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(4.5.1)
𝜃 𝜔 = −𝜔𝑛0 (4.5.4)
Ideal Filter Characteristics
• The derivative of the phase with respect to frequency has
the units of delay. Hence we can define the signal delay as a
function of frequency as
(4.5.7)
Figure 4.44
Lowpass, Highpass, and Bandpass Filters
• The magnitude and phase responses for the single-
pole filter with system function
H(0) = 1 and
Lowpass, Highpass, and Bandpass Filters
at 𝜔 = 𝜋/4
Lowpass, Highpass, and Bandpass Filters
• Hence
or equivalently
Example 4.5.2
• Design a two-pole bandpass filter that has the center of
its passband at ω = π/2, zero in its frequency response
characteristic at ω = 0 and ω = π, and its magnitude
response is 1Τ 2 at 𝜔 = 4𝜋Τ9 .
Lowpass, Highpass, and Bandpass Filters
Solution
Clearly the filter must have poles at
𝑝1,2 = 𝑟𝑒 ±𝑗𝜋Τ2
and zeros at z = 1 and z = — 1.
Consequently, the system function is
Lowpass, Highpass, and Bandpass Filters
• The gain factor is determined by evaluating the
frequency response H(ω) of the filter at ω = π/2. Thus
we have
Figure 4.47
Magnitude and phase
response of a simple
bandpass filter in
Example 4.5.2;
0.15[(1−𝑧 −2 )
𝐻(𝑧) =
(1+0.7𝑧 −2 )
Lowpass, Highpass, and Bandpass Filters
• It should be emphasized that the main purpose of the
foregoing methodology for designing simple digital
filters by pole-zero placement is to provide insight into
the effect that poles and zeros have on the frequency
response characteristic of systems.
• The methodology is not intended as a good method for
designing digital filters with well-specified passband
and stop band characteristics.
Lowpass, Highpass, and Bandpass Filters
A simple lowpass-to-highpass filter transformation
• Suppose that we have designed a prototype low pass filter
with impulse response hlp(n). By using the frequency
translation property of the Fourier transform, it is possible
to convert the prototype filter to either a bandpass or a
highpass filter.
• If hlp(n) denotes the impulse response of a low pass filter
with frequency response Hlp(ω), a highpass filter can be
obtained by translating HlP(ω) by π radians (i.e., replacing ω
by 𝜔 − 𝜋). Thus
(4.5.13)
• therefore , the impulse response of the highpass filter is
simply obtained from the impulse response of the low
pass filter by changing the signs of the odd-numbered
samples in hlp(n).
Lowpass, Highpass, and Bandpass Filters
• Conversely,
(4.5.14)
• If the low pass filter is described by the difference equation
(4.5.15)
its frequency response is
(4.5.16)
Lowpass, Highpass, and Bandpass Filters
• Now, if we replace ω by 𝜔 − 𝜋, in (4.5.16), then
(4.5.17)
Example 4.5.3
Lowpass, Highpass, and Bandpass Filters
Solution
• The difference equation for the highpass filter, according to
(4.5.18), is
𝑦 𝑛 = −0.9𝑦 𝑛 − 1 + 0.1𝑥(𝑛)
(4.5.20)
(4.5.21)
Lowpass, Highpass, and Bandpass Filters
and hence
(4.5.27)
Lowpass, Highpass, and Bandpass Filters
(4.5.30)
Lowpass, Highpass, and Bandpass Filters
• As an illustration, Fig. 4.51 shows the magnitude response
for a notch filter having a null at ω = π/4.
Fig 4.51
Lowpass, Highpass, and Bandpass Filters
Lowpass, Highpass, and Bandpass Filters
All-Pass Filters
• An all-pass filter is defined as a system that has a constant
magnitude response for all frequencies, that is
(4.5.44)
Since
2 1 − 𝑧 −1
𝐻 𝑧 = 𝐻𝑎
𝑇 1 + 𝑧 −1
• The bilinear transformation is a rational function that maps
the left-half s-plane inside the unit circle and maps the jΩ-axis
in a one-to-one manner onto the unit circle.
• However, the relationship between the jΩ-axis and the unit
circle is highly nonlinear and is given by the frequency
warping function
Ω𝑇𝑠
𝜔 = 𝑡𝑎𝑛 (9.12)
2
Design of IIR Filters from Analog Filters
• As a result of this warping, the bilinear transformation will
only preserve the magnitude response of analog filters that
have an ideal response that is piecewise constant.
• Therefore, the bilinear transformation is generally only
used in the design of frequency selective filters.
• The parameter 𝑇𝑠 , in the bilinear transformation is normally
included for historical reasons. However, it does not enter
into the design process, because it only scales the jΩ-axis in
the frequency warping function, and this scaling may be
done in the specification of the analog filter.
• Therefore, 𝑇𝑠 , may be set to any value to simplify the
design procedure.
Design of IIR Filters from Analog Filters
• The steps involved in the design of a digital low-pass filter
with a passband cutoff frequency 𝜔𝑝 , stopband cutoff
frequency 𝜔𝑠 , passband ripple 𝛿𝑝 and stopband ripple 𝛿𝑠 ,
are as follows:
1. Prewarp the passband and stopband cutoff frequencies of
the digital filter, 𝜔𝑝 and 𝜔𝑠 using the inverse of Eq. (9.12)
to determine the passband and cutoff frequencies of the
analog low-pass filter.
With 𝑇𝑠 = 2, the prewarping function is
𝜔
Ω = 𝑡𝑎𝑛
2
Design of IIR Filters from Analog Filters
2. Design an analog low-pass filter with the cutoff
frequencies found in step 1 and a passband and
stopband ripple 𝛿𝑝 and 𝛿𝑠 respectively.
3. Apply the bilinear transformation to the filter
designed in step 2.