IIR Filter Design

Module-4
 Syllabus
• Infinite Impulse response Filter Format
• Bilinear Transformation Design Method
• Analog Filters using Lowpass prototype transformation
• Normalized Butterworth Functions
• Bilinear Transformation and Frequency Warping
• Bilinear Transformation Design Procedure
• Digital Butterworth Filter Design using BLT.
• Realization of IIR Filters in Direct form I and II
• Li Tan, Jean Jiang, “Digital Signal processing –
Fundamentals and Applications”, Academic Press,
2013, ISBN: 978-0-12-415893
 Filter
• Filter is a device or process that removes
some unwanted some frequencies or
frequency bands from a signal.

Analog Filter Digital Filter

Filter design  Finding the coefficients of h(n)
 Types
• Analog Filter
– LPF
– HPF
– BPF
– BRF
• Digital Filter
– FIR Filter h(n)=(0,6,2,5)

– IIR Filter h(n)=(0.5)𝑛 , 𝑛 ≥ 0

 Analog Filter design
• Ideal LPF is not physically realisable hence
they approximated
• Approximation
– Butterworth
– Chebyshev
Magnitude Characteristic of LPF
1 − δ𝑃 ≤ 𝐻 𝑗Ω ≤ 1, 0 ≤ Ω ≤ Ω𝑃
𝐻𝑎 (𝑗Ω)=
0 ≤ 𝐻 𝑗Ω ≤ δ𝑃 , Ω ≥ Ω𝑆
 Terms
• 𝛿𝑝 Passband ripple
• 𝛿𝑠 Stopband ripple
• 𝐴𝑝 Passband attenuation
• 𝐴𝑠 Stopband attenuation
• ω𝑝  Passband edge frequency (rad/sample)
• ω𝑠 Stopband edge frequency (rad/sample)
1
• T= Sampling Period
𝑓
• f Sampling Frequency
ω𝑝
• Ω𝑝 = Passband edge frequency (rad/sec)
𝑇
ω𝑠
• Ω𝑠 = Stopband
edge frequency (rad/sec)
𝑇
• 𝐾𝑝 Passband gain at Ω𝑝 =-Ap in dB
• 𝐾𝑠 Stopband gain at Ω𝑠 =-As in dB
Butterworth Filter Design- Approximation
• Magnitude squared frequency response
2= 1
– 𝐻𝑎 (𝑗Ω) Ω 2𝑁
1+ Ω𝑐
• N Order of the Filter
• Ω𝑐 Cut-off Frequency of the filter(-3dB)
2
– 𝐻𝑎 (𝑗Ω)
• Monotonically decreasing with Ω
• Approaches Ideal Response as N increases
Ω 𝐻𝑎 (𝑗Ω) 2 𝐻𝑎 (𝑗Ω)
0 1 1

Ω𝑐 0.5 0.707 = - 3.01dB

 Butterworth Filter Design: Order
1
−1
𝐴𝑠 2
log 1
2 −1
𝐴𝑝
• N= Ω𝑠
if As, Ap are Linear
log
Ω𝑝

100.1𝐴𝑠 −1
log 0.1𝐴𝑝
10 −1
• N= Ω𝑠
if As, Ap are in dB
log
Ω𝑝

10−0.1𝐾𝑠 −1
log −0.1𝐾𝑝
10 −1
• N= Ω𝑠
if Ks, Kp are in dB
log
Ω𝑝
𝛿
log 𝜀
• N= Ω
log Ω 𝑠
𝑝
 Butterworth Filter Design: Cutoff
Frequency
1 Ω𝑝 Ω𝑠
• Ω𝑐 = 1 + 1 As, Ap are linear
2 1 2𝑁 1 2𝑁
2 −1 −1
𝐴𝑝 𝐴𝑠 2
1 Ω𝑝 Ω𝑠
• Ω𝑐 = 1 + 1 As,Ap are in dB
2
100.1𝐴𝑝 −1 2𝑁 100.1𝐴𝑠 −1 2𝑁

