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 Digital Signal Processing

IIR Filter Design

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9.1 – IIR Filter

¾ Difference Equation
N N
y (n) = ∑ ai x(n − i ) + ∑ b j y (n − j )
i =0 j =1
N

∑a z
¾Transfer Function −i
i
H ( z) = i =0
N
1+ ∑ bj z −j

j =1
where; N is the filter’s order.
ai,bj are the filter’s
filter s coefficients.
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9.1 – IIR Filter – contd.

• IIR filter have infinite-duration impulse responses, hence they can be
matched to analog filters, all of which generally have infinitely long
impulse responses.

• The basic techniques of IIR filter design transform well-known analog

filters into digital filters using complex-valued mappings.

• The advantage of these techniques lie in the fact that both analog filter
design (AFD) tables and the mappings are available extensively in the
literature.

• The basic techniques are called the A/D filter transformation.

• However, th
H the AFD tables
t bl are available
il bl only l for
f lowpass
l filt
filters. We
W also
l
want design other frequency-selective filters (highpass, bandpass, bandstop,
etc.)

• To do this, we need to apply frequency-band transformations to lowpass

filters. These transformations are also complex-valued mappings, and they
are also available in the literature.
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9.2 – Design Methods

¾ The following A/D filter transformation methods are used in
calculatingg the coefficients
ff off IIR filter:
f

1. Impulse Invariant Method.

2. Bilinear Z-transform Method.

Æ to achieve a digital
g filter
f that has a certain specification
p f equivalent
q to an
analogue filter

Note
¾ We have no control over the phase characteristics of the IIR
filter. Hence IIR filter designs will be treated as magnitude-only
designs.
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9.3 – Impulse Invariant Method

• Here we require that the impulse response of the discrete system (digital filter)
be the discrete version of the impulse response of the analogue system (filter),
(H
(Hence the
h name: impulsel invariant).)

H(s) Ł-1 h(t) t = nT h(nT) Z X T H(z)

To remove the sampling effect: 
(1/T) δ(t‐nT)
¾ Steps:
1. Get H(s), continuous time transfer function of an analogue filter that satisfies the prescribed
magnitude response.
2. Apply the inverse Laplace transform to get the impulse response h(t).
h(n).
3. Obtain a discrete version of h(t) by replacing t by nT Æ h(nT). h(t)
4. Apply the Z-transform to h(nT) to get H(z) and multiply by T.
h(nT)

n
n ∞
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Example - 1
¾ Using the invariant impulse response method, design a digital
filter that has the shown pole-zero distribution. jω
x  ω0
9 Solution
s+a
H (s) = σ
[ s + ( a + jω 0 )][ s + ( a − jω 0 )] ‐a
s+a
H (s) = x  - ω0
[( s + a ) + ω 0 )]
2 2

−1
(1) L {H ( s)} = e − at
cos(ω0t ) = h(t )
(2) h(nT) = e − anT
cos(ω0 nT )
1 − e − aT cos(( ω 0T ) z −1
(3) T × Z{ h(nT)} = ×T
1 − 2e cos( ω 0T ) z + e
− aT −1 − 2 aT − 2
z
T − (e − aT T cos( ω 0T )) z −1
H ( z) =
1 − ( 2e − aT cos( ω 0T )) z −1 + e − 2 aT z − 2
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Example - 1 – cont.
T − (e − aT T cos( ω 0T )) z −1
H ( z) =
1 − ( 2e − aT cos( ω 0T )) z −1 + e − 2 aT z − 2
a0
x(n) y(n)
X
- b1 T a1
X X
- b2 T
X
where, a0 = T
a 1 = − e − aT T cos( ω 0 T )
b1 = − 2 e − aT cos( ω 0 T )
b 2 = e − 2 aT
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9.4 – Bilinear Z-Transform (BZT) Method

s t z s z
s1
Impulse Invariant Method
Bilinear Z Transform Method
Bilinear Z‐Transform Method
• It is the most important method of obtaining IIR filter coefficients.
• In the BZT method, the basis operation is to convert an analogue filter H(s) into
an equivalent
i l digital
di i l filter
fil H( H(z)) by
b using
i the
h bilinear
bili approximation.
i i
Ha(s) HD(z)

1 + sT
sT
e 2 + ...
Qz =e sT
= = 2 1st order bilinear 
− sT
1 − sT + ...
approximation
e 2
2
1 + sT
∴ z ≅ 2
1 − sT
2
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9.4 – BZT Method – cont.

