Chapter 8 (part II) { IIR Filter Design Note

Overview: A general approach to design IIR lter is to rst design an analog low pass lter,
followed by a transformation from s-domain to the z-domain, and a transformation from low
pass to other type frequency-selective lters. The last tranformation may be conducted
before s to z transform, in the s domain, or after the s-z transform, in the z domain.

Prototype Analog Low Pass Filters

The frequently used prototype analog lters include

1. Butterworth LP lter {

jHa(j )j2 =

1+

2N
c

is the (3dB) cut-o frequency. Poles locate at sk = c expfj (2k + 1) =(2N )g,
0 k 2N 1. Maximally at near = 0. The value of N must satisfy both
equations: 10 log10 jHa(j p)j2 = Rp and 10 log10 jHa(j s)j2 = As
The following three types of lters are for information only.
2. Chebyshev (Type I) LP lter {
1
jHa(j )j2 =
2
1 + 2 TN
c

The Chebyshev polynomial TN (x) = cos(N cos 1(x)) for 0 x 1, and = cosh(cosh 1(x)),
for 1 < x < 1. Equi-ripple in the pass-band.
3. Chebyshev (Type II) LP lter {
1
jHa(j )j2 =
1
2
1 + 2TN
h

Equi-ripple in the stop-band.

4. Elliptic LP lter {

jHa(j )j2 =

2U 2

1+ N
UN (x) is the Jacobian elliptic function (too complex to discuss here). Equi-ripples in
both pass-band and stop-band.

Analog to Digital Filter Transformations

Impulse Invariance Transformation

h(n) = ha(nT ) = ha(t) (t nT )

H (z ) =
Z

Substitute ha(t) by

n=

n=

h(n)z

Ha(s) = t= 1 ha(t)e stdt

1 ha (t) (t NT ) in Ha (s), one has

Ha(s) =

ha(nT )e

n=

snT

n=

h(n)(esT )

By comparison, the transformation is z = esT . Or equivalently,

h(n) =

N
X
k=1

ck ep t (t nT ) =
k

N
X
k=1

ck ep nT
k

The entire left-half plane in the s-plane is mapped to the inside of the unit circle in the
z-plane. This is a many to one mapping.
On the frequence axis, one has z = ej! , and s = j . Hence, ! = T as described earlier
in the class.
Transformation procedure: First represent

Ha(s) =

N
X
k=1

ck

s pk

Next, replace pk by ep T to derive

k

H (z ) =

ck
p T
k=1 1 e z
N
X

Approximating Deritives: Backward Di erence Numerical Integration

y
y
dy(t)
= y(nT ) T(nT T ) = y(n) T(n 1)
dt t=nT

Take Laplace transform on the left, and z transform to the right hand side, and compare,
one has, s = (1 z 1)=T . Thus, the transform is:

H (z) = Ha(s)js=(1
2

z 1 )=T

Bi-linear Transform: Trapezoidal Numerical Integration

Approximating y(t) =

y0(u)du + y(to) by
y(nT ) = T y0(nT ) + y0(nT T )] + y(nT T )
2
Rt

to

It leads to the transformation formula

21 z 1
1
s = T 1 + z 1 ; or z = 1 + sT=2
sT=2
Equivalently,
(T=2)sz + (T=2)s z + 1 = 0
Since it is a linear function in s when z held constant, as well as a linear function in z when
s held constant, it is called a bilinear transform.
Now, substitute z = ej! , and s = j , one has the frequency warping relation:
2
= T tan ! ; or ! = 2 tan 1 2T
2
In practice we often set T = 1.

Design Procedure:

1. Pre-warp cuto frequency !p , !s to yield p, and s.

2. Design an analog lter Ha(s) to meet the speci cations
3. Translate Ha(s) to H (z) by:
2 1 z
H (z) = Ha T 1 + z

Frequency transformation in Analog Domain

Use tables 8.12 (analog) or 8.13 (digital)!

1!
1

p,

s,

Rp, and As.