0.9}

Example 11 Deduce the equation for the frequency spectrum for the rectangular window

sequence defined by,

{ -(N-I) N-I

w R (n) = 1, for 2 :os; n :os; -2-

o otherwise

What is the width of main lobe of the spectrum ?

Solution: DTFT of window function is given as,

N-l

W(w)

-2-

L wen) e-jwn N-l

n=--2-

N-l -2-

L e-jwn N-l n=--2-

k=Nl

N2 aNl_aN2+1 " a k = _-;- __

L. I-a

Here let us use,

N-l N-l

( e- j co r -2 - ( e- j W)-2 + 1 W(w) =

By rearranging above equation,

W(w) =

.wN.w .wN .w

eJ -2- eJ"2 - e - J -2- e - J "2

. co . (0 • co . (()

eJ"2 e - J"2 - e - J"2 e - J "2

. wN . wN sin (w2N)

eJ -2- - e - J -2-

. co , (t) (w)

eJ"2 - e - J"2 sin '2

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FIR Filter Design & Applications

Frequency spectrum will be,

I W(co) I

ISin(~)1 I sin(~)1

The width of the main lobe of the spectrum is ~: 1 .

Example 12: The frequency response of a filter is given by

H(ejw)=jco; -rc~co~rc

Design the filter, using a rectangular window function. Take N = 7.

Solution: The desired impulse response is given as,

-n

1 n

fico ei w n dco 2rc

-n

{:o~nn

n"*O for n =0

To have linear phase, we will shift h(n) to right. This shift is equal to N; 1 = 7 ~ 1 = 3 samples. i.e.,

{ cos rc( n - 3)

h(n) = n - 3

o

for n"* 3

for n = 3

Values of h(n) can be calculated as follows :

h(O) cos (- 3rc) 1
-3 3
h(l) cos( - 2 rc) 1
-2 = -'2
h(2) cos( -rc)
= 1
-1
and h(3) 0
h(4) cosrc = _ 1
1 Digital Signal Processing

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FIR Filter Design & Applications

h(5)

cos 2 re 2

h(6)

cos 3 re 3

Thus,

h(n) = {~, - ~,l,O,-l,~,-~}

Here observe that h( n) = - heN -l-n) with N phase filter.

Example 13: By choosing an appropriate window, design a linear phase, odd-length, low-pass

FIR filter that satisfies the following specifications :

7 since it is anti symmetric linear

0.985::; I H(ejw)l::; 1.015, 0::; W::; 0.2 re IH(ejw)l::; 0.001, 0.3re:<:;w::;re

Give the expressions for the impulse response and the corresponding frequency response.

Solution: i) To obtain order of the filter:

The specifications are,

1-0.015 s IH(eiw)l::; 1+0.015, I H( eiw)1 ::; 0.001,

o ::; co ::; 0.2 re

0.3 re::; w::; rt

Comparing above equation with equation 4.2.22,

81 = 0.015, 82 = 0.001, Ws = 0.3 re, wp = 0.2 re

M = Ws -wp = 0.3 re-0.2 re = 0.05

2re 2re

. -10IoglO(81·82)-15

By equation 4.2.23, N = 14 ~ f

- 10 IOglO (0.015 x 0.001) -15 14x 0.05

47.48 "" 48

The nearest odd length is, N = M = 49. ii) To obtain desired unit sample response

ro, + wp Here the cutoff frequency We = 2

0.3 re+ 0.2 re 2

0.25 re

The desired unit sample response is given as,

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FIR Filter Design & Applications

for

M-1 n*-- 2

for

M-1

n=--

2

Putting values in above equation,

1 sin 0.25rc (n -24)

hd(n) = rc(n-24)

0.25

for n * 24

for n = 24

iii) Selection of window

The attenuation required is 0.001 i.e. 20 log 0.001 = - 60 dB. This attenuation is offered by blackman window. (Refer table 4.3.1).

{ 2rcn 4rcn

() 00.42 - 0.5 cos M-1 + 0.8 cos M-1

WB n =

for n =0, 1, ... M-1

otherwise

{ n n rt n

= ~.42-0.5 cos 24 + 0.8 casU

for n = 0, 1, .... 48 otherwise

iv) Unit sample response of the filter

h(n) = hd(n)WB(n)

{Sino.25rc(n-24) [ rt n rcn]

h(n) = 0 rc( n - 24) 0.42 - 0.5 cos 24 + 0.8 cos 12

for n = 0, 1, .... 48

otherwise

This is the required expression for impulse response.

