IIR Filter Design

Characteristics of Commonly Used Analog Filters

Design of IIR Filters

Youssef Jaffal

Phoenicia University
Electrical & Communication Engineering
EENG 233: Digital Signal Processing

References: [Proakis & Manolakis] Chapter: 10

The figures in this presentation are taken from “Proakis & Manolakis, Digital Signal Processing, 4th edition.”
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 IIR Filter Design
Characteristics of Commonly Used Analog Filters

Design of IIR Filters From Analog Filters

The techniques described in this presentation are all based on converting
an analog filter into a digital filter.
Analog filter design is a mature and well-developed field.
We begin the design of a digital filter in the analog domain and then
convert the design into the digital domain.
An analog filter can be described by its system function
M
∑ βk sk
k=0
Ha (s) = N
∑ α k sk
k=0

We recall that an analog linear time-invariant system with system

function H(s) is stable if all its poles lie in the left half of the s-plane.
Consequently, if the conversion technique is to be effective, it should
possess the following desirable properties:
The jΩ axis in the s-plane should map into the unit circle in the z-plane.
The left-half plane (LHP) of the s-plane should map into the inside of the
unit circle in the z-plane.
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 IIR Filter Design
Characteristics of Commonly Used Analog Filters

Design of IIR Filters From Analog Filters

We mentioned previously that physically realizable and stable IIR filters
cannot have linear phase.
Recall that a linear-phase filter must have a system function that satisfies
the condition
z−(M−1) H(z−1 ) = ±H(z)

But if this were the case, the filter would have a mirror-image pole
outside the unit circle for every pole inside the unit circle. Hence the filter
would be unstable. Consequently, a causal and stable IIR filter cannot
have linear phase.

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 IIR Filter Design IIR Filter Design by Impulse Invariance
Characteristics of Commonly Used Analog Filters IIR Filter Design by the Bilinear Transformation

Impulse Invariance
Impulse response h[n] that is the sampled version of the impulse response
of the analog filter ha (t)

h[n] ≡ ha (nT ) n = 0, 1, 2, ...

In frequency domain,
∞
H(ω) = Fs ∑ Ha [( f − k)Fs ]
k=−∞

or
∞  
1 2πk
H(ΩT ) = ∑ a H Ω −
T k=−∞ T

H(ω) has the frequency response characteristics of the corresponding

analog filter if the sampling interval T is selected sufficiently small to
completely avoid or at least minimize the effects of aliasing.
Also the impulse invariance method is inappropriate for designing highpass
filters due to the spectrum aliasing that results from the sampling process.
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 IIR Filter Design IIR Filter Design by Impulse Invariance
Characteristics of Commonly Used Analog Filters IIR Filter Design by the Bilinear Transformation

Impulse Invariance, example

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 IIR Filter Design IIR Filter Design by Impulse Invariance
Characteristics of Commonly Used Analog Filters IIR Filter Design by the Bilinear Transformation

Impulse Invariance
Express the system function of the analog filter in partial-fraction form
N
c
Ha (s) = ∑ s −kpk
k=1
Consequently
N
ha (t) = ∑ ck e p t , k
t ≥0
k=1

h[n] is obtained by sampling ha (T ) at t = nT , then

N
h[n] = ∑ ck e p T n ,
k
n≥0
k=1
N
c
H(z) = ∑ 1 − e pkT z−1 k
k=1

Note that the digital filter has poles at

zk = e p k T , k = 1, 2, ..., N
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 IIR Filter Design IIR Filter Design by Impulse Invariance
Characteristics of Commonly Used Analog Filters IIR Filter Design by the Bilinear Transformation

Example 1
Convert the analog filter with system function
s + 0.1
Ha (s) =
(s + 0.1)2 + 9
into a digital IIR filter by means of the impulse invariance method.
Solution:
The poles are at pk = −0.1 ± 3 j
By partial fraction expansion
0.5 0.5
Ha (s) = +
s + 0.1 − 3 j s + 0.1 + 3 j
Then
0.5 0.5
H(z) = +
1 − e−0.1T e3 jT z−1 1 − e−0.1T e−3 jT z−1
1 − e−0.1T cos(3T )z−1
=
1 − 2e−0.1T cos(3T )z−1 + e−0.2T z−2

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 IIR Filter Design IIR Filter Design by Impulse Invariance
Characteristics of Commonly Used Analog Filters IIR Filter Design by the Bilinear Transformation

Example 1 (cont’d)

Frequency response of the analog filter

Frequency response of the digital filters

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 IIR Filter Design IIR Filter Design by Impulse Invariance
Characteristics of Commonly Used Analog Filters IIR Filter Design by the Bilinear Transformation

Bilinear Transformation
The Impulse Invariance method have a severe limitation in that it is
appropriate only for lowpass filters and a limited class of bandpass filters.
The bilinear transformation is a one-to-one mapping that transforms the
jΩ-axis into the unit circle in the z-plane only once, thus avoiding aliasing
of frequency components.
Furthermore, all points in the LHP of s are mapped inside the unit circle
in the z-plane and all points in the RHP of s are mapped into
corresponding points outside the unit circle in the z-plane.

