L2 f05

EE247 - Lecture 2
Filters
Material covered today:

Nomenclature
Filter specifications
Quality factor
Frequency characteristics
Group delay
Filter types
Butterworth
Chebyshev I
Chebyshev II
Elliptic
Bessel
Group delay comparison example

EECS 247 Lecture 2: Filters
2005 H.K. Page 1
Filters
H ( j )
H ( j )
Filter
Vout
Vin
Filters Provide frequency selectivity and/or phase shaping
2005 H.K. Page 2
Nomenclature
Filter Types
Lowpass
Highpass
Bandpass
Band-reject
(Notch)
H ( j )
H ( j )
H ( j )
H ( j )
All-pass
H ( j )
Provide frequency selectivity
Phase shaping
or equalization
2005 H.K. Page 3
Filter Specifications
Frequency characteristics (lowpass filter):

Passband ripple (Rpass)
Cutoff frequency or -3dB frequency
Stopband rejection
Passband gain
Phase characteristics:
Group delay
SNR (Dynamic range)
SNDR (Signal to Noise+Distortion ratio)
Linearity measures: IM3 (intermodulation distortion), HD3
(harmonic distortion), IIP3 or OIP3 (Input-referred or outputreferred third order intercept point)
Power/pole & Area/pole
2005 H.K. Page 4
Lowpass Filter Frequency Characteristics

H ( j )
Passband Ripple (Rpass)
f3dB
H (0 )
3dB
Passband
Gain
Transition
Band
H ( j )
H ( j )
fc
f stop
Frequency (Hz)
Passband
Stopband
Rejection
x 10
Stopband
Frequency
2005 H.K. Page 5
Quality Factor (Q)

The term Quality Factor (Q) has different definitions:
Component quality factor (inductor & capacitor
Q)
Pole quality factor
Bandpass filter quality factor
Next 3 slides clarifies each
2005 H.K. Page 6
Component Quality Factor (Q)
For any component with a transfer function:
H ( j ) =
1
R ( ) + jX ( )
Quality factor is defined as:
Q=
X ( )
Energy Stored
A v e r a g e P o w e r Dissipation
R ( )
2005 H.K. Page 7
Inductor & Capacitor Quality Factor
Inductor Q :
YL =
1
Rs + j L
QL = L
Rs
Rs
Capacitor Q :
ZC =
1
1 + jC
Rp
QC = CRp
Rp
C
2005 H.K. Page 8
Pole Quality Factor

j
s-Plane
QP o l e =
x
2 x
2005 H.K. Page 9
Bandpass Filter Quality Factor (Q)

H ( jf )
Q= fcenter /f
Magnitude (dB)
0
-5
-3dB
f = f2 - f1
-10
-15
-2 0
0.1
f1
1
fcenter
f2
10
Frequency
2005 H.K. Page 10
What is Group Delay?
Consider a continuous time filter with s-domain transfer function G(s):
G(j) G(j)e
j()
Let us apply a signal to the filter input composed of sum of two

sinewaves at slightly different frequencies (<<):
vIN(t) = A1sin(t) + A2sin[(+) t]
The filter output is:
vOUT(t) = A1 G(j) sin[t+()] +

A2 G[ j(+)] sin[(+)t+ (+)]
2005 H.K. Page 11

vOUT(t) = A1 G(j) sin
{[ t+
+ A2 G[ j(+)] sin
Since
()
]} +
{ (+) [ t +
(+)
+
]}
then 2
0
<<1
[ ]
(+)
+
[ ()+
()
+
d()
d()
d
][ 1 (1 - ) ]
-
()
)
2005 H.K. Page 12

Signal Magnitude and Phase Impairment
vOUT(t) = A1 G(j) sin
{ [t +
+ A2 G[ j(+)]sin
()
]} +
{ (+) [ t + ()
+( d
d()
()
) ]}
If the second term in the phase of the 2nd sin wave is non-zero, then the
filters output at frequency + is time-shifted differently than the
filters output at frequency
Phase distortion
If the second term is zero, then the filters output at frequency +
and the output at frequency are each delayed in time by -()/
PD -()/ is called the phase delay and has units of time
2005 H.K. Page 13

Phase distortion is avoided only if:

d()
d
()
=0
Clearly, if ()=k, k a constant, no phase distortion

This type of filter phase response is called linear phase
Phase shift varies linearly with frequency
GR -d()/d is called the group delay and also has units
of time. For a linear phase filter GR PD =k
GR= PD implies linear phase
Note: Filters with ()=k+c are also called linear phase filters, but
theyre not free of phase distortion
2005 H.K. Page 14

If GR= PD No phase distortion
[ (
)] +
+ A G[ j(+)] sin [ (+) ( t - )]
vOUT(t) = A1 G(j) sin t - GR