Example 14: Let the specifications of a filter be as follows :

0.99:s; IH(eiw)l:s; 1.01, o :s; co :s; 0.2 rc
IH(eiw)l:s; 0.05, 0.25 rc :s; co :s; 0.6 rc
0.99:S; IH(eiw)l:s; 1.01, 0.7 rc s (j) :s; rt i) These specifications approximate an ideal filter. Derive the impulse response of this ideal filter.

ii) Design a linear-phase filter that satisfies the above specifications using the kaiser window. Give the expression for the impulse response of the designed filter.

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FIR Filter Design & Applications

Solution : The given specifications are of band reject filter. The cutoff frequencies for rejected band are,

COC[ cop! ; COS1 = 0.2 TC +20.25 TC = 0.225 TC

= 0.6 TC; 0.7 TC = 0.65 TC

To obtain the values of 13 and M

Here 81 = 0.01 and 82 = 0.05

And

minimum of 81 and 82 = 0.01

Ll co minimum of ( COS2 - cop2) and (COS1 - cop! ) Minimum of 0.1 TC and 0.05 1t.

0.05 TC

A -20 log 8= -20 log 0.01 = 40 dB

Value of M is given for kaiser window as,

A-8 M =

2.285 Ll co

40-8 = 89.154 ~90

2.285(0.05 TC)

Since A = 40, which lies in the range of 21 to 50, 13 will be,

13 0.5842(A _21)°.4 + 0.07886(A -21)

0.5842 (40-21)°.4 + 0.07886(40-21) 3.395

i) To obtain impulse response of ideal filter

We know that Hd ( ei (() ) = e : i ro r in the passband band. Hence, 1 1[

2 TC f Hd ( ei w) ei co n dro

-1[

1 [- WC2 . We[ 1[ ]

= 2TC i1[ eJw(n-t) dro+ -L eiw(n-t) dor+ f eiw(n-t) dco

-~l "'C2

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FIR Filter Design & Applications

!SinwC! (n-t)-sinwC2 (n-t)+ sinre(n-t)

= re(n -t)

re - wC2 + WC!

re

for n = r

M-1

We know that t=-2- . For kaiser window length of the filter is Mr I. Hence 'M'

should be replaced with Ms-I. i.e.,

r = M + 1 -1 = M = 90 = 45

2 2 2

Putting values in equation for h d (n),

1 sin 0.225 re( n -45)-sin 0.65 re( n -45)+ sin re(n -45)

hd(n)= re(n-45)

0.575

for n *- 45

for n= 45

ii) Filter design using kaiser window M 90

a = 2 = 2 = 45 and ~ = 3.395

Putting the values in equation 4.3.12,

Wk (n) =

10 {3395 [l-(~ni)

10 (3.395)

for 0:'0: n s 90

o

otherwise

The impulse response of the filter will be,

Putting the values of hd (n) and Wk (n) obtained earlier, hen) can be obtained.

- Example 15: i) Obtain the cascade realization of the system function :

H(z) = (1+2z-1 -z-2) (1+z-1 _z-2)

ii) Determine the direct form realization of the system function :

H (z) = 1 + 2z-1 - 3z-2 -4z-3 +5z-4

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FIR Filter Design & Applications

Solution: i) Cascade realization :

Here

1 + 2 z ? -Z-2 and H2 (z) = 1 + z :' -Z-2

y(n)

Fig. 4 Cascade realization

ii) Direct form realization :

y(n)

Fig. 5 Direct form realization

Example 16: Consider an FIR lattice filter with coefficients K1 = 0.65, K2 = - 0.34, K3 = O.S.

Find its impulse response. Draw the equivalent direct form structure.

