Print Unit 3

CHENNAI INSTITUTE OF TECHNOLOGY 1
UNIT III IIR FILTER DESIGN

Structures of IIR – Analog filter design – Discrete time IIR filter from analog filter – IIR
filter design by Impulse Invariance, Bilinear transformation, Approximation of derivatives –
(LPF, HPF, BPF, BRF) filter design using frequency translation
3.1 Introduction
Realization of Digital filters
A digital filter transfer function can be realized in a varity of ways. There are two types of
realizations 1. Recursive 2. Nonrecursive
1. Recursive realization the current output y(n) is a function of past output , past and
present inputs. This form corresponds to an Infinite Impulse Response digital filter.
2. Nonrecursive realization current output sample y(n) is a function of only past and
present inputs . This form corresponds to a Finite Impulse Response digital filter.
The impulse response h (n) = 0 for n ≤ 0
And stability it must satisfy the condition
∞
∑ |ℎ(𝑛)| < ∞
𝑛=0
𝐼𝐼𝑅 𝑑𝑖𝑔𝑖𝑡𝑎𝑙 𝑓𝑖𝑙𝑡𝑒𝑟𝑠 ℎ𝑎𝑣𝑒 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑓𝑜𝑟𝑚

∞
∑𝑀
𝑘=0 𝑏𝑘 𝑧
−𝑘
𝐻 (𝑧) = ∑ ℎ(𝑛)𝑧 −1 =
1 + ∑𝑁
𝑘=0 𝑎𝑘 𝑧
−𝑘
𝑛=0
3.1a Structures of IIR

IIR filter can be realized in many forms . They are
1. Direct form I realization
2. Direct form II realization
3. Transposed direct form realization
4. Cascade form realization
5. Parallel form realization
6. Lattice-ladder structure
3.1.1 Direct form I realization:
Let as consider an LTI recursive system described by the difference equation.
𝑁 𝑀
𝑦(𝑛) = − ∑ 𝑎𝑘 𝑦(𝑛 − 𝑘) + ∑ 𝑏𝑘 𝑥(𝑛 − 𝑘)

𝑘=1 𝑘=1
= −𝑎1 𝑦(𝑛 − 1) − 𝑎2 𝑦(𝑛 − 2) − ⋯ . 𝑎𝑁−1 𝑦(𝑛 − 𝑁 +
1 − 𝑎𝑁 𝑦 𝑛 − 𝑁 + 𝑏0 𝑥 𝑛 + 𝑏1 𝑥(𝑛 − 1) + ⋯ + 𝑏𝑀 𝑥 (𝑛 − 𝑀)
) ( ) ( )
IIR Filter design

𝑏0 𝑥(𝑛) + 𝑏1 𝑥(𝑛 − 1) + ⋯ + 𝑏𝑀 𝑥 (𝑛 − 𝑀) = 𝜔(𝑛)

Then 𝑦(𝑛) = −𝑎1 𝑦(𝑛 − 1) − 𝑎2 𝑦(𝑛 − 2) − ⋯ . −𝑎𝑁−1 𝑦(𝑛 − 𝑁 + 1) − 𝑎𝑁 𝑦(𝑛 − 𝑁) +
𝜔(𝑛)
Direct I form , which used separate delays for both input and output. This realization requires
M+N+1 multiplications M+N additions and M+N+1 memory locations.
Example 3.1 Realize the second order digital filter 𝑦(𝑛) = 2𝑟𝑐𝑜𝑠(𝜔0 )𝑦(𝑛 − 1) −
𝑟 2 𝑦(𝑛 − 2) + 𝑥(𝑛) − 𝑟𝑐𝑜𝑠(𝜔0 )𝑥(𝑛 − 1).
Solution:
𝑥(𝑛) − 𝑟𝑐𝑜𝑠(𝜔0 )𝑥(𝑛 − 1) = 𝜔(𝑛)
IIR Filter design

𝑦(𝑛) = 2𝑟𝑐𝑜𝑠(𝜔0 )𝑦(𝑛 − 1) − 𝑟 2 𝑦(𝑛 − 2) + 𝜔(𝑛)
We combine both diagram
Example 3.2 Obtain the direct form I realization for the system described by difference
equation 𝑦(𝑛) = 0.5𝑦(𝑛 − 1) − 0.25𝑦(𝑛 − 2) + 𝑥(𝑛) − 0.4𝑥 (𝑛 − 1).
Let
𝑥(𝑛) − 0.4𝑥(𝑛 − 1) = 𝜔(𝑛)
Then
𝑦(𝑛) = 0.5𝑦(𝑛 − 1) − 0.25𝑦(𝑛 − 2) + 𝜔(𝑛)
3.1.2 Direct form II realization

Consider the difference equation of the form
𝑁 𝑀
𝑦(𝑛) = − ∑ 𝑎𝑘 𝑦(𝑛 − 𝑘) + ∑ 𝑏𝑘 𝑥(𝑛 − 𝑘)

𝑘=1 𝑘=0
The system function of above difference equation can be expressed as

𝑌(𝑧) ∑𝑀
𝑘=0 𝑏𝑘 𝑧
−𝑘
𝐻 (𝑧 ) = =
𝑋(𝑧) 1 + ∑𝑁
𝑘=1 𝑎𝑘 𝑧
−𝑘
IIR Filter design

𝑌(𝑧) 𝑌(𝑧) 𝑊(𝑧)

= ∗
𝑋(𝑧) 𝑊(𝑧) 𝑋(𝑧)
𝑊(𝑧) 1
= 𝑁
𝑋(𝑧) 1 + ∑𝑘=1 𝑎𝑘 𝑧 −𝑘
Which gives us
𝑊 (𝑧) = 𝑋(𝑧) − 𝑎1 𝑧 −1 𝑊 (𝑧) − 𝑎2 𝑧 −2 𝑊 (𝑧) … . −𝑎𝑁 𝑧 −𝑁 𝑊 (𝑧)
𝑀
𝑌(𝑧)
= ∑ 𝑏𝑘 𝑧 −𝑘 𝑓𝑟𝑜𝑚 𝑤ℎ𝑖𝑐ℎ
𝑊(𝑧)
𝑘=0
𝑌(𝑧) = 𝑏0 𝑊(𝑧) − 𝑏1 𝑧 −1 𝑊 (𝑧) … . −𝑏𝑀 𝑧 −𝑀 𝑊 (𝑧)

𝜔(𝑛) = 𝑥(𝑛) − 𝑎1 𝜔(𝑛 − 1) − 𝑎2 𝜔 (𝑛 − 2) − ⋯ − 𝑎𝑁 𝜔(𝑛 − 𝑁)
𝑦(𝑛) = 𝑏0 𝜔(𝑛) − 𝑎1 𝜔 (𝑛 − 1) − ⋯ − 𝑏𝑀 𝜔(𝑛 − 𝑀)
Realization of 𝜔 (𝑛) Realization of 𝑦(𝑛)
Direct form II realization

Example 3.3 Realize the second order digital filter 𝑦(𝑛) = 2𝑟𝑐𝑜𝑠(𝜔0 )𝑦(𝑛 − 1) −
𝑟 2 𝑦(𝑛 − 2) + 𝑥(𝑛) − 𝑟𝑐𝑜𝑠(𝜔0 )𝑥(𝑛 − 1) 𝑖𝑛 𝑑𝑖𝑟𝑒𝑐𝑡 𝑓𝑜𝑟𝑚 𝐼𝐼.
𝑌(𝑧) 1 − 𝑟𝑐𝑜𝑠(𝜔0 )𝑧 −1
=
𝑋(𝑧) 1 − 2𝑟𝑐𝑜𝑠(𝜔0 )𝑧 −1 + 𝑟 2 𝑧 −2
IIR Filter design

𝑌(𝑧)
= 1 − 𝑟𝑐𝑜𝑠(𝜔0 )𝑧 −1
𝑊(𝑧)
𝑊(𝑧) 1
=
𝑋(𝑧) 1 − 2𝑟𝑐𝑜𝑠(𝜔0 )𝑧 −1 + 𝑟 2 𝑧 −2
We obtain 𝑌(𝑧) = 𝑊 (𝑧) − 𝑟𝑐𝑜𝑠(𝜔0 )𝑧 −1 𝑊 (𝑧)
𝑦(𝑛) = 𝜔(𝑛) − 𝑟𝑐𝑜𝑠(𝜔0 )𝜔(𝑛 − 1)
𝑊(𝑧) = 𝑋 (𝑧) + 2𝑟 𝑐𝑜𝑠(𝜔0 )𝑧 −1 𝑊 (𝑧) − 𝑟 2 𝑧 −2 𝑊 (𝑧)
𝜔(𝑛) = 𝑥 (𝑛) + 2𝑟 𝑐𝑜𝑠(𝜔0 ) 𝜔(𝑛 − 1) − 𝑟 2 𝜔(𝑛 − 2)
Example 3.4 Determine the direct form II realization for the following system 𝑦(𝑛) =
−0.1𝑦(𝑛 − 1) + 0.72𝑦(𝑛 − 2) + 0.7𝑥(𝑛) − 0.252𝑥(𝑛 − 2)
Solution:
The system function is given by
𝑌(𝑧) 0.7 − 0.252𝑧 −2
=
𝑋(𝑧) 1 + 0.1𝑧 −1 − 0.72𝑧 −2
𝑌(𝑧)
= 0.7 − 0.252𝑧 −2
𝑊(𝑧)
𝑌 (𝑧) = 0.7𝑊 (𝑧) − 0.252𝑧 −2 𝑊 (𝑧)
𝑦(𝑛) = 0.7𝜔(𝑛) − 0.252𝜔(𝑛 − 2)
𝑊(𝑧) 1
=
𝑋(𝑧) 1 + 0.1𝑧 − 0.72𝑧 −2
−1
𝑊(𝑧) = 𝑋(𝑧) − 0.1𝑧 −1 𝑊 (𝑧) + 0.72𝑧 −2 𝑊 (𝑧)

𝜔(𝑛) = 𝑥(𝑛) − 0.1 𝜔(𝑛 − 1) + 0.72𝜔(𝑛 − 2)
IIR Filter design

Example 3.5 Determine the direct form II realization for the following system
𝑦(𝑛) = 0.5𝑦(𝑛 − 1) − 0.25𝑦(𝑛 − 2) + 𝑥(𝑛) + 𝑥(𝑛 − 2)
𝑌(𝑧) 1 + 𝑧 −1
=
𝑋(𝑧) 1 + 0.5𝑧 −1 − 0.25𝑧 −2
3.1.3 Cascade Form:

Let us consider an IIR system with system function
𝐻 (𝑧) = 𝐻1 (𝑧)𝐻2 (𝑧) … 𝐻𝑘 (𝑧)
This can be represented using block diagram as shown below
IIR Filter design

3 1
Example 3.6 Realize the system with difference equation 𝑦(𝑛) = 4 𝑦(𝑛 − 1) − 8 𝑦(𝑛 − 2) +
1
𝑥(𝑛) + 3 𝑥(𝑛 − 1) in cascade form.
Solution:
From the difference equation we obtain
1
𝑌(𝑧) 1 + 3 𝑧 −1
=
𝑋(𝑧) 1 + 3 𝑧 −1 − 1 𝑧 −2
4 8
1
𝑌(𝑧) 1 + 3 𝑧 −1
= = 𝐻1 (𝑧)𝐻2 (𝑧)
𝑋(𝑧) (1 + 1 𝑧 −1 ) (1 − 1 𝑧 −1 )
2 4
1
1 + 3 𝑧 −1
𝐻1 (𝑧) =
1
(1 + 2 𝑧 −1 )
1
𝐻 2 (𝑧 ) = 1
(1 − 4 𝑧 −1 )
Cascading of H1(z) and H2(z)
IIR Filter design

3.1.4 Parallel Form structure

A parallel form realization of an IIR system can be obtained by performing a partial
expansion of
𝑁
𝑐𝑘
𝐻 (𝑧 ) = 𝑐 + ∑
1 − 𝑝𝑘 𝑧 −1
𝑘=1
Where {pk} are the poles
Parallel form realization

Example 3.7 Realize the system with difference equation 𝑦(𝑛) = −0.1𝑦(𝑛 − 1) +
0.72𝑦(𝑛 − 2) + 0.7𝑥(𝑛) − 0.252𝑥(𝑛 − 1) in parallel form.
Solution:
The system function of the difference equation is
0.7 − 0.252𝑧 −2
𝐻(𝑧) =
1 + 0.1𝑧 −1 − 0.72𝑧 −2
0.35 − 0.035𝑧 −2
𝐻 (𝑧) = 0.35 +
1 + 0.1𝑧 −1 − 0.72𝑧 −2
0.206 0.144
𝐻 (𝑧) = 0.35 + +
1 − 0.9𝑧 −1 1 − 0.8𝑧 −1
𝐻(𝑧) = 𝑐 + H1 (z) + H2 (z)
Realization for H1 (z)
IIR Filter design