2
GR
If alsoG( j)=G[ j(+)] for all input frequencies within

the signal-band, vOUT is a scaled, time-shifted replica of the
input, with no signal magnitude distortion :
In most cases neither of these conditions are realizable exactly
2005 H.K. Page 15
Summary
Group Delay
Phase delay is defined as:
PD -()/ [ time]
Group delay is defined as :
GR -d()/d [time]
If ()=k, k a constant, no phase distortion
For a linear phase filter GR PD =k
2005 H.K. Page 16
Filter Types
Lowpass Butterworth Filter
d N H( j )
d
=0
=0
Moderate phase distortion
-20
-40
-60
-200
-400
0
Normalized Group Delay
Maximally flat amplitude

within the filter passband
Phase (degrees)
Magnitude (dB)
Normalized Frequency
Example: 5th Order Butterworth filter
2005 H.K. Page 17
Lowpass Butterworth Filter
All poles
Poles located on the unit
circle with equal angles
j
s-plane
Example: 5th Order Butterworth Filter

2005 H.K. Page 18
Filter Types
Chebyshev I Lowpass Filter
-20
-40
-200
-400
0
0
35
0
Phase (degrees)
Chebyshev I filter
Ripple in the passband
Sharper transition band
compared to Butterworth
Poorer group delay
As more ripple is allowed in
the passband:
Poorer phase response
Magnitude (dB)
Example: 5th Order Chebyshev filter
2005 H.K. Page 19
Chebyshev I Lowpass Filter Characteristics

j
All poles
Poles located on an ellipse
inside the unit circle
Allowing more ripple in the
passband:
s-plane
_Narrower transition band

_Sharper cut-off
_Higher pole Q
_Poorer phase response
Chebyshev I LPF 3dB passband ripple
Chebyshev I LPF 0.1dB passband ripple
Example: 5th Order Chebyshev I Filter
2005 H.K. Page 20
Filter Types
Chebyshev II Lowpass
0
-20
-40
-60
0
Phase (deg)
Chebyshev II filter
Ripple in stopband
Sharper transition
band compared to
Butterworth
Passband phase
more linear
compared to
Chebyshev I
Magnitude (dB)
Bode Diagram
-90
-180
-270
-360
0
0.5
1.5
Frequency [Hz]
Example: 5th Order Chebyshev II filter

2005 H.K. Page 21
Filter Types
Chebyshev II Lowpass
Both poles & zeros

No. of poles n
No. of zeros n-1
Poles located both inside
& outside of the unit circle
s-plane
Zeros located on j axis

Ripple in the stopband
only
Example:
5th Order
Chebyshev II Filter
poles
zeros
2005 H.K. Page 22
Filter Types
Elliptic Lowpass Filter
-20
-40
-60
0
Phase (degrees)
Elliptic filter
Ripple in passband
Ripple in the stopband
compared to Butterworth &
both Chebyshevs
Poorest phase response
Magnitude (dB)
-200
-400
0
Example: 5th Order Elliptic filter
2005 H.K. Page 23
Filter Types
Elliptic Lowpass Filter
Both poles & zeros

No. of poles n
No. of zeros n-1
Zeros located on j axis
Sharp cut-off
_Narrower transition
band
j
s-plane
_Pole Q higher
compared to the
previous filters
Pole
Zero
Example: 5th Order Elliptic Filter
2005 H.K. Page 24
Filter Types
Bessel Lowpass Filter
j
Bessel
s-plane
All poles
Maximally flat group
delay
Poor amplitude
attenuation
Poles outside unit circle
(s-plane)
Relatively low Q poles
Pole
Example: 5th Order Bessel filter
2005 H.K. Page 25
Magnitude Response of a Bessel Filter as a

Function of Filter Order (n)
0
-10
sed
rea
c
n
rI
de
r
O
ter
Fil
-20
Magnitude [dB]
-30
-40
-50
n=1
-60
-70
-80
-90
-100
0.1
7
1
10
100
2005 H.K. Page 26
Filter Types
Comparison of Various Type LPF Magnitude Response
Magnitude (dB)
-20
-40
Magnitude (dB)
-60
2
All 5th order filters with same corner freq.
Bessel
Butterworth
Chebyshev I
Chebyshev II
Elliptic
2005 H.K. Page 27
Filter Types
Comparison of Various LPF Singularities
j
Poles Bessel
Poles Butterworth
Poles Elliptic
Zeros Elliptic
Poles Chebyshev I 0.1dB
s-plane
2005 H.K. Page 28
Comparison of Various LPF Groupdelay

5
28
Bessel
Chebyshev I
0.5dB Passband Ripple
1
1
12
10
Butterworth
4
1
1
Ref: A. Zverev, Handbook of filter synthesis, Wiley, 1967.
2005 H.K. Page 29
Group Delay Comparison

