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Discrete-Time IIR Filter Design From Continuous-Time Filters

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49 views

Discrete-Time IIR Filter Design From Continuous-Time Filters

lecture note

Uploaded by

student
Copyright
© © All Rights Reserved
Available Formats
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Discrete-Time IIR Filter Design from

Continuous-Time Filters
Quote of the Day
Experience is the name everyone gives to their
mistakes.
Oscar Wilde

Content and Figures are from Discrete-Time Signal Processing, 2e by Oppenheim, Shafer, and Buck, 1999-2000 Prentice Hall Inc.

Filter Design Techniques


Any discrete-time system that modifies certain frequencies
Frequency-selective filters pass only certain frequencies
Filter Design Steps
Specification
Problem or application specific

Approximation of specification with a discrete-time system


Our focus is to go from spec to discrete-time system

Implementation
Realization of discrete-time systems depends on target technology

We already studied the use of discrete-time systems to


implement a continuous-time system
If our specifications are given in continuous time we can use

xc(t)

C/D

xn

H(e )
j

H e j Hc j / T

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yn

D/C

yr(t)

351M Digital Signal Processing

Filter Specifications
Specifications
Passband

0.99 Heff j 1.01

0 2 2000

Stopband

Heff j 0.001

2 3000

Parameters
1 0.01
2 0.001

p 2 2000
s 2 3000

Specs in dB
Ideal passband gain =20log(1) = 0 dB
Max passband gain = 20log(1.01) = 0.086dB
Max stopband gain = 20log(0.001) = -60 dB

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Butterworth Lowpass Filters


Passband is designed to be maximally flat
The magnitude-squared function is of the form
Hc j

1 j / j c

sk 1

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1 / 2N

2N

jc ce j / 2N 2k N1

Hc s

1 s / j c

2N

for k 0,1,...,2N - 1

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Chebyshev Filters
Equiripple in the passband and monotonic in the stopband
Or equiripple in the stopband and monotonic in the passband
Hc j

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1 V / c
2

2
N

VN x cos N cos 1 x

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Filter Design by Impulse Invariance


Remember impulse invariance
Mapping a continuous-time impulse response to discrete-time
Mapping a continuous-time frequency response to discrete-time

hn Tdhc nTd

He

Hc j
j
k
Td
k
Td

If the continuous-time filter is bandlimited to

Hc j 0

/ Td


H e j Hc j
Td

If we start from discrete-time specifications Td cancels out


Start with discrete-time spec in terms of
Go to continuous-time = /T and design continuous-time filter
Use impulse invariance to map it back to discrete-time = T

Works best for bandlimited filters due to possible aliasing

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351M Digital Signal Processing

Impulse Invariance of System Functions


Develop impulse invariance relation between system functions
Partial fraction expansion of transfer function
N
Ak
Hc s
k 1 s sk
Corresponding impulse response
N
Ak esk t t 0
hc t k 1

0
t0
Impulse response of discrete-time filter

hn Tdhc nTd
System function

TdAk e

k 1

H z

sknTd

k 1

TdAk

sk Td 1
z
k 1 1 e
N

Pole s=sk in s-domain transform into pole at

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un TdAk esk Td un

esk Td

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Example
Impulse invariance applied to Butterworth


H e 0.17783

0.89125 H e j 1

0 0.2

0.3

Since sampling rate Td cancels out we can assume Td=1


Map spec to continuous time
0.89125 H j 1

0 0.2

H j 0.17783

0.3

Butterworth filter is monotonic so spec will be satisfied if


Hc j0.2 0.89125 and Hc j0.3 0.17783
Hc j

1 j / jc

2N

Determine N and c to satisfy these conditions

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351M Digital Signal Processing

Example Contd
Satisfy both constrains
0.2

1
c

2N

0.89125

and

0.3

1
c

2N

0.17783

Solve these equations to get


N 5.8858 6

and

c 0.70474

N must be an integer so we round it up to meet the spec


Poles of transfer function
1 / 12
jc ce j / 12 2k 11 for k 0,1,...,11
sk 1
The transfer function
H s

0.12093
s2 0.364s 0.4945 s2 0.9945s 0.4945 s2 1.3585s 0.4945

Mapping to z-domain
0.2871 0.4466z 1
2.1428 1.1455z 1
H z

1
2
1 1.2971z 0.6949z
1 1.0691z 1 0.3699z 2
1.8557 0.6303z 1

1 0.9972z 1 0.257z 2

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Example Contd

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10

Filter Design by Bilinear Transformation


Get around the aliasing problem of impulse invariance
Map the entire s-plane onto the unit-circle in the z-plane
Nonlinear transformation
Frequency response subject to warping

Bilinear transformation

2
s
Td

Transformed system function

1 z 1

1
1z

2
H z Hc
Td

1 z 1

1
1z

Again Td cancels out so we can ignore it


We can solve the transformation for z as

1 Td / 2 s 1 Td / 2 jTd / 2

1 Td / 2 s 1 Td / 2 jTd / 2

s j

Maps the left-half s-plane into the inside of the unit-circle in z


Stable in one domain would stay in the other

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Bilinear Transformation
On the unit circle the transform becomes

1 jTd / 2
e j
1 jTd / 2

To derive the relation between and

2
s
Td

1 e j
2 2e j / 2 j sin / 2
2j

tan

j
j / 2
Td 2e
Td
cos / 2
2
1e

Which yields

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2

tan
Td
2

or

Td
2 arctan

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Bilinear Transformation

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Example
Bilinear transform applied to Butterworth


H e 0.17783

0.89125 H e j 1
j

0 0.2
0.3

Apply bilinear transformation to specifications


0.89125 H j 1

2
0.2
tan

Td
2

0.3

2

H j 0.17783

tan
Td

We can assume Td=1 and apply the specifications to


Hc j

1 / c

2N

To get
2 tan 0.1

1
c

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2N

0.89125

2 tan 0.15

and 1
c

2N

0.17783

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Example Contd
Solve N and c

2


1

log
1

0.17783

N
2 log tan 0.15

0.89125

tan 0.1

5.305 6

c 0.766

The resulting transfer function has the following poles


1 / 12
jc ce j / 12 2k 11 for k 0,1,...,11
sk 1
Resulting in
Hc s

0.20238
s2 0.3996s 0.5871 s2 1.0836s 0.5871 s2 1.4802s 0.5871

Applying the bilinear transform yields


H z

1 1.2686z
1 0.9044z

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1
1

0.0007378 1 z 1
0.7051z 2 1 1.0106z 1 0.3583z 2
0.2155z 2

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Example Contd

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