Lecture 16

Discrete-Time IIR Filter Design from
Continuous-Time Filters
Quote of the Day
Experience is the name everyone gives to their
mistakes.
Oscar Wilde
Content and Figures are from Discrete-Time Signal Processing, 2e by Oppenheim, Shafer, and Buck, 1999-2000 Prentice Hall
Inc.
Copyright (C) 2005 Gner Arslan
351M Digital Signal Processing
2
Filter Design Techniques
- Any discrete-time system that modifies certain frequencies
- Frequency-selective filters pass only certain frequencies
- Filter Design Steps
- Specification
- Problem or application specific
- Approximation of specification with a discrete-time system
- Our focus is to go from spec to discrete-time system
- Implementation
- Realization of discrete-time systems depends on target technology
- We already studied the use of discrete-time systems to
implement a continuous-time system
- If our specifications are given in continuous time we can use
D/C x
c
(t) y
r
(t) C/D H(e
j
)
. J n x . J n y
) ) x =
T / j H e H
c
j
3
Filter Specifications
- Specifications
- Passband
- Stopband
- Parameters
- Specs in dB
- Ideal passband gain =20log(1) = 0 dB
- Max passband gain = 20log(1.01) = 0.086dB
- Max stopband gain = 20log(0.001) = -60 dB
) ) 2000 2 0 01 . 1 j H 99 . 0
eff
x O = O
) ) O x O 3000 2 001 . 0 j H
eff
)
) 3000 2
2000 2
001 . 0
01 . 0
s
p
2
1
x = O
x = O
= o
= o
4
Butterworth Lowpass Filters
- Passband is designed to be maximally flat
- The magnitude-squared function is of the form
)
)
N 2
c
2
c
j / j 1
1
j H
O O +
= O )
)
N 2
c
2
c
j / s 1
1
s H
O +
=
) )
) )
1 - 0,1,...,2N k for e j 1 s
1 N k 2 N 2 / j
c c
N 2 / 1
k
= O = O =
+ x
5
Chebyshev Filters
- Equiripple in the passband and monotonic in the stopband
- Or equiripple in the stopband and monotonic in the passband
)
)
) ) x cos N cos x V
/ V 1
1
j H
1
N
c
2
N
2
2
c
=
O O s +
= O
6
Filter Design by Impulse Invariance
- Remember impulse invariance
- Mapping a continuous-time impulse response to discrete-time
- Mapping a continuous-time frequency response to discrete-time
- If the continuous-time filter is bandlimited to
- If we start from discrete-time specifications T
d
cancels out
- Start with discrete-time spec in terms of
- Go to continuous-time O= /T and design continuous-time filter
- Use impulse invariance to map it back to discrete-time = OT
- Works best for bandlimited filters due to possible aliasing
. J )
d c d
nT h T n h =
)

'
+
'
x
+
=
k
d d
c
j
k
T
2
j
T
j H e H
)
) x
'
+
'

=
x > O = O

T
j H e H
T / 0 j H
d
c
j
d c
7
Impulse Invariance of System Functions
- Develop impulse invariance relation between system functions
- Partial fraction expansion of transfer function
- Corresponding impulse response
- Impulse response of discrete-time filter
- System function
- Pole s=s
k
in s-domain transform into pole at
)

=

=
N
1 k
k
k
c
s s
A
s H
)
,
|
>
=

=
0 t 0
0 t e A
t h
N
1 k
t s
k
c
k
. J ) . J ) . J

= =
= = =
N
1 k
n
T s
k d
N
1 k
nT s
k d d c d
n u e A T n u e A T nT h T n h
d k d k
)