1 Ω𝑝 Ω𝑠
• Ω𝑐 = 1 + 1
2 𝑁
𝜀 𝛿𝑁
• Ω𝑐 can be
– First Term
– Second Term
– Average of First and Second Terms
 Butterworth Filter Design-Poles
2 1
• 𝐻𝑎 (𝑗Ω) =𝐻𝑎 (𝑗Ω) 𝐻𝑎 −𝑗Ω = Ω 2𝑁
1+ Ω
𝑐
1
= Ωc =1
1+ Ω 2𝑁
1
= 𝑠 2𝑁
S = 𝑗Ω
1+
𝑗

• Poles  Denominator of 𝐻𝑎 (𝑗Ω) 2 =0

𝑠 2𝑁
1+ 𝑗
= 0
𝑠 2𝑁
= -1
𝑗
1
𝑠
= −1 2𝑁
𝑗
1
S= −1 2𝑁 j
𝑗𝜋
• Here, j=𝑒 2 and -1=𝑒 𝑗𝜋(2𝑘+1) k=1,2,..
𝑗𝜋(2𝑘+1) 𝑗𝜋 𝑗𝜋(2𝑘+𝑁+1)
• 𝑠𝑘 =𝑒 2𝑁 𝑒 =𝑒 2 2𝑁 k=0,1,2,….,2N-1
𝜋 𝜋 𝜋
• θ𝑘 =𝑁 𝑘 + 2𝑁 + k=0,1,2,….,2N-1
2
 Butterworth Filter Design-System
Function
• Factored Form
Ω𝑐 𝑁
–𝐻𝑎 (S)=
𝑠−𝑠1 𝑠−𝑠1 ∗ 𝑠−𝑠2 𝑠−𝑠2 ∗ …..
• Polynomial Form
Ω𝑐 𝑁
–𝐻𝑎 (S)=
𝑠 𝑁 +𝑏𝑁−1 𝑠 𝑁−1 +⋯.+𝑏1 𝑠+𝑏0

• For Normalized Butterworth Filter, Ω𝑐 =1

 Design Steps of Butterworth Filter
• Stage-1: Design Normalised Low-Pass Filter
– Step-1: Find N (Order of Filter)

100.1𝐴𝑠 −1
log 0.1𝐴𝑝
10 −1
N= Ω
log Ω 𝑠
𝑝

– Step-2: Find Ω𝑐 (Cut-off frequency)

1 Ωp Ωs
Ωc = 1 + 1
2
100.1Ap − 1 2N 100.1As − 1 2N

– Step-3: Determine the poles, 𝑝𝑘 =1 θ𝑘

𝜋 𝜋 𝜋
θ𝑘 = 𝑘 + + k=0,1,2,….,2N-1
𝑁 2𝑁 2
Choose valid poles 𝑠𝑘 from 𝑝𝑘 i.e. 𝑝𝑘 which lies in left-half S-plane is chosen as 𝑠𝑘
– Step-4: Determine transfer function of normalised low-pass Butterworth filter
1
𝐻𝑁 (S)=
𝑠−𝑠1 𝑠−𝑠1 ∗ 𝑠−𝑠2 𝑠−𝑠2 ∗ …..
• Stage-2: Perform Analog-Analog transformation on 𝐻𝑁 (S) to obtain desired analog
filter (LPF, HPF, BPF, BRF) 𝐻𝑎 (S)
 Analog-Analog Transformation
𝒔
𝒔→
𝜴𝒖

Designed Prototype
Desired LPF
Normalised Butterworth LPF

𝜴𝒖
𝒔→
𝒔

Designed Prototype
Normalised Butterworth LPF Desired HPF
 Analog-Analog Transformation

