Second Order Filters

Second Order Filters Overview
• What’s different about second order filters

• Resonance
• Standard forms
• Frequency response and Bode plots
• Sallen-Key filters
• General transfer function synthesis
J. McNames Portland State University ECE 222 Second Order Filters Ver. 1.04 1
Prerequisites and New Knowledge
Prerequisite knowledge
• Ability to perform Laplace transform circuit analysis
• Ability to solve for the transfer function of a circuit
• Ability to generate and interpret Bode plots
New knowledge
• Ability to design second-order filters
• Knowledge of the advantages of transfer functions with complex
poles and zeros
• Understanding of resonance
• Familiarity with second-order filter properties
Motivation
PM !
k
k=0 bk s
Y (s) = PN X(s) = H(s)X(s)
k
k=0 ak s
• Second order filters are filters with a denominator polynomial that

is of second order
• Usually the roots (poles) are complex
p
p1,2 = −ζωn ± jωn 1 − ζ 2
• In many applications, second order filters may be sufficient

• Are also the building blocks for higher-order filters
Standard Form
N (s)
H(s) = s2 s
2
ωn + Qω n
+1
• Second order filters can be designed as lowpass, highpass,
bandpass, or notch filters
• All four types can be expressed in standard form shown above
• N (s) is a polynomial in s of degree m ≤ 2
– If N (s) = k, the system is a lowpass filter with a DC gain of k
s2
– If N (s) = k ω2 ,the system is a highpass filter with a high
n
frequency gain of k
s
– If N (s) = k Qω n
, the system is a bandpass filter with a
maximum gain of k
2

– If N (s) = k 1 − ωs 2 , the system is a notch filter with a gain
n
of k
Unity Gain Lowpass
A unity-gain lowpass second-order transfer function is of the form
ωn2 1
H(s) = 2 2
= 2
s + 2ζωn s + ωn

1+ 2ζ ωsn + s
ωn
• ωn is called the undamped natural frequency

• ζ (zeta) is called the damping ratio
p
• The poles are p1,2 = (−ζ ± ζ 2 − 1) ωn
• If ζ ≥ 1, the poles are real
• If 0 < ζ < 1, the poles are complex
• If ζ = 0, the poles are imaginary: p1,2 = ±jωn
• If ζ < 0, the poles are in the right half plane (Re{p} > 0) and the
system is unstable
Unity Gain Lowpass Continued
The transfer function H(s) can also be expressed in the following form
1 1
H(s) = 2 = 2
1 + 2ζ ωsn + s
ωn 1+ s
Qωn + s
ωn
where
1
Q,
2ζ
The meaning of Q, the Quality factor, will become clear in the
following slides.
1
H(jω) = 2
jω
1 − ωωn + Qω n
Unity Gain Lowpass Magnitude Response
2 −1
ω jω
20 log10 |H(jω)| = 20 log10 1 − +

ωn Qωn

s 2 2
ω2 ω
= −20 log10 1− 2 +
ωn Qωn
For ω ≪ ωn ,
20 log10 |H(jω)| ≈ −20 log10 |1| = 0 dB
For ω ≫ ωn ,
ω2 ω
20 log10 |H(jω)| ≈ −20 log10 = −40 log10 dB
ωn2 ωn
At these extremes, the behavior is identical to two real poles.
Lowpass Magnitude Continued
s 2 2
ω2 ω
20 log10 |H(jω)| = −20 log10 1− 2 +
ωn Qωn
For ω = ωn ,
1
20 log10 |H(jωn )| = −20 log10 = 20 log10 Q = QdB
Q
Lowpass Magnitude
Complex Poles
40 Q=0.100
Q=0.500
Q=0.707
20 Q=1.000
Q=2.000
Q=10.000
Mag (dB)
0 Q=100.000
−20
−40
−60
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Matlab Code
function [] = B o d e C o m p l ex Po les ();
N = 1000;
wn = 1;
Q = [0 .1 0 .5 sqrt (1/2) 1 2 10 100];
w = logspace ( -2 ,2 , N );
nQ = length ( Q );
mag = [];
phs = [];
legendLabels = cell ( nQ ,1);

