Introduction to Filters
Filtering = frequency-selective signal processing
Its the most common type of signal processing Examples:
Extract desired signal from many (radio) Separating signal and noise Amplifier bandwidth limitations
Where to start
Perfectionist: ideal (low-pass) filter Engineer: continuous time, first-order low-pass filter
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EECS 247 Lecture 2: Introduction to Filters
2002 B. Boser 1
First-Order RC Filter (LPF1)
Steady-state frequency response:
H ( s) = Vout ( s) 1 = Vin ( s ) 1 + s o o = 1 = 2 100kHz RC
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with
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EECS 247 Lecture 2: Introduction to Filters
Poles and Zeros
s-plane (pzmap):
H (s) =
1 s 1+ o p = o z
p=-o
Pole : Zero :
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2002 B. Boser 3
Magnitude Response
Magnitude Response (s-plane) 3 2.5 Magnitude [linear] 2 1.5 1 0.5 0 5 5 x 10
5
0 0 x 10 Sigma [Hz] -5 -5 Frequency [Hz]
5
L02_bode3_lpf1.m
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Frequency Response
Asymptotes: - 20 dB/dec rolloff - 90 degrees phase shift per 2 decades
Magnitude (dB) Bode Diagram 0 -20
H ( s = j ) = 0 = 1 H ( s = j ) = 0
-40
-60
-80
-100
-120 0
Matlab code (L02_bode_lpf1.m):
wo = 2*pi*100e3; s = tf('s'); h = 1 / (1+s/wo); bodehz(h, logspace(1, 10, 100));
Phase (deg) -30 -60
-90
Note: bodehz is same as bode, but frequency axis is in Hz, rather than rad/s.
10
10
10
10
10
10
10
10
10
10
10
Frequency [Hz]
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Parasitics
Can we really get 100dB attenuation at 10GHz?
Probably not Parasitics limit the performance of analog components E.g.
Shunt capacitance Feed-through capacitance Finite inductor, capacitor Q
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LPF2
1 + sRCP H ( s) = 1 + sR (C +C P )
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Pole : Zero :
p= z=
1 1 R (C + CP ) RC 1 RCP
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EECS 247 Lecture 2: Introduction to Filters
Frequency Response
LPF2 0 -10 -20
H ( j ) =0 = 1 H ( j ) CP = C + CP C P C = 10 3 = 60dB
Magnitude (dB) Phase (deg)
-30 -40 -50 -60 -70 -80 0
-45
-90 10
2
10
10
10
10
10
10
10
10
10
Frequency [Hz]
Why not just make C larger? Beware of other parasitics not included in this model
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Continuous Time Analog
Analog passive components arent ideal
Extra real poles/zeroes result from parasitics Parasitic effects begin to appear 50dB beyond desired component characteristics Common sense helps you anticipate them
Digital filters do not suffer from these effects
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2002 B. Boser 9
Second-Order LPF
Improved attenuation (compared to 1st order) Complex poles (rather than multiple real ones)
Why? Visualize 3D s-plane plot!
Biquadratic (2nd order) transfer function:
H (s) = 1+
1 s s2 + 2 PQP P
H ( j ) =0 = 1 H ( j ) = 0 H ( j ) = = QP
P
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Biquad Poles
H (s ) = 1 s s2 + 2 1+ PQP P P 2 1 1 4QP 2QP
has poles at
s=
for
QP
1 2
poles are real, complex otherwise
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Complex Poles
QP >
1 2
s=
P 2 1 j 4QP 1 2QP
Distance from origin in s-plane:
P 2 d2 = 2Q (1 + 4QP 1) P 2 = P
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s-Plane
j
radius = P
poles
real part = -
P 2QP
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LPF3
Magnitude Response (s-plane) 3 2.5 Magnitude [linear]
P = 2 100kHz QP = 10
2 1.5 1 0.5 0 2 1 2 0 0 -1 Sigma [Hz] -2 -2 -1 Frequency [Hz] x 10 1
5
x 10
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Frequency Response
Bode Diagram 50 0 Magnitude (dB) -50
-40 dB/dec
-100
-150
-200 0
-45 Phase (deg)
-90
-180o
-135
-180 10
2
10
10
10
10 10 Frequency (rad/sec)
10
10
10
10
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Varying Q Magnitude
LPF3 Magnitude Response 40 Q = 0.5 Q = 10.0 Q = 100.0 30
20
10 Magnitude [dB]
-10
Gain at p: 20 log Q [dB]
-20
-30
-40
-50 4 10
10 Frequency [Hz]
10
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Phase
LPF3 Phase Response 0 Q = 0.5 Q = 10.0 Q = 100.0 -20
-40
-60 Phase [degrees]
-80
-100
Slope at p : -45 Q deg/decade
-120
-140
-160
-180 4 10
10 Frequency [Hz]
10
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Implementation of Biquads
Passive RC: only real poles Terminated LC
lowest power (well its passive!) No noise (except load and source)
Active Biquad
Filter texts give you dozens of topologies. Who needs or wants that many choices? Single-opamp biquad: Sallen-Key Two-opamp biquad: Tow-Thomas
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Sallen-Key LPF
H ( s) = G s s2 + 2 1+ PQP P 1 R1C1R2C2 P 1 1 1G + + R1C1 R2C1 R2C2
P =
Single gain element Parasitic sensitive Versions for LPF, HPF, BP,
QP =
Ref: K. L. Su, Analog Filters, Chapman & Hall, 1996, pp. 215.
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Component Sizing Choice 1
4 unknowns: R1, R2, C1, C2 2 knowns: P, QP problem is underdetermined Choice 1: minimum component spread
C1 = C2 = 1nF R1 = R2 = G = 3 1 = 1.6k PC1
1 = 2 .9 QP
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EECS 247 Lecture 2: Introduction to Filters
SK Magnitude Response 1
Sallen-Key Choice 1 Magnitude Response 40 nominal R1 R1 10% large 30
20
10% increase of R1 more than doubles Q P! The circuit is very sensitive to component variations.
10 Magnitude [dB]
-10
-20
-30
-40
-50 4 10
10 Frequency [Hz]
10
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Component Sizing Choice 2
Choice 2: minimum sensitivity
G =1 R1 = R2 = 2 k 2QP C1 = = 16nF P R1 C2 = 1 = 40 pF 2QP P R1
Note also:
C1 2 = 4QP = 400 C2
Huge element spread This topology is suitable only for low-Q filter implementations.
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SK Magnitude Response 2
Sallen-Key Choice 2 Magnitude Response 30 nominal R1 R1 10% large 20
10
10% increase of R1 has only small effect on response! The circuit is NOT very sensitive to component variations.
0 Magnitude [dB]
-10
-20
-30
-40
-50 4 10
10 Frequency [Hz]
10
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Sensitivity
Definition with y x = S xy y x x dy y Sx = y dx QP QP R1 = SR 1 QP R1
QP SR = QP 0.5 = 9.5 1
Example
Choice 1
QP R 9.5 1 = 95% QP R1 Choice 2
QP SR =0 1
Implementation and component sizing have huge impact on sensitivity High-sensitivity circuits are problems in practice No theory for finding a lowsensitivity architecture Ladder filters are usually low sensitivity Use proven circuits & check!
Common sense: Sensitivity is a first order approximation, correct only for infinitesimally small errors
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Summary
Frequency Response
Poles and zeros are like tent poles and pegs Frequency response is evaluated on j axis Poles and zeros close to j axis dominate resonse
Practical Implementation Constraints
Components are not ideal Avoid solutions requiring large element spread Beware of high-sensitivity architectures
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