Realization for H2 (z)
Example 3.8 Obtain the direct form I, direct form II , cascade and parallel form realization for
the system 𝑦(𝑛) = −0.1𝑦(𝑛 − 1) + 0.2𝑦(𝑛 − 2) + 3𝑥(𝑛) + 3.6𝑥(𝑛 − 1) + 0.6𝑥(𝑛 − 2)
Solution: 3𝑥(𝑛) + 3.6𝑥(𝑛 − 1) + 0.6𝑥(𝑛 − 2)
Direct form I
Let 3𝑥(𝑛) + 3.6𝑥(𝑛 − 1) + 0.6𝑥(𝑛 − 2) = 𝜔 (𝑛)
𝑦(𝑛) = −0.1𝑦(𝑛 − 1) + 0.2𝑦(𝑛 − 2) + 𝜔(𝑛)
Direct form II
𝑌(𝑧) 3 + 3.6𝑧 −1 + 0.6𝑧 −2
𝐻 (𝑧 ) = =
𝑋(𝑧) 1 + 0.1𝑧 −1 − 0.2𝑧 −2
Cascade form
𝑌(𝑧) 3 + 3.6𝑧 −1 + 0.6𝑧 −2
=
𝑋(𝑧) 1 + 0.1𝑧 −1 − 0.2𝑧 −2
𝑌(𝑧) (3 + 0.6𝑧 −1 )(1 + 𝑧 −1 )
=
𝑋(𝑧) (1 + 0.5𝑧 −1 )(1 − 0.4𝑧 −1 )
IIR Filter design

(3+0.6𝑧 −1) (1+𝑧 −1 )

Let 𝐻1 (𝑧) = (1+0.5𝑧 −1) and 𝐻2 (𝑧) = (1−0.4𝑧 −1)
Parallel form
Example 3.9 Obtain the cascade realization for the following systems
3 1 3
(1 + 2 𝑧 −1 + 2 𝑧 −2 ) (1 − 2 𝑧 −1 + 𝑧 −2 )
𝐻 (𝑧 ) =
1 1 1
(1 + 𝑧 −1 + 4 𝑧 −2 ) (1 + 4 𝑧 −1 + 2 𝑧 −2 )
𝐻 (𝑧) = H1 (z)H2 (z)

3 1
(1+ 𝑧 −1+ 𝑧 −2)
2 2
H1 (z)= 1
(1+𝑧 −1+ 𝑧 −2)
4
3
(1 − 2 𝑧 −1 + 𝑧 −2 )
H2 (z) =
1 1
(1 + 4 𝑧 −1 + 2 𝑧 −2 )
IIR Filter design

3.2 Analog filter design

Steps Butterworth filter Chebyshev filter
If the given problem like below 0.9 ≤ |𝐻(𝑗Ω)|≤1 for 0≤Ω≤0.2π.
αp = 1 dB; αs = 30 dB; Ωp= 200 rad/sec
; Ωs= 600 rad/sec |𝐻(𝑗Ω)|≤0.2 for 0.4π≤Ω≤π.
1 (OR)
If the given problem in fs= 600 Hz 1 1
= 0.9 = 0.2
means need to use this formula Ωs=2π √1 + 𝜀2 √1 + 𝜆2
fs and Ωp=2πfp Ωp=0.2π Ωs=0.4π
𝜆= √100.1𝛼𝑠 −1
2 𝜀 = √100.1𝛼𝑝 − 1
𝜆 𝜆
𝑙𝑜𝑔 𝜀 cosh−1 𝜀
𝑁≥ 𝑁≥
Ω𝑠 Ω𝑠
3 𝑙𝑜𝑔 Ω𝑝 cosh−1 Ω𝑝
Round off the N value to the next integer Round off the N value to the next
integer
𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ]
Butterworth filter Denominator 2
𝜇 1/𝑁 + 𝜇 −1/𝑁
𝑏 = Ω𝑝 [ ]
2
𝑠𝑘 = 𝑎𝑐𝑜𝑠𝜙𝑘 + 𝑗𝑏𝑠𝑖𝑛𝜙𝑘
𝜋 (2𝑘 − 1)𝜋
𝜙𝑘 = +
2 2𝑁
4
From this calculate Denominator
H(s)
Low pass filter High Pass filter To find numerator

If N is Even
𝒔 Ω𝒄 Substitute s=0 in the denominator of
𝒔→ 𝒔→
Ω𝒄 𝒔 H(s) and divide by
√1 + 𝜀 −2
5 If N is Odd
Ω𝒑 Substitute s=0 in the denominator of
Ω𝒄 =
(𝜺)𝟏/𝑵 H(s)
IIR Filter design

Example 3.10 Given the specification αp = 1 dB; αs = 30 dB; Ωp= 200 rad/sec ; Ωs= 600
rad/sec. Determine the order of the filter.
Given:
αp = 1 dB; αs = 30 dB; Ωp= 200 rad/sec ; Ωs= 600 rad/sec
To find
Order of the filter
Formulas to be used
𝜆
𝑙𝑜𝑔 𝜀
𝑁≥
Ω𝑠
𝑙𝑜𝑔 Ω𝑝
𝜆 = √100.1𝛼𝑠 − 1
𝜀 = √100.1𝛼𝑝 − 1
Solution
𝜆 = √100.1𝛼𝑠 − 1
𝜀 = √100.1𝛼𝑝 − 1
𝜆
= 62.115
𝜀
Ω𝑠
=3
Ω𝑝
log(62.115)
𝑁≥ = 3.758
log(3)
Rounding of the next highest integer we get , N=4
3.2.1 Steps to design an analog Butterworth low pass filter:
1. From the given specifications find the order of the filter N.
2. Round off it to the next higher integer
3. Find the transfer function H(s) foe Ωc=1 rad/sec for the value of N.
4. Calculate the value of Ωc .
𝑠
5. Find the transfer function H(s) for the above value of Ωc by 𝑠 → Ωc
IIR Filter design

Example 3.11 For the given specifications design an analog Butterworth filter.
0.9 ≤ |𝐻(𝑗Ω)|≤1 for 0≤Ω≤0.2π.
|𝐻(𝑗Ω)|≤0.2 for 0.4π≤Ω≤π.
Given :
1 1
= 0.9 √1+𝜆2 = 0.2 Ωs=0.4π Ωp=0.2π
√1+𝜀 2
Solution:
1 1
= 0.9 = 0.2
√1 + 𝜀 2 √1 + 𝜆2
Take Square on both sides Take Square on both sides
2 2
1 2
1
( ) = 0.9 ( ) = 0.22
√1 + 𝜀 2 √1 + 𝜆2
1 1
= 1 + 𝜀2 = = 1 + 𝜆2
0.92 0.22
1.234=1+𝜀 2 25=1+𝜆2
𝜀 2 = 1.234 − 1 𝜆2 = 25 − 1
𝜀 2 = 0.234 𝜆2 = 24
ε = √0.234 λ = √24
𝜀 = 0.484 𝜆 = 4.898
4.898
𝑙𝑜𝑔 0.484
𝑁≥ = 3.34
0.4𝜋
𝑙𝑜𝑔 0.2𝜋
N=4
From the table , for N=4 the transfer function of normalized Butterworth filter is
1
𝐻 (𝑠 ) =
(𝑠 2 + 0.76537𝑠 + 1)(𝑠 2 + 1.8477𝑠 + 1)
Ω𝑝 0.2𝜋
Ω𝑐 = 1/𝑁
= = 0.24𝜋
𝜀 0.4841/2
𝑠
𝑠=
Ω𝑐
1
𝐻 (𝑠 ) = 𝑠 𝑠 𝑠 𝑠
((Ω𝑐 )2 + 0.76537 Ω𝑐 + 1)((Ω𝑐)2 + 1.8477 Ω𝑐 + 1)
IIR Filter design

Ω𝑐 4
𝐻 (𝑠 ) = 2
(𝑠 + 0.76537𝑠Ω𝑐 + Ω𝑐 2 )(𝑠 2 + 1.8477𝑠Ω𝑐 + Ω𝑐 2 )
Substitute Ω𝑐 → 0.24𝜋
0.323
𝐻 (𝑠 ) =
(𝑠 2 + 0.577𝑠 + 0.0579𝜋 2 )(𝑠 2+ 1.8477𝑠Ω𝑐 + 0.0576𝜋 2 )
Example 3.12 Design an analog Butterworth filter that has a -2dB passband attenuation at a
frequency of 20 rad/sec and atleast – 10dB stopband attenuation at 30 rad/sec.
Given
αp = 2 dB; αs = 10 dB; Ωp= 20 rad/sec ; Ωs= 30 rad/sec
To find:
Design an analog Butterworth filter
Formulas to be used:
𝜆
𝑙𝑜𝑔 𝜀
𝑁≥
Ω𝑠
𝜆 = √100.1𝛼𝑠 − 1
𝜀 = √100.1𝛼𝑝 − 1
Ω𝑝
Ω𝑐 =
𝜀 1/𝑁
𝑠
𝑠=
Ω𝑐
Solution:
√101 − 1
𝑙𝑜𝑔
𝑁≥ √100.2 − 1 = 3.37
30
𝑙𝑜𝑔 20
N=4
The normalized low pass filter Butterworth filter for N=4 can be found from table as
1
𝐻 (𝑠 ) =
(𝑠 2 + 0.76537𝑠 + 1)(𝑠 2 + 1.8477𝑠 + 1)
Ω𝑝 20
Ω𝑐 = = = 21.3868
𝜀 1/𝑁 0.5851/2
𝑠
𝑠=
Ω𝑐
IIR Filter design

1
𝐻 (𝑠 ) = 𝑠 2 𝑠 𝑠 𝑠
(( ) + 0.76537 + 1)(( )2 + 1.8477 + 1)
Ω𝑐 Ω𝑐 Ω𝑐 Ω𝑐
21.38684
𝐻 (𝑠 ) =
(𝑠 2 + 0.76537𝑠 ∗ 21.3868 + 21.38682 )(𝑠 2 + 1.8477𝑠 ∗ 21.3868 + 21.38682 )
21.38684
𝐻 (𝑠 ) =
(𝑠 2 + 16.3686𝑠 + 457.392)(𝑠 2 + 39.5176 + 457.392)
3.2.2 Steps to design an analog Chebyshev low pass filter

1. From the given specifications find the order of the filter N.
2. Round off it to the next higher integer.
3. Using following formulas find the values of a and b , which are minor and major
axis of the ellipse respectively
𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ] 𝜇 1/𝑁 + 𝜇 −1/𝑁
2 𝑏 = Ω𝑝 [ ]
2
Where
𝜇 = 𝜀 −1 + √1 + 𝜀 −2
𝜀 = √100.1𝛼𝑝 − 1
4. Calculate the poles of Chebyshev filter which lie on ellipse by using the formula.
𝜋 (2𝑘−1)𝜋
𝜙𝑘 = +
2 2𝑁
5. Find the denominator polynomial of the transfer function using the above poles.
6. The numerator of the transfer function depends on the value of N.

a) For N odd substitute s=0 in the denominator polynomial and find the value
. This value is equal to the numerator of the transfer function.
b) For N even substitute s=0 in the denominator polynomial and divide the
results by √1 + 𝜀 2 . This value is equal to the numerator.
IIR Filter design

Example 3.13 Given the specification αp = 3 dB; αs = 16 dB; fp= 1KHz; fs= 2KHz.
Determine the order of the filter using Chebyshev approximation. Find H(s).
Given:
αp = 3 dB; αs = 16 dB; fp= 1KHz; fs= 2KHz
To find:
H(s) using Chebyshev
𝜆
cosh−1 𝜀
𝑁≥
Ω𝑠
cosh−1 Ω𝑝
𝜆 = √100.1𝛼𝑠 − 1
𝜀 = √100.1𝛼𝑝 − 1
𝜇 = 𝜀 −1 + √1 + 𝜀 −2
𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ]
2
𝜇 1/𝑁 + 𝜇 −1/𝑁
𝑏 = Ω𝑝 [ 2
𝜋 (2𝑘−1)𝜋
𝜙𝑘 = +
2 2𝑁
Solution:
Ωp=2π x 1000 = 2000π Ωs=2π x 2000 = 4000π
√101.6 − 1
cosh−1
𝑁≥ √100.3 − 1 = 1.91
4000𝜋
cosh−1 2000𝜋
Rounding of N to next higher value we get N = 2
𝜀 = √100.3 − 1 = 1
𝜇 = 𝜀 −1 + √1 + 𝜀 −2 = 2.414
𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ] = 910π
2
𝜇 1/𝑁 + 𝜇 −1/𝑁
𝑏 = Ω𝑝 [ ]= 2197π
2
𝑠𝑘 = 𝑎𝑐𝑜𝑠𝜙𝑘 + 𝑗𝑏𝑠𝑖𝑛𝜙𝑘 k=1,2
IIR Filter design

