Infinite Impulse Response Filter (IIF)

Realizable IIR is characterized by the following recursive equqtion:

∞ N M
y( n ) = ∑ h ( k ) x ( n − k ) = ∑ b k x ( n − k ) − ∑ a k y( n − k )
k =0 k =0 k =0

Y (z) ∑b k z −k
H (z) = = k =0
M
X (z)
1 + ∑ a k z −k
k =0
Direct 1 form Direct 2 form
b0 y(n) b0 y(n)
X(n) X(n)

z-1 z-1 z-1

b1 -a1 -a1 b1

z-1 z-1 z-1

b2 -a2 -a2 b2

. . .
. . . .
z-1 . .
. z-1 .
z-1 .
bN -aM -aM bN
1

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 Design Steps

1. Filter Specification
2. Coefficient Calculations
3. Realisation
4. Implementation

Coefficient Calculations Methods

Pole-Zero Placement
Impulse Invariant
Bilinear Z-Transform (BZT)

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 Pole-Zero Placement
Basic Concept:
Zero in the z- plane H(f)=0

Pole in the z- plane H(f)=max

Fs/4
H(f)
x
Fs/4

Fs/2 0

0 f
Fs/4 Fs/2 3Fs/4
x
3Fs/4
3

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 Pole-Zero Placement
Example: Design Bandpass Digital Filter to meet the following Specifications:

1. Comlete signal rejection: f=0 (dc) and f=250 Hz;

Fs=0; 3Fs/4=250 Hz;
2. Narrow passband centred: 125 Hz;
3. At 3 dB bandwidth: Bw=10 Hz;
4. Sampling frequency: Ft=500 Hz.
125Hz

Solution: H(f)
r=1-(Bw/Ft)*π=0.937
x
250Hz
r
0
0 f

x 0 125Hz 250Hz

125Hz

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 Pole-Zero Placement
(z − 1)(z + 1)
H(z) = jπ / 2 − jπ / 2
=
(z − re )(z − re )
1 − z −2 -2
H(z) =Y(z)/X(z) = Y(z)(1+0.8z
-2
1 + 0.877969 z − 2 =x(z)(1-z

The difference equation: Y(z)=X(z)-X(z)z-2-0.8Y(z)z-2

Reccurence equation
y(n) = - 0.877969 y(n-2)+x(n)- x(n-2)
1

y(n)
x(n) -1
z-1 z-1
z-1

z-1
- 0.877969
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 Impulse invariant Method
Basic Concept:
LT Sampling ZT
H(s) h(t) h(nt) H(z)

Ilustration:
C
H(s) = ; h ( t ) = L−1 [H(s)] = Ce pt
s−p
∞ ∞
H(z) = ∑ h (nT)z −n
=∑ Ce pnT z − n
n =0 n =0

C
H(z) =
1 − e pT z − 1
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 Impulse invariant Method
Example:Design a IIF filter with Butterworth characteristic to meet
the followingSpecifications:

Matlab-files for design analog filter

0
FN=1000/2; % Nyquist frequency
fc=300; % cut offf frequency
-5
N=5; % filter order
[z, p, k]=buttap(N);% create an analog filter

Magnitude (dB)
-10
w=linspace(0, FN/fc, 1000); % plot the response of filter
h=freqs(k*poly(z), poly(p), w);
-15
f=fc*w;
plot(f, 20*log10(abs(h))), grid;
-20
ylabel('Magnitude (dB)')
xlabel('Frequency (Hz)')
-25
0 50 100 150 200 250 300 350 400 450 500
Frequency (Hz)

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 Impulse invariant Method

Matlab-files for design digital Impulse invariant filter

2
Fs=1000; % sampling frequency
0
fc=300; % cutoff frequency
-2
WC=2*pi*fc; % cutoff frequency in radian
-4
N=5; % filter order

Magnitude (dB)
-6
[b,a]=butter(N,WC,'s'); % create an analog filter
-8
[z, p, k]=butter(N, WC, 's');
-10
[bz, az]=impinvar(b,a,Fs);% determine coeff. of filter
-12
[h, f]=freqz(bz, az, 512,Fs);
-14
plot(f, 20*log10(abs(h))), grid
-16
xlabel('Frequency (Hz)')
-18
ylabel('Magnitude (dB)') 0 50 100 150 200 250 300 350 400 450 500
Frequency (Hz)

