2-Digital Filters (IIR)

AGC
DSP
Professor A G Constantinides
1
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
(3) Transform by replacing the
complex variable to the digital transfer
function
) (s H
a
) (z G
) (s H
a
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DSP
2
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
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DSP
3
Let an analogue transfer function be

where the subscript a indicates the
analogue domain
A digital transfer function derived from
this is denoted as
) (
) (
) (
s D
s P
s H
a
a
a
=
) (
) (
) (
z D
z P
z G =
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DSP
4
Basic idea behind the conversion of
into 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 ( ) 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
) (s H
a
) (z G
O j
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DSP
5
IIR Digital Filter: The bilinear
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 L.P. cutoff
T
c
e
c
O
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DSP
6
IIR Digital Filter
Hence is real and rational in z of
order one
i.e.

For LP to LP transformation we require

Thus

) (z f
d cz
b az
z f
+
+
= ) (
1 0 = = z s 0 0 ) 1 ( = + = b a f
1 = = z j s 0 ) 1 ( = = d c j f
1
1
. ) (
+
|
.
|
\
|
=
z
z
c
a
z f
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DSP
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IIR Digital Filter
The quantity is fixed from

ie on

Or

and
|
.
|
\
|
c
a
c c
T O e
2
tan . ) ( 1 :
T
j
c
a
z f z C
c
e
|
.
|
\
|
= =
2
tan .
T
j
c
a
j
c
c
e
|
.
|
\
|
= O
1
1
1
1
.
2
tan

|
|
|
|
.
|
\
|
|
.
|
\
|
O
=
z
z
T
s
c
c
e
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DSP
8
Bilinear Transformation
Transformation is unaffected by scaling.
Consider inverse transformation with scale
factor equal to unity
For

and so
s
s
z
+
=
1
1
o o
j s O + o =
2 2
2 2
2
) 1 (
) 1 (
) 1 (
) 1 (
o o
o o
o o
o o
z
j
j
z
O +
O + +
=
O
O + +
=
o
o
o
o
1 0 = = z
o
o
1 0 < < z
o
o
1 0 > > z
o
o
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DSP
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Mapping of s-plane into the z-plane
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DSP
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For with unity scalar we have

or
) 2 / tan(
1
1
e
e
e
j
e
e
j
j
j
=
+
= O

e j
e z =
) 2 / tan(e = O
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DSP
11
Mapping is highly nonlinear
Complete negative imaginary axis in the
s-plane from to is
mapped into the lower half of the unit
circle in the z-plane from to
Complete positive imaginary axis in the
s-plane from to is mapped
into the upper half of the unit circle in
the z-plane from to
= O 0 = O
0 = O = O
1 = z 1 = z
1 = z 1 = z
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DSP
12
Nonlinear mapping introduces a
distortion in the frequency axis called
frequency warping
Effect of warping shown below
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DSP
13
Spectral Transformations
To transform a given lowpass
transfer function to another transfer
function that may be a lowpass,
highpass, bandpass or bandstop filter
(solutions given by Constantinides)
has been used to denote the unit
delay in the prototype lowpass filter
and to denote the unit delay in the
transformed filter to avoid
confusion
) (z G
L
)
(z G
D
1
z
1
z
) (z G
L
)
(z G
D
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DSP
14
Unit circles in z- and -planes defined
by
,
Transformation from z-domain to
-domain given by

Then
z
e j
e z =
e
j
e z =
)
(z F z =
)}
( { )
( z F G z G
L D
=
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DSP
15
From , thus ,
hence

Therefore must be a stable allpass
function
)
(z F z = )
(z F z =
< <
= =
> >
1 if , 1
1 if , 1
1 if , 1
)
(
z
z
z
z F
)
( / 1 z F
1 ,

1
)
(
1
1
*
< o
|
|
.
|
\
|
o
o
=
[
=

L
z
z
z F
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DSP
16
Lowpass-to-Lowpass
Spectral Transformation
To transform a lowpass filter with a
cutoff frequency to another lowpass filter
with a cutoff frequency , the
transformation is

On the unit circle we have

which yields
) (z G
L
)
(z G
D
c
e
c
e
o
o
= =
z
z
z F
z

1
)
(
1
1
e
e
e
o
o
1
j
j
j
e
e
e

=
) 2 / tan(
1
1
) 2 / tan( e
o
o
e
|
.
|
\
|
+
=
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DSP
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Lowpass-to-Lowpass
Solving we get

