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Introduction
IIR filter have infinite-duration impulse responses, hence they can be matched to analog filters, all of which generally have infinitely long impulse responses. The basic technique of IIR filter design transforms well-known analog filters into digital filters using complex-valued mappings. The advantage of this technique lies in the fact that both analog filter design (AFD) tables and the mappings are available extensively in the literature.
Introduction
The basic technique is called the A/D filter transformation. However, the AFD tables are available only for lowpass filters. We also want design other frequencyselective filters (highpass, bandpass, bandstop, etc.) To do this, we need to apply frequency-band transformations to lowpass filters. These transformations are also complex-valued mappings, and they are also available in the literature.
Two approaches
Design analog lowpass filter Apply Freq. band transformation s-->s Apply filter transformation s-->z Desired IIR filter
Approach 2, study
Design analog lowpass filter Study and apply filter transformations to obtain digital lowpass filter Study and apply frequency-band transformations to obtain other digital filters from digital lowpass filter
We have no control over the phase characteristics of the IIR filter. Hence IIR filter designs will be treated as magnitude-only designs.
Analog filter specifications and the properties of the magnitude-squared response used in specifying analog filters. Characteristics of three widely used analog filters
Transformation to convert these prototype analog filters into different frequency-selective digital filter
Some Preliminaries
The lowpass filter specifications on the magnitude-squared response are given by 1 e| H a ( j;) |e 1, | ; |e ; p 2 1 I 1 0 e| H a ( j;) |e 2 , ; s e| ; | A
Where epsilon is a passband ripple parameter, Omega_p is the passband cutoff frequency in rad/sec, A is a stopband attenuation parameter, and Omega_s is the stopband cutoff in rad/sec.
1 a ( j;) ! 1 I 2
2
at ; ! ; p
1 | H a ( j;) | ! 2 A
2
at ; ! ; s
Properties of |Ha
H a ( j ; ) ! H a ( s ) | s ! j;
2 (jOmega)|
Analog filter specifications, which are given in terms of the magnitude-squared response, contain no phase information. Now to evaluate the s-domain system function Ha(s), consider
* | H a ( j;) | 2 ! H a ( j;) H a ( j;) ! H a ( j;) H a ( j;) ! H a ( s ) H a ( s ) | s ! j ;
or , H a ( s ) H a ( s ) !| H a ( j;) |2 |; ! s / j
Therefore the poles and zeros of the magnitude-squared function are distributed in a mirror-image symmetry with respect to the jOmega axis. Also for real filters, poles and zeros occur in complex conjugate pairs (or mirror-image symmetry with respect to the real axis). From this pattern we can construct Ha(s), which is the system function of our analog filter.
Properties of |Ha
2 (jOmega)|
We want Ha(s) to represents a causal and stable filter. Then all poles of Ha(s) must lie within the left halfplane. Thus we assign all left-half poles of Ha(s)Ha(-s) to Ha(s). We will choose the zeros of Ha(s)Ha(-s) lying inside or on the jOmega axis as the zeros of Ha(s). The resulting filter is then called a minimum-phase filter.
IIR filter design techniques rely on existing analog filter filters to obtain digital filters. We designate these analog filters as prototype filters. Three prototypes are widely used in practice
This filter is characterized by the property that its magnitude response is flat in both passband and stopband.
The magnitude-squared response of an N-order lowpass filter
| H a ( j; ) | !
2
; 1 ; c
2N
| H a ( j; ) | !
2
1 ; 1 ; c
2N
1.2
0.4
0.2
0 0 10 20 30 40 50 60 70 80 90 100
Magnitude Response
|Ha(0)|2 =1, |Ha(j c) |2 =0.5, for all N (3dB attenuation at |Ha(j )|2 monotonically decrease for Approaches to ideal filter when N
( j; c ) 2 N ( j; c ) 2 N ! 2N ! 2N 2N s ( j; c ) ( s pk )
k !1
c)
pk ! ( 1) ( j; c ) ! ; c e
1 2N
j 2TN ( 2 k N 1)
, k ! 0,1, . ,2 N 1
=s/j
=Ha(s) Ha(-s)
Symmetry respect to the imaginary axis A pole never falls on the imaginary axis, and falls on the real axis only if N is odd A stable and causal filter Ha(s) can now be specified by selecting poles in the left half-plane N
a (s) !
