EE 508

Lecture 20
Sensitivity Functions
• Comparison of Filter Structures
• Performance Prediction
 What causes the dramatic differences in performance between these two structures?
How can the performance of different structures be compared in general?
C1

R1 R2 VOUT
K

VIN C2
Review from last time

1
R1R2C1C2
T  s  =K
 1 1 1-K  1 Equal R, Equal C, Q=10 Pole
s2 +s  + +  +
 R1C1 R2C1 R2C2  R1R2C1C2 Locus vs GBN
R3

R1 R2 VOUT
-K

VIN R4
C1 C2

1
R1R2C1C2
T  s  = -K
 1  R1  1 1  C2   1+ R1 R3 1+K  + R1 R 4  1+ R 2 R3  + R 2 R1   
s2 +s   1+  + +  1+  +  
 1 1
R C R 3  R C
4 2 R 2 2 
C C1    R1R 2 C1C 2 

 Review from last time
Effects of GB on poles of KRC and -KRC Lowpass Filters

Im

Over-order
pole

Re
Actual “desired” poles

Desired poles
 dF  f k
dxi 
   Sxi  
F i1  xiN 
XN
Review from last time

Dependent on circuit structure Dependent only on components

(for some circuits, also not dependent (not circuit structure)
on components)

Consider:
R VOUT
1
T s =
1+RCs
VIN C
ω0
T s =
s + ω0

1
ω0 =
RC
 Review from last time

Theorem: If f(x1, ..xm) can be expressed as f  x11 x22 ...xmm

where {α1, α2,… αm} are real numbers, then Sfxi is not dependent
upon any of the variables in the set {x1, ..xm}

Proof:

S S f
xi
Xi i
xi Sfxi   i
 Xi i xi
S Xi i
  i
xi Xi
xi


 i 1 xi It is often the case that functions of interest are
S Xi i
xi   i Xi  i of the form expressed in the hypothesis of the
Xi theorem, and in these cases the previous claim is
correct

S Xi i
xi  i
 Review from last time

Theorem: If f(x1, ..xm) can be expressed as f  x11 x22 ...xmm

where {α1, α2,… αm} are real numbers, then Sfxi is not dependent
upon any of the variables in the set {x1, ..xm}
 Review from last time

Theorem: If f(x1, ..xm) can be expressed as f  x11 x22 ...xmm

where {α1, α2,… αm} are real numbers, then the sensitivity terms in
df k
 f dxi 
   Sxi  
f i1  xiN 
XN

are dependent only upon the circuit architecture and not dependent
upon the components and and the right terms are dependent only upon
the components and not dependent upon the architecture

This observation is useful for comparing the performance of two or more circuits
where the function f shares this property
 Review from last time

Metrics for Comparing Circuits

Summed Sensitivity
m
S   S f
xi
i 1
Not very useful because sum can be small even when individual
sensitivities are large

Schoeffler Sensitivity
m
 S f
xi
i 1

Strictly heuristic but does differentiate circuits with low sensitivities from those
with high sensitivities
 Review from last time

Metrics for Comparing Circuits

m
 S f
xi
i 1
Often will consider several distinct sensitivity functions to consider
effects of different components

R   R
S f

All resistors
i

C  
All capacitors
SCf i

OA   
sf

All op amps
i
 Review from last time

Homogeniety (defn)

A function f is homogeneous of order

m in the n variables {x1, x2, …xn} if

f(λx1, λx2, … λxn ) = λmf(x1,x2, … xn)

Note: f may be comprised of more than n variables

 Review from last time

Theorem: If a function f is homogeneous of order m

in the n variables {x1, x2, …xn} then
n f
S xi
=m
i=1

f   x1,  x 2 ,... xn    m f  x1, x 2 ,...xn 

The concept of homogeneity and this theorem were

somewhat late to appear

Are there really any useful applications of this rather odd

observation?
 Review from last time

Theorem: If all op amps in a filter are

ideal, then ωo, Q, BW, all band edges,
and all poles and zeros are homogeneous
of order 0 in the impedances.