8
IIF design using Impulse invariant Method
Design IIF with following specifications:
10 Rs /10 − 1)
Passband edge frequency: wp=0.25*pi; log( Rp /10
Stopband edge frequency: ws=0.55*pi;
Sampling frequency: T=1 N= 10 −1
Passband ripple: Rp=-0.5; 2 log(ws / wp)
Stopband ripple: Rs=-15;
Matlab Program:
wp=0.25*pi; ws=0.55*piRp=0.5; Rs=15; s=0.1*Rs; e2=(10^s)-1;
v=0.1*Rp; e3=10^v-1; k=ws/wp; N=log10(e2/e3)/(2*log10(k)); N=ceil(N)
[z p k]=buttap(N) % Buttap - Butterworth analog lowpass filter
[num,den]=zp2tf(z,p,k); %[num,den]- numerator and denominator coefficients of analog filter
[bz,az]=impinvar(num,den) % [bz,az] numerator BZ and AZ denominator coefficients of digital filter
[h omega]=freqz(bz,az,512);%[h omega]-frequency response of digital filter
g=20*log10(abs(h));
plot(omega/pi,g);'grid'
xlabel('Normalized frequeny')
ylabel('Gain,dB')
[bz,az]=impinvar(num,den)

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bz =
-0.0000 0.0828 0.1657 0.0226 0
az =
1.0000 -1.5587 1.2283 -0.4722 0.0733

Transfer function:

0 . 08 z − 1 + 0 . 16 z − 2 + 0 . 02 z − 3
H (z) =
1 − 1 . 5 z −1 + 1 . 2 z − 2 − 0 .4 z − 3 + 0 . 07 z − 4
5

-5

-10

-15
Gain,dB

-20

-25

-30

-35

-40
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Normalized frequeny
10

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 Bilinear Z-Transform (BZT)

Basic Concept: s=k

z −1
; k = 1 or
2
z +1 T
H(s) H(z)
Im Im

x x x
x
x x
x x x

x x x
Re Re
x x x

S-plane
z-plane

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 Warping Effect
z −1 2
s=k ; k = 1 or z = e j ωT ; s = jω'
z +1 T
e jω T − 1 ωT ω’- analog frequency
j ω = k jω T ;
'
ω' = k tan ω- digital frequency
e +1 2 T-sampling period

ω’ (analog) ωT
Relationship between ω and ω’ is nonlinear ω ' = k tan
2
(tangensoidal) leading to a distortyion or warping of
digital frequency.Passband for the analog filter are with
regular intervals, whereas the passband for the digital
filterare somewhat squashed up. This effect is
Coımpensated for by prewarping the analog filter
before applying the BZT.

' ωp T ω(digital)
ωp = k tan
2
ωp- specified cutoff frequency
ω’p- prewarped frequency

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 Summary of the BZT
1. Use the DF specifications to find a suitable analog LPF, H(s)
2. Determine and prewrap bandedge frequencies
ω pT For LPF and HPF
ω 'P = ktan
2
ω p1 T ω p2 T
ω 'P1 = ktan ; ω 'P2 = ktan ; For Band pass and stopband filters
2 2

ωp- desired cutoff frequency ; ω’p- prewarped critical frequency

3. Denormalized analog filter or H(s) by replac s one of the following

transformations
'
s ωp
s = ' (LPF to LPF); s = (LPF to HPF);
ωp s
s 2 + ω 02 Ws
s= (LPF to BPF); s= (LPF to BSF);
Ws s + ω 02
2

ω 02 = ω'p1ω 'p2 ; W = ω 'p1 − ω 'p2

4. Apply BZT z −1
s=k
z +1
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 Matlab-files using BZT
50

Fs=1000; % Sampling frequency

0
FN=Fs/2; % Nyquist frequency
fc=300; % cut offf frequency -50

Magnitude (dB)
N=5; % filter order
-100
[z, p, k]=butter(N, fc/FN);
BZT
[h, f]=freqz(k*poly(z), poly(p), 512, Fs); -150
plot(f, 20*log10(abs(h))), grid
ylabel('Magnitude (dB)') -200

xlabel('Frequency (Hz)')
-250
0 50 100 150 200 250 300 350 400 450 500
Frequency (Hz)
2
Fs=1000; % sampling frequency
0

