Digital Signal Processing: EC303: September 22 2020

Figure: *
Digital Signal Processing: EC303
Department of Electronics Engineering

National Institute of Technology Surat
Surat, Gujrat
India
September 22 2020
Analog Filer Design Butterworth Low Pass Filter Chenyshev Low Pass Filter Problems (Analog Filer Design)
Outline of the Tutorial
Motivation for Analog Filter Design

Analog Low Pass Filter Design
Specification for Low Pass Filter
Butterworth Low Pass Filter
Chebyshev Low Pass Filter
Problem Solving
Department of Electronics Engineering National Institute of Technology Surat Surat, Gujrat India
Outline
1 Analog Filer Design
2 Butterworth Low Pass Filter
3 Chenyshev Low Pass Filter
4 Problems (Analog Filer Design)
In digital signal processing of analog signals we use anti-aliasing

filter (in Analog to Digital conversion) and reconstruction filter (in
Digital to Analog conversion). These filters are analog filters.
Techniques for digital IIR filter design are based on prototype analog
filter design.
In digital IIR filter design, we start by transforming specification for

digital filter to specification for analog filter and designing an analog
filter.
The problem of analog filter design is to determine a transfer

function Ha (s) that satifies the passband and stopband requirements.
Two approaches for digital IIR filter design
Figure: Digital IIR filter design techniques
Specification for Analog Low Pass Filter
Analog filter design begins with the specification of the desired

frequency response either in terms of magnitude response or both
magnitude and phase response.
In this course, we will only consider filter specification in terms of

magnitude response |Ha (jΩ)| only. The normalized form of the filter
specification for a low pass filter is given as
Passband Requirements: √ 1 ≤ |Ha (jΩ)| ≤ 1 for |Ω| ≤ Ωp

1+2
1
Stop band Requirements: |Ha (jΩ)| ≤ A for |Ω| ≥ Ωs
Ωp is the pass band edge frequency (rad/sec) and Ωs is the stop

band edge frequency (rad/sec). is the passband ripple parameter
and A is the stop band attenuation parameter.
Specification for Analog Low Pass Filter

Specification includes Ωp , Ωs , Rp and As . where

1
Maximum passband ripple Rp (dB) = −20 log √
1+2
Minimum stop band attenuation As (dB) = −20 log A1

Figure: Specification for Analog Low Pass Filter
Analog Filter Design
Given specification for analog low pass filter, we will consider the
design of Butterworth and Chebyshev-I low pass filters.
All the filters designed in this tutorial are all-pole filters i.e. All the
zeros are at the infinity.
For an all pole filter, the transfer function is given as
Na (s) k
Ha (s) = =
Da (s) (s − p1 )(s − p2 )...(s − pN )
where N is the order of the filter and {pi } are pole locations.
Outline
Butterworth Low Pass Filter

The magnitude-squared function for an analog Butterworth lowpass
filter is given by
1
|Hc (jΩ)|2 = 2N
1 + ΩΩc
where N is the order of the filter and Ωc is the 3dB cut-off

frequency in rad/sec.
Figure: Typical magnitude response of a Butterworth analog low pass filter

Characteristics of Butterworth LPF
Large number of derivatives of |Ha (jΩ)| are zero at Ω = 0, hence it

is called maximally flat at Ω = 0.
Approaches an ideal low pass filter as N approaches infinity.
Asymptotoc slope of the filter = -20N dB/decade or -6N dB per

octave.
|Ha (jΩ)| is a monotonically decreasing function of Ω.
3 dB attenuation at Ω = Ωc .
Design Procedure for Butterworth LPF Design
Step 1 Finding the order N of the filter.
We are given the magnituse response at the passband and stopband

edge frequencies
At Ω = Ωp , −10 log10 |Ha (jΩ)|2 = Rp

At Ω = Ωs , −10 log10 |Ha (jΩ)|2 = As
Substituting |Ha (jΩ)| and solving, we get

 
10Rp /10 −1
log
 10 10As /10 −1 
N=   
 2 log Ωp 
 10 Ωs 

Step 2 Finding the 3-dB cutoff frequency Ωc of the filter.
Substituting |Ha (jΩ)| and value of N computed in Step 1 in any of

the above two equations, we can find the value of Ωc .
We get the following two values of Ωc