1 + sT
z ≅ 2 z−z
sT
= 1+
sT
1 − sT 2 2
2 T
z - 1 = ( z + 1) s
2

2 z −1
∴s ≅
T z +1 1

H D ( z ) = H a ( s ) s = 2 z −1
T z +1
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9.4 – BZT Method – cont.

jΩ T − j ΩT
2 z −1 2 e −1 e 2
Qs = = jΩ T
× − j ΩT
T z +1 T e +1 e
( )
2
jΩT − jΩT
2 j sin ΩT
2 e 2
−e 2
2 2
= =
T e j Ω T 2 + e − j Ω T 2 T 2 cos Ω T ( )
2
2
j ω a = j tan
T
t ΩT (2
)
T
2
ω a = tan Ω T 2 ( ) Pre-Warping
p g effect
ff

2 −1 ⎛ ω a T ⎞
Ω = tan ⎜ Warping
p g effect
ff
T ⎝ 2 ⎠
Digital frequency
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9.5 – Frequency Warping Effect (BZT)

Analogue frequency
• The effect of the bilinear Z-transform is called ωa
frequency warping: every feature appears in the
f
frequency response off the
th continuous-time
ti ti filter
filt
appears as it is in the frequency response of the
discrete-time filter but at different frequency.
jω
when − ∞ ≤ ωa ≤ ∞
tan(θ)
π π S domain
Ω
− ≤Ω≤ σ Digital frequency
T T
jΩ ‐ π/2
Ωs Ωs Ωs/2
θ
− ≤Ω≤ S1 domain
π/2

2 2
- Ωs/2
• To compensate for this, every frequency specification the designer has a control
over (ωc,ωs,…) has to be ‘prewarped’ by setting it with;
2
ω = tan Ω T 2
T
( ) 2
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9.6 - IIR Filter Design Procedure Using BZT

1 Given specification in digital domain
2 Convert it into analog filter specification(prewarping)
3 Design analog filter (Butterworth,
(Butterworth Chebyshov,
Chebyshov elliptic):H(s)
4 Apply bilinear transform to get H(z) out of H(s)
ω ω

ωs
3
2
2
(
ω a = tan Ω T 2
T
)
ωp
| H( jω) | Ω
1 jΩ
1 1
1
| H(e )|
1+ ε 2 A 1
1+ε2
4 1
1
H ( z ) = H (s) 2 1− z −1 A
s= ⋅ π Ω
T 1 + z −1 Ω p Ωs
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9.7 – IIR Filter Design Steps Using BZT

1. Prewarp any critical frequency in the digital filter specifications(ωc,ωp,ωs,…)

( )
using; 1
ω = tan
t ΩT ;T =
2 Fs
2. Use the digital
g filter
f specifications
p f to find
f a suitable normalized prototype
p yp
analogue LPF, H(s), e.g., for butterworth;
1
• st
1 order: H ( s ) =
s +1
1
• 2nd order: H (s) = 2 For butterworth prototype filter
s + 2s + 1
1
• 3rd order: H ( s ) =
( s + 1)( s 2 + s + 1)
Where      ⎛ 10 0 .1 As − 1 ⎞
log 10 ⎜⎜ 0 .1 A p ⎟ Ap   
p the passband ripple in dB
p pp
⎝ 10 −1⎠
N ≥ As the stopband attenuation in dB
⎛ ωs ⎞
2 . log 10 ⎜ ⎟
⎜ω ⎟
⎝ p⎠
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9.7 – Design Steps – cont.

