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Impulse Invariance and Bilinear PDF
Impulse Invariance and Bilinear PDF
Bilinear Transform
Impulse invariance
By impulse invariance method, the analogue impulse response
h(t) is sampled to get the discreet sample response h(n).
Or equivalently
H ( ) Fs H
k
a (( 2kFs ))
2
Digital Signal Processing
Slide 2
1
Impulse invariance
From the equation
H ( ) Fs H
k
a (( 2kFs ))
We can generalise
H ( z) z e sT Fs H
k
a ((s j 2kFs ))
We substitute by s j
z eT e jT
3
Digital Signal Processing
Slide 3
Impulse invariance
z eT e jT
It is clear that
If = 0. The imaginary axis (s =j ) in the s plane map into the
unity circle (z = ej T in the z-plane.
If < 0, the left hand plane in the s plane map into the inside of
the unity circle in the z-plane.
4
Digital Signal Processing
Slide 4
2
Impulse invariance
On the assumption that the poles of the analogue filter are
distinct, we can write
N
c
H a ( s) k
k 1 s pk
pk are the poles of the analogue filter and ck’s are the
coefficients of the partial expansion. Consequently
N
ha (t ) ck e pk t
k 1
5
Digital Signal Processing
Slide 5
Impulse invariance
So the system
function of the IIR filter
H a ( z ) h( n ) z n
n 0
N
c k (e pk T z 1 ) n
k 1 n 0
For pk < 0
N
ck
H (z) p k T 1
k 1 1 e z
z k e pk T k 1,2,....., N
6
Digital Signal Processing
Slide 6
3
Impulse invariance
Example: Convert the analogue filter with the system
function
s 0. 1
H a ( s)
( s 0.1) 2 9
Solution
1/ 2 1/ 2
H a (s )
s 0.1 j 3 s 0.1 j 3
Then the transfer function of the digital filter
1/ 2 1/ 2
H (z )
1 e 0.1T e j 3T z 1 1 e 0.1T e j 3T z 1
1 ( e 0.1T cos 3T ) z 1
H ( z)
1 ( 2e 0.1T cos 3T ) z 1 e 0.2T z 2
7
Digital Signal Processing
Slide 7
Bilinear Transformation
Let us consider an analogue filter with the system function
b
H (s )
sa
The system can be also described by the differential equation
dy (t )
ay (t ) bx(t )
dt
Starting from the integral
t
y (t ) y ( )d y (t 0 )
t0
8
Digital Signal Processing
Slide 8
4
Bilinear Transformation
But as
y ( nT ) ay ( nT ) bx( nT )
aT aT bT
(1 ) y (n ) (1 ) y (n 1) [ x (n) x(n 1)]
2 2 2
Convert the equation into z domain
aT aT 1 bT
(1 )Y ( z ) (1 ) z Y ( z) [ X ( z ) z 1 X ( z )]
2 2 2
Then the transfer function
b
H ( z)
2 1 z 1
a
T 1 z 1
9
Digital Signal Processing
Slide 9
Bilinear Transformation
Clearly the mapping from s-plane to z-plane is
2 1 z 1
s
T 1 z 1
To investigate the characteristics of the bilinear
transformation, let
z re jw s j
10
Digital Signal Processing
Slide 10
5
Bilinear Transformation
or
2 r 2 1 2 r sin
s j
2
T 1 r 2r cos 1 r 2r cos
2
j
if r < 1 leads to < 0 or the left hand plane in the s plane maps
into the inside of the unity circle in the z-plane.
When r = 1, =0 and
2 sin
T 1 cos
2
tan
T 2
1 T
2 tan
2 11
Digital Signal Processing
Slide 11
Bilinear Transformation
Example: Convert the analogue filter with the system function
s 0.1
H (s )
( s 0.1) 2 16
12
Digital Signal Processing
Slide 12
6
Bilinear Transformation
Thus the desired mapping is
1 z 1
s 4
1
1 z
And the resulting digital filter has the system function
j / 2
With poles at p1, 2 0.987e
With zero at z1, 2 10.95
13
Digital Signal Processing
Slide 13
Bilinear Transformation
Example: Design a single-pole lowpass filter with 3-dB
bandwidth of 0.2 using the bilinear transformation to
analogue filter
c
H (s )
s c
The digital filter is specified to have -3dB gain at c =
0.2. In the frequency domain of the analogue filter
2
c tan 0.65 / T
T 2
Thus the analogue filter has the system function
0.65 / T
H (s )
s 0.65 / T
14
Digital Signal Processing
Slide 14
7
Bilinear Transformation
Now, we apply the bilinear transformation to get
0.245(1 z 1 )
H ( z)
1 0.509 z 1
The frequency response of the digital filter
0.245(1 e j )
H ( )
1 0.509e j
Which applies
15
Digital Signal Processing
Slide 15