Example
Lowpass filter with 100kHz corner frequency

Chebyshev I versus Bessel
Both filters 4th order- same -3dB point
Passband ripple of 1dB allowed for Chebyshev I
2005 H.K. Page 30
Magnitude Response
Bode Magnitude Diagram
Magnitude (dB)
-10
-20
-30
-40
-50
-60
4th Order Chebychev 1

4th Order Bessel
-70 4
10
10
Frequency [Hz]
10
2005 H.K. Page 31
Phase Response
0
-50
Phase [degrees]
-100
-150
-200
-250
-300
4th Order Bessel
-350
0
0.5
1
Frequency [Hz]
1.5
2
x 10
2005 H.K. Page 32
Group Delay
14
4th Ord. Chebychev 1
4th Ord. Bessel
12
Group Delay [ s]
10
0 4
10
10
Frequency [Hz]
10
2005 H.K. Page 33

3
4th Ord. Bessel
Group Delay [normalized]
2.5
1.5
0.5
0 4
10
10
Frequency [Hz]
10
2005 H.K. Page 34
Step Response
1.4

4th Order Bessel
1.2
Amplitude
1
0.8
0.6
0.4
0.2
0
0.5
Time (sec)
1.5
2
-5
x 10
2005 H.K. Page 35
Intersymbol Interference (ISI)

ISI Broadening of pulses resulting in interference between successive transmitted
pulses
Example: Simple RC filter
2005 H.K. Page 36
Pulse Broadening
Bessel versus Chebyshev
1.5
1.5
Input
Output
0.5
0.5
-0.5
-0.5
-1
-1.5
-1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
-1.5
-4
x 10
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2
-4
x 10
8th order Bessel
4th order Chebyshev I
Chebyshev has more pulse broadening compared to Bessel More ISI

2005 H.K. Page 37
Response to Random Data

Chebyshev versus Bessel
1.5
1111011111001010000100010111101110001001
0.5
Input Signal:
Symbol rate 1/130kHz
-0.5
-1
-1.5
0.2
0.4
0.6
0.8
1.2
1.4
x 10
1.5
1.5
0.5
0.5
1111011111001010000100010111101110001001
-0.5
-0.5
-1
-1
-1.5
0
-4
0.2
0.4
0.6
0.8
1.2
1.4
-4
4th order Bessel
x 10
-1.5
0
1111011111001010000100010111101110001001
0.2
0.4
0.6
0.8
1.2
1.4
-4
x 10

2005 H.K. Page 38
Measure of Signal Degradation

Eye Diagram
Eye diagram is a useful graphical illustration for signal degradation

Consists of many overlaid traces of a signal using an oscilloscope
where the symbol timing serves as the scope trigger
It is a visual summary of all possible intersymbol interference
waveforms
The vertical opening immunity to noise
Horizontal opening timing jitter
2005 H.K. Page 39
Measure of Signal Degradation

Eye Diagram
3
Group Delay [normalized]
0
-1

4th Ord. Bessel
Magnitude (dB)
2.5
-2
-3
-4
1.5
-5
-6
-7
-8
Bessel
Chebychev 1
2
10
12
14
4
x 10
Frequency [Hz]
0.5
-9
-10
10
12
14
4
x 10
Frequency [Hz]
Random data with symbol rates:

1/50kHz
1/100kHz
1/130kHz
2005 H.K. Page 40
Eye Diagram
Chebyshev versus Bessel
Input Signal
1
0.8
0.6
Input Signal
Random data
Symbol rate:1/ 130kHz
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
0.6
0.8
1.2
1.4
1.6
Time
-5
x 10
4th Order Chebychev
4th Order Bessel
0.8
0.8
0.6
0.6
0.4
0.4
0.2
0.2
0
-0.2
-0.2
-0.4
-0.4
-0.6
-0.6
-0.8
-0.8
0.8
0.9
1.1
1.2
1.3
1.4
Time
1.5
1.1
1.2
4th order Bessel
1.3
1.4
1.5
1.6
Time
-5
x 10
1.7
-5
x 10
2005 H.K. Page 41
Eye Diagrams
4th Order Bessel
1
0.8
0.6
0.6
0.4
0.4
0.2
0.2
100%
Eye opening
-0.2
70%
Eye opening
-0.2
-0.4
-0.4
-0.6
-0.6
-0.8
-1
4th Order Chebychev
1
0.8
-0.8
2.5
3.5
Time
4.5
5
-5
x 10
-1
2.5
3.5
Time
4.5
5
x 10
-5
Random data maximum power symbol rate 1/50kHz

2005 H.K. Page 42
Eye Diagrams
4th Order Bessel
0.8
0.6
0.6
0.4
0.4
0.2
0.2
0
-0.2
-0.4
-0.6
40%
Eye opening
0
-0.2
80%
Eye opening
-0.4
-0.6
-0.8
-1
4th Order Chebychev
0.8
-0.8
1.1
1.2
1.3
1.4
1.5
1.6
1.7
Time
1.8
1.9
2
-5
-1
1.1
x 10
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
Time
2
-5
x 10
Random data maximum symbol rate 1/100kHz

