744 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS—I: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 46, NO.

6, JUNE 1999

Almost Equiripple FIR Half-Band Filters real interval 01  w = cos !T  1 along which both leaves are
interconnected. Let H (z ) denote the transfer function of an FIR filter
Pavel Zahradnı́k, Miroslav Vlček, and Rolf Unbehauen of the order N 0 1
N 01

Abstract—Based on Chebyshev polynomials a novel analytical design H (z ) = h( )z 0 : (1)

procedure of almost equiripple FIR half-band filters is developed. The  =0
closed form solution provides a direct computation of the frequency
response. A formula for the impulse response coefficients is also derived. Assuming an odd length of the impulse response N = 2(2n + 1) + 1
Several examples are included. and even symmetry of the impulse response coefficients h( ) =
h(N 0 1 0  ) then by imposing the symmetry constraint
Index Terms—Equiripple, filter design, FIR half-band.
h(2n + 1) = a(0) = 0:5
I. INTRODUCTION 0 2m) = a(2m) = 0
2h(2n + 1

Half-band filters play an important role in the design of filter banks. 2h(2n + 1 0 2m 0 1) = a(2m + 1) (2)
A number of procedures for the design of linear phase FIR half-
we can write the half-band transfer function as
band filters are recently available [6], [8]. The methods which lead
n
H (z ) = z 0(2n+1)
to feasible filters are generally derived by iterative approximation 1
techniques or by noniterative but still numerical procedures. The well- 2
+ a(2m + 1)T2m+1 (w) (3)
m=0
known McClellan–Parks program [5] which is used in the design
of FIR filters for a wide application belongs to the former case, where T2m+1 (w) are Chebyshev polynomials of the first kind. The
while the windowing technique and frequency sampling method cover frequency response H (ej!T ) is then of the form
standard noniterative procedures. Analytic methods are available for
the maximally flat FIR filters [1], [3], [7]. H (ej!T ) = e0j (2n+1)!T Q(cos !T )
In our paper we are primarily concerned with a completely ana- =e
0j (2n+1)!T Q(w) (4)
lytical approach to the almost equiripple FIR half-band filter design.
The analytic technique is based on polynomials that are generated by where Q(w) represents the real valued pseudoamplitude of the zero-
a function closely related to the frequency responses of Chebyshev phase FIR filter of the real variable
window functions, as emphasized in [11]. The term almost equiripple
w= 1
(z +z
01 ) = cos !T: (5)
expresses the fact that the frequency response of the filter exhibits 2 z=e
equiripple behavior with the exception of some ripples near the For the equiripple approximation [Fig. 1(a)] the pseudoamplitude
transition band. An interesting feature of the ripples near the transition Q(w) [Fig. 1(b)] of the half-band filter has alternating local min-
band is the fact that they always have smaller amplitude compared ima and maxima w0m symmetrically distributed over the stopband
(01; 0wp ) and passband (wp ; 1), respectively. It means that the
to the remaining ripples (see examples). Thus, the resulting filters
are slightly suboptimal. However, the advantage of the new method first derivative of the quantity Q(w), as shown in Fig. 2, has real
over the numerical Parks–McClellan design procedure consists in the zeros w0m within these two disjoint intervals only. The half-band
fact that the coefficients of the impulse response are given by simple symmetry imposed on the impulse response coefficients (2) implies
explicit formulas. Note that the design process is an analytical one that the zeros of (d=dw)Q(w) are symmetrically distributed about
and it does not require any DFT algorithm, nor do we need any the origin w = 0. The first derivative of the pseudoamplitude can be
iterative technique, resulting in exceptionally fast design method. always factorized as
Moreover, the design time is predictable and, for a given filter order,
n
d
[U2 (w ) 0 U2 (w0m )]:
the number of arithmetic operations is constant, making the design
Q(w) = (2n + 1)a(2n + 1) (6)
method suitable in the adaptive filtering, as well. dw m=1