Theorem: If all op amps in a filter are

ideal and if T(s) is a dimensionless transfer
function, T(s), T(jω), | T(jω) |, T  jω , are
homogeneous of order 0 in the impedances
 Review from last time

Theorem 1: If all op amps in a filter are

ideal and if T(s) is an impedance transfer
function, T(s) and T(jω) are homogeneous
of order 1 in the impedances

Theorem 2: If all op amps in a filter are

ideal and if T(s) is a conductance transfer
function, T(s) and T(jω) are homogeneous
of order -1 in the impedances
 Review from last time
Corollary 1: If all op amps in an RC active
filter are ideal and there are k1 resistors and k2
capacitors and if a function f is homogeneous of
order 0 in the impedances, then
k1 k2
f f
S Ri
= S Ci
i=1 i=1

Corollary 2: If all op amps in an RC

active filter are ideal and there are k1
resistors and k2 capacitors then
k1
Q
S Ri
=0
i=1
k2
Q
S Ci
=0
i=1
Example R1 V1 R2 VOUT

VIN C1 C2

Q Q Q Q
Determine the passive Q sensitivities SR1
S R2
S C1
S C2

VOUT  sC1+G2  = V1G2 1

T  s =
V1  sC1+G1+G2  =VING1  VOUTG2 s2 R1R2C1C2  +s R1C1+R1C2 +R2C2  +1

1
ω0 = Q=
R1R2C1C2
R1R2C1C2 R1C1+R1C2 +R2C2

By the definition of sensitivity, it follows that

1
 R1C1 +R1C2 +R2C1  R1R2C1C2  R2C1C2 -  C1+C2 R1R2C1C2  R
-1/2 1/2

SRQ  2 • 1
R1C1+R1C2 +R2C2 
2
1
Q
Example R1 V1 R2 VOUT

VIN C1 C2

Q Q Q Q
Determine the passive Q sensitivities S
R1
S R2
S C1
S C2

1
R C +R C +R2C1  R1R2C1C2  R2C1C2 -  C1+C2 R1R2C1C2  R
-1/2 1/2
1 1 1 2
S 
Q 2 • 1
R1C1+R1C2 +R2C2 
R1 2
Q

Following some tedious manipulations, this simplifies to

1 R1  C1 +C2 
SRQ  
1
2 R1C1 +R1C2 +R2C2
 R1 V1 R2 VOUT
Example

VIN C1 C2

Determine the passive Q sensitivities

Following the same type of calculations, can obtain

1 R1  C1 +C2  1 R 2C2
SRQ   SRQ  
1
2 R1C1 +R1C2 +R2C2 2
2 R1C1 +R1C2 +R 2C2

1 R1C1 1 C2 R1  R 2 
S  
Q SQC  
C1
2 R1C1 +R1C2 +R2C2
2
2 R1C1 +R1C2 +R 2C2

Verify k2 k1
Q
S
Q
Ci
=0  SR =0
i=1 i
i=1

Could have saved considerable effort in calculations by using these theorems after
SRQ1
and SQC 1
were calculated
Corollary 3: If all op amps in an RC
active filter are ideal and there are k1
resistors and k2 capacitors and if pk is any
pole and zh is any zero, then
k2
k1
S
pk
= 1 S
pk
Ci
= 1
Ri i=1
i=1
and k2
= 1
k1
= 1
zh
S
zh
S Ci
Ri i=1
i=1
Corollary 3: If all op amps in an RC
active filter are ideal and there are k1
resistors and k2 capacitors and if pk is any
pole and zh is any zero, then
k1 k2
S
pk
Ri
= 1 S
pk
Ci
= 1
i=1 i=1
and
k2
= 1
k1
= 1
zh
S
zh
S Ci
Ri i=1
i=1
Proof:
It was shown that scaling the frequency dependent elements by a factor η divides
the pole (or zero) by η