𝒔𝟐 +𝜴𝒐 𝟐
𝒔→
𝒔𝑩

𝜴𝒐 𝟐 = 𝜴𝒍 𝜴𝒖

Designed Prototype 𝑩 = 𝜴𝒖 − 𝜴𝒍
Normalised Butterworth LPF Desired BPF

𝒔𝑩
𝒔→
𝒔𝟐 + 𝜴𝒐 𝟐
Designed Prototype 𝜴𝒐 𝟐 = 𝜴𝒍 𝜴𝒖
Normalised Butterworth LPF 𝑩 = 𝜴𝒖 − 𝜴𝒍 Desired BSF
 Butterworth Polynomial- Factored
Form
N Factors
1 s+1
2 𝑠 2 + 1.4142s+1
3 (𝑠 2 +s+1)(s+1)
4 (𝑠 2 +0.76536s+1)(𝑠 2 +1.84776s+1)
5 (s+1)(𝑠 2 +0.618s+1)(𝑠 2 +1.618s+1)
6 (𝑠 2 +0.5176s+1)(𝑠 2 +1.4142s+1)(𝑠 2 +1.9318s+1)
7 (s+1)(𝑠 2 +0.445s+1)(𝑠 2 +1.2456s+1)(𝑠 2 +1.8022s+1)
8 (𝑠 2 +0.3986s+1)(𝑠 2 +1.111s+1)(𝑠 2 +1.663s+1)(𝑠 2 +1.9622s+1)

Skip Step-3 and can take factors as the denominator of 𝐻𝑎 (S)

 Butterworth Polynomial-Polynomials
N 𝒃𝟏 𝒃𝟐 𝒃𝟑 𝒃𝟒 𝒃𝟓 𝒃𝟔 𝒃𝟕 𝒃𝟖
1 1
2 1.4142 1
3 2 2 1
4 2.613 3.414 2.613 1
5 3.236 5.236 5.236 3.236 1
6 3.864 7.464 9.141 7.464 3.864 1
7 4.494 10.103 14.606 14.606 10.103 4.494 1
8 5.126 13.138 21.848 25.691 21.848 13.138 5.126 1
Skip Step-3 and can take factors as the denominator of 𝐻𝑎 (S)
Backward design Equations

𝜴′𝒔
𝜴𝒔 =
𝜴𝒖

LPF Normalised Butterworth LPF

𝜴𝒖
𝜴𝒔 =
𝜴′𝒔

HPF Normalised Butterworth LPF

Backward design Equations
𝜴𝒔 = 𝑴𝒊𝒏 𝑷 , 𝑸
−𝜴𝒍 𝟐 + 𝜴𝒐 𝟐
𝑷=
𝜴𝒍 𝑩
−𝜴𝒖 𝟐 + 𝜴𝒐 𝟐
𝑸=
𝜴𝒖 𝑩
BPF 𝜴𝒐 𝟐 = 𝜴 𝒍 𝜴𝒖 Normalised LPF
𝑩 = 𝜴𝒖 − 𝜴𝒍

