2-Digital Filters (IIR)

AGC
DSP
IIR Digital Filter Design
Standard approach
(1) Convert the digital filter specifications into
an analogue prototype lowpass filter
specifications
(2) Determine the analogue lowpass filter
transfer function H a (s )
(3) Transform H (s ) by replacing the
complex variablea to the digital transfer
function
G (z )
Professor A G Constantinides
1
AGC
DSP
 This approach has been widely used for
the following reasons:
(1) Analogue approximation techniques
are highly advanced
(2) They usually yield closed-form
solutions
(3) Extensive tables are available for
analogue filter design
(4) Very often applications require
digital simulation of analogue systems
2
AGC
DSP IIR Digital Filter Design
 Let an analogue transfer function be
Pa ( s )
H a (s) 
Da ( s )
where the subscript “a” indicates the
analogue domain
 A digital transfer function derived from
this is denoted as
P( z )
G( z) 
D( z )
3
AGC
DSP
 Basic idea behind the conversion of H a (s )
into G (z ) is to apply a mapping from the s-
domain to the z-domain so that essential
properties of the analogue frequency
response are preserved
 Thus mapping function should be such that
 Imaginary ( j ) axis in the s-plane be
mapped onto the unit circle of the z-plane
 A stable analogue transfer function be
mapped into a stable digital transfer

function
4
AGC
IIR Digital Filter: The bilinear
DSP
transformation
 To obtain G(z) replace s by f(z) in H(s)
 Start with requirements on G(z)
G( z ) Available H(s)
Stable Stable
Real and Rational in z Real and Rational
in s
Order n Order n
L.P. (lowpass) cutoff c L.P. cutoff cT
5
AGC
DSP
IIR Digital Filter
 Hence f (z ) is real and rational in z of
order one
 i.e. az  b
f ( z) 
cz  d
 For LP to LP transformation we require
s  0  z  1 f (1)  0  a  b  0
s   j  z  1 f ( 1)   j  c  d  0
 Thus  a  z 1
f ( z )   .
 c  z 1
6
AGC
DSP
IIR Digital Filter
 The quantity a  cT   c
is fixed from
c
 ie on  a T
C : z 1 f ( z ) c   . j tan
c 2
 Or  a cT
j c   . j tan
c 2
 
  1
and  c  1 z

s .
 tan  cT   1  z 1
  
  2  Professor A G Constantinides
7
AGC
DSP
Bilinear Transformation
 Transformation is unaffected by scaling.
Consider inverse transformation with scale
factor equal to unity
For z  1 s

1 s
s   o  j o
(1   o )  jo 2 (1   ) 2
  2
z z  o o
(1   o )  jo (1   o ) 2  o2
 and so
o  0  z 1
o  0  z 1
o  0  z 1
8
AGC
DSP
 Mapping of s-plane into the z-plane
9
AGC
DSP
j
 For z  e with unity scalar we have
 j
j  1  e  j tan( / 2)
 j
1 e
or   tan( / 2)
10
AGC
DSP
 Mapping is highly nonlinear
 Complete negative imaginary axis in the s-
plane from  to is mapped
0 into
the lower half of the unit circle in the z-
plane from to z  1 z 1
 Complete positive imaginary axis in the s-
plane from   to
0    is mapped
into the upper half of the unit circle in the
z-plane from z to1 z  1
11
AGC
DSP Bilinear Transformation
 Nonlinear mapping introduces a
distortion in the frequency axis called
frequency warping
 Effect of warping shown below
12
AGC
DSP
Spectral Transformations
 To transform GL (z ) a given lowpass
transfer function to another transfer function
that may
GD (zˆ ) be a lowpass, highpass,
bandpass or bandstop filter (solutions given
by Constantinides)
z 1 has been used to denote the unit delay

in the prototype lowpass filter and

GL (z )
to denote
1 the unit delay in the
zˆ
transformed filter to avoid confusion
GD (zˆ )
13
AGC
DSP
 Unit circles in z- and ẑ -planes defined
by j j̂
ze zˆ  e
,
 Transformation from z-domain to
ẑ -domain given by
z  F (zˆ )
 Then GD ( zˆ )  GL {F ( zˆ )}
14
AGC
DSP
 From z  F (zˆ ) , thus z  F (zˆ ) ,
hence  1, if z  1

F ( zˆ )  1, if z  1
 1, if z  1

 Therefore 1 / F ( zˆ ) must be a stable allpass

function 1 L  1  * zˆ 
     ,   1
 
F ( zˆ ) 1 zˆ   Professor
 A G Constantinides
15
AGC
Lowpass-to-Lowpass
DSP
Spectral Transformation
 To transform a lowpass filter GL (z ) with a
cutoff frequency  c to another lowpass filter
GD (zˆ ) ̂ c
with a cutoff frequency , the
transformation is
1 1   zˆ
z 1
 
