IIR FILTER DESIGN

BASIC CONCEPTS OF IIR FILTERS AND

DESIGN OF IIR FILTERS BY
APPROXIMATION OF DERIVATIVES
METHOD
 BASIC CONCEPTS OF IIR FILTERS

• A discrete time filter takes a discrete time sequence x(n) as the input
sequence and produces a discrete time sequence y(n) as the output.

• An LTI discrete time system is characterized by an impulse response h(n)

its ZT gives the system function H(z) or a difference equation
representation.

• A digital filter whose impulse response h(n) is infinite in length is called as

an “INFINITE IMPULSE RESPONSE” filter.

• An IIR digital filter is characterized by the difference equation

∞
y (n) = ∑ h(k ) x(n − k ) - (1)
k =0
 BASIC CONCEPTS OF IIR FILTERS
• IIR filter can also be represented by the recursive difference equation
N M

∑a
k =0
k y (n − k ) = ∑ bk x(n −- k ) - (2) - a Rearranging this equation we get
k =0
M N
y (n) = ∑ bk x(n − k ) − ∑ ak y (n − k ) - (2) – b
k =0 k =1

• From the above recursive difference equation of IIR filter we can see that,
that the current output sample of the IIR filter depends on the past output
samples and present and / or past input samples. Thus, IIR filter is a
recursive – feedback system.

• An important part of the IIR filter design process is to find the suitable
values of the coefficients ak and bk in equation 2(a) or 2(b).
 BASIC CONCEPTS OF IIR FILTERS

• The system function H(z) of an IIR filter is obtained by taking ZT of

equation (2)-a
M

Y ( z) ∑k
b z
k =0
−k

H ( z) = = N - (3)
X ( z)
1 + ∑ ak z −k

k =1

• Factorizing the numerator polynomial of H(z) and equating it to zero gives

the values of the zeros of the TF H(z).

Factorizing the denominator polynomial of H(z) and equating it to zero

gives the values of the poles of the TF H(z).
 BASIC CONCEPTS OF IIR FILTERS
• The digital filter can be used to an analog filter by using the structure
ADC – H(z) – DAC as shown in the figure below.

• The analog input signal x(t) will be converted into a sequence x(n) by the
Analog to Digital Converter (ADC) with a specified sampling rate (1/T
samples per second where, T is the interval between samples). This
sequence x(n) is then passed through the digital filter H(z) giving the
output sequence y(n) which is then converted to a continuous time output
by using a Digital to Analog Converter.
 IIR DIGITAL FILTER DESIGN METHODS
• An analog filter is first designed to obtain the TF H(s). The TF H(s) of an
analog filter is converted into a digital filter by s-plane to z-plane
transformations. The available transformation methods are:
1) Approximation of Derivatives Technique
2) Impulse Invariance Technique
3) Bi-Linear Transformation Technique
4) Matched Z Transform Technique
Concepts and Requirements to be satisfied for Transformations
 IIR DIGITAL FILTER DESIGN METHODS

Concepts and Requirements to be satisfied for Transformations

IIR DIGITAL FILTER DESIGN METHODS
IIR DIGITAL FILTER DESIGN METHODS
IIR DIGITAL FILTER DESIGN METHODS
 IIR FILTER DESIGN BY APPROXIMATION OF DERIVATIVES METHOD

• One of the simplest methods for converting an analog filter into a digital filter is to
approximate the differential equation in (2)-a by an equivalent difference
equation. This approach is often used to solve a linear constant coefficient
differential equation numerically on a digital computer.

- (4)

equation (4) is

- (5)
IIR FILTER DESIGN BY APPROXIMATION OF DERIVATIVES METHOD

- (6)
 IIR FILTER DESIGN BY APPROXIMATION OF DERIVATIVES METHOD

• In frequency domain, equation (6) is equivalent to

- (7)

• It easily follows from the above discussion that, the substitution for kth
derivative of y(t) results in the equivalent frequency-domain relationship

- (8)

- (9)
 IIR FILTER DESIGN BY APPROXIMATION OF DERIVATIVES METHOD

Implications of the mapping from s-plane to z-plane using backward

difference:
• Re-arranging equation (5) the relation for mapping from s-plane to z-
plane is given by

1 - (10)
z=
1 − sT
If we substitute s = jΩ in equation (10) we find that,

1 1 ΩT
z= = 2 2
+j - (11)
1 − jΩT 1 + Ω T 1 + Ω 2T 2
IIR FILTER DESIGN BY APPROXIMATION OF DERIVATIVES METHOD

Implications of the mapping from s-plane to z-plane using backward

difference:
As Ω varies from - ∞ to ∞, the corresponding locus of the points in the z-
plane is a circle of radius (1/2) and with center at z = (1/2) is as shown in
figure below.
IIR FILTER DESIGN BY APPROXIMATION OF DERIVATIVES METHOD

Implications of the mapping from s-plane to z-plane using backward

difference:
It is easily demonstrated that the mapping in equation (10) gives the
following results:
Case 1) It takes the points of Left Half of s-plane into the corresponding
points inside the circle of radius (1/2) in the z-plane.

Case 2) It takes the points of Right Half of s-plane into the corresponding
points outside the circle of radius (1/2) in the z-plane.

Case 3) It takes points on the imaginary axis (jΩ) into the circle of radius
(1/2) and center z = (1/2).
 IIR FILTER DESIGN BY APPROXIMATION OF DERIVATIVES METHOD

Implications of the mapping from s-plane to z-plane using backward

difference:
• Consequently, this mapping has the desirable property that a stable
analog filter is transformed into a stable digital filter.

• However, the possible location of the poles of the digital filter are confined
to relatively small frequencies and as a consequence, the mapping is
restricted to the design of low pass filters and band pass filters having
relatively small resonant frequencies.

It is not possible to transform a high pass analog filter into a

corresponding high pass digital filter.
 IIR FILTER DESIGN BY APPROXIMATION OF DERIVATIVES METHOD

FORWARD DIFFERENCE SUBSTITUTION

• The forward difference can be substituted instead of backward difference.

- (12)

- (13)
IIR FILTER DESIGN BY APPROXIMATION OF DERIVATIVES METHOD

FORWARD DIFFERENCE SUBSTITUTION

IIR FILTER DESIGN BY APPROXIMATION OF DERIVATIVES METHOD

Thus if we choose the proper values for {αk}, then the jΩ axis can be
mapped into the unit circle and the left half of s-plane can be mapped into
the points inside the unit circle.

But choosing proper values of {αk}, in the above equations is complicated,

this method is not used in practice.
 STEPS TO DESIGN IIR DIGITAL FILTER APPROXIMATION OF
DERIVATIVES METHOD
1) Given the specifications, of the analog filter obtain its TF H(s).

2) Convert the analog filter TF H(s) to digital TF H(z) by substituting the

backward difference formula given by

3) Obtain H(z).