𝜴𝒔 = 𝑴𝒊𝒏 𝑷 , 𝑸
𝜴𝒍 𝑩
𝑷=
−𝜴𝒍 𝟐 + 𝜴𝒐 𝟐
𝜴𝒖 𝑩
𝑸=
−𝜴𝒖 𝟐 + 𝜴𝒐 𝟐

𝜴 𝒐 𝟐 = 𝜴𝒍 𝜴𝒖
BSF 𝑩 = 𝜴𝒖 − 𝜴𝒍 Desired BSF
 Alternate Method- Butterworth
• Stage 1: Design LPF with Ω𝑐
– Step-1: Find N (Order of Filter)
– Step-2: Find Ω𝑐 (Cut-off frequency)
– Step-3: Determine the poles, 𝑝𝑘 = ±Ω𝑐 θ𝑘 , Choose valid poles 𝑠𝑘 from
𝑝𝑘 i.e. 𝑝𝑘 which lies in left-half S-plane is chosen as 𝑠𝑘
– Step-4: Determine transfer function of low-pass Butterworth filterwith
Ω𝑐
Ω𝑐 𝑁
𝐻𝑁 (S)=
𝑠−𝑠1 𝑠−𝑠1 ∗ 𝑠−𝑠2 𝑠−𝑠2 ∗ …..
Low-pass to Transformation
• Stage 2: 𝐻𝑁 (S) 𝐻𝑎 (S) for HPF,BPF,BSF
High-pass 𝜴𝒖
𝒔 → 𝜴𝑐
𝒔
𝜴𝒐 𝟐 = 𝜴𝒍 𝜴𝒖 Band-pass 𝒔𝟐 + 𝜴 𝒐 𝟐
𝒔 → 𝜴𝑐
𝒔𝑩
𝑩 = 𝜴𝒖 − 𝜴𝒍 𝒔𝑩
Band -stop
𝒔 → 𝜴𝑐
𝒔𝟐 + 𝜴 𝒐 𝟐
 Chebyshev Filter
• Magnitude squared frequency response
2 1
• 𝐻𝑎 (𝑗Ω) = Ω
1+𝜖2 𝑇𝑁 2
Ω𝑝

– N Order of the Filter

– Ω𝑝 Pass-band edge Frequency
– 𝜖 = 100.1𝐴𝑝 − 1
– 𝑇𝑁 (x)Chebyshev Polynomial of degree N
cos 𝑁 cos −1 𝑥 , |𝑥| ≤ 1
• 𝑇𝑁 (x)=
cosh 𝑁 cosℎ−1 𝑥 , 𝑥 > 1
• 𝑇𝑁 (x)=2x𝑇𝑁−1 (x)-𝑇𝑁−2 (x) with 𝑇0 (x)=1, 𝑇1 (x)=x
 N 𝑻𝑵 (𝒙)
Chebyshev Filter 0 1

Polynomials 1
2
x
2𝑥 2 − 1
3 4𝑥 3 − 3𝑥
4 8𝑥 4 − 8𝑥 2 + 1
5 16𝑥 5 − 20𝑥 3 + 5𝑥
 Design Steps of Chebyshev Filter
• Stage-1: Design Normalised Low-Pass Filter
– Step-1: Find N (Order of Filter)
• 𝛿= 100.1𝐴𝑠 − 1
• 𝜖 = 100.1𝐴𝑝 − 1
𝛿
cosh−1
• N= Ω
𝜖
cosh−1 Ω 𝑠
𝑝

– Step-2: Determine the poles, 𝑝𝑘 =𝜎𝑘 + j Ω𝑘

• 𝜎𝑘 =a cos Ф𝑘 and Ω𝑘 =b sin Ф𝑘
𝜋 𝜋 𝜋
• Ф𝑘 =𝑁 𝑘 + 2𝑁 + k=0,1,2,….,N-1
2
1+ 1+𝜖2
• 𝜇= 𝜖
1 −1
1
• a=2 𝜇 −𝜇𝑁 𝑁

1 −1
1
• b= 𝜇 +𝜇
𝑁 𝑁
2

Choose valid poles 𝑠𝑘 from 𝑝𝑘 i.e. 𝑝𝑘 which lies in left-half S-plane is

chosen as 𝑠
 Design Steps of Chebyshev Filter
– Step-3: Determine transfer function of normalised low-pass chebyshev filter
𝐾
• 𝐻𝑁 (S)=
𝑠−𝑠1 𝑠−𝑠1 ∗ 𝑠−𝑠2 𝑠−𝑠2 ∗ …..
𝐾
• 𝐻𝑁 (S)=
𝑠 𝑁 +𝑏𝑁−1 𝑠 𝑁−1 +⋯.+𝑏1 𝑠+𝑏0

