Digital Signal Processing ( EACT 537)

Chapter 6 Part -2:

FILTER DESIGN TECHNIQUES
- Design of IIR Filters

By

Dr. Petchinathan Govindan

Assistant professor

Digital IIR Filter

• The specification of a digital filters→ Desired
frequency response Hd(𝑒 𝑗𝜔 ) .
• Desired impulse response hd(n)= Inverse
Fourier Transform of Hd(𝑒 𝑗𝜔 ).
• hd(n)→ infinite duration DT signal, defined
for all values of n in the range of -∞ 𝑡𝑜 + ∞.
• The Filters desiginfinite samples of impulse
response ned by considering all the are
called IIR ( Infinite Impulse Response)
Filters
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Digital IIR Filter
• In digital domain, the processing of infinite
samples of impulse response is practically not
possible. So Direct design of IIR filter is not
possible.
• IIR filters are designed via Analog filters.
• Steps for design of Digital IIR filter from the given
specifications:
• Specification Digital IIR filter → Specification of analog
filter
• Analog IIR filter is designed With transfer function H(s)
to satisfy the specification.
• Designed Analog IIR filter H(s) → Digital IIR filter with
Transfer function H(z).
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Digital IIR Filter

• Analog IIR filter with transfer function H(s)
is stable, if all its poles lie in the left half of
the S-plane.
• For the effective conversion between H(s) to
H(z), the following properties must be
satisfied.
• Imaginary axis in the S-plane should map into
the unit circle in the z-plane.
• There will be a direct relationship between the
two frequency variables in the two domains.

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 S-plane to z-plane mapping

Digital IIR Filter

• Analog IIR filter is designed by approximating the
ideal frequency response using an error function.
• Popular approximation techniques
• Butterworth Approximation
• Chebyshev Approximation
◼ Popular transformation techniques H(s)→ H(z)
• Bilinear Transformation(BLT)Technique
• Impulse Invariant Transformation (IIT) Technique
The frequency response H(𝑒 𝑗𝜔 ) of the digital filter
can be obtained by letting z= 𝒆𝒋𝝎 in the transfer
function H(z).
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Digital IIR Filter
• Designed Analog / Digital transfer function H(s) or H(z)
of the filter must be stable and causal system.
• Condition for stable and causal system H(s) .
• H(s) should be a rational function of “s” and
coefficient of “s” should be real
• The poles should be lie on the left half of s-plane.
• Number of zeros ≤ Number of poles.
• Condition for stable and causal system H(z) .
• H(z) should be a rational function of “z” and
coefficient of “z” should be real
• The poles should be lies inside the unit circle in z-
plane.
• Number of zeros ≤ Number of poles
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Analog Vs Digital Filter

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Normalized Frequency response of Ideal
and Practical Analog Low Pass Filter

Ideal
Practical

Normalized Frequency response of Ideal

and Practical Analog High Pass Filter

Ideal
Practical

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Normalized Frequency response of Ideal
and Practical Analog Band Pass Filter

Ideal Practical

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Normalized Frequency response of Ideal

and Practical Analog Band stop Filter

Ideal Practical

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Normalized Frequency response of Ideal
and Practical Digital Filter

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IIR Digital Filter Design
◼ Let an analogue transfer function be
𝑃(𝑠)
𝐻(𝑠) =
𝐷(𝑠)
A digital transfer function derived from
this is denoted as
𝑃(𝑧)
𝐻(𝑧) =
𝐷(𝑧)

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H(s) to H(z) Transformation

◼ Basic idea behind the conversion of 𝐻(𝑠)
into 𝐻(𝑧) is to apply a mapping from the
s-domain to the z -domain so that essential
properties of the analogue frequency
response are preserved
◼ Thus mapping function should be such that
◼ Imaginary ( j ) axis in the s-plane be
mapped onto the unit circle of the z-plane
◼ A stable analogue transfer function be

mapped into a stable digital transfer

function
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 H(s) to H(z) Transformation Methods

• Impulse Invariant Transformation (IIT)

Technique
• Bilinear Transformation(BLT)Technique

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Impulse Invariant Transformation (IIT) Technique

H(s) → H(z)