Ωp
Ωc = 1
(10Rp /10 − 1) 2N
Ωs
Ωc = 1
(10As /10 − 1) 2N
In practice, we try to exactly satify the passband requirements, so

use first equation for computing Ωc . However you can chose any
value for Ωc between the two values obtained from the two
equations respectively.
Step 3 Finding the transfer function Ha (s) of the filter.
After computing N and Ωc , we can find the transfer function from

the following general expressions.
ΩN
c
Ha (s) = QN/2 for N even
2 + ak Ωc s + Ω2c )
k=1 (s
ΩN
c
Ha (s) = Q(N−1)/2 2 for N odd
(s + Ωc ) k=1 (s + ak Ωc s + Ω2c )
where the coefficients ak are computed as

(2k − 1)π
ak = 2 sin
2N
Butterworth LPF Design
Example 1: Design a Butterworth lowpass analog filter to satisfy

the following requirements
Passband edge frequency= 0.2π rad/sec
Stopband edge frequency = 0.3π rad/sec
Passband ripple Rp = 7 dB
Minimum Stopband attenuation As = 16 dB.
Find the transfer function Ha (s) of the Butterworth low pass filter.

 
10Rp /10 −1
 log10 10As /10 −1 
N=  
Ωp
 = d2.79e = 3
 2 log 
 10 Ωs 
Step 2 Finding the 3 dB cutoff frequency Ωc .

Ωp
Ωc = 1 = 0.4985 rad/sec
(10Rp /10 − 1) 2N
Ωs
Ωc = 1 = 0.5122 rad/sec
(10As /10 − 1) 2N
We may chose any value between 0.4985 and 0.5122 for Ωc .
However we will chose Ωc =0.4985 ead/sec for exactly satisfying the
passband specifications.
Step 3 Finding the transfer function Ha (s) the filter. Since N is odd
here, Ha (s) is given as
Ω3c
Ha (s) =
(s + Ωc )(s 2 + a1 Ωc s + Ω2c )
where a1 is computed as

(2k − 1)π
ak = 2 sin = 2 sin(π/6) = 1
2N
Substituting the value of Ωc and b1 , the transfer function is

0.1239
Ha (s) =
s3 + 0.997s 2 + 0.4970s + 0.1239
Now, designing the Butterworth low pass filter for the same
specifications using MATLAB command buttord and butter.
The transfer function is given as

0.1344
Ha (s) =
s3 + 01.0244s 2 + 0.5247s + 0.1344
This shows that the butter command has used Ωc = 0.5122 rad/sec
obtained from the second equation.
In Python, you can use scipy.signal.buttord and

scipy.signal.butter functions.

The magnitude and phase response of the filter is
Figure: Butterworth analog LPF in example 1

Outline
Chebyshev Low Pass Filter
The magnitude-squared function for an analog Chebyshev Type I

lowpass filter is given by
1
|Hc (jΩ)|2 =
Ω
1+ 2 CN2 Ωp
where N is the order of the filter, is the passband ripple factor

(related to Rp ) and CN (x) is the Nth order Chebyshev polynomial.
The chebyshev polynomial is defined as
CN (x) = cos(Ncos −1 x) for |x| < 1

= cosh(Ncosh−1 x) for |x| > 1
Characteristics of Chebyshev LPF
Equal ripple in passband (Type I) or stopband (Type II). Hence

known as Equiripple filter.
Figure: Chebyshev LPF characteristics
Type I is preferred filter as we are more concerned about the

passband.
Characteristics of Chebyshev LPF
Since cosine function is oscillatory, hence for Ω < Ωp , Chebyshev

filter shows ripple behaviour.
Since cosine hyperbolic function is monotonic, hence for Ω > Ωp ,

Chebyshev filter is monotonic.
There is a recurrence relationship for Chebyshev polynomial.

