Chap 7

Chapter 7
Filter Design
Techniques
Filter Design Techniques
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Digital Signal Processing
Outline
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
= T.That is, H(ej) 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(j)| should be within
0.01 (0.086dB) of unity (zero dB) in the
frequency band 0 2(2000).
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(2) The gain should be no greater than 0.001

(-60dB) in the frequency band 2(3000)
Such a set of lowpasss pecifications on
|Heff(j)| 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 zplane) .
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7.1.1 Filter Design by Impulse Invariance

If hc(t) is the impulse response of continuoustime 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 ,1 = 0.10875, 2= 0.17783,
p = 0.2 and s = 0.3. he 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- 1 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 discretetime 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 =
Continuous-time Butterworth filter with

magnitude function |Hc(j)|
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Let p = 0.2 and s = 0.3
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 c 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 c = 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, - maps

onto - ,the transformation
between the continuous-time and discretetime 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 = +j, we obtain :
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If <0 then |z|<1 for any value of .

Similarly, If >0 then |z|>1for all .That is
if a pole of Hc(s) is in the lefthalf 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 j-axis of the s-plane

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

the j-axis
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To derive the relationship between the

variables and , we substituting z= ej.
or
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Equating real and imaginary parts on

both sides leads to the relations =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 discretetime 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 c, we obtain :
and
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log [1/0.17821/1/0.8921]
N=
2 log [ tan 0.15/ tan 0.1]
The result are N = 5.30466, and take N=6,
substituting N = 6 and c = 0. 7662.
For this value of c, 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 continuoustime 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 =0.2, the log magnitude is -0.56dB,
and at =0.3, 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 :
1 = 0.01, 2 = 0.001, p = 0.4 and s = 0.6.
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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

Digital Signal Processing

Filter Design Techniques

Digital Signal Processing

Filter Design Techniques

Digital Signal Processing

The Design of Filter

Digital Signal Processing

The relationship between specifications

Filter Design Techniques

Digital Signal Processing

Basic system for discrete-time filtering of

Digital Signal Processing

In such cases, it is straightforward to

Filter Design Techniques

Digital Signal Processing

Filter Design Techniques

Digital Signal Processing

(2) The gain should be no greater than 0.001

Filter Design Techniques

Digital Signal Processing

Digital Signal Processing

Digital Signal Processing

Digital Signal Processing

7.1 Design of Discrete-time IIR Filters

Digital Signal Processing

- The standard approximation methods for

Filter Design Techniques

Digital Signal Processing

7.1.1 Filter Design by Impulse Invariance

The frequency response :

Filter Design Techniques

Digital Signal Processing

If the continuous-time filter is bandlimited,

Filter Design Techniques

Digital Signal Processing

Digital Signal Processing

Digital Signal Processing

Digital Signal Processing

Digital Signal Processing

The impulse invariance transformation

Filter Design Techniques

Digital Signal Processing

Digital Signal Processing

Filter Design Techniques

Digital Signal Processing

Continuous-time Butterworth filter with

Filter Design Techniques

Digital Signal Processing

Let p = 0.2 and s = 0.3

The magnitude squared function of a

Filter Design Techniques

Digital Signal Processing

So that the filter design process consists

Filter Design Techniques

Filter Design Techniques

Digital Signal Processing

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

Filter Design Techniques

Digital Signal Processing

Digital Signal Processing

Digital Signal Processing