Input

IIR FILTER
DESIGN
Design by
Prof. Yogesh B. Patel
Assistant Professor
Output EC Dept., UVPCE
An IIR filter is described using the difference
equation

IIR filter transfer function as

IIR filter design

 Bilinear transformation (BLT) design method

 Impulse invariant design method
General procedure for IIR filter design using
bilinear transformation
Analog Filters Using Lowpass Prototype Transformation

This method converts the analog lowpass filter with a cutoff

frequency of 1 radian per second, called the lowpass prototype, into
practical analog lowpass, highpass, bandpass, and bandstop filters
with their frequency specifications.
first-order lowpass prototype:

Its frequency response is obtained by substituting s=jv

into Equation

magnitude gain

Analog lowpass prototype transformation into a lowpass filter

obtain the analog frequency response by substituting s = jω

The magnitude response is determined by

Analog lowpass prototype transformation to the highpass filter
Analog lowpass prototype transformation to the bandpass filter
Analog lowpass prototype transformation to a bandstop filter
Analog lowpass prototype transformations
 Bilinear Transformation and Frequency Warping
we develop the BLT, which converts an analog filter into a digital filter. The BLT
offers conversion of an analog transfer function to a digital transfer function .We
begin by finding the area under a curve using the integration of calculus and the
numerical recursive method.

The area under the curve can be determined using the following integration:

where y(t) (area under the curve) and x(t) (curve function) are the output and input
of the analog integrator, respectively, and t is the upper limit of the integration.
 Applying Laplace transform on Equation

the Laplace transfer function as

…….….(1)

Now we examine the numerical integration method

Applying the z-transform on both sides of Equation

z-transfer function as
…….….(2)

comparing Equation (1) with Equation (2), it follows that

Solving for s gives the bilinear transformation

The BLT method is a mapping or transformation of points from the

s-plane to the z-plane.
Equation can be alternatively written as
The general mapping properties are summarized as following:
1. The left-half s-plane is mapped onto the inside of the unit circle
of the z-plane.
2. The right-half s-plane is mapped onto the outside of the unit
circle of the z-plane.
3. The positive jω axis portion in the s-plane is mapped onto the
positive half circle (the dashed-line arrow in Figure) on the unit
circle, while the negative j ω axis is mapped onto the negative
half circle (the dotted-line arrow in Figure) on the unit circle.
Example:
 Examine frequency mapping between the s-plane and the z-plane
(Frequency mapping from the analog domain to the digital domain)

The analog frequency ωa is marked on the jω axis on the s-plane,

whereas ωd is the digital frequency labelled on the unit circle in the
z-plane.
Simplifying Equation leads to

Equation explores the relation between the analog frequency on

the jω axis and the corresponding digital frequency ωd on the unit
circle.
We can also write its inverse as

The range of the digital frequency ωd is from 0 radian per second to the folding
frequency ωs/2 radians per second, where ωs is the sampling frequency in radians
per second.
 Frequency warping from bilinear transformation

From Figure when the digital frequency range is

mapped to the analog frequency range , the
transformation appears to be linear; however, when the digital
frequency range is mapped to the analog
frequency range for , the transformation is nonlinear. The
analog frequency range for is compressed into the digital
frequency range . This nonlinear frequency mapping
effect is called frequency warping. We must incorporate the
frequency warping into the IIR filter design.
Bilinear Transformation Design Procedure
1. Given the digital filter frequency specifications, prewarp the
digital frequency specifications to the analog frequency
specifications.
2. Perform the prototype transformation using the lowpass
prototype Hp(s).

3. Substitute the BLT to obtain the digital filter

Graphical representation of IIR filter design using the bilinear
transformation
 Example

Solution:
 Digital Butterworth
and
Chebyshev Filter Designs

 Lowpass Prototype Function and Its Order:

As described in the Bilinear Transformation Design Procedure,
BLT design requires obtaining the analog filter with prewarped
frequency specifications. These analog filter design requirements
include the ripple specification at the passband frequency edge, the
attenuation specification at the stopband frequency edge, and the
type of lowpass prototype and its order.
Normalized Butterworth Function

When n is an odd number

When n is an even number
Example:
Compute the normalized Butterworth transfer function for the
following specifications: Ripple = 3dB, n = 2

Solution:
Example:
Compute the normalized Butterworth transfer function for the
following specifications: Ripple = 1.5dB, n = 3
Solution:

we achieve the normalized Butterworth transfer function as

Normalized Chebyshev Function
The Chebyshev magnitude response function with an order of n and
the normalized cutoff frequency ω = 1 radian per second is given by
n is odd number
n is even number
Example:
Compute the normalized Chebyshev transfer function for the
following specifications: Ripple = 0.5dB, n = 2
Solution:
Example:
Compute the normalized Chebyshev transfer function for the
following specifications: Ripple = 1dB ,n = 3
Solution:
Lowpass Prototype Function and Its Order

Fig: Normalized Butterworth magnitude response function

The magnitude response function of the Chebyshev lowpass
prototype with an order of n is shown in Figure.
where the magnitude response |Hp(v)| versus the normalized
frequency v is given by
Lowpass and Highpass Filter Design Examples
Bandpass and Bandstop Filter Design Examples