Relation between 𝜴 and 𝝎

𝜔
Analog Frequency Ω=
𝑇

Digital Frequency 𝜔 = Ω𝑇
T- Sampling Time

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Impulse Invariant Transformation (IIT) Technique
Example1
For the following analog transfer function, determine H(z)
using Impulse Invariant Transformation (IIT) Technique.
𝟐
𝑯 𝒔 =
𝑺𝟐 + 𝟑𝒔 + 𝟐
Solution:
By fraction expansion technique, we can write,

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Impulse Invariant Transformation (IIT) Technique

Example 1
Solution ( cont..):

By Impulse invariant Transformation technique

Where T- Sampling Time

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Impulse Invariant Transformation (IIT) Technique
Example 1
Solution ( cont..): When T- Sampling Time= 1 sec

Alternatively,

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Impulse Invariant Transformation (IIT) Technique

Example 1
Solution ( cont..): When T- Sampling Time= 0.1 sec

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Impulse Invariant Transformation (IIT) Technique
Example 2
For the following analog transfer function, determine H(z)
using Impulse Invariant Transformation (IIT) Technique.
(𝒔 + 𝟎. 𝟏)
𝑯 𝒔 =
(𝒔 + 𝟎. 𝟏)𝟐 +𝟗
Solution:
we can write,

Consider T= 1 sec
Alternatively,

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Bilinear Transformation (BLT) Technique

or
Bilinear Z- Transformation (BZT) Technique

T- Sampling Time

OR
𝟐 𝟏 − 𝒛−𝟏
𝑺=
𝑻 𝟏 + 𝒛−𝟏
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 Bilinear Transformation (BLT) Technique
or
Bilinear Z- Transformation (BZT) Technique

Relation between 𝜴 and 𝝎

2 𝜔
Analog Frequency Ω = 𝑡𝑎𝑛
𝑇 2

Digital Frequency 𝜔 = 2 𝑡𝑎𝑛−1 Ω𝑇

2

T- Sampling Time
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Bilinear Transformation (BLT) Technique

Example1
For the following analog transfer function, determine H(z)
using Bilinear Transformation (BLT) Technique.
𝟐
𝑯 𝒔 = 𝟐
𝑺 + 𝟑𝒔 + 𝟐
Solution:

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 Bilinear Transformation (BLT) Technique
Example1
Solution (conti..):

When T= 1 sec

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Bilinear Transformation (BLT) Technique

Example1
Solution (conti..): When T= 0.1 sec

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 Bilinear Transformation (BLT) Technique
Example 2
For the following analog transfer function, determine H(z)
using Bilinear Transformation (BLT) Technique.
𝟐𝒔
𝑯 𝒔 = 𝟐
𝑺 + 𝟎. 𝟐𝒔 + 𝟏
Solution:

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Bilinear Transformation (BLT) Technique

Example 2
Solution ( cont…):

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 Spécifications of Digital IIR Low Pass Filter

◼ Let H(𝑒 𝑗𝜔 ) – Frequency response of IIR filter

H(𝑒 𝑗𝜔 ) - magnitude response of IIR filter
Specifications of IIR filter can be expressed in three
different ways:
Case 1: gain at passband and stopband edge frequency
Case 2: Attenuation at passband and stopband edge frequency
Case 3: Ripple at passband and stopband edge frequency

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Spécifications of Digital IIR Low Pass Filter

Case 1: Gain at passband and stopband edge
frequency
◼ Gain – expressed in normal values or in decibels (dB)
◼ Maximum value of normalized gain is Unity =1, so the gain
at band edge frequencies will be less than 1.

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 Spécifications of Digital IIR Low Pass Filter
Case 1: Gain at passband and stopband edge
frequency
◼ Example

Magnitude response of Digital IIR Low pass filter 33

Spécifications of Digital IIR Low Pass Filter

Case 2: Attenuation at passband and stopband edge
frequency
◼ Attenuation in normal values= inverse of the gain in normal values
◼ Attenuation usually expressed in decibels(dB)
◼ Attenuation in normal values greater than 1 and the dB – in positive

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 Spécifications of Digital IIR Low Pass Filter
Case 2: Attenuation at passband and stopband edge
frequency
Attenuation in normal values dB attenuation

Attenuation gain

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Spécifications of Digital IIR Low Pass Filter

Case 2: Attenuation at passband and stopband edge
frequency
Example:

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 Spécifications of Digital IIR Low Pass Filter
Case 2: Attenuation at passband and stopband edge
frequency

Attenuation response of Digital IIR Low pass filter

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Spécifications of Digital IIR Low Pass Filter