=
=
N
1 k
1 T s
k d
z e 1
A T
z H
d k
d k
T s
e
8
Example
- Impulse invariance applied to Butterworth
- Since sampling rate T
d
cancels out we can assume T
d
=1
- Map spec to continuous time
- Butterworth filter is monotonic so spec will be satisfied if
- Determine N and O
c
to satisfy these conditions
)
) x x
x
3 . 0 0.17783 e H
2 . 0 0 1 e H 89125 . 0
j
j
)
) x O x O
x O O
3 . 0 0.17783 j H
2 . 0 0 1 j H 89125 . 0
) ) 0.17783 3 . 0 j H and 89125 . 0 2 . 0 j H
c c
x > x
)
)
N 2
c
2
c
j / j 1
1
j H
O O +
= O
9
Example Contd
- Satisfy both constrains
- Solve these equations to get
- N must be an integer so we round it up to meet the spec
- Poles of transfer function
- The transfer function
- Mapping to z-domain
2
N 2
c
2
N 2
c
17783 . 0
1 3 . 0
1 and
89125 . 0
1 2 . 0
1
'
+
'
'
+
'
O
x
+
'
+
'
'
+
'
O
x
+
70474 . 0 and 6 8858 . 5 N
c
= O = =
) )
) )
0,1,...,11 k for e j 1 s
11 k 2 12 / j
c c
12 / 1
k
= O = O =
+ x
)
2 1
1
2 1
1
2 1
1
z 257 . 0 z 9972 . 0 1
z 6303 . 0 8557 . 1
z 3699 . 0 z 0691 . 1 1
z 1455 . 1 1428 . 2
z 6949 . 0 z 2971 . 1 1
z 4466 . 0 2871 . 0
z H

+
+
+
+
+
=
)
) ) ) 4945 . 0 s 3585 . 1 s 4945 . 0 s 9945 . 0 s 4945 . 0 s 364 . 0 s
12093 . 0
s H
2 2 2
+ + + + + +
=
10
Example Contd
11
Filter Design by Bilinear Transformation
- Get around the aliasing problem of impulse invariance
- Map the entire s-plane onto the unit-circle in the z-plane
- Nonlinear transformation
- Frequency response subject to warping
- Bilinear transformation
- Transformed system function
- Again T
d
cancels out so we can ignore it
- We can solve the transformation for z as
- Maps the left-half s-plane into the inside of the unit-circle in z
- Stable in one domain would stay in the other
'
+
'
1
1
d
z 1
z 1
T
2
s
)
'
+
'
1
1
d
c
z 1
z 1
T
2
H z H
)
) 2 / T j 2 / T 1
2 / T j 2 / T 1
s 2 / T 1
s 2 / T 1
z
d d
d d
d
d
O o
O + o +
=
+
=
O + o = j s
12
Bilinear Transformation
- On the unit circle the transform becomes
- To derive the relation between and O
- Which yields
=
O
O +
=
j
d
d
e
2 / T j 1
2 / T j 1
z
)
)

'
+
'

=
= O + o =
'
+
'
=

2
tan
T
j 2
2 / cos e 2
2 / sin j e 2
T
2
j
e 1
e 1
T
2
s
d
2 / j
2 / j
d
j
j
d
'
+
'
O
=
'
+
'

= O
2
T
arctan 2 or
2
tan
T
2
d
d
13
Bilinear Transformation
14
Example
- Bilinear transform applied to Butterworth
- Apply bilinear transformation to specifications
- We can assume T
d
=1 and apply the specifications to
- To get
)
) x x
x
3 . 0 0.17783 e H
2 . 0 0 1 e H 89125 . 0
j
j
)
) O
'
+
'
x
O
'
+
'
x
O O
2
3 . 0
tan
T
2
0.17783 j H
2
2 . 0
tan
T
2
0 1 j H 89125 . 0
d
d
)
)
N 2
c
2
c
/ 1
1
j H
O O +
= O
2
N 2
c
2
N 2
c
17783 . 0
1 15 . 0 tan 2
1 and
89125 . 0
1 1 . 0 tan 2
1
'
+
'
'
+
'
O
x
+
'
+
'
'
+
'
O
x
+
15
Example Contd
- Solve N and O
c
- The resulting transfer function has the following poles
- Resulting in
- Applying the bilinear transform yields
) ) . J
6 305 . 5
1 . 0 tan 15 . 0 tan log 2
1
89125 . 0
1
1
17783 . 0
1
log
N
2 2
= =
x x
'
+
'

'
+
'
'
+
'

'
+
'
=
766 . 0
c
= O
) )
) )
0,1,...,11 k for e j 1 s
11 k 2 12 / j
c c
12 / 1
k
= O = O =
+ x
)
) ) ) 5871 . 0 s 4802 . 1 s 5871 . 0 s 0836 . 1 s 5871 . 0 s 3996 . 0 s
20238 . 0
s H
2 2 2
c
+ + + + + +
=
)
)
) )
)
2 1
2 1 2 1
6
1
z 2155 . 0 z 9044 . 0 1
1

z 3583 . 0 z 0106 . 1 1 z 7051 . 0 z 2686 . 1 1
z 1 0007378 . 0
z H

+
-
+ +
+
=
16
Example Contd

Lecture 16

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Discrete-Time IIR Filter Design from

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