for c1 = 1: nQ
sys = tf ([ wn ^2] ,[1 wn / Q( c1 ) wn ^2]);
[m , p ] = bode ( sys , w );
mag = [ mag reshape (m ,N ,1)];
phs = [ phs reshape (p ,N ,1)];
legendLabels { c1 } = sprintf ( ’Q =%5 .3f ’,Q ( c1 ));
end
figure (1);
FigureSet (1 , ’ Slides ’ );
h = semilogx (w ,20* log10 ( mag ));
set (h , ’ LineWidth ’ ,1 .5 );
grid on ;
xlabel ( ’ Frequency ( rad / sec ) ’ );
ylabel ( ’ Mag ( dB ) ’ );
title ( ’ Complex Poles ’ );
xlim ([ w (1) w ( end )]);
ylim ([ -60 45]);
box off ;
AxisSet (8);
legend ( legendLabels );
print ( ’ B o d e M a g C o m p lex Po le s’ , ’ - depsc ’ );
figure (2);
h = semilogx (w , phs );
grid on ;
ylabel ( ’ Phase ( deg ) ’ );
xlim ([ w (1) w ( end )]);
ylim ([ -190 10]);
box off ;
AxisSet (8);
legend ( legendLabels );
print ( ’ B o d e P h a s e C o m pl exP ol es ’ , ’- depsc ’ );
Lowpass Phase
1
∠H(jω) = ∠ 2
ω jω
1− ωn + Qωn
For ω ≪ ωn ,
∠H(jω) ≈ ∠1 = 0◦
For ω ≫ ωn ,
1 Qωn
∠H(jω) ≈ ∠ ω =∠− = ∠ − 1 = −180◦
− Qω n
ω
For ω = ωn ,
1 1
∠H(jω) ≈ ∠ = ∠ = ∠ − j = −90◦
Qj j
At the extremes, the behavior is identical to two real poles. At other

values of ω near ωn , the behavior is more complicated.
Unity Gain Lowpass Phase
Complex Poles
0 Q=0.100
−20 Q=0.500
Q=0.707
−40 Q=1.000
Q=2.000
−60
Q=10.000
Phase (deg)
−80 Q=100.000
−100
−120
−140
−160
−180
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Lowpass Comments
1
H(jω) = 2
jω jω
1+ Qωn + ωn
• The second-order response attenuates twice as fast as a first-order

response (40 dB/decade)
• Generally better than the cascade of two first-order filters
• Offers additional degree of freedom (Q), which is the gain near
ω = ωn
• Q may range from 0.5 to 100
• Is usually near Q = 1
Lowpass Maximum Magnitude
What is the frequency at which |H(jω)| is maximized?
1 1
H(jω) = 2 |H(jω)| = r 2 2
jω jω

1+ Qωn + ωn 1− ω2
2 + ω
ωn Qωn
• For high values of Q, the maximum of |H(jω)| > 1

• This is called peaking
• The largest Q before the onset of peaking is Q = √1 ≈ 0.707
2
– Said to be maximally flat
– Also called a Butterworth response
– In this case, |H(jωn )| = −3 dB and ωn is the cutoff frequency
Lowpass Maximum Continued
If Q > 0.707, the maximum magnitude and frequency are as follows:
r
1 Q
ωr = ωn 1 − |H(jω r )| = 1
2Q2 1 − 4Q 2
• ωr is called the resonant frequency or the damped natural

frequency
• As Q → ∞, ωr → ωn
• For sufficiently large Q (say Q > 5)
– ωr ≈ ωn
– |H(jωr )| ≈ Q
• Peaked responses are useful in the synthesis of high-order filters
Example 1: Passive Lowpass
50 mH R
+
vs(t) 200 nF vo(t)
-
Generate the bode plot for the circuit shown above.
1
LC ωn2 ωn2
H(s) = R 1
= 2 = 2 ωn
s2 + L s + LC
s + 2ζωn s + ωn2 s + Q s + ωn2
Example 1:Passive Lowpass Continued
r
1
ωn = = 10 k rad/s
LC
R√ R√
ζ = LC = CL = R × 0.001
2L r2
1 L L 1 500
Q = √ = =
LC R CR R
R=5Ω ζ = 0.005 Q = 100 Very Light Damping