Case 3: Ripple at passband and stopband edge
frequency

Ripple values into➔ gain or attenuation

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 Spécifications of Digital IIR Low Pass Filter
Case 3: Ripple at passband and stopband edge
frequency
Ripple (dB) values into➔ gain or attenuation in dB

Ripple (dB) values into➔ gain or attenuation in normal values

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Spécifications of Digital IIR Low Pass Filter

Case 3: Ripple at passband and stopband edge
frequency
Example

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Design of Low Pass Digital Butterworth IIR Filter
Design procedure
◼ Step 1:

◼ Choose either BLT or IIT method of transformation

◼ Determine the specification of equivalent analog filter.

Ωp - Passband edge analog frequency corresponding to 𝜔p

Ωs - Stopband edge analog frequency corresponding to 𝜔s
For Bilinear Transformation (BLT)
2 𝜔𝑝 2 𝜔𝑠
Ω𝑝 = 𝑡𝑎𝑛 & Ω𝑠 = 𝑡𝑎𝑛
𝑇 2 𝑇 2
For Impulse invariant Transformation (IIT)
𝜔𝑝 𝜔𝑠
Ω𝑝 = & Ω𝑠 =
𝑇 𝑇
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Design of Low Pass Digital Butterworth IIR Filter

Design procedure
◼ Step 2: Decide the order N of the filter
To estimate the order N, Calculate a parameter N1 using
following equation

Choose N such that, 𝑁 ≥ 𝑁1 , N is nearest integer just greater

than N1

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Design of Low Pass Digital Butterworth IIR Filter
Design procedure
◼ Step 3: Determine the normalized Transfer function,
H(Sn) of the analog low pass filter
When N is Even

When N is odd

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Design of Low Pass Digital Butterworth IIR Filter

Design procedure
◼ Step 4: Calculate the analog cutoff frequency 𝜴𝒄

◼ Step 5: Determine the unnormalized analog transfer

function H(s) of the low pass filter
When N is Even

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Design of Low Pass Digital Butterworth IIR Filter
Design procedure
◼ Step 5: Determine the unnormalized analog
transfer function H(s) of the low pass filter
When N is odd

◼ Step 6: determine the transfer function of digital filter H(z)

using chosen transformation in step 1.

◼ Step 7: Realize the digital filter transfer function H(z) by a

suitable structure
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Frequency Transformation
High pass or Band pass or Band stop filters are designed by
designing a Low pass filter and then using frequency
transformation, the transfer function of the desired filter is
obtained.
Analog Frequency transformation:
The following filters can be designed from the normalized LPF
with cut-off frequency 𝜴𝒄 =1 rad /sec

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 Frequency Transformation
Analog Frequency transformation:

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Design of Low Pass Digital Butterworth IIR Filter

Example
Design a Butterworth digital IIR LPF using Bilinear Transformation by
taking T=0.1 sec to satisfy the following specifications.

Draw direct form –I structure of the digital filter

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Design of Low Pass Digital Butterworth IIR Filter
Solution
Step 1: Specification of digital IIR low pass Filter

Specification of Analog IIR low pass Filter

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Design of Low Pass Digital Butterworth IIR Filter

Solution
Step 1:
Specification of Analog IIR low pass Filter

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Design of Low Pass Digital Butterworth IIR Filter
Solution
Step 2 : Order of IIR low pass Filter

Choose N such that, 𝑁 ≥ 𝑁1 , So N =2

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Design of Low Pass Digital Butterworth IIR Filter

Solution
Step 3: Normalized transfer function H(sn) of Butterworth LPF

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Design of Low Pass Digital Butterworth IIR Filter
Solution
Step 4: Unnormalized transfer function H(s) of Butterworth LPF

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Design of Low Pass Digital Butterworth IIR Filter

Solution
Step 5: Digital transfer function H(z) of Butterworth LPF

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Design of Low Pass Digital Butterworth IIR Filter
Solution
Step 5 (Cont..): Digital transfer function H(z) of Butterworth LPF

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Design of Low Pass Digital Butterworth IIR Filter

Solution
Step 5 (Cont..): Digital transfer function H(z) of Butterworth LPF

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Design of Low Pass Digital Butterworth IIR Filter
Solution
Step 6 : Direct Form –I Structure of Digital transfer function
H(z) of Butterworth LPF

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End of Chapter 6
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