;c
L P poles
( s pk )
Matlab Implementation
To design a normalized ( c=1) Butterworth analog prototype filter of order N Z: zeros; p: poles; k: gain value Provide a direct form (or numerator-denominator) structure. Convert the direct form into the cascade form
Design Equations
The analog lowpass filter is specified by the parameters, Omega_p. R_p,Omega_s, and A_s. Therefore the essence of the design in the case of Butterworth filter is to obtain the order N and the cutoff frequency Omega_c.
| H a ( j;) |2 ! 1
; 1 ; c
2N
at ; ! ; p , 10 log10 at ; ! ; s , 10 log10
( j; ) 2 ! R p a ( j;) 2 ! As a
log10 [(10 R p /10 1) /(10 As /10 1)] N ! 2 log10 (; p / ; s ) ;p ;s , or ; c ! ;c ! R /10 2N 2N (10 As /10 1) (10 p 1)
Matlab Implementation
To design an analog Butterworth lowpass filter, given its specifications. Magnitude response in absolute as well as in relative dB scale and the phase response.
Chebyshev-I filters
Chebyshev-II filters
Butterworth filters
Have monotonic response in both bands We note that by choosing a filter that has an equripple rather than a monotonic behavior, we can obtain a low-order filter. Therefore Chebyshev filters provide lower order than Buttworth filters for the same specifications.
; 1 I T ; c
2 2 N
N is the order of the filter, Epsilon is the passband ripple factor Nth-order Chebyshev polynomial
(a) For 0<x<1, TN(x) oscillates between 1 and 1, and (b) For 1<x<infinity, TN(x) increases monotonically to infinity
Observations
At x=0 (or =0); |Ha(j0)|2 = 1; for N odd; = 1/(1+epson^2); for N even At x=1 (or = c); |Ha(j1)|2= 1/(1+epson^2) for all N.
For 0<=x<=1 (or 0<= <= c) |Ha(jx)|2 oscillates between 1 and 1/(1+epson^2) For x>1 (or > c), |Ha(jx)|2 decreases monotonically to 0 .
At x= r, |Ha(jx)|2 = 1/(A^2).
s 1 I T j; c
2 2 N
It can be shown that if pk ! W k j; k , k ! 0,1, . , N 1 are the (left half-plane) roots of the above polynomial, then
K H a ( s) ! 4 ( s pk )
k
Matlab Implementation
To design a normalized Chebyshev-I analog prototype filter of order N and passband ripple Rp. Z array: zeros; poles in p array, gain value k Return Ha(s) in the direct form
Design Equations
Given p, s, Rp and As, three parameters are required to determine a Chebyshev-I filter
I ! 10 0.1Rp 1, and A ! 10 As / 20 ;s ; c ! ; p , and ; r ! ;c g ! ( A 1) / I
2 2
Function
log g g 2 1 10 N ! 2 log10 ; r ; r 1
? ?
A A
[b,a]=afd_chb1(Wp,Ws,Rp,As)
Chebyshev-II filter
Related to the Chebyshev-I filter through a simple transformation. It has a monotone passband and an equiripple stopband, which implies that this filter has both poles and zeros in the s-plane. Therefore the group delay characteristics are better (and the phase response more linear) in the passband than the Chebyshev-I prototype.
| H a ( j; ) | !
2
1 I T ; c / ;
2 2 N
1
Matlab implementation
1 ; 1 I U ; c
2 2 N
N: the order; epsilon: passbang ripple; UN() is the Nth order Jacobian elliptic function
, k ! ; N! ; K (k ) K 1 k
K ( k ) K 1 k12
1 2
p s
, k1 !
I A 1
2
, K ( x) ! 0
T /2
dU 1 x 2 sin 2 U
Matlab Implementation
[z,p,k]=ellipap(N,Rp,As);
normalized elliptic analog prototype Unnormalized elliptic analog prototype Analog Lowpass Filter Design: Elliptic
[b,a] = u_ellipap(N,Rp,As,Omegac)
[b,a] = afd_elip(Wp,Ws,Rp,As)
Elliptic filter provide optimal performance in the magnitudesquared response but have highly nonlinear phase response in the passband (which is undesirable in many applications). Even though we decided not to worry about phase response in our design, phase is still an important issue in the overall system. At other end of the performance scale are the Buttworth filters, which have maximally flat magnitude response and require a higher-order N (more poles) to achieve the same stopband specification. However, they exhibit a fairly linear phase response in their passband.
The Chebyshev filters have phase characteristics that lie somewhere in between. Therefore in practical applications we do consider Butterworth as well as Chebyshev filters, in addition to elliptic filters. The choice depends on both the filter order (which influences processing speed and implementation complexity) and the phase characteristics (which control the distortion).
After discussing different approaches to the design of analog filters, we are now ready to transform them into digital filters. These transformations are derived by preserving different aspects of analog and digital filters.