R = 50 Ω ζ = 0.05 Q = 10 Light Damping
R = 707 Ω ζ = 1.41 Q = 0.707 Strong Damping
R = 1 kΩ ζ=1 Q = 0.5 Critical Damping
R = 5 kΩ ζ=5 Q = 0.1 Over Damping
Example 1: Lowpass Magnitude Response
Resonance Example
40
20
−20
Mag (dB)
−40
R=5Ω
−60 R = 50 Ω
R = 707 Ω
−80 R = 1 kΩ
R = 5 kΩ
−100
R = 50 kΩ
−120
2 3 4 5 6
10 10 10 10 10
Frequency (rad/sec)
Example 1: Lowpass Phase Response
Resonance Example
0
−20
−40
−60
Phase (deg)
−80
−100 R=5Ω
−120 R = 50 Ω
R = 707 Ω
−140
R = 1 kΩ
−160 R = 5 kΩ
R = 50 kΩ
−180
2 3 4 5 6
10 10 10 10 10
Frequency (rad/sec)
Practical Second-Order Filter Tradeoffs
• There are many standard designs for second-order filters
• A library of first and second-order filters is all you need to
synthesize any transfer function
• The ideal transfer functions are identical
• Engineering design tradeoffs are practical
– Cost (number of op amps)
– Complexity
– Sensitivity to component value variation
– Ease of tuning
– Ability to vary cutoff frequencies and/or gains
Practical Second-Order Filters
• Popular practical second-order filters include
– KRC/Sallen-key filters
– Multiple-feedback filters: more than one feedback path
– State-variable filters
– Biquad/Tow-Thomas filters filters
Example 2: Lowpass Sallen-Key Filter
C1
R1 R2
+
vs(t) Rb
C2 vo(t)
-
Ra
Example 2: Questions
• Is the input impedance finite?
• What is the output impedance?
• How many capacitors are in the circuit?
• What is the DC gain?
• What is the “high frequency” gain?
• What is the probable order of the transfer function?
• Solve for the transfer function
Example 2: Work Space
Example 2: Tuning
Ra + Rb
|H(0)| = =k
Ra
1
ωn = √
R1 C1 R2 C2
1
Q= q q q
R2 C2 R1 C2 R1 C1
R1 C1 + R2 C1 + (1 − k) R2 C2
• 6 circuit parameters (four resistors, two capacitors)

• 3 constraints
– DC gain, k
– Natural frequency
– Q
• Prudent to pick K = 1, since gain is often added at in the first
and/or last stages
Example 2: Tuning Tips
RA + RB
|H(0)| =
RA
1
ωn = √
R1 C1 R2 C2
1
Q= q q q
R2 C2 R1 C2 R1 C1
R1 C1 + R2 C1 + (1 − K) R2 C2
1. If you select R1 = R2 = R and C1 = C2 = C, the equations

simplify considerably
• Watch out for coarse tolerances on components
2. Helps guard against op amp limitations if you select k = 1
• Gain is often used at end or beginning of filter stages
C1
3. Best to start of with two capacitances in a ratio C2 ≥ 4Q2
Example 3: Design
√
Design a Sallen-Key lowpass filter with a Q = 1/ 2, corner
frequency of 1000 Hz, and DC gain of 1.
• Redraw the circuit with a DC gain of 1
• Arbitrarily pick C2 = 1 nF, a common capacitor value that is
cheaply and readily available
√
2 −b± b2 −4ac
Hint: Recall that the solution to ax + bx + c = 0 is x = 2a
Example 3: DC Gain Solution
RA + RB RB
|H(0)| = =1+
RA RA
Pick RB = 0 and RA = ∞
Example 3: Solution
Define R1 = mR2 and C1 = nC2
1
ωn = √
R1 C1 R2 C2
1
= √
R2 C2 nm
1
Q= q q q
R2 C2 R1 C2 R1 C1
R1 C1 + R2 C1 + (1 − K) R2 C2
√
1 mn
= q √
1
+
pm mn
mn n
√
mn
=
1+m
Example 3: Solution
mn
2
Q =
1 + 2m + m2
2 mn
m + 2m + 1 = 2
Q
1 2 1 mn
m +m+ =
2 2 2Q2

