DIGITAL SIGNAL PROCESSING

Chapter 8: FREQUENCY RESPONSE

DIGITAL FILTER DESIGNS
Reference:
S J.Orfanidis, ”Introduction to Signal Processing”, Prentice –Hall , 1996,ISBN 0-13-209172-0
M. D. Lutovac, D. V. Tošić, B. L. Evans, “Filter Design for Signal Processing Using MATLAB
and Mathematica”, Prentice Hall, 2001

Lectured Prof. Dr. Thuong Le-Tien

National Distinguished Lecturer
Tel: 08-38654184; 0903 787 989
Email: ThuongLe@hcmut.edu.vn,
ThuongLe@yahoo.com

Dated on Feb 2020

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 Frames of the chapter:

1. Equivalent Descriptions of Digital Filters

2. Transfer functions
3. Sinusoidal Response
4. Poles and zeros designs
5. Equalizers

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1. Equivalent descriptions of digital filters
With the aid of z-transform, several mathematically
equivalent ways to describe and characterize FIR and
IIR filters:
* Transfer function H(z)
* Frequency response H.
* Block diagram realization and sample processing
algorithms
* I/O difference equation
* Pole/Zero pattern
* Impulse response h(n)
* I/O convolution equation
The most important one is the transfer function
because from it we can easily obtain all the others 3
Equivalent description of digital filters

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2. Transfer functions
1
Example 5  2z
H z  
1  0.8 z 1
5  2 z 1 A1 7.5
H z   1
 A0  1
 2.5 
1  0. 8 z 1  0.8 z 1  0.8 z 1
n
hn   2.5 n   7.50.8 u n 

1  0.8z H z   5  2 z
1 1
 H  z   0. 8 z H  z   5  2 z
1 1

hn   0.8hn  1  5 n   2 n  1
Y z   H z X z  5
 Consider the transfer function:

H z  
 
5 1  0.4 z 1
 H   

5 1  0.4e  j  
1  0 .8 z 1
1  0.8e  j
x(n) y(n)
5

z-1 z -1

v1(n) = x(n 1) w1(n) = y(n 1)

2 0,8

1  ae  j  1  2a cos   a 2
5 1  0.8 cos   0.16
H   
1  1.6 cos   0.64 6
The magnitude of the transfer function may be
plotted with the help of the pole/zero geometric
52
H () 0
 H ( z) z 1
  35
1  0,8
52 5 35
H ()  
 H ( z) z  1
  
1  0,8 3 21

Pole/zero pattern and magnitude response

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 5  2 z 1 7.5
Example: H z   1
 2.5 
1  0.8 z 1  0.8 z 1
H 1 z   2.5
H z   H 1 z   H 2 z  
H 2  z   7.5 / 1  0.8 z 1 
-2,5
x (n ) w( n ) y(n)

7,5 w0

z-1

w(n-1)
w1
0,8

Parallel form realization of H(z)

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 x(n) w(n) y(n)

w0 5

Canonical form z -1

Realization of H(z) w(n-1) w1

0,8 2
x(n) y(n)
5
w1(n)
Transposed
realization of H(z) z -1

2 0,8
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 * The transfer function of an IIR filter as the
ratio of two polynomials of degrees, say L and M
N  z  b0  b1 z 1  b2 z 2  ...  bL z  L
H z   
D z  1  a1 z 1  a 2 z  2  ...  a M z  M

b0  b1 z 1  b2 z 2  ...  bL z  L
Y z   H z X z   1 2 M
X z 
1  a1 z  a 2 z  ...  a M z

1  a z
1
1
  
 a 2 z 2  ...  a M z  M Y  z   b0  b1 z 1  b2 z 2  ...  bL z  L X z 

y n  a1 y n 1  ...  a M y n  M  b0 x n  b1 x n 1  ...  bl x n  L
y n  a1 y n 1  ...  a M y n  M  b0 x n  b1 x n 1  ...  bl x n  L
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 FIR filter:
H z   N z   b0  b1 z  b2 z  ...  bL z
1 2 L

y n  b0 x n  b1 x n 1  ...  bl x n  L
Example: Determine the transfer function of the third-
order FIR filter with impulse response: h = [1, 6, 11, 6]
* I/O equation:
y(n) = x(n) + 6x(n -1) + 11x(n -2) + 6x(n -3)
* Z-Transform:
H(z) = 1 + 6z-1 + 11z-2 + 6z-3
* H(z) has one zero at z = -1,

H(z) = (1 + z-1)(1 + 2z-1)(1 + 3z-1)

* substitute z = ej into the equation

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 H() = (1 + e-j)(1 + 2e-j)(1 + 3e-j)

This is a low pass filter.