Solution: Fig. 6 shows the lattice structure for given K1 ,K2 and K3•

x(n)

}--- y(n)

Here

93(n)
92(n)
Fig. 6 3-stage lattice structure
f1 (n) x(n)+ K1 x(n-l) ... (1)
gl(n) Kl x(n)+x(n-l) ... (2)
f2 (n) f1 (n)+K2 g1 (n-l) ... (3) and

Similarly

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FIR Filter Design & Applications

and

... (4)

Putting for f1 (n) and gl (n) from equation 1 and 2 in above equations and simplyfying we get,

and

x(n)+K1(1+K2)x(n-1)+K2 x(n-2) K2 x(n)+K1(1+K2)x(n-1)+x(n-2)

... (5) ... (6)

For third stage we can write,

yen) f2(n)+K3 g2(n-1)

x(n)+{K1 +K1 K2 +K2 K3}x(n-1)

+{K2+K1 K3+K1 K2 K3}x(n-2)+K3 x(n-3)

Putting for K1 = 0.65, K2 = - 0.34 and K3 = 0.8 and after simplification,

yen) x(n)+ 0.157 x(n -1)+ 0.0032 x(n -2)+ 0.8 x(n -3)

Y(z) H(z) hen)

X(z)+ 0.157 z " X(z)+0.0032 z-2 X(z)+ 0.8 z-3 X(z) 1 + 0.157 z-l + 0.0032 z-2 + 0.8 z-3

1 +0.157b(n -1)+ 0.0032 b(n -2)+ 0.8b(n - 3)

y(n)

Fig. 7 Direct form structure

))). Example 17: Design an ideal high pass filter with a frequency response:

for

1t -<lwl<1t

4 - -

O<lwl<~

- - 4

for

Find the value of hen) for N = 11 using (i) Hamming window

(ii) Hanning window

[Nov.lDec.-2004, 16 Marks]

Solution: Here the magnitude of HdejW) is given. The complete function can be represented as,

Digital Signal Processing

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FIR Filter Design & Applications

[or - 11: < co < _2: & 2: < co < 11:

- - 4 4--

elsewhere

To obtain hd(n) for M = 11

Taking inverse Fourier transform of H d ( e jro ),

-It

-It

It

2_ f e jro( n-T) di» 211:

-It

1 {-4lt It

211: L ejm(n-T) des+ I ejro(n-T) ds»

4

... (1)

2_ {[e.iro(n-T) ]-~ + [e.iro(n-T)]lt }

211: J(n-1;) J(n-1;) It

-It 4

... (2)

And for n = 1;, equation (1) above becomes,

{ It }

1 -4 It

211: L ds» + , ds»

3 4

for n =1;

... (3)

M-1 11-1

For linear phase filter 1; =-2- =-2- =5. Therefore from eq. (2) and (3) hd(n) can be

collectively written as,

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FIR Filter Design & Applications

{ ;(L5) {sin n(n-5) -sin ::[(n-5)}

"4 for n =5

To obtain coefficients of a filter

Following table shows values of hd(n), wen) for hamming and hanning window. Then hen) is given as,

hen) = hd (n) ·w(n)

n hd(n) Hamming Hanning window Filter Filter
window wHamm(n) coefficients coefficients
w Hamm(n) (Hamming) h(n) (Hanning) h(n) =
= hd(n)WHann(n) hd(n)w hann (n)
1 0.54- 0.46 \ 2nn)
It(n- 5) - 1-eos-
2ltn 2 M-1
\''"'In-5) ) eosM -1 l.e, for M = 11,
-Sini(n - 5) l.e. for M = 11, ~( 1- eosin)
0.54 - 0.46
for n ~ 5 n
eosSn
0 hd (0) = 0.045 0.08 0 0.0036 0
1 hd(1) = 0 0.167 0.095 0 0
2 hd(2) = -0.75 0.397 0.345 - 0.2977 - 0.2587
3 hd(3) = -0.159 0.682 0.654 - 0.1084 - 0.1039
4 hd(4) = -0.225 0.912 0.904 - 0.2052 - 0.2034
5 3 1 1 0.75 0.75
hd (5) = "4 = 0.75
6 hd(6) = -0.225 0.912 0.904 - 0.2052 - 0.2034
7 hd(7) = -0.159 0.682 0.654 - 0.1084 - 0.1039
8 hd (8) = - 0.075 0.397 0.345 - 0.2977 - 0.2587
9 hd(9) = 0 0.167 0.095 0 0
10 hd (10) = 0.045 0.08 0 0.0036 0 DOD