II. FREQUENCY RESPONSE AND PSEUDOAMPLITUDE The distribution of alternating minima and maxima w0m is not known
for the equiripple case. The equiripple approximation has a natural
Here and in the following we use the transformed variable w =
01 ) [10] which transforms the z -plane onto a two-leaved limit when the distribution of the zeros w0m is simplified to the set
of zeros which are confluent at 61, i.e., w02m = 1, leading to the
(1=2)(z + z
w-plane so that the unit circle itself jz j = 1 is mapped into the
maximally flat half-band filters [11].
Manuscript received July 2, 1997; revised August 21, 1998. This work
was supported in part by the A. von Humboldt Foundation. This paper was
recommended by Associate Editor V. Tavsanoglu. III. DIFFERENTIAL EQUATION AND GENERATING FUNCTION
P. Zahradnı́k is with the Czech Technical University, Faculty of Elec- We assume the function Un+ (x) defined as
trical Engineering, Prague, Czech Republic. He is now on sabbatical at
the Lehrstuhl für Allgemeine und Theoretische Elektrotechnik, University Un+ (x) = Un (x) + Un01 (x) (7)
Erlangen-Nürnberg, D-91058 Erlangen, Germany.
M. Vlček is with the Czech Technical University, Faculty of Transportation where Un (x) and Un01 (x) are Chebyshev polynomials of the second
Sciences, Prague, Czech Republic. He is now on sabbatical at the Lehrstuhl für
Allgemeine und Theoretische Elektrotechnik, University Erlangen-Nürnberg, kind. The function Un+ (x) fulfills the differential equation
D-91058 Erlangen, Germany. 2
d d
R. Unbehauen is with the Lehrstuhl für Allgemeine und Theoretische
Elektrotechnik, University Erlangen-Nürnberg, D-91058 Erlangen, Germany.
(1 0 x ) dx
2
2
Un+ (x) 0 (2x + 1)
dx
Un+ (x)
Publisher Item Identifier S 1057-7122(99)04743-1. + n(n + 1)Un+ (x) = 0: (8)

1057–7122/99$10.00  1999 IEEE

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS—I: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 46, NO. 6, JUNE 1999 745

(a)
Fig. 2. Derivative of the pseudoamplitude Q ( w ).
0

where cn(ujk) is a Jacobian elliptic function. Because of the multiple-

angle formula for Chebyshev polynomials [11] we obtain

U2n (cn(ujk))
= Un (2cn2 (ujk) 0 1) + Un01 (2cn2 (ujk) 0 1)
k02 2w2 0 1 0 k02 :
= Un 2w 0 1 0
2
+ Un0
1 0 k02 1 0 k02
1 (13)

We call the function U2n (cn(ujk)) the generating function and it

is of fundamental importance in our design procedure. Due to the
differential equations (8) and (9), the function Un+ (x) is from the
family of Jacobi polynomials, namely
p
n! 
U2n (cn(ujk)) = Pn(1=2; 0(1=2)) (2cn2 (ujk) 0 1) (14)
0 n+ 1
2
(b)
Fig. 1. (a) Amplitude frequency response j H (ej!T ) . (b) Pseudoamplitude
j where Pn
( ; )
(x) are Jacobi’s polynomials.
Q(w). The zeros of the generating function U2n (cn(ujk)) and, conse-
quently, the extremes of the pseudoamplitude Q(w) of the almost
The differential equation (8) is in fact a differential equation defining equiripple half-band filter are distributed along the w axis as follows:

m
w02m = k02 + k2 cos2
Jacobi’s polynomials [2]. Considering relations
; m = 1; 1 1 1 ; n: (15)
x=
2w 2
010k 2
0