Filter with constant group delay More open eye Lower BER (bit-error-rate)
2005 H.K. Page 43
Summary
Filter Types
Filters with high signal attenuation per pole _
poor phase response
For a given signal attenuation requirement of
preserving constant groupdelay Higher order
filter
In the case of passive filters _ higher component count
Case of integrated active filters _ higher chip area &
power dissipation
In cases where filter is followed by ADC and DSP

Possible to digitally correct for phase non-linearities
incurred by the analog circuitry by using phase equalizers
2005 H.K. Page 44
RLC Filters
Bandpass filter:
Vo
Vin
Vo =
RC
Vin s2 + o s + o2
o = 1
LC
Q = o RC = R
Lo
Singularities: Complex conjugate poles + zeros and zero & infinity
2005 H.K. Page 45
RLC Filters
Design a bandpass filter with:
Center frequency of 1kHz
Q of 20
Vo
Vin
Assume that the inductor has series R resulting in an

inductor Q of 40
What is the effect of finite inductor Q on the overall Q?
2005 H.K. Page 46
RLC Filters
Effect of Finite Component Q
1 = 1 + 1
Q filt Qi d e a l Qi n d .
filt
Q=20 (ideal L)
Q=13.3 (Qind.=40)
eComponent Q must be much higher compared

to desired filter Q
2005 H.K. Page 47
RLC Filters
Vo
Vin
Question:
Can RLC filters be integrated on-chip?
2005 H.K. Page 48
Monolithic Inductors
Feasible Quality Factor & Value
c Feasible monolithic inductor in CMOS tech. <10nH with Q <7

vRef: Radio Frequency Filters, Lawrence Larson; Mead workshop presentation 1999
2005 H.K. Page 49
Monolithic LC Filters
Monolithic inductor in CMOS tech.
L<10nH with Q<7
Max. capacitor size (based on realistic chip area)

C< 10pF
cLC filters in the monolithic form feasible:

- Frequency >500MHz
- Only low quality factor filters
Learn more in EE242
2005 H.K. Page 50
Monolithic Filters
Desirable to integrate filters with critical frequencies
<< 500MHz
Per previous slide LC filters not a practical option in
the integrated form for non-RF frequencies
Good alternative:
cActive filters built without the need for inductors
2005 H.K. Page 51

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EE247 - Lecture 2

Material covered today:

Group delay comparison example

2005 H.K. Page 1

Filters Provide frequency selectivity and/or phase shaping

EECS 247 Lecture 2: Filters

2005 H.K. Page 2

Provide frequency selectivity

EECS 247 Lecture 2: Filters

Frequency characteristics (lowpass filter):

EECS 247 Lecture 2: Filters

2005 H.K. Page 4

Lowpass Filter Frequency Characteristics

EECS 247 Lecture 2: Filters

2005 H.K. Page 5

Quality Factor (Q)

EECS 247 Lecture 2: Filters

2005 H.K. Page 6

Component Quality Factor (Q)

For any component with a transfer function:

Quality factor is defined as:

EECS 247 Lecture 2: Filters

2005 H.K. Page 7

Inductor & Capacitor Quality Factor

EECS 247 Lecture 2: Filters

2005 H.K. Page 8

Pole Quality Factor

EECS 247 Lecture 2: Filters

2005 H.K. Page 9

Bandpass Filter Quality Factor (Q)

EECS 247 Lecture 2: Filters

What is Group Delay?

Consider a continuous time filter with s-domain transfer function G(s):

Let us apply a signal to the filter input composed of sum of two

vIN(t) = A1sin(t) + A2sin[(+) t]

The filter output is:

vOUT(t) = A1 G(j) sin[t+()] +

2005 H.K. Page 11

What is Group Delay?

EECS 247 Lecture 2: Filters

What is Group Delay?

PD -()/ is called the phase delay and has units of time

EECS 247 Lecture 2: Filters

2005 H.K. Page 13

What is Group Delay?

Phase distortion is avoided only if:

Clearly, if ()=k, k a constant, no phase distortion

2005 H.K. Page 14

What is Group Delay?

If GR= PD No phase distortion

vOUT(t) = A1 G(j) sin t - GR

If alsoG( j)=G[ j(+)] for all input frequencies within

EECS 247 Lecture 2: Filters

2005 H.K. Page 15

2005 H.K. Page 16

Moderate phase distortion

Normalized Group Delay

Maximally flat amplitude

2005 H.K. Page 17

Lowpass Butterworth Filter

Example: 5th Order Butterworth Filter

2005 H.K. Page 18

Normalized Group Delay