1 2 mn 1
m + 1− m+ =0
2 2Q2 2
n
β, 2
−1
2Q
1 2 1
m − βm + = 0
2 2
am2 + bm + c = 0
√
−b ± b2 − 4ac p
m= = β + β2 − 1
2a
Example 3: Solution
1. Arbitrarily pick C2 = 10 nF, a common capacitor value that is
cheaply and readily available
2. Select n such that C
C2
1
≥ 4Q 2
, to ensure solution to quadratic
equation for m = RR2 is real valued
1
• Pick n = 8
• Then C1 = 8Q2 C2 = 80 nF
p n
3. Solve for m = β + β 2 − 1, given β = 2Q2 −1
• m=1
1√
4. Solve for R2 = C2 ωn nm
• R2 = 2.33 kΩ
5. Solve for R1 = mR2 , given m and R2
• R1 = 13.6 kΩ
Example 3: Magnitude Response
Complex Poles
20
10
−10
Mag (dB)
−20
−30
−40
−50
−60
2 3 4 5
10 10 10 10
Frequency (rad/sec)
Example 3: Phase Response
Complex Poles
0
−20
−40
−60
Phase (deg)
−80
−100
−120
−140
−160
−180
2 3 4 5
10 10 10 10
Frequency (rad/sec)
Example 3: MATLAB Code
function [] = S a l l e n K e y Lo wp ass ();
RA = inf ;
RB = 0;
C2 = 10e -9;
Q = 1;
fn = 1000;
% = = = = = = = = = = = = = = = = = = = = = = = == = = == = = == = == = = == = = == = = == = = = = = == = = =
% Preprocessing
% = = = = = = = = = = = = = = = = = = = = = = = == = = == = = == = == = = == = = == = = == = = = = = == = = =
dCGain = 1 + RB / RA ;
wn = 2* pi * fn ;
n = 8* Q ^2;
b = n /(2* Q ^2) -1;
m = b + sqrt ( b ^2 -1);
C1 = n* C2 ;
R2 = 1/( wn * C2 * sqrt ( n * m ));
R1 = m* R2 ;
fprintf ( ’ C1 : %5 .3f nF \n ’ , C1 *1 e9 );
fprintf ( ’ C2 : %5 .3f nF \n ’ , C2 *1 e9 );
fprintf ( ’ R1 : %5 .3f kOhms \ n ’ , R1 *1e -3);
fprintf ( ’ R2 : %5 .3f kOhms \ n ’ , R2 *1e -3);
N = 1000;
functionName = sprintf ( ’% s ’ , mfilename ); % Get the function name
w = logspace (2 ,5 , N );
mag = [];
phs = [];
f i l e I d e n tif ier = fopen ([ functionName ’ .tex ’] , ’w ’ );
sys = tf ([ dCGain ] ,[1/( wn ^2) 1/( wn * Q ) 1]);