𝑏0 , 𝑁 → 𝑂𝑑𝑑
• K= 𝑏0
, 𝑁 → 𝐸𝑣𝑒𝑛
1+𝜖 2
• Stage-2: Perform Analog-Analog transformation on 𝐻𝑁 (S) to obtain desired
analog filter (LPF, HPF, BPF, BRF) 𝐻𝑎 (S)
Low-pass to Transformation
Low-pass 𝒔
𝒔→
𝜴𝒖
High-pass 𝜴𝒖
𝒔→
𝒔
Band-pass 𝒔𝟐 + 𝜴 𝒐 𝟐 𝜴𝒐 𝟐 = 𝜴𝒍 𝜴𝒖
𝒔→
𝒔𝑩
Band -stop 𝒔𝑩
𝒔→ 𝑩 = 𝜴 𝒖 − 𝜴𝒍
𝒔𝟐 + 𝜴 𝒐 𝟐
 Alternate Method- Chebyshev
• Stage-1: Design Low-Pass Filter
– Step-1: Find N (Order of Filter)
– Step-2: Determine the poles, 𝑝𝑘 =𝜎𝑘 + j Ω𝑘
𝜴𝑝 1 −1
• a= 𝜇 −𝜇
𝑁 𝑁
2
𝜴𝑝 1 −1
• b= 𝜇 +𝜇
𝑁 𝑁
2
Choose valid poles 𝑠𝑘 from 𝑝𝑘 i.e. 𝑝𝑘 which lies in left-half S-plane is chosen as
𝑠𝑘
– Step-3: Determine transfer function of normalised low-pass chebyshev
filter 𝐻𝑁 (S)
Low-pass to Transformation
• Stage 2: 𝐻𝑁 (S) 𝐻𝑎 (S)
High-pass 𝜴𝒖
𝒔 → 𝜴𝑝
𝒔
Band-pass 𝒔𝟐 + 𝜴 𝒐 𝟐
𝒔 → 𝜴𝑝
𝒔𝑩
Band -stop 𝒔𝑩
𝒔 → 𝜴𝑝
𝒔𝟐 + 𝜴 𝒐 𝟐
 Digital Filter
S-domain Z-domain

Analog Filter Digital Filter

𝐻𝑎 (S) 𝐻(Z)
Different
Poles lies left Techniques Poles lies inside
side of S-plane unit circle

• Different Techniques
– Approximation of Derivatives
– Impulse invariance
– Bilinear Transformation
– Matched Z-Transformation
 Approximation of Derivatives

• Given: Analog Filter 𝐻𝑎 (S)

• Backward Difference Mapping:
1−𝑧 −1
S
𝑇
 Impulse invariance
• Given: Analog Filter 𝐻𝑎 (S)
• Steps:
– Use Partial Fraction Expansion method
– Perform Inverse Laplace Transform
– Perform Impulse Invariance Transformation
1 1
• 
𝑠−𝑝𝑘 1−𝑒 𝑝𝑘 𝑇 𝑍 −1
𝑠+𝑎 1−𝑒 −𝑎𝑇 [cos(𝑏𝑇) ]𝑍 −1
• 2 2 
(𝑠+𝑎) −𝑏 1−2𝑒 −𝑎𝑇 [cos 𝑏𝑇 ]𝑍 −1 +𝑒 −2𝑎𝑇 𝑍 −2
𝑏 𝑒 −𝑎𝑇 sin(𝑏𝑇)
• 2 2 
(𝑠+𝑎) −𝑏 1−2𝑒 −𝑎𝑇 [cos 𝑏𝑇 ]𝑍 −1 +𝑒 −2𝑎𝑇 𝑍 −2
 Bilinear Transformation
• Given: Analog Filter 𝐻𝑎 (S)
• Bilinear Transformation:
2 𝜔
–Ω = tan Prewrapping
𝑇 2
2 1−𝑍 −1
– S=
𝑇 1+𝑍 −1
Digital Filter
Design