𝜋 (2𝑘 − 1)𝜋
𝜙𝑘 = +
2 2𝑁
𝜋 𝜋
𝜙1 = + = 3𝜋/4
2 4
𝜋 3𝜋
𝜙2 = + = 5𝜋/4
2 4
𝑠1 = 𝑎𝑐𝑜𝑠𝜙1 + 𝑗𝑏𝑠𝑖𝑛𝜙1 = -643.46π + j1554π
𝑠2 = 𝑎𝑐𝑜𝑠𝜙2 + 𝑗𝑏𝑠𝑖𝑛𝜙2 = -643.46π - j1554π
(S+643.46π - j1554π) (S+643.46π + j1554π)
The denominator of H(s)=( S+643.46π)2 – (j1554π)2
N is even so put s=0 to above equation
Numerator of
(643.46𝜋) + (1554𝜋)2
2
H(s) = = (1414.38𝜋)2
√1 + 𝜀 2
The transfer function is
(1414.38𝜋)2
𝐻 (𝑠 ) =
(𝑠 2 + 1287𝜋𝑠 + (1682𝜋)2 )
Example 3.14 For the given specifications design an analog Butterworth filter.
1
≤ |𝐻(𝑗Ω)|≤1 for 0≤Ω≤2.
√2
|𝐻(𝑗Ω)|≤0.1 for Ω≥4.
0.9 ≤ |𝐻(𝑗Ω)|≤1 for 0≤Ω≤0.2π.
|𝐻(𝑗Ω)|≤0.2 for 0.4π≤Ω≤π.
1 1 Ωp=2 Ωs=4
= 1
√1 + 𝜀2 √2 = 0.1
√1 + 𝜆2
To find:
H(s) using Chebyshev
IIR Filter design

𝜆
cosh−1 𝜀
𝑁≥
Ω𝑠
cosh−1 Ω𝑝
𝜆 = √100.1𝛼𝑠 − 1
𝜀 = √100.1𝛼𝑝 − 1
𝜇 = 𝜀 −1 + √1 + 𝜀 −2
𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ]
2
𝜇 1/𝑁 + 𝜇 −1/𝑁
𝑏 = Ω𝑝 [
2
𝜋 (2𝑘−1)𝜋
𝜙𝑘 = +
2 2𝑁
Solution:
1 1 1
= = 0.1
√1 + 𝜀 2 √2 √1 + 𝜆2
2 2
1 2
1
( ) = 0.707 ( ) = 0.12
√1 + 𝜀 2 √1 + 𝜆2
1 1
2
= 1 + 𝜀2 2
= = 1 + 𝜆2
0.707 0.1
2=1+𝜀 2 100=1+𝜆2
𝜀2 = 2 − 1 𝜆2 = 100 − 1
𝜀2 = 1 𝜆2 = 99
ε = √1 λ = √99
𝜀=1 𝜆 = 9.95
9.95
cosh−1 1
≥ = 2.269
4
cosh−1 2
Rounding of N to next higher value we get N = 3
𝜇 = 𝜀 −1 + √1 + 𝜀 −2 = 2.414
𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ] = 0.596
2
IIR Filter design

𝜇 1/𝑁 + 𝜇 −1/𝑁
𝑏 = Ω𝑝 [ ]= 2.067
2
𝑠𝑘 = 𝑎𝑐𝑜𝑠𝜙𝑘 + 𝑗𝑏𝑠𝑖𝑛𝜙𝑘 k=1,2.3

𝜋 (2𝑘 − 1)𝜋
𝜙𝑘 = +
2 2𝑁
𝜋 𝜋
𝜙1 = + = 4𝜋/6
2 6
𝜋 3𝜋
𝜙2 = + =𝜋
2 6
𝜋 5𝜋
𝜙3 = + = 8𝜋/6
2 6
𝑠1 = 𝑎𝑐𝑜𝑠𝜙1 + 𝑗𝑏𝑠𝑖𝑛𝜙1 = -0.298 + j1.807

𝑠2 = 𝑎𝑐𝑜𝑠𝜙2 + 𝑗𝑏𝑠𝑖𝑛𝜙2 = -0.596
𝑠3 = 𝑎𝑐𝑜𝑠𝜙3 + 𝑗𝑏𝑠𝑖𝑛𝜙3 = -0.298 + j1.807
The denominator of H(s) is
(s+0.596)(s+0.298 - j1.807) (s+0.298 + j1.807)
The denominator of H(s)= (s+0.596) ((s+0.298)2 – (j1.807)2
Numerator of
0.596 ∗ (0.298)2 + (1.807)2
H(s) = =2
√1 + 𝜀 2
2
𝐻 (𝑠 ) =
(s + 0.596)(𝑠 2 + 0.596𝑠 + 3.354)
IIR Filter design

3.3 Digital Filter Design

Steps Bilinear Transformation Impulse Invariance Method
If the given problem like below 0.9 ≤ |𝐻(𝑒 𝑗𝜔 )|≤1 for 0≤ω≤0.2π.
Passband attenuation αp = 1 dB;
Stopband attenuation αs = 30 dB; |𝐻(𝑒 𝑗𝜔 )|≤0.2 for 0.4π≤ω≤π.
Passband frequency ωp= 200 rad/sec ;
1 Stopband frequency ωs= 600 rad/sec 1 1
= 0.9 = 0.2
(OR) √1 + 𝜀 2 √1 + 𝜆2
If the given problem in fs= 600 Hz ωp=0.2π ωs=0.4π
means need to use this formula
ωs=2πfs and ωp=2πfp
𝜔𝑝
𝜆 = √100.1𝛼𝑠 − 1 Ω𝑝 =
𝑇
𝜀 = √100.1𝛼𝑝 − 1 𝜔𝑆
2 𝜔𝑝 Ω𝑠 =
2 Ω𝑝 = tan 𝑇
𝑇 2
2 𝜔𝑠
Ω𝑠 = tan
𝑇 2
𝜆 𝑪𝒉𝒆𝒃𝒚𝒔𝒉𝒆𝒗 𝒇𝒊𝒍𝒕𝒆𝒓
𝑙𝑜𝑔 𝜀
𝑩𝒖𝒕𝒕𝒆𝒓𝒘𝒐𝒓𝒕𝒉 𝒇𝒊𝒍𝒕𝒆𝒓 𝑁 ≥ 𝜆
Ω𝑠 cosh−1 𝜀
𝑙𝑜𝑔 Ω𝑝 𝑁≥
3 Ω𝑠
Round off the N value to the next integer cosh−1 Ω𝑝
Round off the N value to the next
integer
Butterworth Filter Chebyshev filter
𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ]
2
𝜇 1/𝑁 + 𝜇 −1/𝑁
𝑏 = Ω𝑝 [ ]
2
𝜋 (2𝑘 − 1)𝜋
4 𝜙𝑘 = +
2 2𝑁
From this calculate Denominator

H(s)
Low pass filter High Pass filter To find numerator

If N is Even
𝒔 Ω𝒄 Substitute s=0 in the denominator of
𝒔→ 𝒔→ H(s) and divide by
Ω𝒄 𝒔
5 √1 + 𝜀 −2
If N is Odd
Ω𝒑 Substitute s=0 in the denominator of
Ω𝒄 =
(𝜺)𝟏/𝑵 H(s)
IIR Filter design

H(s) is converted to H(z) by 𝑁

𝐶𝑘
s is replaced by 𝐻 (𝑠 ) = ∑
s − 𝑃𝑘
𝟐( 𝟏 − 𝒁−𝟏 ) 𝑘=1
𝒔→
𝑻 (𝟏 + 𝒁−𝟏 )
6
𝑁
𝑇𝐶𝑘
𝐻 (𝑧 ) = ∑
1 − 𝑒 𝑃𝑘 𝑇 𝑍 −1
𝑘=1
3.3.1 Steps for Conversion Analog filter to Digital filter using Impulse Invariance
Method:
1. For the given specifications, find Ha (s) the transfer function of an analog filter.
2. Select the sampling rate of the digital filter, T seconds per sample.
3. Express the analog filter transfer function as the sum of single pole filters
𝑁
𝐶𝑘
𝐻 (𝑠 ) = ∑
s − 𝑃𝑘
𝑘=1
4. Compute the z-transform of the digital filter by using the formula,

𝑁
𝐶𝑘
𝐻 (𝑧 ) = ∑
1 − 𝑒 𝑃𝑘 𝑇 𝑍 −1
𝑘=1
2
Example 3.15 For the analog transfer function 𝐻 (𝑠) = (𝑠+1)(𝑠+2) Determine H(z) using
impulse invariance method. Assume T=1 sec.
Given
2
𝐻 (𝑠 ) =
(𝑠 + 1)(𝑠 + 2)
Solution:
Using partial fraction we can write
𝐴 𝐵
𝐻 (𝑠 ) = +
𝑠+1 𝑠+2
2 𝐴(𝑠 + 2) + 𝐵(𝑠 + 1)
=
(𝑠 + 1)(𝑠 + 2) (𝑠 + 1)(𝑠 + 2)
2 = 𝐴(𝑠 + 2) + 𝐵(𝑠 + 1)|𝑠 = −1 𝐴=2

2 = 𝐴(−1 + 2) + 𝐵 (−1 + 1) 2 = 𝐴(𝑠 + 2) + 𝐵(𝑠 + 1)|𝑠 = −2
2 = 𝐴 (1) + 𝐵 (0) 2 = 𝐴(−2 + 2) + 𝐵 (−2 + 1)
IIR Filter design

2 = 𝐴(0) + 𝐵(−1) 𝐵 = −2
2 2
𝐻 (𝑠 ) = −
𝑠+1 𝑠+2
2 2
𝐻 (𝑠 ) = −
𝑠 − (−1) 𝑠 − (−2)
Using impulse invariance method we have , if
𝑁
𝐶𝑘
𝐻 (𝑠 ) = ∑
s − 𝑃𝑘
𝑘=1
Then
𝑁
𝐶𝑘
𝐻 (𝑧 ) = ∑
1 − 𝑒 𝑃𝑘 𝑇 𝑍 −1
𝑘=1
P1 = -1 and P2 = -2 so
2 2
𝐻 (𝑧 ) = −𝑇 −1
− −2𝑇
1− 𝑒 𝑍 1− 𝑒 𝑍 −1
For T=1 sec

2 2
𝐻 (𝑧 ) = −1 −1
−
1− 𝑒 𝑍 1 − 𝑒 −2 𝑍 −1
2 2
𝐻 (𝑧 ) = −1
−
1 − 0.3678𝑍 1 − 0.1353𝑍 −1
2(1 − 0.1353𝑍 −1 ) − 2(1 − 0.3678𝑍 −1 )
𝐻 (𝑧 ) =
(1 − 0.3678𝑍 −1 )(1 − 0.1353𝑍−1 )
(2 − 0.2706𝑍−1 ) − 2 + 0.7356𝑍 −1
𝐻 (𝑧 ) =
1 − 0.3678𝑍 −1 − 0.1353𝑍 −1 + 0.0497𝑍−2
0.465𝑍 −1
𝐻 (𝑧 ) =
1 − 0.5031𝑍 −1 + 0.0497𝑍−2
Example 3.16 An analog transfer function
10
𝐻 (𝑠 ) =
(𝑠 2
+ 7𝑠 + 10)
Design a digital filter equivalent to this using impulse invariance method. Assume T=0.2 sec.
Given
10
𝐻 (𝑠 ) =
(𝑠 + 5)(𝑠 + 2)
Solution:
IIR Filter design

Using partial fraction we can write

𝐴 𝐵
𝐻 (𝑠 ) = +
𝑠+5 𝑠+2
10 𝐴(𝑠 + 2) + 𝐵(𝑠 + 5)
=
(𝑠 + 5)(𝑠 + 2) (𝑠 + 5)(𝑠 + 2)
10 = 𝐴(𝑠 + 2) + 𝐵(𝑠 + 5)|𝑠 = −5 10 = 𝐴(𝑠 + 2) + 𝐵(𝑠 + 5)|𝑠 = −2

10 = 𝐴(−5 + 2) + 𝐵(−5 + 5) 10 = 𝐴(−2 + 2) + 𝐵(−2 + 5)
10 = 𝐴(−3) + 𝐵(0) 10 = 𝐴(0) + 𝐵(3)
10 10
𝐴=− = −3.33 𝐵= = 3.33
3 3
3.33 3.33
𝐻 (𝑠 ) = − +
𝑠+5 𝑠+2
−3.33 3.33
𝐻 (𝑠 ) = +
𝑠 − (−5) 𝑠 − (−2)
𝑁
𝐶𝑘
𝐻 (𝑠 ) = ∑
s − 𝑃𝑘
𝑘=1
Then
𝑁
𝑇𝐶𝑘
𝐻 (𝑧 ) = ∑
1 − 𝑒 𝑃𝑘 𝑇 𝑍 −1
𝑘=1
For T=0.2 sec P1 = -5 and P2 = -2 so