2. Denormalization according to filter type; (LPF, HPF, BPF, BSF).
• LPF s s ωc
• HPF s ωc s
( s 2 + ω 0 ) s ω ; where, ω0 = ω1ω2 ω0 = ω1ω2
2 2
• BPF s

• BSF s sω ( s 2 + ω )
2 ω = ω2 − ω1
0

3
3. M from
Map f s-domain
d i to z-domain;
d i
−1
1− z
s= −1
1+ z
4
4. Realize the IIR filter.
filter
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Example – 2
¾ Design a 1st order Butterworth HPF with Ωc = 1 rad/sec, Fs = 1Hz.
9 Solution 1
H ( s) = s ωc s
s +1
1 s
H ( s) = =
ωc s +1 s + ωc
⎛ Ω cT ⎞ ⎛1⎞
ω c = tan ⎜ 2 ⎠
= tan ⎜
⎝ ⎝2⎠
−1
(1 − z )
−1
−1
(1 + z ) 1− z
H ( z) = =
−1
(1 − z ) 1 − z + ωc + ωc z
−1 −1

−1
+ ωc
(1 + z )
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Example - 2 – cont.
1 1 − z −1
H ( z) = 1
1 + ωc 1 + ωc − 1 z −1 k=
1 + ωc
ωc + 1
k a0
x(n) y(n)
X X
- b1 T a1
X X
where, a0 = 1
a1 = − 1
ωc −1
b1 =
ωc + 1
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Example - 3
¾ Design a 3rd order Butterworth LPF to have a cutoff frequency at 4 kHz
using the BZT method & assuming a sampling frequency of 10 kHz.
9 Solution 1
f c = 4 kHz & T= = 10 − 4 sec
Fs
Ω cT = 2π × 4 × 103 × 10 −4 = 2.513 rad
Ω cT
prewarping : ωc = tan( ) = 3.0762 rad
2 sec
1
H (s) =
( s + 1)( s 2 + s + 1)
1
H ( z) =
⎛ 2
⎛ 1 ⎛ 1 − z ⎞ ⎞⎜ ⎛ 1 ⎞ ⎛ 1 − z ⎞
−1 −1 2
1 ⎛ 1 − z −1 ⎞ ⎞
⎜ ⎜⎜ + 1 ⎜⎜ ⎜
⎜ + ⎜
⎜ + 1
⎜ ω 1+ z
⎠ ⎠⎝⎜ ⎝ ωc ⎠ ⎝ 1 + z ⎠ ωc ⎝ 1 + z ⎠ ⎟⎠
−1 −1 −1
⎝ c⎝
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Example - 3 – cont.
−1 −1 2
(1+ z ) (1+ z )
H(z) =
(
(1.3249+ 0.6751z−1) 0.105 (1− z−1)2 + 0.3249(1− z−2 ) + (1+ z−1)2 )
(1 + z − 1 ) (1 + 2 z − 1 + z − 2 )
=
1 . 3249 (
(1 + 0 .5095 z −1 ) 1.4305 + 1.789 z −1 + 0 .7806 z − 2 )
(1 + z − 1 ) (1 + 2 z − 1 + z − 2 )
= ×
(
1 . 3249 (1 + 0 .5095 z ) 1 . 4305 1 + 1 . 2506 z −1 + 0 . 5457 z − 2
−1
)
(1 + z − 1 ) (1 + 2 z − 1 + z − 2 )
= 0 . 52763 × ×
(
(1 + 0 .5095 z ) 1 + 1 . 2506 z −1 + 0 . 5457 z − 2
−1
)
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Example - 3 – cont.
Filter Realization (Cascaded Realization)

0 52763
0.52763

x(n) X y(n)
- 0.5095 - 1.2506 2
T T
X X X
- 0.5457
T
X
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Example - 4
¾ Using BZT method, design a digital filter meeting the specifications
given by the following tolerance structure, |H(f)|
¾ assume a Butterworth characteristic for this 1
filter. 0.707