Preserve the shape of the impulse response from A to D filter Convert a differential eq. representation into a corresponding difference eq. Preserve the shape of the step response Preserve the system function representation from A to D domain
Step invariance
Bilinear transformation
The digital filter impulse response to look similar to that of a frequency-selective analog filter. Sample ha(t) at some sampling interval T to obtain h(n): h(n)=ha(nT) jw j; T
w ! ;T or e
!e
Since z=ejw on the unit circle and s=j on the imaginary axis, we have the following transformation from the s-plane to the zplane: z=esT
H ( z) ! 1
g
k ! g
2T k as j
Properties:
Sigma = Re(s):
Sigma < 0, maps into |z|<1 (inside of the UC) Sigma = 0, maps into |z|=1 (on the UC) Sigma >0, maps into |Z|>1 (outside of the UC) Every semi-infinite left strip (so the whole left plane) maps to inside of unit circle
Causality and Stability are the same without changing; Aliasing occur if filter not exactly band-limited
Given the digital lowpass filter specifications wp,ws,Rp and As, we want to determine H(z) by first designing an equivalent analog filter and then mapping it into the desired digital filter. Design Procedure: 1. Choose T and determine the analog frequencies: p=wp/T, s=ws/T 2. Design an analog filter Ha(s) using the specifications with one of the three prototypes of the previous section. 3. Using partial fraction expansion, expand Ha(s) into Rk N H a ( s ) ! k !1 s pk 4. Now transform analog poles {pk} into digital poles {epkT} to obtain the digital filter Rk N H ( z ) ! k !1 1 e pk T z 1
and w are
We should expect some aliasing of the analog frequency response, and in some cases this aliasing is intolerable.
Consequently, this design method is useful only when the analog filter is essentially band-limited to a lowpass or bandpass filter in which there are no oscillations in the stopband.
Bilinear Transformation
T T sz s z 1 ! 0 2 2
Observations
Sigma < 0 |z| < 1, Sigma = 0 |z| = 1, Sigma > 0 |z| > 1
The entire left half-plane maps into the inside of the UC. This is a stable transformation. The imaginary axis maps onto the UC in a one-to-one fashion. Hence there is no aliasing in the frequency domain. Relation of to is nonlinear = 2tan-1( T/2) =2tan( /2)/T;
Given the digital filter specifications wp,ws,Rp and As, we want to determine H(z). The design steps in this procedure are the following: 1. Choose a value for T. this is arbitrary, and we may set T = 1. 2. Prewarp the cutoff freq.s wp and ws; that is calculate p and s using (8.28) : p=2/T*tan(wp/2), s=2/T*tan(ws/2) 3. Design an analog filter Ha(s) to meet the specifications. 4. Finally set 2 1 z 1 H ( z) ! H a T 1 z 1 And simplify to obtain H(z) as a rational function in z-1
It is a stable design There is no aliasing There is no restriction on the type of filter that can be transformed.
Matlab Function: [b, a] = butter(N, wn) [b, a] = cheby1(N, Rp, wn) [b, a] = cheby2(N, As, wn) [b, a] = ellip(N, Rp, As, wn) Buttord, cheb1ord, cheb2ord, ellipord can provide filter order N and filter cutoff frequency wn, given the specification.
Digital filter specification Analog prototype specifications Analog prototype order calculation,Omega_c,wn Digital Filter design (four types) dir2cas
Frequency-band Transformation
Frequency-band Transformation
Let HLP(Z) be the given prototype lowpass digital filter, and let H(z) be the desired frequency-selective digital filter. Define a mapping of the form 1 1
Z ! G ( z ) such that H ( z ) ! H LP ( Z )
Z 1 !G ( z 1 )
Given that HLP(Z) is a stable and causal filter, we also want H(z) to be stable and causal. This imposes the following requirements: 1. G( ) must be a rational function in 1/z so that H(z) is implementable. 2. The unit circle of the Z-plane must map onto the unit circle of the z-plane. 3. For stable filters, the inside of the unit circle of the Z-plane must also map onto the inside of the unit circle of the z-plane.
z 1 E k Z 1 ! G ( z 1 ) ! s4 n !1 , k 1 1Ek z
Ek
Now by choosing an appropriate order n and the coefficients {alpah_k}, we can obtain a variety of mappings. The most widely used transformations are given in Table
Digital lowpass filter specifications Analog prototype specification Analogy Chebyshev prototype filter calculation Bilinear transformation Digital highpass filter cutoff frequency Lp-to-HP frequency-band transformation dir2cas
In the case of FIR filters these optimal filters are the equiripple filters designed via the parks-McClellan algorithm, while in the case of IIR filters these are the elliptic filters. For FIR filter the standard realization is the linear-phase direct form, while for elliptic filters cascade forms are widely used. Comparisons: Multiplications per output sample For most applications IIR elliptic filter are desirable from the computational point of view. If we take into account the phase equalizers, then FIR filter designs look good because of their exact linear-phase characteristics.