ECE651 Digital Signal Processing I
Digital IIR Filter Design
Introduction
Some Preliminaries on Analog Filters
Digital IIR Filter Design (s – z)
Impulse Invariance Transformation
Bilinear Transformation
Frequency Band Transformations
Analog Domain (s – s )
Digital Domain (z – z)
Introduction
Analog filter : Infinitely long impulse response
S – Z (complex-valued mapping)
Digital IIR filter : Infinitely long impulse response
Introduction
Introduction
Advantages
• Analog filter design tables available
• Filter transformation (s – z) tables available
• Frequency band transformation (s – s / z – z) available
Disadvantages
• No control over the phase characteristics of the IIR filter
• Magnitude – only design
Introduction
Other Design Approaches
• Simultaneously approximate both the magnitude and the phase
response
• Require advanced optimization tools
• Not covered in the class
Preliminaries On Analog Filters
Analog lowpass filter specifications
: passband ripple parameter
A: stopband attenuation parameter
p: passband cutoff frequency (rad/sec)
s: stopband cutoff frequency (rad/sec)
2 1
H a ( p )
1 2
1
H a ( s )
2
A2
Preliminaries On Analog Filters
Analog lowpass filter specifications
R p : passband ripple in dB
As : stopband attenuation in dB
R p 10 log 10 (1 2 ) 10
R p / 10
1
As 20 log 10 A A 10 As / 20
Preliminaries On Analog Filters
Analog lowpass filter system function H a (s )
H a ( s ) H a ( s ) H a ()
2
s / j
• Poles and zeros of magnitude-squared function are
distributed in a mirror-image symmetry with respect to the
imaginary axis
• For real filters, poles and zeros occur in complex
conjugate pairs ( mirror symmetry with respect to real axis)
Preliminaries On Analog Filters
Analog lowpass filter system function H a (s )
1. Pick up poles On LHP
2. Pick up zeros on LHP or
Imaginary axis
H a (s )
Stable Causal
Preliminaries On Analog Filters
Prototype analog filters
1. Butterworth
2. Chebyshev (Type I and II)
3. Elliptic
Preliminaries On Analog Filters
Butterworth lowpass filters (Magnitude-Squared Response)
1
H a ()
2
2N
1
c
c The Cutoff frequency (rand/sec)
N The order of the filter
Preliminaries On Analog Filters
Butterworth lowpass filters (System Function)
c
N
H a ( s)
( s pk )
LHP poles
( 2 k N 1)
j
pk c e 2N
, k 0,1, 2 N 1
Preliminaries On Analog Filters
Butterworth lowpass filters (Design equations)
log 10 [(10 R p / 10 1) /(10 As / 10 1)]
N
2 log 10 ( p / s )
p
c 1
1)
R p / 10 2N
(10
p
c 1
(10 As / 10 1) 2N
Digital IIR Filter Design
S - Z transformation
• Complex-valued mappings
• Derived by preserving different aspects of analog filters and digital filters
Digital IIR Filter Design
Impulse Invariance transformation
• Preserve the shape of impulse response
z e sT
Digital IIR Filter Design
Impulse Invariance transformation (Design Procedure)
(MATLAB function: impinvar)
1. Choose T and determine the analog frequencies
p s
p s
T T
2. Design an analog filter H a (s ) using specifications p , s , R p , and As
N
Rk
3. Partial fraction expansion H a ( s)
k 1 s pk
4. Transform analog poles { pk } into digital poles {e pk T } to obtain
N
Rk
H ( z) pk T 1
k 1 1 e z
Digital IIR Filter Design
Impulse Invariance transformation (Aliasing)
>> f=0:0.01:5;T=0.1;
>> z=exp(j*2*pi*f*T);
>> zH=(1-0.8966./z)./(1-1.5595./z+0.6065./z./z);
>> s=j*2*pi*f;
>> sH=(1+s)./(s.^2+5*s+6);
>> plot(f,abs(zH),f,abs(sH)/T);legend('Digitital','Analog')
>>title('Magnitude Response of Analog and Digital IIR Filters')
Digital IIR Filter Design
Impulse Invariance transformation
Advantages:
• Stable design
• Analog frequency and digital frequency are linearly related
Disadvantage
• Aliasing
• Useful only when the analog filter is band-limited (LPF and
BPF)
Digital IIR Filter Design
Bilinear transformation
• Preserve the system function representation
1 ( sT ) / 2 2 1 z 1
z s
1 ( ST ) / 2 T 1 z 1
Digital IIR Filter Design
Bilinear transformation (Design Procedure)
(MATLAB function: bilinear)
1. Choose T (1)and determine the analog frequencies
2 2
p tan( p ) s tan( s )
T 2 T 2
2. Design an analog filter H a (s ) using specifications p , s , R p , and As
3. Bilinear transformation
2 1 z 1
H ( z) H a ( )
T 1 z 1
Digital IIR Filter Design
Bilinear transformation
Advantages
• Stable design
• No aliasing
• No restriction on the type of filters that can be transformed
Frequency DomainTransformations
Analog Domain
Frequency DomainTransformations
Digital Domain