CN (x) = 2xCN−1 (x) − CN−2 (x) with C0 (x) = 1 and C1 (x) = x.
1
At Ω = 0, |Ha (jΩ)|2 = 1 for odd N and |Ha (jΩ)|2 = 1+2 for even
N.
Number of peaks and deeps in the passband is exactly equal to order

N.
Design Procedure for Chebyshev Low Pass Filter

p
We first find the values of and A as = 10Rp /10 − 1 and
A = 10As /20
q
2
Now define α = A −1 2 and β = ΩΩs
p
.
Now compute N as
& √ '
log10 (α + α2 − 1)
N= p
log10 (β + β 2 − 1)

Step 2 Finding the transfer function Ha (s) of the filter.
After computing N we can find the transfer function from the

following general expressions.

QN/2
ΩN ck √ 1
p k=1 1+2
Ha (s) = QN/2 for N even
2 2
k=1 (s + bk Ωp s + ck Ωp )

Q(N−1)/2
ΩN c
p 0 k=1 c k
Ha (s) = Q(N−1)/2 2 for N odd
(s + Ωp c0 ) k=1 (s + bk Ωp s + ck Ω2p )
where the coefficients c0 is given as c0 = yN and

2 2 (2k − 1)π
ck = yN + cos
2N
Step 2 contd. Finding the transfer function Ha (s) of the filter.
The coeffocients bk is given by

(2k − 1)π
bk = 2yN sin
2N
and yN is defined as
r N1 r − N1
1 1 1 1 1
yN = 1+ 2 + − 1+ 2 +
2
So, given N and we can find the transfer function of Chebyshev

Type-I filter.
Chebyshev-I Low Pass Filter Design
Example 2: Design a Chebyshev Type I lowpass analog filter to

satisfy the following requirements
Passband edge frequency= 0.2π rad/sec
Stopband edge frequency = 0.3π rad/sec
Maximum Stopband attenuation As = 16 dB.
Find the transfer function Ha (s) of the Chebyshev-Type I low pass

filter.
Step 1
We first
p find the values of and A.
= 10Rp /10 − 1 = 0.5088
A = 10As /20 = 6.3096
q
2
Now compute α = A −1 2 = 12.2429
Ωs
and β = Ωp = 1.5
Step 2 Determine order N as

& √ '
log10 (α + α2 − 1)
N= p =4
log10 (β + β 2 − 1)

Step 3 Finding the transferv function Ha (s) the filter. Since N is
even here, Ha (s) is given as
1
Ω4p c1 c2 √1+ 2
Ha (s) =
(s 2 + b1 Ωp s + c1 Ω2p )(s 2 + b1 Ωp s + c1 Ω2p )
where the constants are computed as
r 1 r − N1
1 1 1 N 1 1
y4 = 1+ 2 + − 1+ 2 + = 0.3647
2
c0 = y4 = 0.3647
c1 = y42 + cos2 (π/8) = 0.9865
c2 = y42 + cos2 (3π/8) = 0.2794
b1 = 2y4 sin(π/8) = 0.2791
b2 = 2y4 sin(3π/8) = 0.6738
Substituting the value of Ωp and constants, the transfer function is
0.0384
Ha (s) =
(s 2
+ 0.1754s + 0.3893)(s 2 + 0.4234s + 0.1103)
0.0384
=
s + 0.5988s + 0.5756s 2 + 0.1843s + 0.0425
4 3
Now, designing the Chebyshev I low pass filter for the same
specifications using MATLAB command cheb1ord and cheby1.
The transfer function is given as
0.0383
Ha (s) =
s 4 + 0.5987s 3 + 0.5740s 2 + 0.1842s + 0.0430

The magnitude and phase response of the filter is
Figure: Chebyshev-I analog LPF in example 2