(0.2 ∗ −3.33) (0.2 ∗ 3.33)
𝐻 (𝑧 ) = (−5∗0.2) −1
+
1− 𝑒 𝑍 1 − 𝑒 (−2∗0.2) 𝑍 −1
−0.666 0.666
𝐻 (𝑧 ) = −1
+
1 − 0.3678𝑍 1 − 0.67𝑍 −1
−0.666(1 − 0.67𝑍 −1 ) + 0.666(1 − 0.3678𝑍 −1 )
𝐻 (𝑧 ) =
(1 − 0.3678𝑍−1 )(1 − 0.67𝑍 −1 )
(−0.666 + 0.446𝑍 −1 ) + 0.666 − 0.245𝑍 −1
𝐻 (𝑧 ) =
1 − 0.3678𝑍−1 − 0.67𝑍 −1 + 0.246𝑍 −2
0.201𝑍 −1
𝐻 (𝑧 ) =
1 − 1.0378𝑍 −1 + 0.246𝑍 −2
IIR Filter design

Example 3.17 Design a third order Butterworth digital filter using impulse invariance
technique. Assume sampling period T=1 sec.
Given
N=3
So the transfer function of a normalized Butterworth filter is given by
1
𝐻 (𝑠 ) =
(s + 1)(𝑠 2 + 𝑠 + 1)
1
𝐻 (𝑠 ) =
(s + 1)(𝑠 + 0.5 + 𝑗0.866)(𝑠 + 0.5 − 0.866)
𝐴 𝐵 𝐶
𝐻 (𝑠 ) = + +
𝑠 + 1 𝑠 + 0.5 + 𝑗0.866 𝑠 + 0.5 − 𝑗0.866
1 1
𝐴 = (𝑠 + 1) | 𝑠 = −1 = =1
(s + 1)(𝑠 2 + 𝑠 + 1) ((−1)2 + (−1) + 1)
1
𝐵 = (𝑠 + 0.5 + 𝑗0.866) | 𝑠 = −0.5 − 𝑗0.866
(s + 1)(𝑠 + 0.5 + 𝑗0.866)(𝑠 + 0.5 − 0.866)
1
𝐵= = −0.5 + 𝑗0.288
(−0.5 − 𝑗0.866 + 1)(−0.5 − 𝑗0.866 + 0.5 − 0.866)
C=B*=-0.5-j0.288
Hence
1 −0.5 + 𝑗0.288 −0.5 − j0.288
𝐻 (𝑠 ) = + +
𝑠 + 1 𝑠 + 0.5 + 𝑗0.866 𝑠 + 0.5 − 𝑗0.866
1 −0.5 + 𝑗0.288 −0.5 − j0.288
𝐻 (𝑠 ) = + +
𝑠 − (−1) 𝑠 − (−0.5 − 𝑗0.866) 𝑠 − (−0.5 + 𝑗0.866)
P1=-1 ,P2=-0.5-j0.866 and P3=-0.5+j0.866
𝑁
𝐶𝑘
𝐻 (𝑠 ) = ∑
s − 𝑃𝑘
𝑘=1
IIR Filter design

Then
𝑁
𝑇𝐶𝑘
𝐻 (𝑧 ) = ∑
1 − 𝑒 𝑃𝑘 𝑇 𝑍 −1
𝑘=1
1 −0.5 + 𝑗0.288 −0.5 − 𝑗0.288

𝐻 (𝑧 ) = + +
1 − 𝑒 −1 𝑍 −1 1 − 𝑒 −0.5−𝑗0.866 𝑍 −1 1 − 𝑒 −0.5+𝑗0.866 𝑍 −1
1
𝐻 (𝑧 ) =
1 − 0.368𝑍−1
−0.5 + 𝑗0.288(1 − 𝑒 −0.5+𝑗0.866 𝑍 −1 ) − 0.5 − 𝑗0.288(1 − 𝑒 −0.5−𝑗0.866 𝑍 −1 )
+
(1 − 𝑒 −0.5−𝑗0.866 𝑍 −1 )(1 − 𝑒 −0.5+𝑗0.866 𝑍 −1 )
−1 + 𝑗0.288 − 𝑗0.288 ∗ 𝑒 −0.5 𝑒 𝑗0.866 − 𝑗0.288 + 𝑗0.288 ∗ 𝑒 −0.5 𝑒 −𝑗0.866

(1 − 𝑒 −0.5 𝑒 −𝑗0.866 𝑍 −1 )(1 − 𝑒 −0.5 𝑒 𝑗0.866 𝑍 −1 )
−1 + 𝑗0.288 − 𝑗0.175𝑍−1 𝑒 𝑗0.866 − 𝑗0.288 + 𝑗0.175𝑍−1 𝑒 −𝑗0.866
(1 − 0.606𝑒 −𝑗0.866 𝑍 −1 )(1 − 0.606𝑒 𝑗0.866 𝑍 −1 )
−1 − 𝑗0.175𝑍−1 (𝑒 𝑗0.866 − 𝑒 −𝑗0.866 )

1 − 0.606𝑒 −𝑗0.866 𝑍 −1 − 0.606𝑒 𝑗0.866 𝑍 −1 + 0.367𝑍−2
−1 − 𝑗0.175𝑍−1 (𝑒 𝑗0.866 − 𝑒 −𝑗0.866 )

1 − 0.606𝑍−1 (𝑒 −𝑗0.866 + 𝑒 𝑗0.866 ) + 0.367𝑍 −2
−1 − 𝑗0.175𝑍−1 ∗ 2𝑠𝑖𝑛0.866
1 − 0.606𝑍 −1 ∗ 2𝑐𝑜𝑠0.866 + 0.367𝑍−2
1 −1 + 0.266𝑍 −1
𝐻 (𝑧 ) = +
1 − 0.368𝑍 −1 1 − 0.785𝑍 −1 + 0.367𝑍−2
3.3.2 Steps to design digital filter using bilinear transform technique
1. From the given specification , find prewarping analog frequencies using formula
2 𝜔
Ω = tan
𝑇 2
2. Using the analog frequencies find H(s) of the analog filter
3. Select the sampling rate of the digital filter , call it T seconds per sample
2 (1−𝑍 −1)
4. Substitute 𝑠 = in to the transfer function found in step 2
𝑇(1+𝑍 −1)
IIR Filter design

Example 3.18 Apply bilinear transformation to

2
𝐻 (𝑠 ) =
(𝑠 + 1)(𝑠 + 2)
with T=1 sec and find H(z)
Given
2
𝐻 (𝑠 ) =
(𝑠 + 1)(𝑠 + 2)
Substitute
2 (1 − 𝑍 −1 )
𝑠=
𝑇(1 + 𝑍 −1 )
In H(s) to get H(z)
2 (1−𝑍 −1)
H(z)=H(s)|s= 𝑇(1+𝑍 −1)
2
𝐻 (𝑧 ) =
2 (1 − 𝑍 −1 ) 2 (1 − 𝑍 −1 )
{ −1 + 1} { + 2}
𝑇 (1 + 𝑍 ) 𝑇 (1 + 𝑍 −1 )
Assume T=1
2(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
{2(1 − 𝑍 −1 ) + (1 + 𝑍 −1 )}{2(1 − 𝑍 −1 ) + 2(1 + 𝑍 −1 )}
2(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
{2 − 2𝑍 −1 + 1 + 𝑍 −1 }{2 − 2𝑍 −1 + 2 + 2𝑍 −1 }
2(1 + 𝑍 −1 )2
𝐻 (𝑠 ) =
{3 − 𝑍 −1 }{4}
2(1 + 𝑍 −1 )2 2(1 + 𝑍 −1 )2
𝐻 (𝑧 ) = =
{12 − 4𝑍 −1 } 12{1 − 0.33𝑍 −1 }
0.166(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
1 − 0.33𝑍 −1
Example 3.19 Using the bilinear transform , design a highpass filter , monotonic in passband
with cutoff frequency of 1000Hz and down 10dB at 350Hz. The sampling frequency is
5000Hz.
Given:
αp = 3 dB; αs = 10 dB; fp= 1000 Hz ; fs= 350 Hz , f=5000 Hz
To find:
Design a high pass filter using bilinear transformation
IIR Filter design

1
𝑇=
𝑓
𝜔𝑝 = 2𝜋𝑓𝑝 = 2000𝜋 𝑟𝑎𝑑/𝑠𝑒𝑐
𝜔𝑠 = 2𝜋𝑓𝑠 = 700𝜋 𝑟𝑎𝑑/𝑠𝑒𝑐
2 𝜔𝑝 𝑇
Ω𝑝 = tan
𝑇 2
2 𝜔𝑠 𝑇
Ω𝑠 = tan
𝑇 2
𝜆
𝑙𝑜𝑔 𝜀
𝑁≥
Ω𝑠
𝜆 = √100.1𝛼𝑠 − 1
𝜀 = √100.1𝛼𝑝 − 1
Solution:
1
𝑇= = 2𝑋10−4 𝑠𝑒𝑐
5000
2 (2000𝜋)(2𝑋10−4 )
Ω𝑝 = tan = 7265 𝑟𝑎𝑑/𝑠𝑒𝑐
2𝑋10−4 2
2 (700𝜋)(2𝑋10−4 )
Ω𝑠 = tan = 2235 𝑟𝑎𝑑/𝑠𝑒𝑐
2𝑋10−4 2
√100.1𝛼𝑠 − 1
𝑙𝑜𝑔
√100.1𝛼𝑝 − 1 log 3
𝑁≥ = = 0.932
7265 log 3.25
𝑙𝑜𝑔 2235
We take , N=1
1
𝐻 (𝑠 ) =
𝑠+1
The high pass filter for Ωc=Ωp=7265 rad/sec can be obtained by using the transfer function
IIR Filter design

Ω𝑐
𝑠→
𝑠
1 𝑠
𝐻 (𝑠 ) = =
Ω𝑐 𝑠 + Ω𝑐
𝑠 +1
𝑠
𝐻 (𝑠 ) =
𝑠 + 7265
Using bilinear Transformation
2 (1 − 𝑍 −1 )
𝑠=
𝑇(1 + 𝑍 −1 )
2 (1 − 𝑍 −1 )
2𝑋10−4 (1 + 𝑍 −1 )
𝐻 (𝑧 ) =
2 (1 − 𝑍 −1 )
+ 7265
2𝑋10−4 (1 + 𝑍 −1 )
(1 − 𝑍 −1 )
10000
(1 + 𝑍 −1 )
𝐻 (𝑧 ) =
(1 − 𝑍 −1 )
10000 + 7265
(1 + 𝑍 −1 )
(1 − 𝑍 −1 )
𝐻 (𝑧 ) =
(1 − 𝑍 −1 ) + 7265(1 + 𝑍 −1 )
0.5792(1 − 𝑍 −1 )
𝐻 (𝑧 ) =
1 − 0.1584𝑍 −1
Example 3.20 Design a digital Butterworth filter satisfying the constraints
𝜋
0.707 ≤ |𝐻(𝑒 −𝑖𝜔 )|≤ 1 for 0 ≤ ω ≤
2
3𝜋
|𝐻(𝑒 −𝑖𝜔 )| ≤ 0.2 for ≤ ω ≤π.
4
With T=1 sec using a) Bilinear transformation
Given:
𝜋 3𝜋
Ω𝑝 = Ωs=
2 4
IIR Filter design

To find:
Digital Butterworth filter using bilinear transformation
2 𝜔𝑝
Ω𝑝 = tan
𝑇 2
2 𝜔𝑠
Ω𝑠 = tan
𝑇 2
𝜆
𝑙𝑜𝑔 𝜀
𝑁≥
Ω𝑠
Ω𝑝
Ω𝑐 =
𝜀 1/𝑁
Solution:
Assume T=1
2 𝜔𝑝
Ω𝑝 = tan =2
𝑇 2
2 𝜔𝑠
Ω𝑠 = tan = 4.828
𝑇 2
1 1
= 0.707 = 0.2
√1 + 𝜀 2 √1 + 𝜆2
2 2
1 2
1
( ) = 0.707 ( ) = 0.22
√1 + 𝜀 2 √1 + 𝜆2
1 1
= 1 + 𝜀2 = = 1 + 𝜆2
0.7072 0.22
2=1+𝜀 2 25=1+𝜆2
𝜀2 = 2 − 1 𝜆2 = 25 − 1
𝜀2 = 1 𝜆2 = 24
ε = √1 λ = √24
𝜀=1 𝜆 = 4.898
IIR Filter design