Thus roots (poles and zeros) are homogeneous of order -1 in the frequency
scaling elements
 Proof:
Thus roots (poles and zeros) are homogeneous of order -1 in the frequency
scaling elements
(For more generality, assume k3 inductors)
k2 k3
S
p
Ci
+ S =  1
p
Li
(1)
i=1 i=1
Since impedance scaling does not affects the poles, they are homogenous of
order 0 in the impedances
k1 k2 k3
p p p
 R  1/C  L
S + S + S =0 (2)
i=1 i i=1 i i=1 i

Since there are no inductors in an active RC network, is follows from (1) that
k2
S  1
 C
p
i
i=1
And then from (2) and the theorem about sensitivity to reciprocals that
k1
S  1
 R
p
i
i=1
Corollary 4: If all op amps in an RC
active filter are ideal and there are k1
resistors and k2 capacitors and if ZIN is any
input impedance of the network, then
k1 k2
ZIN ZIN
S Ri
- S Ci
=1
i=1 i=1
Claim: If op amps in the filters
considered previously are not ideal but are
modeled by a gain A(s)=1/(s), then all
previous summed sensitivities developed for
ideal op amps hold provided they are
evaluated at the nominal value of =0
 Sensitivity Analysis
If a closed-form expression for a function f
is obtained, a straightforward but tedious
analysis can be used to obtain the
sensitivity of the function to any
components f x
f
Sx = •
x f
m i m
Consider:  ai s  (s-zi )
T  s = i=0
n i
=K i=1
n
 bi s  (s-pi )
i=0 i=1

Closed-form expressions for T(s), T(jω), |T(jω)|, T  jω , ai, bi, can be
readily obtained
 Sensitivity Analysis
If a closed-form expression for a function f is
obtained, a straightforward but tedious analysis
can be used to obtain the sensitivity of the
function to any components
f x
S = • f

x f
x

Consider: m i m
 ai s  (s-zi )
T  s  = i=0n i
=K i=1
n
 bi s  (s-pi )
i=0 i=1

Closed-form expressions for pi, zi, pole or zero Q, pole or zero

ω0, peak gain, ω3dB, BW, … (generally the most critical and
useful circuit characteristics) are difficult or impossible to
obtain !
 Bilinear Property of Electrical Networks
Theorem: Let x be any component or Op Amp time constant
(1st order Op Amp model) of any linear active network
employing a finite number of amplifiers and lumped passive
components. Any transfer function of the network can be
expressed in the form
N0  s  +xN1  s 
T  s =
D0  s  +xD1  s 
where N0, N1, D0, and D1 are polynomials in s that are not dependent upon x

A function that can be expressed as given above is said to be a bilinear

function in the variable x and this is termed a bilateral property of electrical
networks.

The bilinear relationship is useful for

1. Checking for possible errors in an analysis
2. Pole sensitivity analysis
 Example of Bilinear Property : +KRC Lowpass Filter

C1

R1 R2 VOUT
K

VIN C2

K0
R1R2C1C2
T  s =
 1
s2 +s 
1 1-K 0   + 1  K  s  s2 +s  1 + 1 + 1  + 1 
+ +  0  R C R C R C  R R C C 
 1 1
R C R C
2 1 R 2 2 
C R R C C
1 2 1 2   1 1 2 1 2 2 1 2 1 2 

Consider R1
K0
R2C1C2
T  s =
1
R1s2 +s  +R1
1 1-K 0   + 1  K  s  R s2 +s  1 +R 1 +R 1  + 1 
+R1  0  1 C 1 1  R CC 
 1
C R C
2 1 R 2 2 
C R C C
2 1 2   1 R C
2 1 R 2 2
C 2 1 2 

 K0 
 R C C   R1   0
T  s =  2 1 2
 1

1
 
 1 1   2  1 1-K 0   +K  s  s2 +s  1 + 1   
 s K 0 s  s  +  1
+R  s +s  +  0  R C R C  
 1 C R C C
2 1 2  1C R C C
2 1 2   2 1
R C R 2 2 
C   2 1 2 2  