Bilinear transformation: the mapping from the s-plane to the z-plane is

2 1 − z−1
 
s=
T 1 + z−1

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 IIR Filter Design IIR Filter Design by Impulse Invariance
Characteristics of Commonly Used Analog Filters IIR Filter Design by the Bilinear Transformation

Bilinear Transformation
Let z = re jω , s = σ + jΩ
 
r2 −1 2r sin(ω)
Then s = T2 1+r2 +2r cos(ω)
+ j 1+r2 +2r cos(ω)
if r = 1, then
2 sin(ω) 2 ω 
Ω= = tan
T 1 + cos(ω) T 2
 
−1 ΩT
ω = 2 tan
2

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 IIR Filter Design IIR Filter Design by Impulse Invariance
Characteristics of Commonly Used Analog Filters IIR Filter Design by the Bilinear Transformation

Example 2
Design a single-pole lowpass digital filter with a 3−dB bandwidth of
O.2π, using the bilinear transformation applied to the analog filter
Ωc
Ha (s) =
s + Ωc
where Ωc is the 3−dB bandwidth of the analog filter.
Solution:
ωc = 0.2π corresponds to Ωc = T2 tan(0.1π) = 0.65/T
Thus the analog filter has the system function
0.65/T
Ha (s) =
s + 0.65/T
Now, we apply the bilinear transformation. Thus we obtain
0.245(1 + z−1 )
H(z) =
1 − 0.509z−1
The frequency response of the digital filter is
0.245(1 + e− jω )
H(ω) =
1 − 0.509e− jω
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Characteristics of Commonly Used Analog Filters

Butterworth filters
Lowpass Butterworth filters are all-pole filters characterized by the
magnitude-squared frequency response
1 1
|H(Ω)|2 = =
1 + (Ω/Ωc )2N 1 + ε 2 (Ω/Ω p )2N
where N is the order of the filter, Ωc is the −3-dB frequency, Ω p is the
passband edge frequency, and 1/(1 + ε 2 ) is the band edge value of
|H(Ω)|2 .
In the s-domain
1
H(s)H(−s) =
1 + (−s2 /Ω2c )N

where the poles occur at sk = Ωc e jπ/2 e j(2k+1)π/2N , k = 0, 1, ..., N − 1

|H(Ω)|2 is monotonic in both the passband and stopband.
The order of the filter required to meet an attenuation δ2 at a specified
frequency Ωs is
log (1/δ22 ) − 1
 
N=
2 log(Ωs /Ωc )
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 IIR Filter Design
Characteristics of Commonly Used Analog Filters

Pole positions for N = 4 and N = 5 Butterworth filters.

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 IIR Filter Design
Characteristics of Commonly Used Analog Filters

Freq. response of Butterworth filters with different N.

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Characteristics of Commonly Used Analog Filters

Example 3
Determine the order and the poles of a lowpass Butterworth filter that has
a −3-dB bandwidth of 500Hz and an attenuation of 40-dB at 1000Hz.

Solution:
Ωc = 1000π and Ωs = 2000π
40-dB attenuation corresponds to δ2 = 0.01
log(104 −1)
Thus N = 2 log(2) = 6.64
To meet the desired specifications, we select N = 7.
The pole positions are

sk = 1000πe jπ/2 e j(2k+1)π/14 , k = 0, 1, ..., 6

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Characteristics of Commonly Used Analog Filters

Chebyshev filters, type I

Type I Chebyshev filters are all-pole filters that exhibit equiripple behavior
in the passband and a monotonic characteristic in the stopband:
1
|H(Ω)|2 =
1 + ε 2 TN2 (Ω/Ω p )

where ε is related to the ripple in the passband and TN (x) is is the N th

order Chebyshev polynomial.

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Characteristics of Commonly Used Analog Filters

Chebyshev filters, type II

Type II Chebyshev filters contain both poles and zeros and exhibit a
monotonic behavior in the passband and a equiripple behavior in the
stopband:
1
|H(Ω)|2 =
1 + ε 2 TN2 (Ωs /Ω p )/TN2 (Ωs /Ω)
 

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Characteristics of Commonly Used Analog Filters

Elliptic filters
Elliptic (or Cauer) filters exhibit equiripple behavior in both the passband
and the stopband:
1
|H(Ω)|2 =
1 + ε 2UN (Ω/Ω p )

where ε is related to the passband ripple and UN (x) is is the Jacobian

elliptic function of order N.

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Characteristics of Commonly Used Analog Filters

Examples of Digital Filter Designs Based on the Bilinear

Transformation
A lowpass filter is designed to meet specifications of a maximum ripple of
0.5 dB in the passband, 60-dB attenuation in the stopband, a passband
edge frequency ω p = 0.25π, and a stopband edge frequency ωs = 0.3π.
A Butterworth filter of order N = 37 is required to satisfy the
specifications.

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Characteristics of Commonly Used Analog Filters

If a Chebyshev filter is used, a filter of order N = 13 satisfies the specifications.

An elliptic filter of order N = 7 is designed which also satisfies the specifications.

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