9 Solution
0.1
f
(1) From the specifications, the prewarped frequencies are: 0.5 2 4 kHz

⎛ 2π × 500 ⎞
ω p = tan⎜ = 0.198912
⎝ 2 × 8000 ⎠
⎛ 2π × 2000 ⎞
ωs = tan⎜ =1
⎝ 2 × 8000 ⎠
 Example - 4 – contd.
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(2) D
Determine
t i th
the order
d off th
the prototype
t t analogue
l B
Butterworth
tt th LPF using
i ththe ffollowing
ll i
relation,
⎛ 1 ⎞
⎜ − 1 ⎟
⎜ δs 2
⎛ As
⎞
log 10 − 1
⎟ log ⎜ ⎟
10
⎜ 1
⎜ −1⎟ ⎜⎜ A p ⎟⎟
⎝ (1 − δ p ) 2
⎠= ⎝ 10 10
−1⎠
N≥
⎛ ωs ⎞ ⎛ ωs ⎞
2 × log ⎜ ⎟ 2 × log ⎜ ⎟
⎜ω ⎟ ⎜ω ⎟
⎝ p ⎠ ⎝ p⎠
1 1 1 ⎛ 99 ⎞
−1 = − 1 = 99 , − 1 = 2 − 1 = 1 ⇒ log ⎜ ⎟ = 1.995635
δs2 0.01 (1 − δ p ) 2
⎝ 1 ⎠
⎛ ωs ⎞
2 × log⎜ ⎟ = 2 × log⎛⎜ 1 ⎞
⎟ = 1.402678
⎜ω ⎟ ⎝ 0.198912 ⎠
⎝ p⎠
1.995635
N≥ = 1.423. Let N = 2
1.402678
 Example - 4 – contd.
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(3) A 2nd order

d Butterworth
B tt th analogue
l LPF has
h the
th s-plane
l transfer
t f function,
f ti H(s),
H( ) given
i by,
b
1
H (s) = 2
s + 2s + 1
(4) For a denormalized LPF transfer function, substitute s s ωp
1 ωp 2

H (s) = =
s 2 + 2 sω p + ω p
2 2
⎛ s ⎞
⎜ ⎟ + 2 s +1
⎜ω ⎟ ωp
⎝ p ⎠
(5) Applying the BZT,
ωp2
H ( z ) = H ( s ) s =⎜⎛ 1− z −1 ⎟⎞ = 2
⎜ 1+ z −1 ⎟
⎝ ⎠ ⎛ 1− z ⎞−1
⎛ 1 − z −1 ⎞
+ 2 ωp⎜ +ωp
2
⎜⎜ −1 ⎟
⎜ −1 ⎟
⎝1+ z ⎠ ⎝ 1+ z ⎠
ω p (1 + z −1 )
2 2

=
(1− z ) +−1 2
(
2 ωp 1− z −1
)(1+ z )+ ω (1+ z )
−1
p
2 −1 2
 Example - 4 – contd.
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ω p (1 + 2z −1 + z −2 )
2

H ( z) =
(1− 2z −1
+z −2
)+ 2 ω (1 − z ) + ω (1 + 2z
p
−2
p
2 −1
+z −2
)
ω p 2 (1 + 2 z −1 + z −2 )
H ( z) =
(1 + 2 ω p + ω p ) + 2 (ω p − 1) z + (1 − 2 ω p + ω p ) z −2
2 2 −1 2

Substituting
g the values off the pparameters,
1 + 2 ω p + ω p = 1.32087 , ω p − 1 = −0.96043
2 2

1 − 2 ω p + ω p = 0.7582858 , ω p = 0.0395659
2 2

H (z) =
0 .0395659 1 + 2 z + z ( −1 −2
)
1 .32087 − 1 .92086 z −1 + 0 .7582858 z − 2
 Example - 4 – contd.
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Dividing top & buttom by (1 + 2 ω p + ω p ) = 1 .32087

2

H (z) =
(
0 .02995 1 + 2 z − 1 + z − 2 )
−1 −2
1 − 1 .4542 z + 0 .57408 z
k a0
(6) Realization
Realization, x(n) y(n)
X X
- b1 T a1
X X
- b2 T a2
X X

where, k = 0 . 02995
a 0 = 1 , a1 = 2 , a 2 = 1
b1 = − 1 . 4542 , b 2 = 0 . 57408