; w=
1 + k + (1 0 k
02 02 )x 2n + 1
10k2
(9)
0
2 The distribution of alternating minima and maxima w0m is not known
the differential equation (8) can be converted to the form for the equiripple case. However, we have found that the distribution
2
(1 0 w2 )(w2 0 k 2 ) d 2 Un+ (w)
0
of local extremes (15) approximates with very good accuracy the set
dw of local extremes of an equiripple case (see examples) resulting in
k 2 (1 0 w2 ) 0 3w2 (w2 0 k 2 ) d
0 0 the almost equiripple frequency response of the filter.
+ Un+ (w)
w dw
+ 4w2 n(n + 1)Un+ (w) = 0: (10) IV. PSEUDOAMPLITUDE AND IMPULSE RESPONSE
Further, we assign the derivative (d=dw)Q(w) to Un+ (w). Consid- The pseudoamplitude Q(w) of the filter is based on the polynomi-
ering the same mapping of the variable w as in the IIR equiripple als K2n (ujk). We define the polynomials K2n (ujk) by straightfor-
filter design [10], using Jacobi’s elliptic functions ward integration of the generating function U2n (cn(ujk))

w = dn(ujk)
K n (ujk) = U2n (cn(ujk))d(dn(ujk)):
(11)
2 (16)
we can write
2w2 0 1 0 k 2 = 2cn2 (ujk) 0 1
0
According to the results obtained in [11] for the discrete prolate
10k2 window function, we can develop Un ((2w2 0 1 0 k02 )=(1 0 k02 ))
0
(12)
746 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS—I: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 46, NO. 6, JUNE 1999

TABLE I
EXTREMES

TABLE II
COEFFICIENTS OF THE IMPULSE RESPONSE

(a)

where coefficients
c(2m + 1)
n
= 0
( 1)
 2n + 1
2 + 1
n+
n  0
2 + 1
 0m (1 0 k02 )0
 =m
(19)
constitute, in fact, the impulse response coefficients of almost equirip-
ple half-band filter. Introducing (18) into the integral representation
of polynomials (16) we obtain the formula
n
K2n (ujk) = m
0
( 1) c(2m + 1) U2m (w) dw
m=0
n
= ( 1) 0
m c(2m + 1)
2m + 1
T2m+1 (w): (20)
m=0
(b) The pseudoamplitude Q(w) is given by the normalized polynomial
Fig. 3. (a) Graph 1 = 1( wp ; 2 ).
n (b) Graph (2 + 1)
n k
0
= K j
2n (u k)
(2 + 1) (
n k
0
wp ; 2 ).
n
Q(w) = +
1 2n (u k)K j
2 norm
in form
2w
2
010k2 0 1 2n (u k) K j
Un
10k2
= +
2 K
2n (1) + 2n (w01 ) K (21)
K j
0

n where w01 denotes the extreme of the polynomial 2n (u k) closest

= (01)
 n+1+
n0
2

(1 0 k 2 )0
0 to the band edge w = 1 given by
 =0 w01 = k02 + k2 cos2

: (22)
n n 2n + 1
+ 0
( 1)
m
( 1)

0 n+1+
n  0 Finally, for the impulse response h( ) holds
m=1  =m 1
h(2n + 1) =
1 2 2
0 k02 )0 T2m (w): 2
0m 6 (2m + 1)] = 2(2(0m1)+ 1) K2n(1)
+ (1 (17) m
  +m c(2m + 1)
h[2n + 1
Using identity 2T2m (w) = U2m (w) 0 U2m02 (w) we can conclude + K2n (w01 )
that for m = 0; 1 1 1 ; n
2 0 1 0 k02 2 0 1 0 k02
h[2n + 1 6 (2m)] = 0; for m = 1; 1 1 1 ; n
2w 2w
Un + Un01
1 0 k 02 1 0 k 02
(23)
where  = 0; 1 1 1 ; N 0 1.
n n
= 0
( 1)
m
( 1) 0
 2n + 1
2 + 1
n+
0
n 
m=0  =m V. FILTER DESIGN

1 2 + 1
 0m (1 0 k02 )0 U2m (w)
As in the numerical Parks–McClellan design procedure, in our
analytical design the degree equation is not known. Despite this fact,
n the secondary design parameters n, k0 can be obtained from the
=
m
0
( 1) c(2m + 1)U2m (w ) (18) filter specifications wp ,  , using graphs or approximating formulas
m=0 with very good accuracy. From the graph in Fig. 3(a), for given
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS—I: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 46, NO. 6, JUNE 1999 747