[m , p ] = bode ( sys , w );
bodeMagnitude = reshape (m ,N ,1);
bodePhase = reshape (p ,N ,1);
figure (1);
h = semilogx (w ,20* log10 ( bodeMagnitude ) , ’r ’ );
grid on ;
ylabel ( ’ Mag ( dB ) ’ );
xlim ([ w (1) w ( end )]);
ylim ([ -60 20]);
box off ;
AxisSet (8);
fileName = sprintf ( ’%s - Magnitude ’ , functionName );
print ( fileName , ’ - depsc ’ );
fprintf ( fileIdentifier , ’ % % = = = = = = = = = = = = = = = = = = = = = = = = = = = == = = = == = = == = = = == = = == = = = == = = == = = = == = = == = = == = = = == = = == \n ’
fprintf ( fileIdentifier , ’ \\ newslide \ n ’ );
fprintf ( fileIdentifier , ’ \\ slideheading { Example \\ arabic { exc }: Magnitude Respo nse }\ n ’);
fprintf ( fileIdentifier , ’ \\ i n c l u d e g ra phi cs[ scale =1]{ Matlab /% s }\ n ’ , fileName );
figure (2);
h = semilogx (w , bodePhase , ’r ’ );
grid on ;
ylabel ( ’ Phase ( deg ) ’ );
xlim ([ w (1) w ( end )]);
ylim ([ -190 10]);
box off ;
AxisSet (8);
fileName = sprintf ( ’%s - Phase ’ , functionName );
print ( fileName , ’ - depsc ’ );
fprintf ( fileIdentifier , ’ \\ slideheading { Example \\ arabic { exc }: Phase Response }\ n ’ );
fprintf ( fileIdentifier , ’ \\ i n c l u d e g ra phi cs[ scale =1]{ Matlab /% s }\ n ’ , fileName );
fprintf ( fileIdentifier , ’ \\ slideheading { Example \\ arabic { exc }: MATLAB Code }\ n ’ );
fprintf ( fileIdentifier , ’\ t \\ matlabcode { Matlab /% s.m }\ n ’ , functionName );
fclose ( f i l e I d e n tif ier );
Example 4: Highpass Sallen-Key Filter
R1
C1 C2
+
vs(t) Rb
R2 vo(t)
-
Ra
Example 4: Solution
2
s
ωn
H(s) = K 2
s s
1+ Qωn + ωn
RB
K =1+
RA
1
ωn = √
R1 C1 R2 C2
1
Q= q q q
R1 C1 R1 C2 R2 C2
R2 C2 + R2 C1 + (1 − K) R1 C1
Example 5: Bandpass Sallen-Key Filter
R3
R1 C2
+
Rb
vs(t) C1 R2 vo(t)
-
Ra
Transfer Function Synthesis
You can build almost any transfer function with integrators, adders, &
subtractors
N (s) X(s)
Y (s) = H(s)X(s) = X(s) = N (s) = U (s)N (s)
D(s) D(s)
where
1
U (s) , X(s)
D(s)
D(s) , bn sn + bn−1 sn−1 + · · · + b1 s + b0
X(s) = bn sn U (s) + bn−1 sn−1 U (s) + · · · + b1 sU (s) + b0 U (s)
n 1 n−1

s U (s) = X(s) − bn−1 s U (s) − · · · − b1 sU (s) − b0 U (s)
bn
Y (s) = U (s)N (s)
= an sn U (s) + an−1 sn−1 U (s) + · · · + a1 sU (s) + a0 U (s)
Transfer Function Synthesis Diagram
Transfer Function Synthesis Clean Diagram
Σ Σ Σ Σ y(t)
an an−1 a2 a1 a0
x(t)
+ Σ
1 1 1 1
bn s s s
-
Σ bn−1
Σ b2
Σ b1
b0
Example 6: Transfer Function Synthesis
Draw the block diagram for the following transfer function:
s3 + 5s2 + 2
H(s) = 4
s + 17s3 + 82s2 + 130s + 100
Analog Filters Summary
• There are many types of filters
• Second-order filters can implement the four basic types
– Second-order
– Lowpass & Highpass
– Bandpass & Bandstop
– Notch
• For a given H(s), there are many implementations & tradeoffs
• Second order filters are fundamentally different than first-order
filters because they can have complex poles
– Causes a resonance

Second Order Filters

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Second Order Filters

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Second Order Filters Overview

• What’s different about second order filters

• Second order filters are filters with a denominator polynomial that

• In many applications, second order filters may be sufficient

• ωn is called the undamped natural frequency

At these extremes, the behavior is identical to two real poles.

function [] = B o d e C o m p l ex Po les ();

legendLabels = cell ( nQ ,1);

print ( ’ B o d e P h a s e C o m pl exP ol es ’ , ’- depsc ’ );

At the extremes, the behavior is identical to two real poles. At other

• The second-order response attenuates twice as fast as a first-order

• For high values of Q, the maximum of |H(jω)| > 1

• ωr is called the resonant frequency or the damped natural

Generate the bode plot for the circuit shown above.

R=5Ω ζ = 0.005 Q = 100 Very Light Damping

• 6 circuit parameters (four resistors, two capacitors)

1. If you select R1 = R2 = R and C1 = C2 = C, the equations

function [] = S a l l e n K e y Lo wp ass ();

f i l e I d e n tif ier = fopen ([ functionName ’ .tex ’] , ’w ’ );

sys = tf ([ dCGain ] ,[1/( wn ^2) 1/( wn * Q ) 1]);

fclose ( f i l e I d e n tif ier );

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