Filter Design7

Chapter 7
Filter Design
Techniques
Filter Design Techniques Page 1

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Outline
Digital Signal Processing
7.0 Introduction
7.1 Design of Discrete Time IIR Filters
7.2 Design of FIR Filters

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7.0 Introduction
Definition of Filter
Filter is a system that passes certain

frequency components and totally rejects
all others, but in a broader context any
system that modifies certain frequencies
relative to others is called a filter.

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The Design of Filter
1 The specification of the desired

properties of the system.
2 The approximation of the
specification using a causal
discrete-time system.
3 The realization of the system.
In this chapter, we focus on the

second step.

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The relationship between specifications
of the discrete-time filter and the
effective continuous-time filter
When a discrete-time filter is to be

used for discrete-time processing of
continuous-time filter and the effective
continuous-time filter are typically given
in the frequency domain.

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If a effective continuous-time
system has the frequency response.
Basic system for discrete-time filtering of

continuous-time signals.

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In such cases, it is straightforward to

convert from specifications on the effective
continuous-time filter through the relation
ω = ΩT.That is, H(ejω) is specified over one
period by the equation :

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Example
Consider a discrete-time filter that is to be

used to lowpass filter a continuous-time
signal using the basic configuration.
Specifically, we want the overall system to
have the following properties when the
sampling rate is 104 samples/s (T=10-4 s) :
(1) The gain |Heff(jΩ)| should be within
∓0.01 (0.086dB) of unity (zero dB) in the
frequency band 0 ≤ Ω ≤ 2π(2000).

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(2) The gain should be no greater than 0.001

(-60dB) in the frequency band 2π(3000) ≤ Ω
Such a set of lowpasss pecifications on

|Heff(jΩ)| can be depicted where the limits of
tolerable approximation error are indicated
by the shaded horizontal lines.

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7.1 Design of Discrete-time IIR Filters
form Continuous-Time Filters
The Transformation of a continuous-time

filter into a discrete-time filter meeting
prescribed specifications. The Reasons for
Using this Method:
- The art of continuous-time IIR filter design
has developed and many results can be used.
- Many continuous-time IIR filter design
methods have relatively simple closed form
design formulas, therefore it is easy to carry
out.

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- The standard approximation methods for

continuous-time IIR filters can not be
directly used in discrete-time filter design.
3. Processes of design:
- Specifications transformation;
- Continuous-time filter design;
- Mapping continuous-time filter into
discrete-time filter (From s-plane to z-
plane) .

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7.1.1 Filter Design by Impulse Invariance
If hc(t) is the impulse response of continuous-

time filter, and hc(nTd) is equally spaced samples
of it.
The frequency response :

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If the continuous-time filter is bandlimited,

so that
then

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Example
Assume that the specifications for the

designed discrete-time filter are shown in
next slide with ,δ1 = 0.10875, δ2= 0.17783,
ωp = 0.2π and ωs = 0.3π. Τhe maximum gain
in stopband is -15dB (20log10 0.17783), The
maximum deviation of 1dB below 0dB gain
in passband (20log10(1) – 20log10(1-0.10875)
=-1 dB). In this case the band pass tolerance
is between 1- δ1 and 1.

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The impulse invariance transformation

from CT to DT :

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Example
Consider the design of a lowpass discrete-

time filter by applying impulse invariance to
an appropriate Butterworth continuous-time
filter. The specifications for the discrete-time
filter are :

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Choose Td =1 so that ω=Ω
Continuous-time Butterworth filter with

magnitude function |Hc(jΩ)|

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Let Ωp = 0.2π and Ωs = 0.3π
The magnitude squared function of a

Btterworth filter

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So that the filter design process consists

of determining the parameters N and Ωc to
meet the desired specification.

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Since N must be integer N=6 substuting N=6

in equation slide 26. We have Ωc = 0.7032

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Find the poles :

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7.1.2 Bilinear Transformation
In order to avoid the aliasing in impulse

invariance, we introduce another method of
transformation bilinear transformation, which
use an algebraic transform between the
variables s and z. This transform is

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In the transformation, -∞ ≤ Ω ≤ ∞ maps

onto -π ≤ ω ≤ π ,the transformation
between the continuous-time and discrete-
time frequency variables must be
nonlinear. Therefore the use of this
technique is restricted to the situation
where the corresponding warping of the
frequency axis is acceptable.

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To develop the properties of the algebraic

transformationWe solve for z to obtain :
Substituting s = σ+jΩ, we obtain :

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If σ<0 then |z|<1 for any value of Ω.

Similarly, If σ>0 then |z|>1for all Ω.That is
if a pole of Hc(s) is in the left−half s-plane,
its image in the z-plane will be inside the
unit circle. Therefore causal stable
continuous-time filters map into causal
stable discrete-time filters.