Outline
Problem 1
Find the order of the Butterworth and Chebyshev analog low pass
filter, which satisfy the following requirements.
Passband edge frequency= 1 kHz
Stopband edge frequency = 5 kHz
Minimum Stopband attenuation As = 40 dB
Problem 2
Design a Butterworth lowpass analog filter to satisfy the following

requirements
Passband edge frequency= 1000π rad/sec
Stopband edge frequency = 6500π rad/sec
Maximum passband attenuation √ 1 = 0.90
1+2
Minimum Stopband attenuation 1/A = 0.01
Find the transfer function Ha (s) of the Butterworth low pass filter.
Problem 3
Design a Type I Chebyshev lowpass analog filter to satisfy the

following requirements
Passband edge frequency= 1000π rad/sec
Stopband edge frequency = 3000π rad/sec
Maximum passband attenuation √ 1 = 0.95
1+2
Minimum Stopband attenuation 1/A = 0.063
Find the transfer function Ha (s) of the Chebyshev low pass filter.

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Digital Signal Processing: EC303

Department of Electronics Engineering

Outline of the Tutorial

Motivation for Analog Filter Design

1 Analog Filer Design

2 Butterworth Low Pass Filter

3 Chenyshev Low Pass Filter

4 Problems (Analog Filer Design)

Motivation for Analog Filter Design

In digital signal processing of analog signals we use anti-aliasing

In digital IIR filter design, we start by transforming specification for

The problem of analog filter design is to determine a transfer

Motivation for Analog Filter Design

Two approaches for digital IIR filter design

Figure: Digital IIR filter design techniques

Specification for Analog Low Pass Filter

Analog filter design begins with the specification of the desired

In this course, we will only consider filter specification in terms of

Passband Requirements: √ 1 ≤ |Ha (jΩ)| ≤ 1 for |Ω| ≤ Ωp

Ωp is the pass band edge frequency (rad/sec) and Ωs is the stop

Specification for Analog Low Pass Filter

Minimum stop band attenuation As (dB) = −20 log A1

Figure: Specification for Analog Low Pass Filter

Analog Filter Design

For an all pole filter, the transfer function is given as

1 Analog Filer Design

2 Butterworth Low Pass Filter

3 Chenyshev Low Pass Filter

4 Problems (Analog Filer Design)

Butterworth Low Pass Filter

where N is the order of the filter and Ωc is the 3dB cut-off

Figure: Typical magnitude response of a Butterworth analog low pass filter

Characteristics of Butterworth LPF

Large number of derivatives of |Ha (jΩ)| are zero at Ω = 0, hence it

Approaches an ideal low pass filter as N approaches infinity.

Asymptotoc slope of the filter = -20N dB/decade or -6N dB per

|Ha (jΩ)| is a monotonically decreasing function of Ω.

Design Procedure for Butterworth LPF Design

Step 1 Finding the order N of the filter.

We are given the magnituse response at the passband and stopband

At Ω = Ωp , −10 log10 |Ha (jΩ)|2 = Rp

Substituting |Ha (jΩ)| and solving, we get

Design Procedure for Butterworth LPF Design

Substituting |Ha (jΩ)| and value of N computed in Step 1 in any of

We get the following two values of Ωc

In practice, we try to exactly satify the passband requirements, so

Design Procedure for Butterworth LPF Design

Step 3 Finding the transfer function Ha (s) of the filter.

After computing N and Ωc , we can find the transfer function from

where the coefficients ak are computed as

Butterworth LPF Design

Example 1: Design a Butterworth lowpass analog filter to satisfy

Butterworth LPF Design

Step 2 Finding the 3 dB cutoff frequency Ωc .

Butterworth LPF Design

Substituting the value of Ωc and b1 , the transfer function is

Butterworth LPF Design

The transfer function is given as

In Python, you can use scipy.signal.buttord and

Butterworth LPF Design

Figure: Butterworth analog LPF in example 1

1 Analog Filer Design

where N is the order of the filter, is the passband ripple factor

So, given N and we can find the transfer function of Chebyshev