Example of Bilinear Property

V1 R2 V1  G1+G2 +sC  = VING1+VOUT  sC+G2  

VIN VOUT 
R1  1  
VOUT = -V1   
s  
1
A  s =
s
-R2
T  s =
R1+R1R2Cs+ s  sCR1R2 +R1+R2 
Consider R1
-R2  0  R1
T  s =
 sR2  +R1 1+R2Cs+ s  sCR2 +1
Consider τ
-R2  0  
T  s =
R1 1+R2Cs     sR2  sR1  sCR2 +1
 Example of Bilinear Property : +KRC Lowpass Filter

C1

R1 R2 VOUT Equal R Equal C

K

VIN K0
C2
T  s = R2C2
  3-K 0   1  2  3  1 
s2 +s   + 2 2  K 0 s  s +s   + 2 2
 RC  R C   RC  R C 

K0
T  s =
R2  C2s2  K 0 sC2  +R  sC  3-K 0   3K 0C s2  + 1+K 0 s 

Can not eliminate the R2 term

• Bilinear property only applies to individual components

• Bilinear property was established only for T(s)

 Root Sensitivities
Consider expressing T(s) as a bilinear fraction in x
N0  s  +xN1  s  N  s 
T  s = 
D0  s  +xD1  s  D  s 

Theorem: If zi is any simple zero and/or pi is any

simple pole of T(s), then
   
 x   N  z    x   D  p  
Szxi     1 i  Spi
    1 i

 zi   d N  zi    pi   d D  p i  
and x

 dz   dp 
 i   i 
Note: Do not need to find expressions for the poles or the zeros to find the pole
and zero sensitivities !
Note: Do need the poles or zeros but they will generally be known by design
Note: Will make minor modifications for extreme values for x (i.e. τ for op amps)
 Root Sensitivities
Theorem: If pi is any simple pole of T(s), then
 
 x   D1  pi  
Sx    
pi

 pi   d D  p i  
 dp 
 i 

Proof (similar argument for the zeros)

D  s  =D0  s  +xD1  s 
By definition of a pole,
D pi  =0
\ D pi  =D0 pi  +xD1 pi   0
 Root Sensitivities
\ D pi  =D0 pi  +xD1 pi 
Differentiating this expression implicitly WRT x, we obtain

D0  pi  pi  D1  pi  pi 

 x  D1  pi    0
pi x  pi x 
Re-grouping, obtain
pi  D0  pi  D1  pi  
 x   D1  pi 
x  pi pi 
But term in brackets is derivative of D(pi) wrt pi, thus

pi D1  pi 

x  D  pi  
 p 
 i 
 Root Sensitivities
pi D1  pi 

x  D  pi  
 p 
 i 
Finally, from the definition of sensitivity,

x pi  x  D1  pi 
S pi
   
pi x  pi   D  pi  
x

 p 
 i 
 Root Sensitivities
x pi  x  D1  pi 
S pi
   
pi x  pi   D  pi  
x

 p 
 i 
Observation: Although the sensitivity expression is readily
obtainable, direction information about the pole movement is
obscured because the derivative is multiplied by the quantity pi
which is often complex. Usually will use either
pi
sxpi 
or
x

x pi  x  D1  pi 
Spi
   
pi x  pi   D  pi  
x

 p 
 i 
which preserve direction information when working with pole or
zero sensitivity analysis.
 Root Sensitivities
Summary: Pole (or zero) locations due to component
variations can be approximated with simple analytical
calculations without obtaining parametric expressions for
the poles (or zeros).

p pi Ideal  pi where pi x  sxpi

i Components

D1  pi 
s 
pi
D  s   D0  s   x D1  s 
 D  pi  
x and

 p 
 i p iN

Alternately,  x  pi
pi  pi  Sx
 x 
 Example: Determine SRp i
1
for the +KRC Lowpass Filter for equal R, equal C

