2 sin 2 ⎛⎞

    tan ⎜ ⎟
T 1 cos ⎝2⎠ (6.18)

or, in terms of the z-domain frequency variable,

 Infinite Impulse Response Digital Filter Design 153
1⎛
T ⎞
  2  tan
⎜ ⎟
⎝ 2 ⎠ (6.19)

Equations (6.18) and (6.19) are important to the bilinear transformation

process because they are necessary to determine the proper mapping between the
analog and digital domains. This mapping of analog frequencies to digital
frequencies is fairly linear for low frequencies, but becomes very nonlinear as
higher frequencies are mapped. This mapping of frequencies is often referred to as
“warping” to describe how the higher frequencies are warped into their proper
place on the unit circle. The reason that this warping is so important is that
although we will specify the frequency characteristics of the digital filter by digital
frequencies, the filter will be derived from an analog filter transfer function.
Therefore, it is necessary to properly determine the analog frequencies to use in
the analog design by warping the specified digital frequencies as shown in
Example 6.5.
After determining the frequencies necessary for the analog filter design, the