𝜆
𝑙𝑜𝑔 𝜀
𝑁≥ = 1.803
Ω𝑠
𝑙𝑜𝑔
Ω𝑝
Rounding N to nearest higher value we get N=2
Ω𝑝
Ω𝑐 = =2
𝜀 1/𝑁
The transfer function of second order normalized Butterworth filter is
1
𝐻 (𝑠 ) =
(𝑠 2 + √2𝑠 + 1)
𝑠
𝑠→
Ω𝑐
1
𝐻 (𝑠 ) = 𝑠 2 𝑠
( ) + √2 + 1)
Ω𝑐 Ω𝑐
Ω𝑐 2
𝐻 (𝑠 ) =
𝑠 2 + √2𝑠 + Ω𝑐 2
4
𝐻 (𝑠 ) =
𝑠2 + 2.828𝑠 + 4
Using bilinear transformation , Assume T=1
2 (1 − 𝑍 −1 )
𝑠=
𝑇(1 + 𝑍 −1 )
4
𝐻 (𝑧 ) = 2
2 (1 − 𝑍 −1 ) 2 (1 − 𝑍 −1 )
{ } + 2.828 { ( }+4
(1 + 𝑍 −1 ) 1 + 𝑍 −1 )
4(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
4(1 − 𝑍 −1 )2 + 5.656(1 − 𝑍 −2 ) + 4(1 + 𝑍 −1 )2
4(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
4 − 8𝑍 −1 + 4𝑍 −2 + 5.656 − 5.656𝑍−2 + 4+8𝑍 −1 + 4𝑍 −2
IIR Filter design

4(1 + 𝑍 −1 )2 4(1 + 𝑍 −1 )2
𝐻 (𝑧 ) = =
13.656 + 2.344 𝑍 −2 13.656(1 + 0.1716 𝑍 −2 )
0.2929(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
1 + 0.1716 𝑍 −2
Example 3.21 Design a digital Butterworth filter satisfying the constraints
𝜋
0.707 ≤ |𝐻(𝑒 −𝑖𝜔 )|≤ 1 for 0 ≤ ω ≤
2
3𝜋
|𝐻(𝑒 −𝑖𝜔 )| ≤ 0.2 for ≤ ω ≤π.
4
With T=1 sec using Impulse Invariance Method
Given:
𝜋 3𝜋
Ω𝑝 = Ωs=
2 4
To find:
Digital Butterworth filter using bilinear transformation
𝜔𝑝
Ω𝑝 =
𝑇
𝜔𝑠
Ω𝑠 =
𝑇
𝜆
𝑙𝑜𝑔 𝜀
𝑁≥
Ω𝑠
Ω𝑝
Ω𝑐 = 1/𝑁
𝜀
Solution:
𝜔𝑝 𝜋 𝜔𝑠 3𝜋
Ω𝑝 = = Ω𝑠 = =
𝑇 2 𝑇 4
1 1
= 0.707 = 1 + 𝜀2
√1 + 𝜀2 0.7072
Take Square on both sides 2=1+𝜀 2
1 2 𝜀2 = 2 − 1
2
( ) = 0.707
√1 + 𝜀 2 𝜀2 = 1
IIR Filter design

ε = √1 1
2
= = 1 + 𝜆2
0.2
𝜀=1 25=1+𝜆2
1 𝜆2 = 25 − 1
= 0.2
√1 + 𝜆2
𝜆2 = 24
Take Square on both sides
2
λ = √24
1
( ) = 0.22 𝜆 = 4.898
√1 + 𝜆2
𝜆
𝑙𝑜𝑔 𝜀
𝑁≥ = 3.924
Ω𝑠
Rounding N to nearest higher value we get N=4

Ω𝑝
Ω𝑐 = = 1.57
𝜀 1/𝑁
From the table , for N=4 the transfer function of normalized Butterworth filter is
1
𝐻 (𝑠 ) =
(𝑠 2 + 0.76537𝑠 + 1)(𝑠 2 + 1.8477𝑠 + 1)
𝑠
𝑠 → Ω𝑐
1
𝐻 (𝑠 ) = 𝑠 2 𝑠 𝑠 𝑠
((Ω𝑐 ) + 0.76537 Ω𝑐 + 1)((Ω𝑐)2 + 1.8477 Ω𝑐 + 1)
Ω𝑐 4
𝐻 (𝑠 ) =
(𝑠 2 + 0.76537𝑠Ω𝑐 + Ω𝑐 2 )(𝑠 2 + 1.8477𝑠Ω𝑐 + Ω𝑐 2 )
Substitute Ω𝑐 → 1.57
6.07
𝐻 (𝑠 ) =
(𝑠 2 + 1.202𝑠 + 2.465)(𝑠 2 + 2.90𝑠 + 2.465)
IIR Filter design

IIR Filter design

1.454 + 0.1839𝑧 −1 −1.454 + 0.2307𝑧 −1

𝐻 (𝑧 ) = +
1 − 0.387𝑧 −1 + 0.055𝑧 −2 1 − 0.1322𝑧 −1 + 0.301𝑧 −2
Example 3.22 Determine the system function H(z) of the lowest order Butterworth digital filter
with following specification.
a) 3dB ripple in pass band 0 ≤ 𝜔 ≤ 0.2𝜋
b) 25dB attenuation in stop band 0.45𝜋 ≤ 𝜔 ≤ 𝜋
Given:
αp = 3 dB; αs = 25 dB; ωp= 0.2𝜋; ωs= 0.45𝜋
To find:
Determine the system function H(z) of the lowest order Butterworth digital filter using
bilinear transformation.
𝜆
𝑙𝑜𝑔 𝜀
𝑁≥
Ω𝑠
𝜆 = √100.1𝛼𝑠 − 1
𝜀 = √100.1𝛼𝑝 − 1
2 𝜔𝑝
Ω𝑝 = tan
𝑇 2
2 𝜔𝑠
Ω𝑠 = tan
𝑇 2
Ω𝑝
Ω𝑐 =
𝜀 1/𝑁
IIR Filter design

𝑠
𝑠=
Ω𝑐
2 (1 − 𝑍 −1 )
𝑠=
𝑇(1 + 𝑍 −1 )
Solution:
2 𝜔𝑝
Ω𝑝 = tan = 0.65
𝑇 2
2 𝜔𝑠
Ω𝑠 = tan = 1.71
𝑇 2
√100.1𝛼𝑠 − 1
𝑙𝑜𝑔
√100.1𝛼𝑝 − 1
𝑁≥ = 2.97
Ω𝑠
Rounding off the N value into next higher integer N=3
𝜀 = √100.1𝛼𝑝 − 1 = 1
Ω𝑝
Ω𝑐 = = 0.65
𝜀 1/𝑁
1
𝐻 (𝑠 ) =
(s + 1)(𝑠 2 + 𝑠 + 1)
𝑠
𝑠=
Ω𝑐
1
𝐻 (𝑠 ) = s s s
(Ω𝑐 + 1)((Ω𝑐)2 + Ω𝑐 + 1)
Ω𝑐 3
𝐻 (𝑠 ) =
(s + Ω𝑐)(𝑠 2 + Ω𝑐𝑠 + Ω𝑐 2 )
0.275
𝐻 (𝑠 ) =
(s + 0.65)(𝑠 2 + 0.65𝑠 + 0.4225)
2 (1−𝑍 −1)
H(z)=H(s)| 𝑠 = 𝑇(1+𝑍 −1)
IIR Filter design

0.275
𝐻 (𝑧 ) = 2
2 (1 − 𝑍 −1 ) 2 (1 − 𝑍 −1 ) 2 (1 − 𝑍 −1 )
( + 0.65)({ } + 0.65 + 0.4225)
(1 + 𝑍 −1 ) (1 + 𝑍 −1 ) (1 + 𝑍 −1 )
𝐻 (𝑧 )
0.275(1 + 𝑍 −1 )3
=
[2(1 − 𝑍 −1 ) + 0.65(1 + 𝑍 −1 )][4(1 − 𝑍 −1 )2 + 0.65(1 − 𝑍 −2 ) + 0.4225(1 + 𝑍 −1 )2
𝐻 (𝑧 )
0.275(1 + 𝑍 −1 )3
=
(2.65 − 1.35𝑍 −1 )(4 − 8𝑍 −1 + 4𝑍 −2 + 0.65 + 0.65𝑍 −2 + 0.4225 + 0.4225𝑍 −2 + 0.845𝑍 −1 )
0.275(1 + 𝑍 −1 )3
𝐻 (𝑠 ) =
(2.65 − 1.35𝑍 −1 )(5.0725 − 7.155𝑍−1 + 3.7725𝑍 −2 )
0.275(1 + 𝑍 −1 )3
𝐻 (𝑧 ) =
2.62(1 − 0.51𝑍 −1 )5.0725(1 − 1.41𝑍 −1 + 0.751𝑍−2 )
0.02066(1 + 𝑍 −1 )3
𝐻 (𝑧 ) =
(1 − 0.51𝑍 −1 )(1 − 1.41𝑍 −1 + 0.751𝑍−2 )
Example 3.23 Determine the system function H(z) of the lowest order Chebyshev digital filter
with following specification.
a) 3dB ripple in pass band 0 ≤ 𝜔 ≤ 0.2𝜋
b) 25dB attenuation in stop band 0.45𝜋 ≤ 𝜔 ≤ 𝜋
Given:
αp = 3 dB; αs = 25 dB; ωp= 0.2𝜋; ωs= 0.45𝜋
To find:
Determine the system function H(z) of the lowest order Chebyshev digital filter using
bilinear transformation.
Solution:
𝜆 = √100.1𝛼𝑠 − 1 = 17.754
𝜀 = √100.1𝛼𝑝 − 1 =1
𝜆
cosh−1 𝜀
𝑁≥ =3
Ω𝑠
cosh−1 Ω𝑝
𝜇 = 𝜀 −1 + √1 + 𝜀 −2 =2.414
IIR Filter design

𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ]= 0.1935
2
𝜇 1/𝑁 + 𝜇 −1/𝑁
𝑏 = Ω𝑝 [ ] = 0.678
2
𝜋 (2𝑘−1)𝜋
𝜙𝑘 = + k=1,2,3
2 2𝑁
𝜋 𝜋 4𝜋
𝜙1 = + =
2 6 6
𝜋 3𝜋
𝜙2 = + =𝜋
2 6
𝜋 5𝜋 8𝜋
𝜙3 = + =
2 6 6
𝑠1 = 𝑎𝑐𝑜𝑠𝜙1 + 𝑗𝑏𝑠𝑖𝑛𝜙1 = −0.09675 + 𝑗0.587
𝑠2 = 𝑎𝑐𝑜𝑠𝜙2 + 𝑗𝑏𝑠𝑖𝑛𝜙2 = −0.1935
𝑠3 = 𝑎𝑐𝑜𝑠𝜙3 + 𝑗𝑏𝑠𝑖𝑛𝜙3 = −0.09675 − 𝑗05.87
The denominator polynomial of 𝐻 (𝑠) = (𝑠 + 0.1935)[(𝑠 + 0.09675)2 + 0.5872 ]
𝐻 (𝑠) = (𝑠 + 0.1935)[𝑠 2 + 0.1935𝑠 + 0.354]
N is odd , substitute s=0 to get numerator of H(s)=(0.1935) (0.354)= 0.0685
0.0685
𝐻 (𝑠 ) =
(𝑠 + 0.1935)(𝑠 2 + 0.1935𝑠 + 0.354)
2 (1−𝑍 −1)
H(z)=H(s)| 𝑠 = 𝑇(1+𝑍 −1)
0.0685(1 + 𝑍 −1 )3
𝐻 (𝑧 ) =
(2.1935 − 1.8065𝑍 −1 )(4.5475 − 7.292𝑍−1 + 4.1605𝑍 −2 )
0.00687(1 + 𝑍 −1 )3
𝐻 (𝑧 ) =
(1 − 0.823𝑍−1 )(1 − 1.6𝑍 −1 + 0.915𝑍−2 )
Example 3.24 Design a Chebyshev filter for the following specification using bilinear
transformation
0.8 ≤ |𝐻(𝑒 −𝑖𝜔 )|≤ 1 for 0 ≤ ω ≤0.2𝜋
|𝐻(𝑒 −𝑖𝜔 )| ≤ 0.2 for 0.6𝜋 ≤ ω ≤π.
Given:
1 1
= 0.8 = 0.2 𝜔𝑝 = 0.2𝜋 𝜔𝑠 = 0.6𝜋
√1 + 𝜀 2 √1 + 𝜆2
IIR Filter design