C1
N0  s  +xN1  s 
T  s =
R1 R2 VOUT
D0  s  +xD1  s 
K

x pi  x  D p 
VIN C2 Spx i
    1 i
K  s 
K0 pi x  pi   D  pi  
1+K 0 s  p 
 i 
K0
R1R2C1C2
T  s =
 1
s2 +s 
1 1-K 0   + 1  K  s  s2 +s  1 + 1 + 1  + 1 
+ +  0  R C R C R C  R R C C 
 R1C1 R2C1 R2C2  R1R2C1C2   1 1 2 1 2 2 1 2 1 2 

write in bilinear form K0

R2C1C2
T s =
 1

1
 
 1 1   2  1 1-K 0   K  s  s2 +s  1 + 1    
 s K 0 s  s  +  1
+R s +s  + 0     
 C1 R2C1C2  C1  R 2C1C2    R 2C1 R 2C2   R 2C1 R 2C 2    

evaluate at τ=0
K0
R2C1C2
T  s =
 1 1 1   2  1 1-K 0   
s  +  +R1 s +s  + 
 C1 R2C1C2 R2C1C2    R2C1 R2C2  
 Example: Determine SRp i
1
for the +KRC Lowpass Filter for equal R, equal C

C1
N0  s  +xN1  s 
T  s =
R1 R2 VOUT
D0  s  +xD1  s 
K
x pi  x  D p 
Spx i
    1 i
 pi   D  pi  
VIN C2
K0
pi x
K  s   p 
1+K 0 s  i 
K0
R2C1C2  1
D1  s  =s2 +s 
1-K0  
T  s = + 
 1 1 1   2  1 1-K 0     R2C1 R2C2 
s  +  +R1 s +s  + 
 C1 R2C1C2 R2C1C2    R2C1 R2C2  

 1
D  s =  s 
1 1   2  1 1-K 0     R  s2 +s  ω0  +ω2 
+  1
+R  s +s  +  1 Q 0
 1C R C C
2 1 2 R 2 1 2 
C C 
  2 1
R C R 2 2 
C     

 1
p2 +p  +
1-K 0  
x pi  1  R2C1 R2C2 
SRp    
1
pi x  pi   ω0 
 i
2p  
 Q
 Example: Determine SRp i
1
for the +KRC Lowpass Filter for equal R, equal C
N0  s  +xN1  s 
C1
T  s =
D0  s  +xD1  s 
R1 R2 VOUT T
K
x pi  x  D p 
Spx i
    1 i
pi x  pi   D  pi  
VIN C2
K0  p 
K  s 
1+K 0 s  i 

 1
p2 +p  +
1-K 0   K0
x pi  1  R2C1 R2C2  T s =
R1R 2C1C2
SRp      1 1-K 0   +
1
pi x  pi   ω0  s2 +s 
1 1
 i
2p  
+ + 
 R1C1 R 2C1 R 2C2  R1R 2C1C2
 Q
1
+p
1  1
p2 +p 
1 1-K0   + 1 =0
+ + 
x pi  1  R1R2C1C2 R1C1  R1C1 R2C1 R2C2  R1R2C1C2
SRp   
1
pi x  pi   ω0 
 i
2p    1 1-K0   = - 1 1
 Q p2 +p  +  -p
1  R2C1 R2C2  R1R2C1C2 R1C1
ω02 + p
x pi  1  R1C1
SRp  
1
pi x  ω0   ω0 
 i
2p  
 Q
 Example: Determine SRp i
1
for the +KRC Lowpass Filter for equal R, equal C