F ( zˆ ) zˆ  
 On the unit circle we have
 jˆ
e  e jˆ
 j
which yields 1 e
tan( / 2)   1    tan(ˆ / 2)

 1    Professor A G Constantinides 16
AGC
Lowpass-to-Lowpass
DSP
 Solving we get sin  ( c  ˆ c ) / 2 

sin  ( c  ˆ c ) / 2 
 Example - Consider the lowpass digital filter
0.0662(1  z 1 )3
GL ( z )  1 1 2
(1  0.2593 z )(1  0.6763 z  0.3917 z )
which has a passband from dc to 0.25
with a 0.5 dB ripple
 Redesign the above filter to move the
passband edge to
0.35 Professor A G Constantinides
17
AGC
Lowpass-to-Lowpass
DSP
 Here sin(0.05 )
    0.1934
sin(0.3 )
 Hence, the desired lowpass transfer
function is GD ( zˆ )  GL ( z ) zˆ  0.1934 1
z  1
1 0.1934 zˆ 1
-10
Gain, dB
G (z) G (z)
L D
-20
-30
-40
0 0.2 0.4 0.6 0.8 1
w /p Professor A G Constantinides
18
AGC
DSP Lowpass-to-Lowpass
 The lowpass-to-lowpass transformation
1 1 1   zˆ
z  
F ( zˆ ) zˆ  
can also be used as highpass-to-
highpass, bandpass-to-bandpass and
bandstop-to-bandstop transformations
19
AGC Lowpass-to-Highpass
DSP
 Desired transformation
1
1 zˆ  
z 
1   zˆ 1
 The transformation parameter  is given by
cos ( c  ˆ c ) / 2
 
cos ( c  ˆ c ) / 2
where is the cutoff frequency of the lowpass
filter and c is the cutoff frequency of the desired
highpass filter ̂ c
20
AGC
Lowpass-to-Highpass
DSP
 Example - Transform the lowpass filter
1 3
0.0662(1  z )
GL ( z ) 
(1  0.2593 z 1 )(1  0.6763 z 1  0.3917 z 2 )
 with a passband edge at 0.25 to a
highpass filter with a passband 0.55edge at
 Here   cos(0.4 ) / cos(0.15 )  0.3468
 The desired transformation is
1
1 ˆ  0.3468
z
z  1
1  0.3468 zˆ Professor A G Constantinides
21
AGC Lowpass-to-Highpass
DSP
 The desired highpass filter is

GD ( zˆ )  G ( z ) z 1

zˆ 1 0.3468
10.3468 zˆ 1
0
- 20
Gain, dB
- 40
- 60
- 80
0 0.2p 0.4p 0.6p 0.8p p
Normalized frequency
22
AGC
DSP Lowpass-to-Highpass
 The lowpass-to-highpass transformation
can also be used to transform a
highpass filter with a cutoff at  c to a
lowpass filter with a cutoff at ̂ c
 and transform a bandpass filter with a
center frequency at  o to a bandstop
filter with a center frequency at ̂ o
23
AGC
DSP
Lowpass-to-Bandpass
2 2 1   1
zˆ  zˆ 
1  1  1
z 
  1 2 2 1
zˆ  zˆ  1
 1  1
24
AGC
DSP Lowpass-to-Bandpass
 The parameters  and are given by
cos (ˆ c 2  ˆ c1 ) / 2

cos (ˆ c 2  ˆ c1 ) / 2 
  cot (ˆ c 2  ˆ c1 ) / 2 tan(c / 2)
where  c is the cutoff frequency of the
lowpass filter, and
ˆ c1 and ˆ care2
the
desired upper and lower cutoff frequencies of
the bandpass filter
25
AGC
DSP Lowpass-to-Bandpass
 Special Case - The transformation can
be simplified if  c  ˆ c 2  ˆ c1
 Then the transformation reduces to
1
1 1 ˆ  
z
z   zˆ 1
1   zˆ
where   cosˆ o with ̂ o denoting
the desired center frequency of the
bandpass filter
26
AGC
DSP Lowpass-to-Bandstop
2 2 1 1  
zˆ  zˆ 
1 1  1 
z 
1   2 2 1
zˆ  zˆ  1
1  1 
27
AGC
DSP Lowpass-to-Bandstop
 The parameters  and  are given by
cos (ˆ c 2  ˆ c1 ) / 2 

cos (ˆ c 2  ˆ c1 ) / 2 
  tan  (ˆisc 2 the
where 1 ) / 2  tan(
 ˆ ccutoff  c / 2) of the
frequency
lowpass filter,
c and and are the
desired upper and lower ˆ c1 cutoff ˆ c 2
frequencies of the bandstop filter
28

2-Digital Filters (IIR)

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2-Digital Filters (IIR)

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AGC

mapped into a stable digital transfer

in the prototype lowpass filter and

 Therefore 1 / F ( zˆ ) must be a stable allpass

which yields 1 e

 The desired highpass filter is

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