TABLE III
EXTREMES

(a)
TABLE IV
COEFFICIENTS OF THE IMPULSE RESPONSE

(b)
He H e
Fig. 4. (a) Amplitude frequency responses j ( j!T )j and j opt ( j!T )j. The filter design procedure consists of the following steps.
He
(b) Logarithmic amplitude frequency responses 20 log j ( j!T )j and 1 2
• For the given wp and , the number n is obtained (using a
H e
20 log j opt ( j!T )j.
formula or graph).
2
• From wp and n the appropriate k0 is obtained.
1 = 20 log () and wp the appropriate 2n can be obtained. From 2
• For the values n and k0 the impulse response of the filter h  ()
the graph in Fig. 3(b) for given wp and previously obtained 2n, the is evaluated.
k 0
can be estimated. The approximating formulas
VI. EXAMPLES OF THE DESIGN

2n = 0 wp (1 +221)w+p 3 0 1 Example 1: Design a half-band lowpass filter with the desired

= 0 45
values !p T 1 = 30
:  and 0 dB.
From !p T= 0 45 = 0 1564
:  follows wp :
0 [wp (1 + 2 ) + 3201 w1]p 0 41 (4 0 1)wp
2 . From (24) results
(24) 2 = 12 8068
n : 2 = 14
. From (25) for adjusted n (N = 31
) follows
k0= 0 2001
: . The extremes w0m of the pseudoamplitude Q w ( )
k = 1 2n + 2 wp + 1
2n + 1 (2n + 2)(3 2n + 4 )
0
(25) of the filter are summarized in the Table I. The coefficients of the
()
impulse response h  of the filter are given in the Table II. The
1 =20 log() = (1 2n + 2 )wp + 322nn++14 (26) ( )
amplitude frequency response jH ej!T j is shown in Fig. 4(a), and
the logarithmic amplitude frequency response is shown in Fig. 4(b).
The actual parameters of the proposed filter are !p T = 0 4495
:  and
with the constants 1 = 1 0055 = 0 4869 = 0 0241 1 = 32 0041
: , 2 0 : , 3 : , 0 : dB. The filter was compared with the truly equiripple
4 = 0 7330 = 9 1765 = 21 0902 = 9 2768
: , 1 0 : , 2 0 : , 3 0 : , (optimal) half-band FIR filter of the same degree and the same ripple,
and 4 = 3 9837
: were deduced by linear approximation of the designed using the Remez exchange algorithm [5] combined with
01 0 3 4 2 34
graphs for :  wp  : and  n  . Outside of these the half-band trick [9]. The extremes w0m of its pseudoamplitude
( )
limits, the approximating formulas are less accurate, especially (26) Qopt w are given in Table I. The coefficients of the corresponding
for low-degree filters. ()
impulse response hopt  are given in Table II. The amplitude
748 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS—I: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 46, NO. 6, JUNE 1999

are presented in the same manner as in the previous example. The

passband frequency of the optimal filter amounts !p T : = 0 4306
,
meaning that the passband frequency of the proposed filter differs by
0.82% with respect to the optimal case.