1 1
= 0.8 = 0.2
√1 + 𝜀 2 √1 + 𝜆2
2 2
1 1
( ) = 0.82 ( ) = 0.22
√1 + 𝜀 2 √1 + 𝜆2
1 1
= 1 + 𝜀2 = = 1 + 𝜆2
0.82 0.22
1.5625=1+𝜀 2 25=1+𝜆2
𝜀 2 = 1.5625 − 1 𝜆2 = 25 − 1
𝜀 2 = 0.5625 𝜆2 = 24
ε = √0.5625 λ = √24
𝜀 = 0.75 𝜆 = 4.898
2 𝜔𝑝
Ω𝑝 = tan = 0.6498
𝑇 2
2 𝜔𝑠
Ω𝑠 = tan = 2.752
𝑇 2
𝜆
cosh−1 𝜀
𝑁≥ = 1.208
Ω𝑠
cosh−1 Ω𝑝
N=2
𝜇 = 𝜀 −1 + √1 + 𝜀 −2 =3
𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ]= 0.3752
2
𝜇 1/𝑁 + 𝜇 −1/𝑁
𝑏 = Ω𝑝 [ ] = 0.75
2

𝜋 (2𝑘 − 1)𝜋
𝜙𝑘 = +
2 2𝑁
𝜋 𝜋
𝜙1 = + = 3𝜋/4
2 4
𝜋 3𝜋
𝜙2 = + = 5𝜋/4
2 4
𝑠1 = 𝑎𝑐𝑜𝑠𝜙1 + 𝑗𝑏𝑠𝑖𝑛𝜙1 = -0.2653 + j0.53
𝑠2 = 𝑎𝑐𝑜𝑠𝜙2 + 𝑗𝑏𝑠𝑖𝑛𝜙2 = -0.2653 – j0.53
IIR Filter design

(S+0.2653 – j0.53) (S+0.2653 + j0.53)

The denominator of H(s)=( S+0.2653)2 – (j0.53)2
𝐻(𝑠) = 𝑠 2 + 0.5306𝑠 + 0.3516
Numerator of
0.3516
H(s) = = 0.28
√1 + 𝜀 2
0.28
𝐻 (𝑠 ) =
𝑠2 + 0.5306𝑠 + 0.3516
2 (1 − 𝑍 −1 )
𝑠=
𝑇(1 + 𝑍 −1 )
0.28
𝐻 (𝑧 ) = 2
2 (1 − 𝑍 −1 ) 2 (1 − 𝑍 −1 )
{ } + 0.5306 { }
(1 + 𝑍 −1 ) (1 + 𝑍 −1 ) + 0.3516
0.28(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
4(1 − 𝑍 −1 )2 + 1.0612(1 − 𝑍 −2 ) + 0.3516(1 + 𝑍 −1 )2
0.28(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
4 − 8𝑍 −1 + 4𝑍 −2 + 1.0612 − 1.0612𝑍−2 + 0.3516+0.7032𝑍 −1 + 0.3516𝑍 −2
0.28(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
5.4128 − 7.298𝑍 −1 + 3.29𝑍 −2
0.052(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
1 + 1.3480𝑍 −1 +0.608𝑍 −2
Example 3.25 Design a Chebyshev filter for the following specification using Impulse
Invariance method
0.8 ≤ |𝐻(𝑒 −𝑖𝜔 )|≤ 1 for 0 ≤ ω ≤0.2𝜋
|𝐻(𝑒 −𝑖𝜔 )| ≤ 0.2 for 0.6𝜋 ≤ ω ≤π.
Given:
1 1
= 0.8 = 0.2 𝜔𝑝 = 0.2𝜋 𝜔𝑠 = 0.6𝜋
√1 + 𝜀 2 √1 + 𝜆2
IIR Filter design

1 1
= 0.8 = 0.2
√1 + 𝜀 2 √1 + 𝜆2
2 2
1 2
1
( ) = 0.8 ( ) = 0.22
√1 + 𝜀 2 √1 + 𝜆2
1 1
= 1 + 𝜀2 = = 1 + 𝜆2
0.82 0.22
1.5625=1+𝜀 2 25=1+𝜆2
𝜀 2 = 1.5625 − 1 𝜆2 = 25 − 1
𝜀 2 = 0.5625 𝜆2 = 24
ε = √0.5625 λ = √24
𝜀 = 0.75 𝜆 = 4.898
𝜔𝑝
Ω𝑝 = = 0.2𝜋
𝑇
𝜔𝑠
Ω𝑠 = = 0.6𝜋
𝑇
𝜆
cosh−1
𝑁≥ 𝜀 = 1.45
−1 Ω𝑠
cosh Ω𝑝
N=2
𝜇 = 𝜀 −1 + √1 + 𝜀 −2 =3
𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ]= 0.3627
2
𝜇 1/𝑁 + 𝜇 −1/𝑁
𝑏 = Ω𝑝 [ ] = 0.7255
2

𝜋 (2𝑘 − 1)𝜋
𝜙𝑘 = +
2 2𝑁
𝜋 𝜋
𝜙1 = + = 3𝜋/4
2 4
𝜋 3𝜋
𝜙2 = + = 5𝜋/4
2 4
𝑠1 = 𝑎𝑐𝑜𝑠𝜙1 + 𝑗𝑏𝑠𝑖𝑛𝜙1 = -0.2564 + j0.513
IIR Filter design

𝑠2 = 𝑎𝑐𝑜𝑠𝜙2 + 𝑗𝑏𝑠𝑖𝑛𝜙2 = -0.2564 – j0.513

(S+0.2564 – j0.513) (S+0.2564 + j0.513)
𝐻 (𝑠) = 𝑠 2 + 0.513𝑠 + 0.33
Numerator of
0.33
H(s) = = 0.264
√1 + 𝜀 2
0.264
𝐻 (𝑠 ) =
𝑠 2 + 0.513𝑠 + 0.33
1
𝐻 (𝑠 ) =
(𝑠 + 0.2564 + 𝑗0.513)(𝑠 + 0.2564 − 𝑗0.513)
𝐴 𝐵
𝐻 (𝑠 ) = +
𝑠 + 0.2564 + 𝑗0.513 𝑠 + 0.2564 − 𝑗0.513
1
𝐴 = (𝑠 + 0.2564 + 𝑗0.513) | 𝑠 = −0.2564 − 𝑗0.513
(𝑠 + 0.2564 + 𝑗0.513)(𝑠 + 0.2564 − 𝑗0.513)
1
𝐴= = −0.257𝑗
(−0.2564 − 𝑗0.513 + 1)(−0.2564 − 𝑗0.513 + 0.2564 − 𝑗0.513)
B=A*=0.257j
Hence
−0.257𝑗 0.257j
𝐻 (𝑠 ) = +
𝑠 + 0.2564 + 𝑗0.513 𝑠 + 0.2564 − 𝑗0.513
−0.257𝑗 −0.5 − j0.288
𝐻 (𝑠 ) = +
𝑠 − (−0.2564 − 𝑗0.513) 𝑠 − (−0.2564 + 𝑗0.513)
P1=-0.2564-0.513j , p2=-0.2564+0.513j
IIR Filter design

𝑁
𝐶𝑘
𝐻 (𝑠 ) = ∑
s − 𝑃𝑘
𝑘=1
Then
𝑁
𝑇𝐶𝑘
𝐻 (𝑧 ) = ∑
1 − 𝑒 𝑃𝑘 𝑇 𝑍 −1
𝑘=1
−0.257𝑗 0.257𝑗
𝐻 (𝑧 ) = +
1− 𝑒 −0.2564−0.513j 𝑍 −1 1− 𝑒 −0.2564+0.513j 𝑍 −1
−0.257𝑗(1 − 𝑒 −0.2564+0.513j 𝑍 −1 ) + 0.257(1 − 𝑒 −0.2564−0.513j 𝑍 −1 )
𝐻 (𝑧 ) =
(1 − 𝑒 −0.2564−0.513j 𝑍 −1 )(1 − 𝑒 −0.2564+0.513j 𝑍 −1 )
−0.257𝑗 − 𝑗0.199𝑍 −1 𝑒 𝑗0.513 + 0.257𝑗 + 𝑗0.199𝑍 −1 𝑒 −𝑗0.513

(1 − 0.774𝑒 −𝑗0.513 𝑍 −1 )(1 − 0.774𝑒 𝑗0.513 𝑍 −1 )
𝑗0.199𝑍 −1 (𝑒 𝑗0.513 − 𝑒 −𝑗0.513 )
1 − 0.774𝑒 −𝑗0.513 𝑍 −1 − 0.774𝑒𝑗0.513 𝑍 −1 + 0.5987𝑍−2
𝑗0.199𝑍 −1 (𝑒 𝑗0.513 − 𝑒 −𝑗0.513 )

1 − 0.774𝑍−1 (𝑒 −𝑗0.513 + 𝑒 𝑗0.513 ) + 0.5987𝑍−2
𝑗0.199𝑍 −1 ∗ 2𝑠𝑖𝑛0.513
1 − 0.774𝑍−1 ∗ 2cos0.513 + 0.5987𝑍 −2
0.1954𝑍 −1
𝐻 (𝑧 ) =
1 − 1.3483𝑍−1 + 0.5987𝑍 −2
Example 3.26 Design a digital Chebyshev filter satisfying the constraints
1
≤ |𝐻(𝑒 −𝑖𝜔 )|≤ 1 for 0 ≤ ω ≤0.2π
√2
|𝐻(𝑒 −𝑖𝜔 )| ≤ 0.1 for 0.5𝜋 ≤ ω ≤π.
By using bilinear transformation and assume sampling period T=1 sec.
Given:
1 1
= 0.707 = 0.2 𝜔𝑝 = 0.2𝜋 𝜔𝑠 = 0.5𝜋
√1 + 𝜀 2 √1 + 𝜆2
IIR Filter design

1
= 0.707
√1 + 𝜀 2
2
1
( ) = 0.7072
√1 + 𝜀 2
1
= 1 + 𝜀2
0.7072
2=1+𝜀 2
𝜀2 = 2 − 1
𝜀2 = 1
1
= 0.1
√1 + 𝜆2
2
1
( ) = 0.12
√1 + 𝜆2
1
= = 1 + 𝜆2
0.12
100=1+𝜆2
𝜆2 = 100 − 1
𝜆2 = 99
λ = √99
𝜆 = 9.95
IIR Filter design

2 𝜔𝑝
Ω𝑝 = tan = 0.65
𝑇 2
2 𝜔𝑠
Ω𝑠 = tan =2
𝑇 2
𝜆
cosh−1 𝜀
𝑁≥ = 1.669
Ω𝑠
cosh−1 Ω𝑝
N=2
𝜇 = 𝜀 −1 + √1 + 𝜀 −2 =2.414
𝜇 1/𝑁 − 𝜇 −1/𝑁
𝑎 = Ω𝑝 [ ]= 0.295
2
𝜇 1/𝑁 + 𝜇 −1/𝑁
𝑏 = Ω𝑝 [ ] = 0.717
2

𝜋 (2𝑘 − 1)𝜋
𝜙𝑘 = +
2 2𝑁
𝜋 𝜋
𝜙1 = + = 3𝜋/4
2 4
𝜋 3𝜋
𝜙2 = + = 5𝜋/4
2 4
𝑠1 = 𝑎𝑐𝑜𝑠𝜙1 + 𝑗𝑏𝑠𝑖𝑛𝜙1 = -0.2086 + j0.507
𝑠2 = 𝑎𝑐𝑜𝑠𝜙2 + 𝑗𝑏𝑠𝑖𝑛𝜙2 = -0.2086 – j0.507
(S+0.2086 – j0.507) (S+0.2086 + j0.507)
𝐻(𝑠) = 𝑠 2 + 0.4172𝑠 + 0.3
Numerator of
0.3
H(s) = = 0.212
√1 + 𝜀 2
0.212
𝐻 (𝑠 ) =
𝑠 2 + 0.4172𝑠 + 0.3
IIR Filter design

2 (1 − 𝑍 −1 )
𝑠=
𝑇(1 + 𝑍 −1 )
0.212
𝐻 (𝑧 ) = 2
2 (1 − 𝑍 −1 ) 2 (1 − 𝑍 −1 )
{ } + 0.4172 { ( } + 0.3
(1 + 𝑍 −1 ) 1 + 𝑍 −1 )
0.212(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
4(1 − 𝑍 −1 )2 + 0.8344(1 − 𝑍 −2 ) + 0.3(1 + 𝑍 −1 )2
0.212(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
4 − 8𝑍 −1 + 4𝑍 −2 + 0.8344 − 0.8344𝑍−2 + 0.3+0.6𝑍 −1 + 0.3𝑍 −2
0.212(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
5.1344 − 7.40𝑍 −1 + 3.4656𝑍 −2
0.0413(1 + 𝑍 −1 )2
𝐻 (𝑧 ) =
1 + 1.44𝑍 −1 +0.675𝑍 −2
Example 3.27 Design a single pole lowpass filter with a 3dB bandwidth of 0.2π, using bilinear
transformation applied to the analog filter
Ω𝑐
𝐻 (𝑠 ) =
𝑠 + Ω𝑐
Where Ω𝑐 is the 3dB bandwidth of the analog filter.
Solution:
𝜔𝑐 = 0.2𝜋
2 𝜔𝑐
Ω𝑐 = tan = 0.65
𝑇 2
0.65
𝐻 (𝑠 ) =
𝑠 + 0.65
2 (1 − 𝑍 −1 )
𝑠=
𝑇(1 + 𝑍 −1 )
IIR Filter design

