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Chapter Iv PDF
Chapter Iv PDF
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FIR filters
• A non-recursive filter has no feedback and its input-output
relation is given by
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IIR Filters
• A recursive filter has feedback from output to input,
and in general its output is a function of the previous
output samples and the present and past input samples
as described by the following equation
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s-plane
-1 1 Re(z) σ
z = esT
s = σ+jΩ
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Design steps:
1. For the given specifications, find Ha(s) the transfer function
of an analog filter.
2. Select the sampling rate of the digital filter, T seconds per
sample.
3. Express the analog filter transfer function as the sum of
N
single pole filters. c
H a (s) = ∑ k
k =1 s − p k
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Frequency warping
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2 ω
Ω= tan
T 2
• For small values of ω, Ω = 2 ω = ω
T 2 T
ω = ΩT
• For low frequencies the relationship between Ω and ω
are linear, as a result the digital filter have the same
amplitude response as the analog filter.
• For high frequencies the relationship between Ω and
ω becomes non-linear & distortion is introduced in
the frequency scale of the digital filter to that of the
analog filter. Warping effect.
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Design steps:
1. Find prewarping analog frequencies using
2 ω
Ω= tan
T 2
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N N
ck ck
H a (s) = ∑
k =1 s − p k
H(z) = ∑ p k T −1
k =1 1 − e z
2 2
H (s) = −
(s − (−1)) (s − (−2))
(s − p k ) → (1 − e pkT
z −1 )
Here , p k → p 1 , p 2
p 1 = − 1; p 2 = − 2 ; T = 1sec
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2 2
H(z) = −1 −1
−
1− e z 1 − e − 2 z −1
2 2
= −1
−
1 − 0.3678z 1 − 0.1353z −1
Simplifying,
0.465z −1
H(z) =
1 − 0.503z −1 + 0.0497z − 2
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2
H(z) =
1− z−1 1− z−1
2 −1 +1 2 −1 + 2
1+ z
1+ z
=
(1+ z )−1 2
6(1− z )
1 −1
3
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H ( jΩ )
1.0
1 α p (dB)
1 + ε2
αs (dB)
1
1 + λ2
Ω p Ωs →Ω
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Solution:
Ω p = 0.2π; Ωs = 0.4π 0.9
1
= 0 . 9 ⇒ ε = 0 .4843
1 + ε2
1 0.2
= 0 . 2 ⇒ λ = 4 .899
2
1+ λ
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0.2π 0.4π 38
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λ
log
N≥ ε ≥ 3.34
Ωs
log
Ω
p
N=4
1
H(s) =
(s + 0.76537s + 1)(s 2 + 1.8477s + 1)
2
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100.1α s − 1
log 0.1α
N≥ 10 p − 1 ≥ 3.37 ⇒ N = 4
Ω
log s
Ω
p
1
H(s) =
(s + 0.76537s + 1)(s 2 + 1.8477s + 1)
2
Ωp
Ωc = = 21.3868
(10 0.1α p
−1) 1
2N
0.20921× 10 6
H(s) = 2
(s + 16.3686s + 457.394)(s 2 + 39.5176s + 457.394)
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λ 4.899
log log
N≥ ε
≥ 0.75
≥ 1.71
Ωs log 3
log
Ω
p
N=2
• For N = 2, the transfer function of normalized Butterworth
filter is, 1
H(s) =
s 2 + 2s + 1
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0.5266
=
s 2 + 1.03s + 0.5266
0.5266
=
(s + 0.51 + j0.51)(s + 0.51 − j0.51)
• Applying partial fractions,
j0.516 j0.516
Ha (s) = −
s − (−0.51− j0.51) s − (−0.51+ j0.51)
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j0.516 j0.516
H(z ) = − 0.51− j0.51 −1
− − 0.51+ j0.51 −1
1− e z 1− e z
j0.516 j0.516
= − 0.51 − j0.51 −1
− − 0.51 j0.51 −1
1− e e z 1− e e z
j0.516(1 − e e z ) − j0.516(1 − e −0.51e − j0.51z −1 )
− 0.51 j0.51 −1
=
(1 − 0.6e − j0.51z −1 )(1 − 0.6e j0.51z −1 )
j0.516 - j0.516e-0.51e j0.51z −1 − j0.516 + j0.516e-0.51e − j0.51z −1
=
1 + 0.36e - j0.51e j0.51z − 2 − 0.6e − j0.51z −1 − 0.6e j0.51z −1
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0.3022
∴ H(z) =
1 - 1.047z -1 + 0.36z − 2
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λ 4.899
log log
N≥ ε
≥ 0.75
≥ 1.3
1 log(4.235)
log
k
N=2
• For N = 2, the transfer function of normalized Butterworth filter is,
1
H(s) =
s 2 + 2s + 1
H a (s) = H(s) s→ s
Ωc
0.5625
= 2
s + 1.06s + 0.5625
Assume T = 1sec.
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0.5625(1 + z -1 ) 2
H (z) =
4(1 − z -1 ) 2 + 2.12(1 − z -2 ) + 0.5625(1 + z -1 ) 2
0.084(1 + z -1 ) 2
=
1 − 1.028z -1 + 0.3651z -2
a = Ωp
[µ 1
N
1
− µ− N ]
; b = Ωp
[ 1
µ N + µ− N
1
]
2 2
0.1α p
where, µ = ε-1 + ε-2 + 1; ε = 10 −1
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λ
cosh -1
N≥ ε = 2.564 = 1.208
Ω 2.122
cosh -1 s
Ω
p
N=2
• To find a & b:
µ = ε-1 + ε-2 +1 = 3
a =Ω
[µ
p
− µ− N
1
N
1
= 0.3752
]
2
b = Ωp
1
[
µ N + µ− N
1
= 0.75
]
2
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µ = ε-1 + ε-2 +1 = 3
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0.263
H (s) =
(s + 0.257 + j0.515)(s + 0.257 − j0.515)
• Applying partial fractions,
j0.257 j0.257
H (s) = −
(s + 0.257 + j0.515) (s + 0.257 − j0.515)
N N
ck ck
If H a (s) = ∑ , then H (z) = ∑ p k T −1
k =1 s − p k k =1 1 − e z
P1 = −0.257 − j0.515
P2 = −0.257 + j0.515
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j0.257 j0.257
H (z) = −
− 0.257 − j0.515 −1 − 0.257 j0.515 −1
1− e e z 1− e e z
=
[
j0.257 1 − e − 0.257 j0.515 −1
e ] [
z − j0.257 1 − e −0.257 e − j0.515 z −1 ]
[ ][
1 − 0.77e − j0.52 z −1 1 − 0.77e j0.52 z −1 ]
j0.515 −1 − j0.515 −1
− j0.198e z + j0.198e z
= −2 −1
1 + 0.5929z − 1.34z
=
[ ]
− j0.198z −1 e j0.515 − e − j0.515 − j0.198z −1 [2 j sin 0.52]
=
1 + 0.5929z − 2 − 1.34z −1 1 + 0.5929z − 2 − 1.34z −1
0.1967z −1
H(z) =
1 + 0.5929z − 2 − 1.34z −1
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