REFERENCES
[1] T. Cooklev, S. Samadi, A. Nishihara, and N. Fujii, “Efficient implemen-
tation of all maximally flat FIR filters of a given order,” Electron. Lett.,
vol. 29, no. 7, pp. 598–599, Apr. 1, 1993.
[2] G. Szegö, Higher Orthogonal Polynomials. Providence, RI: American
Mathematical Society, 1939, ch. IV.
[3] D. Herrmann, “On the approximation problem in nonrecursive digital
filter design,” IEEE Trans. Circuit Theory, vol. CT-18, pp. 411–413,
May 1971.
[4] B. L. Jackson, “On the relationship between digital Hilbert transform-
ers and certain low-pass filters,” IEEE Trans. Acoust., Speech, Signal
Processing, vol. ASSP-23, pp. 381–383, Aug. 1975.
[5] J. H. McClellan, T. W. Parks, and L. R. Rabiner, “A computer program
for designing optimum FIR linear phase digital filters,” IEEE Trans.
Audio Electroacoust., vol. AU-21, pp. 506–526, Dec. 1973.
(a) n
[6] F. Mintzer, “On half-band, third-band and th-band filters and their
design,” IEEE Trans. Acoust., Speech, Signal Processing, vol. ASSP-30,
pp. 734–738, Dec. 1982.
[7] R. J. Rajagopal and S. C. Dutta Roy, “Design of maximally-flat FIR
filters using the Bernstein polynomials,” IEEE Trans. Circuits Syst..,
vol. CAS-34, pp. 1587–1590, Dec. 1987.
[8] P. P. Vaidyanathan, “Efficient and multiplierless design of FIR filter
with very sharp cutoff via maximally flat building blocks,” IEEE Trans.
Circuits Syst., vol. CAS-32, pp. 236–244, Mar. 1985.
[9] P. P. Vaidyanathan and T. Q. Nguyen, “A “TRICK” for the design
of FIR half-band filters,” IEEE Trans. Circuits Syst., vol. CAS-34, pp.
297–300, Mar. 1987.
[10] M. Vlček and R. Unbehauen, “Analytical solution for design of IIR
equiripple filters,” IEEE Trans. Acoust., Speech, Signal Processing, vol.
37, pp. 1518–1531, Oct. 1989.
[11] , “Note to the window function with nearly minimum sidelobe
energy,” IEEE Trans. Circuits Syst., vol. 37, pp. 1323–1324, Oct. 1990.

Global Exponential Stability of a Class of Neural Circuits

(b)
He H e
Fig. 5. (a) Amplitude frequency responses j ( j!T )j and j opt ( j!T )j.
Xue-Bin Liang and Li-De Wu
He
(b) Logarithmic amplitude frequency responses 20 log j ( j!T )j and
H e
20 log j opt ( j!T )j. Abstract— This paper obtains the global exponential stability (GES)
of the class of Hopfield–Tank neural circuits, which can represent a

( )
generalization of the existing stability results in the sense that only the
frequency response jHopt ej!T j is shown in Fig. 4(a), and the global asymptotic stability (GAS) of the neural circuits was obtained
logarithmic amplitude frequency response in Fig. 4(b) (dashed). The under existing sufficient conditions in the literature. An example of a
neural circuit which is globally asymptotically stable (GAS) rather than
comparison of the filters shows that while the passband frequency
in the proposed case amounts !p T = 0 4495
:  , in the optimal case
globally exponentially stable (GES) is also given.

amounts !p T = 0 4529
:  , i.e., the passband frequency of the Index Terms—Global exponential stability, Hopfield–Tank, neural cir-
cuits.
proposed filter differs by 0.75% with respect to the optimal case.
Example 2: Design a half-band lowpass filter with desired values
!p T = 0 427
: 1 = 80
 and = 0 427
0 dB. From !p T :  we get
= 0 2273 2 = 31 7976
I. INTRODUCTION
wp : . From (24) n : results. From (25) for an
adjusted n2 = 32 = 67 = 0 2379
(N ) k0 : follows. The extremes
Recently, there has been considerable attention in the literature
( )
w0m of the pseudoamplitude Q w are summarized in Table III.
(see, e.g., [1]–[13]) in the qualitative analysis of the class of Hop-
()
Coefficients of the impulse response h  are given in Table IV. Manuscript received August 24, 1995; revised June 15, 1998. This work
( )
The amplitude frequency response jH ej!T j is shown in Fig. 5(a) was supported in part by the National Natural Science Foundation of China
and the logarithmic amplitude frequency response in Fig. 5(b). The under Grant 69702001. This paper was recommended by Associate Editor A.
actual parameters of the proposed filter are !p T = 0 4271
:  and
Kuh.
1 = 80 236
0 : dB. Along with the proposed filter, an optimal filter of The authors are with the Department of Computer Science, Fudan Univer-
sity, Shanghai 200433, China.
the same degree and of the same ripple was designed. Its parameters Publisher Item Identifier S 1057-7122(99)04749-2.

1057–7122/99$10.00  1999 IEEE