0.65
𝐻 (𝑧 ) =
2 (1 − 𝑍 −1 )
{( } + 0.65
1 + 𝑍 −1 )
0.65(1 + 𝑍 −1 )
𝐻 (𝑧 ) =
2 (1 − 𝑍 −1 ) + 0.65(1 + 𝑍 −1 )
0.65(1 + 𝑍 −1 )
𝐻 (𝑧 ) =
2 − 2𝑍 −1 + 0.65 + 0.65𝑍 −1
0.65(1 + 𝑍 −1 )
𝐻 (𝑧 ) =
2.65(1 − 0.509𝑍 −1 )
0.245(1 + 𝑍 −1 )
𝐻 (𝑧 ) =
1 − 0.509𝑍−1
Exercise Problem 3.1 Convert the analog filter with system function
𝑠 + 0.1
𝐻𝑎 (𝑠) =
(𝑠 + 0.1)2 + 16
Into a digital IIR filter by means of the bilinear transformation and Impulse invariant method.
3.4 IIR filter design by Approximation of Derivatives
IIR Filter design

IIR Filter design

IIR Filter design

Design of IIR filter using Impulse Invariance Technique:
IIR Filter design

IIR Filter design

IIR Filter design

IIR Filter design

Example 3.28 Convert the analog bandpass filter with system function
1
𝐻𝑎 (𝑠) =
(𝑠 + 0.1)2 + 9
into a digital IIR filter by use of the backward difference for derivative.
Solution:
1−𝑧 −1
Substitute 𝑠 → 𝑇
1
𝐻 (𝑧 ) = 2
1 − 𝑧 −1
( + 0.1) + 9
𝑇
Example 3.29 Convert the analog bandpass filter with system function
1
𝐻𝑎 (𝑠) =
(𝑠 + 0.1)2 + 9
1
into a digital IIR filter by use of the mapping 𝑠 = 𝑇 (𝑧 − 𝑧 −1 )
Solution:
IIR Filter design

1
𝐻 (𝑧 ) = 2
1
(𝑇 (𝑧 − 𝑧 −1 ) + 0.1) + 9
Example 3.30 Design a Butterworth LPF with 3dB cutoff frequency of 0.2 using Bilinear
transformation technique.
Soln:
The first order normalized Butterworth filter is H(s) =
Conversion of normalized Butterworth LPF to analog LPF, S is replaced by The cut off
frequency of analog filter
The transfer function
The digital filter conversion means substitute
IIR Filter design

=
H(z) =
IIR Filter design

Example 3.31.Using Bilinear transformation convert H(s) =
Assume T = 1 sec.
For the bilinear transformation
H (z) =
Assume T = 1 sec.
H (z) =
Example 3.32 Convert the analog filter with system function H(s) = into
digital IIR filter. The
resonant frequency . Apply Bilinear transformation. [CO2-H1-May/June

2013]
Soln:
IIR Filter design

T can be calculated using above equation
T=
Using Bilinear transformation
H (s) =
H(s) =
Sub T = 0.276 sec.
H (z) =
IIR Filter design

IIR Filter design

Question Bank
Part A
𝐴
1. Find the equivalent digital filter H(Z) given the analog filter 𝐻(𝑠) = using impulse
𝑠+𝑎
invariant transformation. (Nov/Dec 2017)
2. What is the transfer function H(s) for normalised Butterworth filter of order 3?
(Nov/Dec 2017)
3. Distinguish analog and digital filters. (Nov/Dec 2015)
4. What is meant by impulse invariant method? (Nov/Dec 2015)
5. What is meant by bilinear transformation method of designing IIR filter? (Apr/May
2015)
6. Draw the direct form realization of IIR system. (Apr/May 2015)
7. What are the different methods available for design of IIR filters? (Apr/May 2017)
8. Computer Butterworth and Chebyshev filters. (Nov/Dec 2017)
9. Write the advantages and disadvantages of digital filters. (Apr/May 2017)
10. State warping and give the necessity of prewarping. (Apr/May 2017)
11. Convert the following analog transfer function into digital using impulse invariant
transformation.
12. Give the expressions for various analog frequency transformation ( or) What is analog
frequency transformation?
13. What are the advantages and disadvantages of bilinear transformation?
14. What is pre-warping? Why it is employed.

15. Write the properties of Butterworth filter.
16. Write the properties of Chebyshev type – I filter.
17. Why an impulse invariant transformation is not considered to be one-to-one?

18. Compare Butterworth and Chebyshev filters
19. What are the requirements for a digital filter to be stable and causal?
20.What are the requirements for an analog filter to be stable and causal?
Part B
1. Explain the necessary equations the approximation of derivatives method for
converting an analog filter to digital filter. (Nov/Dec 2017)
2. Using bilinear transformation design a low pass filter monotonic in passband with -3.01
dB cutoff frequency of 0.4π rad/sec and magnitude down at least by 15 dB at 0,75π
rad/sec. (Nov/Dec2017)
3. Design a digital butterworth filter satisfying the constraints
0.707 ≤ |𝐻(𝑒 𝑗𝜔 )| ≤ 1 ; 0 ≤ 𝜔 ≤ 𝜋⁄2
|𝐻(𝑒 𝑗𝜔 )| ≤ 0.2 ; 3𝜋⁄4 ≤ 𝜔 ≤ 𝜋 (Apr/May 2015)
IIR Filter design

4. Obtain the direct form I, direct form II and cascade form realization of the following
system function 𝑦(𝑛) = −0.1𝑦(𝑛 − 1) + 0.2𝑦(𝑛 − 2) + 3𝑥(𝑛) + 3.6𝑥(𝑛 − 1) +
0.6𝑥(𝑛 − 2).
(Apr/May 2015)
5. A system is represented by its transfer function H(z).
11⁄ 𝑧 −2 −21⁄ 𝑧 −1 +7
8 4
a. 𝐻(𝑧) = 1 3
⁄8𝑧 − ⁄4𝑧 −1+1
−2
(Nov/Dec2017)
6. Design a digital Butterworth filter using Bilinear transformation (assume T = 1 sec),
satisfying the constraints:
0.707 ≤ |𝐻(𝑒 𝑗𝜔 )| ≤ 1; 0 ≤ 𝜔 ≤ 𝜋⁄2
|𝐻(𝑒 𝑗𝜔 )| ≤ 0.2; 3𝜋⁄4 ≤ 𝜔 ≤ 𝜋
Applying impulse invariant T=1sec
7. 7.Design a digital Butterworth filter using impulse invariant method (Assume T=1
sec) satisfying the following constraints:
0.8 ≤ |𝐻(𝑒 𝑗𝜔 )| ≤ 1; 0 ≤ 𝜔 ≤ 0.2 𝜋
|𝐻(𝑒 𝑗𝜔 )| ≤ 0.2; 0.6𝜋 ≤ 𝜔 ≤ 𝜋
8. Draw the direct form I and cascade form realizations of the system function
y(n)=0.1y(n-1)+0.2y(n-2)+3x(n)+3.6x(n-1)+0.6x(n-2).
2
9. Convert the following analog transfer function 𝐻(𝑠) = (s+1)(s+2)
into digital using
Bilinear transformation with T = 1 sec.
10. Determine H(z) using impulse invariant technique for the analog transfer function
1
𝐻(𝑠) = (𝑠+1)(𝑠+2) . Assume T = 1sec. (6) [A/M – 08 R04]
11. Convert the analog transfer function into digital transfer function (Assume T = 0.1
sec).
2
𝐻(𝑠) = (s+1)(s+2) using impulse invariant mapping. (8) [N/D – 09 R04]
12. Convert the following analog transfer function into digital using impulse invariant
mapping with T = 1 sec.
3
𝐻(𝑠) = (s+3)(s+5) (10) [N/D – 12 R08]
13. Design a Butterworth filter using the bilinear transformation for the specification:
0.8 ≤ |𝐻(𝑒 𝑗𝜔 )| ≤ 1; 0 ≤ 𝜔 ≤ 0.2 𝜋
|𝐻(𝑒 𝑗𝜔 )| ≤ 0.2; 0.6𝜋 ≤ 𝜔 ≤ 𝜋 (16) [M/J – 12 R08]
2
14. Convert the analog filter with a transfer function 𝐻(𝑠) = (s+1)(s+2)
into a digital IIR
filter using the Bilinear transformation. Assume T=1 sec. (8)
[M/J – 13 R08]
15. Explain the Bilinear transformation of IIR filter design. What is warping effect?
Explain the poles and zeros mapping procedure. (16) [M/J – 11 R08]
16. Determine the system function H(z) of the Chebyshev low pass digital filter using
bilinear transformation (assume T=1 sec) with the specifications:
IIR Filter design

𝛼𝑝 = 1 𝑑𝐵 ripple in the pass band 0 ≤ 𝜔 ≤ 0.2𝜋

𝛼𝑠 = 15 𝑑𝐵 ripple in the stop band 0.3𝜋 ≤ 𝜔 ≤ 𝜋 . (16) [N/D – 10 R08]
17. Design a digital Butterworth filter that satisfies the following constraint using Bilinear
transformation (assume T = 1 sec)
0.9 ≤ |𝐻(𝑒 𝑗𝜔 )| ≤ 1; 0 ≤ 𝜔 ≤ 𝜋⁄2
|𝐻(𝑒 𝑗𝜔 )| ≤ 0.2; 3𝜋⁄4 ≤ 𝜔 ≤ 𝜋 (10) [A/M – 08 R04]
18. Design a digital Butterworth filter using T = 1 sec, satisfying the following
constraints:
0.707 ≤ |𝐻(𝑒 𝑗𝜔 )| ≤ 1; 0 ≤ 𝜔 ≤ 𝜋⁄2
|𝐻(𝑒 𝑗𝜔 )| ≤ 0.2; 3𝜋⁄4 ≤ 𝜔 ≤ 𝜋
a. Bilinear Transformation method
b. Impulse Invariant method. (16) [N/D – 10 R04]
19. Explain the concept of Bilinear transformation mapping technique with necessary
expressions and sketches. Compare the advantages and disadvantages of this method
with that of impulse invariant method.
(8) [A/M – 11 R04]
20. Design a first order Butterworth LPF with 3dB cutoff frequency of 0.2π using
Bilinear transformation. (8) [A/M – 11 R04]
21. Design a digital Butterworth filter using Bilinear transformation (assume T = 1 sec),
0.707 ≤ |𝐻(𝑒 𝑗𝜔 )| ≤ 1; 0 ≤ 𝜔 ≤ 𝜋⁄2
|𝐻(𝑒 𝑗𝜔 )| ≤ 0.2; 3𝜋⁄4 ≤ 𝜔 ≤ 𝜋
Realize the filter in most convenient form. [A/M – 17 R13] [N/D – 06 R04]
22. Design a digital Butterworth filter using bilinear transformation (with T = 0.1 sec),
0.8 ≤ |𝐻(𝑒 𝑗𝜔 )| ≤ 1; 0 ≤ 𝜔 ≤ 𝜋⁄4
|𝐻(𝑒 𝑗𝜔 )| ≤ 0.2; 𝜋⁄2 ≤ 𝜔 ≤ 𝜋 (16) [M/J – 07 R04]
23. Write down steps to design digital filter using bilinear transform technique and using
this design a HPF with a pass band cutoff frequency of 1000 Hz and 10dB at 350 Hz
the sampling frequency is 5000 Hz. [M/J – 16 R08]
1
24. If Ha (s) = (s+1)(s+2) , find the corresponding H(z) using impulse invariant method for
sampling frequency of 5 samples/second. [M/J – 16 R08]
25. Discuss the steps in the design of IIR filter using Bilinear transformation for any one
type of filter. (8) [N/D – 13 R08]
26. Design a low pass Butterworth digital filter with the following specifications:
WS = 4000, WP = 3000, AP = 3dB, AS = 20dB, T = 0.0001 sec. (16) [M/J – 14 R08]
27. Design a digital second order low – pass Butterworth filter with cut-off frequency
2200 Hz using Bilinear transformation. Sampling rate is 8000 Hz. (8) [N/D – 12 R08]
IIR Filter design

28. Realize the digital system in cascade form

𝑦(𝑛) = 3⁄4 𝑦(𝑛 − 1) − 1⁄8 𝑦(𝑛 − 2) + 1⁄3 𝑥(𝑛 − 1) + 𝑥(𝑛). (8) [M/J – 13 R08]
29. Derive and draw the direct form-I and direct form-II realization for H(z)
1+2𝑧 −1
= 1−1.5𝑧 −1+0.4𝑧 −2 .
(8) [M/J – 12 R08]
30. Derive and draw the direct form-I, direct form-II and cascade form realization of the
system function [N/D – 11 R08]
𝑦(𝑛) = 0.1𝑦(𝑛 − 1) + 0.2𝑦(𝑛 − 2) + 3𝑥(𝑛) + 3.6𝑥(𝑛 − 1) + 0.6𝑥(𝑛 − 2). (16)
(16)
A system is represented by a transfer function H(z) is given by
4𝑧 𝑧
31. 𝐻 (𝑧) = 3 + +
𝑧−1/2 𝑧−1/4
a. Does this 𝐻 (𝑧) represent a FIR or IIR filter? Why? (4)
b. Give a difference equation realization of this system using direct form I. (6)
c. Draw the block diagram for the direct form II canonic realization and give the
governing equations for implementation. (6) [M/J – 14 R08]
32. Determine the cascade form and parallel form implementation of the system governed
by the transfer function. (8) [N/D – 12 R08]
(1 + 𝑧 )(1 − 5𝑧 − 𝑧 −2 )
−1 −1
𝐻 (𝑍 ) =
(1 + 2𝑧 −1 + 𝑧 −2 )(1 + 𝑧 −1 + 𝑧 −2 )
IIR Filter design

Two Marks with Answer
1. Define an IIR filter.
The filters designed by considering all the infinite samples of impulse response are
called IIR filters. The impulse response is obtained by taking inverse Fourier transform
of ideal frequency response.
2. Compare IIR and FIR filters.