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To show that the jΩ-axis of the s-plane

maps onto the unit circle, we substitute
s=jΩ :
It is clear that |z| =1 for all value of s on

the jΩ-axis

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To derive the relationship between the

variables ω and Ω, we substituting z= ejω.
or

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Equating real and imaginary parts on

both sides leads to the relations σ=0
or

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The bilinear transformation avoids the

problem of aliasing encountered with the use of
impulse invariance because it maps the entire
imaginary axis of the s-plane onto the unit circle
in the z-plane. The price paid for this, however,
is the nonlinear compression the frequency axis.

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If we transform a lowpass filter

from continuous-time form into
discrete-time form, the warping of
bilinear transformation can be
demonstrated in next slide.

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If the critical frequencies (such as the

passband and stopband edge frequencies)
of continuous-time filter are prewaped
according the equation

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then when the continuous-time filter is

transformed to the discrete-time filter the
discrete-time filter will meet the desired
specifications.

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Example
Consider the specification on the discrete-

time filter :
Using the bilinear transformation, the

critical frequencies of the discrete-time filter
must be prewarped to the corresponding
continuous-time frequency

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For convenience we choose Td=1, since

Butterworth filter has a monotonic magnitude
response, so from above equations we obtain :

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The form of the magnitude-squared

function for the Butterworth filter is :
Solving for N and Ωc, we obtain :
and

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log [1/0.17821/1/0.8921]
N=
2 log [ tan 0.15/ tan 0.1]
The result are N = 5.30466, and take N=6,

substituting N = 6 and Ωc = 0. 7662.
For this value of Ωc, the passband

specifications are exceeded and the stopband
specifications are met exactly.

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In the s-plane, the 12 poles are uniformly

distributed in angle on a circle of radius
0.76622.

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The system function of the continuous-

time filter by selecting the left-plane poles is

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The magnitude, log magnitude, and group

delay of the frequency response of the
discrete-time filter are shown in next slides
At ω=0.2π, the log magnitude is -0.56dB,
and at ω=0.3π, log magnitude is exactly -15dB.

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From above example, we know Nth-order

Butterworth filter has the following form

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Homework
We wish to design a lowpass digital filter

to meet the specifications :
δ1 = 0.01, δ2 = 0.001, ωp = 0.4π and ωs = 0.6π.

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1. Butterworth filter design by impulse

invariance.
2. Butterworth filter design by bilinear
transformation
3. Chebyshev filter design by bilinear
transformation

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Chapter 7

Filter Design Techniques Page 1

Filter Design Techniques Page 2

Filter is a system that passes certain

Filter Design Techniques Page 3

1 The specification of the desired

In this chapter, we focus on the

Filter Design Techniques Page 4

When a discrete-time filter is to be

Filter Design Techniques Page 5

Basic system for discrete-time filtering of

Filter Design Techniques Page 6

In such cases, it is straightforward to

Filter Design Techniques Page 7

Consider a discrete-time filter that is to be

Filter Design Techniques Page 8

(2) The gain should be no greater than 0.001

Such a set of lowpasss pecifications on

Filter Design Techniques Page 9

Filter Design Techniques Page 10

Filter Design Techniques Page 11

Filter Design Techniques Page 12

The Transformation of a continuous-time

Filter Design Techniques Page 13

- The standard approximation methods for

Filter Design Techniques Page 14

If hc(t) is the impulse response of continuous-

The frequency response :

Filter Design Techniques Page 15

If the continuous-time filter is bandlimited,

Filter Design Techniques Page 16

Filter Design Techniques Page 17

Assume that the specifications for the

Filter Design Techniques Page 18

Filter Design Techniques Page 19

Filter Design Techniques Page 20

The impulse invariance transformation

Filter Design Techniques Page 21

Filter Design Techniques Page 22

Consider the design of a lowpass discrete-

Filter Design Techniques Page 23

Choose Td =1 so that ω=Ω

Continuous-time Butterworth filter with

Filter Design Techniques Page 24

Let Ωp = 0.2π and Ωs = 0.3π

The magnitude squared function of a

Filter Design Techniques Page 25

So that the filter design process consists

Filter Design Techniques Page 26

Since N must be integer N=6 substuting N=6

Filter Design Techniques Page 28

Filter Design Techniques Page 29

Filter Design Techniques Page 30

Find the poles :

Filter Design Techniques Page 31

Filter Design Techniques Page 33

Filter Design Techniques Page 34

Filter Design Techniques Page 35

Filter Design Techniques Page 36

Filter Design Techniques Page 37

In order to avoid the aliasing in impulse

Filter Design Techniques Page 38

In the transformation, -∞ ≤ Ω ≤ ∞ maps