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Example: y(n)  x (n)  x (n  4)
4 Y ( z)
Y ( z)  X ( z)  z X ( z)  H ( z)   1  z 4
X ( z)
H ()  1  e 4 j  (e 2 j  e 2 j ) e 2 j  2 j sin(2) e 2 j

z 4  1  z  e 2jk / 4 , k  0, 1, 2, 3  z  1, j,  1,  j

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 Example: Determine the transfer function
and causal impulse response of the filters:
(a) y(n) = 0.25y(n-2) + x(n)
(b) y(n) = - 0.25y(n-2) + x(n)
Solve:
(a) Z-transform
Y(z) = 0.25Y(z)z-2 + X(z)
H(z) = Y(z)/X(z)
1 A1 A2
H z   2
 
1  0.25 z 1  0.5 z 1  0.5 z 1
1

A1 = A2 = 0.5. The causal impulse response:

h(n) = A1(0.5)nu(n) + A2(-0.5)nu(n)
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Pole/zero pattern and frequency
response of the filter

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(b) Y(z) = -0.25Y(z)z-2 + X(z)
1 A1 A1*
H z   2
 1

1  0.25 z 1  0.5 jz 1  0.5 jz 1

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 4. Pole/zero designs
* First order filters
Pole/zero placement can be used to design filters such
as first order smoothers, notch filters and resonator
The general transfer function, where a, b are positive
and less than one; gain factor G is arbitrary

H z  

5  2 z 1 5 1  0.4 z 1

 H z  

G 1  bz 1 
1  0.8 z 1
1  0.8 z 1 1  az 1
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Frequency response at lowest and highest
frequencies:  = 0,  by setting z =  1
G 1  b  G 1  b 
H 0   , H   
1 a 1 a
The attenuation of the highest frequency relative to
the lowest one is:
H   1  b 1  a  Define:   max pi
 i
H 0  1  a 1  b  
neff
 e
1 / neff 1 / 20 Where e is the desired
a   0.01  0. 8 level of smallest
1  b 1  0.8  1  b  0.4
1  0.81  b  21 Effective time constant

G 1  0.4 z 1  ln e ln( 1 / e )
H z   neff  
ln  ln(1 /  )
1  0.8 z 1
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 * Resonators and equalizers
Example for a resonator

j 0 *  j 0
Pole conjugate pair p  Re p  Re
G G
H z   
1  Re j 0 1

z 1  Re  j 0
z 1

1  a1 z 1  a 2 z  2
2
a1  2 R cos  0 , a2  R 19
 G
H  0   1
1  Re e 1  Re
j 0  j  j 0
e  j

G G
H    
1  Re e 1  Re
j 0  j  j 0
e  j  1  a1e  j  a2 e  2 j
2 G2
H   
1  2 R cos   0   R 2 1  2R cos   0   R 2 
Normalizing |H(0)|= 1
G
H (0 )  j  0  j  j 0  j 
1
| (1  Re e ) (1  Re e )|

G  (1  R) 1  2 R cos (2 0 )  R 2

Calculating for |H ()|2 

1
|H ( 0)|2 
1
the width 3-dB  2 2
H () 1
20 log 10  10 log 10     3dB
H ( o ) 2 20
Solving of this equation:  = 2 – 1
|PQ| = 1 – R.
When p closed to the unit circle:
  2(1 – R)
G
H (zA )  *
;
| zA  p| | zA  p |
G | H (z A )| zQ  p | PQ |
H ( zQ )   
| z Q  p | | zQ  p * | | H ( zQ ) | zA  p | PA |

For 3-dB H ( z A )  1 | PQ |

1 |PA|= |PQ|
condition H ( zQ ) 2
or | PA | 2
|AB| = 2|QA| = 2|PQ| = 2(1 – R)

For a given , R can be calculated  = |AB| = 2(1 – R)

G
h(n)  R n sin (0 n   0 )
sin 0 21
Example: Design a resonator with 2 poles, f0 = 500Hz ,
bandwidth  = 32Hz, fS = 10kHz.
2f o 2f
0   0.1 (rad/sample)    0,02
fS fS
2(1 – R) = 0.02  R = 0,99
then G = 0.0062; a1 = -1.8831; a2 = 0.9801
0.0062
H ( z) 
1  1.8831z 1  0.9801z 1

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 a1  re j0 , a1*  re  j0 0r1

(1  re j0 z 1 ) (1  re  j0 z 1 ) 1  b1 z 1  b2 z 2
H ( z)  j0

(1  Re 1
z ) (1  Re  j0 1
z ) 1  a1 z  1  a2 z  2
a1   2 R cos 0 , a2  R 2
b1   2r cos 0 , b2  r 2

(1  2r cos (  0 )  r 2 ) (1  2r cos (  0 )  r 2 )
| H ()|2 
(1  2 R cos (   0 )  R 2 ) (1  2 R cos (   0 )  R 2 )

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