S. IIR Filter FIR Filter
No
Only N samples of impulse
All the infinite samples of impulse
1 response are
response are considered
considered
The impulse response cannot be The impulse response can be
2 directly converted to digital transfer directly converted to digital
function transfer function
The digital filter can be directly
The design involves design of analog
designed
3 filter and then transforming analog
filter to digital filter to achieve the desired
specifications
The specifications include the
The specifications include the desired
desired characteristics for both
4 characteristics for magnitude response
magnitude and
only
phase response
Linear phase characteristics cannot be Linear phase filters can be easily
5 achieved
designed
3. What are the requirements for an analog filter to be stable and causal?
o The analog filter transfer function Ha(s) should be a rational function of s and the
coefficients of s should be real.
o The poles should lie on the left half of s – plane.
o The number of zeroes should be less than or equal to number of poles.
4. What are the requirements for a digital filter to be stable and causal?
o The analog filter transfer function H (z) should be a rational function of z and the
coefficients of z should be real.
o The poles should lie inside the unit circle in z - plane.
o The number of zeroes should be less than or equal to number of poles.
IIR Filter design

5. Compare the digital and analog filter.

S. Digital Filter Analog Filter
No
Operates on digital samples of the
1 Operates on analog signals
signal
It is governed by linear difference It is governed by linear differential

2 equation equation
It consists of adders, multipliers and It consists of electrical components
delays implemented in digital logic. like
3
resistors, capacitors and inductors
Approximation problem is solved
Filter coefficients are designed to
4. to satisfy the desired frequency
satisfy the desired frequency response.
response
6. What are the advantages and disadvantages of digital filters?

Advantages of digital filters
o High thermal stability due to absence of resistors, capacitors and inductors.
o The performance characteristics like accuracy, dynamic range, stability and
tolerance can be enhanced by increasing the length of the registers.
o The digital filters are programmable.
o Multiplexing and adaptive filtering are possible.
7. Disadvantages of digital filters

o The bandwidth of the discrete signal is limited by the sampling frequency.
o The performance of the digital filter depends on the hardware used to implement
the filter.
8. What is impulse invariant transformation?

The transformation of analog filter to digital filter without modify the impulse response
of the filter is called impulse invariant transformation. In this transformation the
impulse response of the digital filter will be sampled version of the impulse response
of the analog filter.
9. What is bilinear transformation?

The bilinear transformation is conformal mapping that transforms the s – plane to z –
plane. In this mapping the imaginary axis of s – plane is mapped into the unit circle in
the z – plane, the left half of s – plane is mapped into interior of unit circle in z – plane
and the right half of s – plane is mapped into exterior of unit circle in z – plane. The
bilinear mapping is a one to one mapping and it is accomplished when
IIR Filter design

10. What is frequency warping?

In bilinear transformation, the relation between analog and digital frequencies is
nonlinear. This non-linear relationship introduces distortion in frequency axis, when
the s – plane is mapped into z – plane using bilinear transformation. It is called
frequency warping.
11. What are the advantages and disadvantages of bilinear transformation?
Advantages of bilinear transformation

o The bilinear transformation is one –to-one mapping.
o There is no aliasing and so the analog filter need not have a band limited
frequency response.
o The effect of warping on amplitude response can be eliminated by pre-
warping the analog filter.
o It can be used to design digital filters with prescribed magnitude response with
piecewise constant values.
Disadvantages of bilinear transformation
o The nonlinear relationship between analog and digital frequencies introduces
frequency distortion which is called frequency warping.
o Using bilinear transformation, a linear phase analog filter cannot be
transformed to linear phase digital filter.
12. What is pre-warping? Why it is employed.

In IIR filter design using bilinear transformation, the conversion of the specified digital
frequencies to analog frequencies is called pre-warping. It is necessary to eliminate the
effect of warping on amplitude response.
13. Compare the impulse invariant and bilinear transformations

S. Impulse Invariant
Bilinear transformation
No Transformation
1 It is many-to-one mapping It is one-to-one mapping
The relation between analog and The relation between analog and
2
digital frequency is linear digital frequency is non-linear
To prevent the problem of aliasing
Is no problem of aliasing and so the
3 the analog filters should be band
analog filters need not be band limited
limited
Due to the effect of warping, the phase
4 The magnitude and phase response
response of analog filters cannot be
of analog filter can be preserved by
preserved. But the magnitude
IIR Filter design

choosing low sampling time or high response can be preserved by pre-

sampling frequency warping
14. What is Butterworth approximation?

In Butterworth approximation, the error function is selected such that the magnitude is
maximally flat in the origin (i.e., at Ω = 0) and monotonically decreasing with
increasing Ω.
15. Write the properties of Butterworth filter.
o The Butterworth filters are all pole designs.

o At the cut-off frequency Ωc the magnitude of normalized Butterworth filter is
1/√2.
o The filter order ‘n’ completely specifies the filter and as the value of N increases
the magnitude response approaches the ideal response.
16. What is Chebyshev approximation?

In Chebyshev approximation, the approximation function is selected such that the error
is minimized over a prescribed band of frequencies.
17. What is type – I Chebyshev approximation?
In type – I Chebyshev approximation, the error function is selected such that, the
magnitude response is equi-ripple in the pass band and monotonic in the stop band.
18. What is type – II Chebyshev approximation?

In type – II Chebyshev approximation, the error function is selected such that, the
magnitude response is monotonic is pass band and equi-ripple in stop band. The type –
II magnitude response is called inverse Chebyshev response.
19. Write the properties of Chebyshev type – I filter.

o The magnitude response is equi-ripple in the pass band and monotonic in the
stop band.
o The Chebyshev type – I filters are all pole designs.
o The normalized magnitude function has a value of 1/√1+€ at the cut-off
frequency Ωc
o The magnitude response approaches the ideal response as the value of N
increases.
20. What are the different types of structures for realization of IIR systems?
The different types of structures for realization of IIR system are.

o Direct – form I structure,
o Direct – form II structure,
o Transposed Direct – form II structure,
IIR Filter design

o Cascade form structure,

o Parallel form structure,
o Lattice – ladder structure.
21. Why an impulse invariant transformation is not considered to be one-to-one?

In impulse invariant transformation any strip of width 2π/T in the s-plane for values of
s-plane in the range (2k-1)/T ≤ Ω≤ (2k-1) π/T is mapped into the entire z-plane. The
left half of each strip in s-plane is mapped into the interior of unit circle in z-plane, right
half of each strip in s-plane is mapped into the exterior of unit circle in z-plane and the
imaginary axis of each strip in s-plane is mapped on the unit circle in z-plane. Hence
the impulse invariant transformation is many-to-one.
22. Compare Butterworth and Chebyshev filters
S. Butterworth filters Chebyshev filters

No
1 The magnitude response |H(jw)| of The magnitude response of the
the butter-worth filter decreases with Chebyshev filter fluctuates or show
increase in frequency from 0 to ripples in the pass band and stop band
infinity depending on the type of the filter.
2 The width of the transition band is The width of the transition band is less
more
3 The poles of a Butterworth filter lies The poles of a Butterworth filter lies on
only on a circle an ellipse
23. Convert the following analog transfer function into digital using impulse
invariant transformation.
Solution:
.
24. What are the properties of Butterworth filter?
Properties of Butterworth filter
IIR Filter design

25. Give the expressions for various analog frequency transformation ( or) What is
analog frequency transformation?
If we wish to design a high pass or band pass or band stop filter, it is a simple method
to take a low pass prototype filter (butter worth, chebyshev) and perform a frequency
transformation. This process is called as analog frequency transformation. Various
frequency transformations in analog domain are listed below
IIR Filter design

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CHENNAI INSTITUTE OF TECHNOLOGY 1

UNIT III IIR FILTER DESIGN

𝐼𝐼𝑅 𝑑𝑖𝑔𝑖𝑡𝑎𝑙 𝑓𝑖𝑙𝑡𝑒𝑟𝑠 ℎ𝑎𝑣𝑒 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑓𝑜𝑟𝑚

3.1a Structures of IIR

𝑦(𝑛) = − ∑ 𝑎𝑘 𝑦(𝑛 − 𝑘) + ∑ 𝑏𝑘 𝑥(𝑛 − 𝑘)

IIR Filter design

𝑏0 𝑥(𝑛) + 𝑏1 𝑥(𝑛 − 1) + ⋯ + 𝑏𝑀 𝑥 (𝑛 − 𝑀) = 𝜔(𝑛)

IIR Filter design

𝑦(𝑛) = 2𝑟𝑐𝑜𝑠(𝜔0 )𝑦(𝑛 − 1) − 𝑟 2 𝑦(𝑛 − 2) + 𝜔(𝑛)

We combine both diagram

3.1.2 Direct form II realization

𝑦(𝑛) = − ∑ 𝑎𝑘 𝑦(𝑛 − 𝑘) + ∑ 𝑏𝑘 𝑥(𝑛 − 𝑘)

The system function of above difference equation can be expressed as

IIR Filter design

𝑌(𝑧) 𝑌(𝑧) 𝑊(𝑧)

𝑌(𝑧) = 𝑏0 𝑊(𝑧) − 𝑏1 𝑧 −1 𝑊 (𝑧) … . −𝑏𝑀 𝑧 −𝑀 𝑊 (𝑧)

Realization of 𝜔 (𝑛) Realization of 𝑦(𝑛)

Direct form II realization

IIR Filter design

𝑊(𝑧) = 𝑋(𝑧) − 0.1𝑧 −1 𝑊 (𝑧) + 0.72𝑧 −2 𝑊 (𝑧)

IIR Filter design

3.1.3 Cascade Form:

IIR Filter design

Cascading of H1(z) and H2(z)

IIR Filter design

3.1.4 Parallel Form structure

Where {pk} are the poles

Parallel form realization

IIR Filter design

Realization for H2 (z)

IIR Filter design

(3+0.6𝑧 −1) (1+𝑧 −1 )

𝐻 (𝑧) = H1 (z)H2 (z)

IIR Filter design

3.2 Analog filter design

Low pass filter High Pass filter To find numerator

IIR Filter design

IIR Filter design

IIR Filter design

IIR Filter design

3.2.2 Steps to design an analog Chebyshev low pass filter

6. The numerator of the transfer function depends on the value of N.

IIR Filter design

Rounding of N to next higher value we get N = 2

𝑠𝑘 = 𝑎𝑐𝑜𝑠𝜙𝑘 + 𝑗𝑏𝑠𝑖𝑛𝜙𝑘 k=1,2

IIR Filter design

The transfer function is

IIR Filter design

Rounding of N to next higher value we get N = 3

IIR Filter design

𝑠𝑘 = 𝑎𝑐𝑜𝑠𝜙𝑘 + 𝑗𝑏𝑠𝑖𝑛𝜙𝑘 k=1,2.3

𝑠1 = 𝑎𝑐𝑜𝑠𝜙1 + 𝑗𝑏𝑠𝑖𝑛𝜙1 = -0.298 + j1.807

IIR Filter design

3.3 Digital Filter Design

From this calculate Denominator

Low pass filter High Pass filter To find numerator

IIR Filter design

H(s) is converted to H(z) by 𝑁

4. Compute the z-transform of the digital filter by using the formula,

2 = 𝐴(𝑠 + 2) + 𝐵(𝑠 + 1)|𝑠 = −1 𝐴=2

IIR Filter design

For T=1 sec

IIR Filter design

Using partial fraction we can write