Example - Consider the lowpass digital
filter

which has a passband from dc to
with a 0.5 dB ripple
Redesign the above filter to move the
passband edge to
( )
( ) 2 / ) ( sin
2 / ) ( sin
c c
c c
e e
e e
o
+
=
) 3917 . 0 6763 . 0 1 )( 2593 . 0 1 (
) 1 ( 0662 . 0
) (
2 1 1
3 1

+
+
=
z z z
z
z G
L
t 25 . 0
t 35 . 0
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DSP
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Lowpass-to-Lowpass
Here

Hence, the desired lowpass transfer
function is
1934 . 0
) 3 . 0 sin(
) 05 . 0 sin(
= =
t
t
o
1
1
1
1934 . 0 1
1934 . 0 ) ( )
+
+
=
=
z
z
z
L D
z G z G
0 0.2 0.4 0.6 0.8 1
-40
-30
-20
-10
0
e/t
G
a
i
n
,

d
B
G
L
(z) G
D
(z)
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DSP
19
Lowpass-to-Lowpass
The lowpass-to-lowpass transformation

can also be used as highpass-to-
highpass, bandpass-to-bandpass and
bandstop-to-bandstop transformations
o
o
= =
z
z
z F
z

1
)
(
1
1
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DSP
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Lowpass-to-Highpass
Desired transformation

The transformation parameter is given by

where is the cutoff frequency of the
lowpass filter and is the cutoff frequency
of the desired highpass filter

1
1
1
+
+
=
z
z
z
o
o
( )
( ) 2 / ) ( cos
2 / ) ( cos
c c
c c
e e
e e
o
+
=
o
c
e
c
e
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DSP
21
Lowpass-to-Highpass
Example - Transform the lowpass filter

with a passband edge at to a
highpass filter with a passband edge at
Here
The desired transformation is
) 3917 . 0 6763 . 0 1 )( 2593 . 0 1 (
) 1 ( 0662 . 0
) (
2 1 1
3 1

+
+
=
z z z
z
z G
L
t 25 . 0
t 55 . 0
3468 . 0 ) 15 . 0 cos( / ) 4 . 0 cos( = = t t o
1
1
1
3468 . 0 1
3468 . 0

=
z
z
z
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DSP
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Lowpass-to-Highpass
The desired highpass filter is
1
1
1
3468 . 0 1
3468 . 0 ) ( )

=
=
z
z
z
D
z G z G
0 0.2t 0.4t 0.6t 0.8t t
80
60
40
20
0
Normalized frequency
G
a
i
n
,

d
B
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DSP
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Lowpass-to-Highpass
The lowpass-to-highpass transformation
can also be used to transform a
highpass filter with a cutoff at to a
lowpass filter with a cutoff at
and transform a bandpass filter with a
center frequency at to a bandstop
filter with a center frequency at
c
e
c
e
o
e
o
e
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DSP
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Lowpass-to-Bandpass

1
1
2
1
1
1
1
1
2
1 2
1 2
1
+
+
+
+
z z
z z
z
|
o|
|
|
|
|
|
o|
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DSP
25
Lowpass-to-Bandpass
The parameters and are given by

lowpass filter, and and are the
desired upper and lower cutoff frequencies of
the bandpass filter

o |
( ) ) 2 / tan( 2 / ) ( cot
1 2 c c c
e e e | =
( )
( ) 2 / ) ( cos
2 / ) ( cos
1 2
1 2
c c
c c
e e
e e
o
+
=
c
e
1
c
e
2
c
e
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DSP
26
Lowpass-to-Bandpass
Special Case - The transformation can
be simplified if
Then the transformation reduces to

where with denoting
the desired center frequency of the
bandpass filter
1 2

c c c
e e e =
o
e o cos =
o
e
1
1
1 1

=
z
z
z z
o
o
AGC
DSP
27
Lowpass-to-Bandstop
1
1
2
1
1
1
1
1
2
1 2
1 2
1
+
+
+
+
z z
z z
z
|
o|
|
|
|
|
|
o|
AGC
DSP
28
Lowpass-to-Bandstop
The parameters and are given
by

lowpass filter, and and are
the desired upper and lower cutoff
frequencies of the bandstop filter
c
e
o
|
1
c
e
2
c
e
( )
( ) 2 / ) ( cos
2 / ) ( cos
1 2
1 2
c c
c c
e e
e e
o
+
=
( ) ) 2 / tan( 2 / ) ( tan
1 2 c c c
e e e | =

2-Digital Filters (IIR)

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