C1

1
R1 R2 VOUT ω02 + p
K x pi  1  R1C1
Spx  
pi x  ω0  
i

ω0 
VIN C2  i
2p  
K0  Q
K  s 
1+K 0 s

1
For equal R, equal C ω0 =
RC
ω0 ω0
ω0 -  1-4Q2
x pi  1  ω02 + pω0 SRp  2Q 2Q
Sp
 
pi x  ω0   ω0  ω
R1 1

  0 1-4Q2
 i
2p  Q
 Q

x pi ω0 + p 1 1
Q-  1-4Q2
SRp  
1
pi x  ω0  SRp  2 2
 2p    1-4Q2
1
 Q
 Example: Determine SRp i
1
for the +KRC Lowpass Filter for equal R, equal C

C1
x pi
Spx i

R1 R2 VOUT
pi x
K
For equal R, equal C
VIN C2
K0 1 1
K  s  Q-  1-4Q2
1+K 0 s SRp  2 2
 1-4Q2
1

Note this contains magnitude and direction information

1
Q -4Q2
For high Q
2 Q  jQ 1  j j  1 1 1
SRp       j
1
 -4Q 2  j 2Q  j 2 2 2 2

x
p i  p i Spx
i

x
R1
pi  ω0  0.5  0.5 j 
R1
 Example: Determine SRp i
1
for the +KRC Lowpass Filter for equal R, equal C
C1
x pi
Spx i

R1 R2 VOUT pi x
K
For equal R, equal C
VIN C2
K0
K  s 
1+K 0 s
R1
For high Q pi  ω0  0.5  0.5 j 
R1
Could we have assumed equal R equal C before calculation?
No ! Analysis would not apply (not bilinear)
Results would obscure effects of variations in individual components
Was this a lot of work for such a simple result?
Yes ! But it is parametric and still only took maybe 20 minutes
But it needs to be done only once for this structure
Can do for each of the elements
What is the value of this result?
Understand how components affect performance of this circuit
Compare performance of different circuits for architecture selection
 Transfer Function Sensitivities
T s T  jω 
S
x S x
s=jω

T  jω  T  jω  θ  T  jω 
S x S x  jθS θ
x
where

S T  jω 
x =Re S  T  jω 
x

S θ
x
1
= Im
θ
S  T  jω 
x
Transfer Function Sensitivities

a s i
i
N s
If T(s) is expressed as T s = i=0

n
D  s
b s
i=0
i
i

m n
 ais Si ai
 bisiSbxi
STx s  i 0
x
then - i 0
N s D s

N0  s   xN1  s 
If T(s) is expressed as T  s =
D0  s   xD1  s 

T s x D0  s  N1  s  -N0  s  D1  s 

S 
x
N0  s  +xN1  s   D0  s  +xD1  s  
 Band-edge Sensitivities

The band edge of a filter is often of interest. A closed-form expression for

the band-edge of a filter may not be attainable and often the band-edges
are distinct from the ω0 of the poles. But the sensitivity of the band-edges
to a parameter x is often of interest.

T  jω 

ωC ω

Want ωC x
S ωC
 
x
x ωC
Band-edge Sensitivities

T  jω 

ωC ω

Theorem: The sensitivity of the band-edge of a filter is given by the expression

SxT jω ω=ω

Sωx C
 C

SωT jω ω=ωC

Band-edge Sensitivities
T  jω 

 T  jω 

ω

ωC ω
Proof:

Observe
 T  jω   T  jω 

ω ω
 T  jω 
 T  jω   T  jω  x x
  
ω x ω ω
x
Band-edge Sensitivities
T  jω 

 T  jω 
 T  jω   T  jω  x
 T  jω 

   x ω
ω x ω ω ωC ω
x
 T  jω 
ω x

x  T  jω  T  jω 
ω
S
Sωx  Tx jω
 T  jω  x
Sω

ω x T  jω   ω 
  
x  T  jω  ω x
ω

T  jω  SxT jω ω=ω
Sωx C
 T  jω 
C

 T  jω  x S
 ω
ω  x  x T  jω  ω=ωC
  
x  ω   T  jω  ω

ω T  jω 
 Sensitivity Comparisons
Consider 5 second-order lowpass filters
(all can realize same T(s) within a gain factor)
C1
R L
VOUT R1 R2
C VIN K
VIN VOUT
C2

Passive RLC +KRC

(a) (b)

C1
R1 RQ
C1 C2 R4
R3 R1 R2 R0 R2 R3
C2
VIN VIN
VOUT

VOUT Two-Integrator Loop

Bridged-T Feedback
(c) (d)
 Sensitivity Comparisons
Consider 5 second-order lowpass filters
(all can realize same T(s) within a gain factor)

R3

R1 R2 R4 R5
VOUT

VIN R5
C1 C2 -K = -
R4

-KRC Lowpass

(e)
For all 5 structures, will have same transfer function within a gain factor

Kω02
T  s =
2 ω0
s +s +ω02
Q
a) – Passive RLC
R L
VOUT

VIN C

1
VOUT
T  s = = LC
VIN 2 R 1
s +s +
L LC

1 1 L
ω0 = Q=
LC R C
b) + KRC (a Sallen and Key filter)
C1

R1 R2
VOUT
VIN C2
R5
R4
R5
K = 1+
R4

K
R1R2C1C2
T  s =
 1   R1C1 R 2 C2 R1C2 R1C1   1
s +s 
2
  + + K  +
 R1R2C1C2   R 2 C2 R1C1 R2C1 R2C2   R1R2C1C2

1
Q=
1  R1C1 R2C2 R1C2 R1C1 
ω0 =  + +  K 
R1R2C1C2 R C R C R C R C
 2 2 1 1 2 1 2 2 
 Case b1 : Equal R, Equal C

R1 = R2 = R C1 = C 2 = C

1 1 Kω02
ω0 =
RC K=3- T  s =
Q ω
s2 +s 0 +ω02
Q
Case b2 : Equal R, K=1

1 C1
R1 = R2 = R Q=
2 C2
c) Bridged T Feedback C1

R3 R1 R2
C2
VIN

VOUT
1
R1R3C1C2
T s =
 C   1  R1 R2 R1R2  1
s +s 
2 2
   + +   +
  R3
C1   R1R 2C1C2  R1 R3   R1R2C1C2

1 1
ω0 = Q=
R1R2C1C2  C2   R1 R R1R2 
   + 2+ 
 C1   R3 R1 R3 
If R1=R2=R3=R and C2=9Q2C1
1
9Q2R2C12
T  s =
 1  1
s2 +s  2  +
 3Q RC1  9Q2R2C12
 d) 2 integrator loop
R1 RQ
C1 R4
R2 C2
R0 R3
VIN
VOUT
R4 1

R4 1
T  s = -
R3 R0R 2C1C2
0 = 
 1  R4 1 R3 R0R2C1C2
s2 +s  + 
 RQC2  R3 R0R 2C1C2
RQ C2
Q=
R0R 2 C1

For: R0 = R1 = R2 = R C1 = C 2 = C R3 = R4
1
2 2
T  s = - R C
 1  1
s2 +s   + 2 2
 Q  RC
R C
1
ω0 =
RQ =QR RC
d) - KRC (a Sallen and Key filter)

R3

R1 R2 R4 R5
VOUT

VIN R5
C1 C2 -K = -
R4

K
R1R2C1C2
T  s = -
 R  1   C2  1   1   1+ R1 R3 1  K  + R1 R 4 1  R2 R3  R2 R1 
s2 +s  1+ 1     1+    +
 R 3  1 1  
R C C1  R 2 2  
C R 4 2 
C R1R2C1C2

1+ R1 R3 1  K  + R1 R 4 1  R 2 R3  R 2 R1 

R1R2C1C2
1+ R1 R3 1  K  + R1 R 4 1  R 2 R3  R 2 R1  Q=
ω0 =  R1  1   C2  1   1 
R1R2C1C2  1+     1+   
 R3   R1C1   C1  R2C2   R 4C2 

5+K 0
Often R1=R2=R3=R4=R, C1=C2=C Q=
5
Stay Safe and Stay Healthy !
End of Lecture 20