-2
fc=300; % cutoff frequency

-4
WC=2*pi*fc; % cutoff frequency in radian
N=5; % filter order
Magnitude (dB)

-6

-8 Impulse invariant [b,a]=butter(N,WC,'s'); % create an analog filter

-10 Method [z, p, k]=butter(N, WC, 's');

-12
[bz, az]=impinvar(b,a,Fs);% determine coeffs of IIR filter

-14
[h, f]=freqz(bz, az, 512,Fs);

-16
plot(f, 20*log10(abs(h))), grid

-18
xlabel('Frequency (Hz)')
0 50 100 150 200 250 300
Frequency (Hz)
350 400 450 500
ylabel('Magnitude (dB)') 14

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 Matlab-files using BZT
Problem: Design Bandpass filter with Butterworth characteristics rhat meets the following specifications:

Passband 200-300 Hz
Sampling frequency 2000 Hz
1
Filter order 8

Magnitude Response
0.8
Fs=2000; % Sampling frequency 0.6
FN=Fs/2; fc1=200/FN; 0.4
fc2=300/FN; 0.2
[b,a]=butter(4,[fc1, fc2]); % Create and digit. analogue filter. 0
0 100 200 300 400 500 600 700 800 900 1000
[z,p,k]=butter(4, [fc1, fc2]); Frequency (Hz)
subplot(2,1,1) % Plot magnitude freq. response
1
[H, f]=freqz(b, a, 512, Fs);

Imaginary Part
0.5
plot(f, abs(H))
4 4
0
xlabel('Frequency (Hz)')
ylabel('Magnitude Response ') -0.5

subplot(2,1,2) % Plot pole-zero diagram -1

-3 -2 -1 0 1 2 3
zplane(b, a) Real Part

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 Matlab-files using BZT
Problem: Design Bandpass filter with Butterworth characteristics rhat meets the following specifications:

Lower passband edge frequency 200 Hz

Uppere passband edge frequency 300 Hz
Lower stopband edge frequency 50 Hz 1

Magnitude Response
Uppere stopband edge frequency 450 Hz 0.8
Passband ripple 3 dB 0.6
Stopband attenuation 20 dB
0.4
Sampling frequency 1 kHz
0.2
Determine
0
• the order N of filter; 0 50 100 150 200 250 300 350 400 450 500
• b) poles, zeros, gain, coefficients and transfer functİon of DF Frequency (Hz)

1
Fs=1000; % Sampling frequency

Imaginary Part
Ap=3; 0.5
As=20; 2 2
0
Wp=[200/500, 300/500]; % Band edge frequencies
Ws=[50/500, 450/500]; -0.5
[N, Wc]=buttord(Wp, Ws, Ap, As); % Determine filter order -1
[zz, pz, kz]=butter(N,Wp); % Digitise filter -3 -2 -1 0 1 2 3
[b, a]=butter(N, Wp); Real Part
subplot(2,1,1) % Plot magnitude freq. response
[H, f]=freqz(b, a, 512, Fs);
plot(f, abs(H))
xlabel('Frequency (Hz)')
ylabel('Magnitude Response ')
subplot(2,1,2) % Plot pole-zero diagram
zplane(b, a) 16

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N=2
pz= [-0.1884 ± 0.7791j ; 0.1884 ± 0.7791j]
zz= [1 1 -1 -1]
0.0675 − 0.1349z −2 + 0.0675z −4
kz=0.0675
H(z) =
b= [0.0675 0 -0.1349 0 0.0675] 1 + 1.1430z − 2 + 0.4128z − 4
a= [1.0000 -0.0000 1.1430 -0.0000 0.4128]

y(n)= 0.0675x(n)- 0.1349x(n-2) +0.0675x(n-4) -1.1430y(n-2)- 0.4128y(n-4)

0.0675

0.0675 y(n)
x(n)
z-1 z-1 z-1 z-1
z-1
-0.1349 - 1.1430 z-1

z-1

- 0.4128
z-1
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 Realization of IIR
N M
y( n ) = ∑ b k x ( n − k ) − ∑ a k y( n − k ) M ≥ N
k =0 k =1

b 0 + b1z −1 + b 2 z −2
H(z) =
1 + a 1z −1 + a 2 z − 2
Direct 1 Direct 2
2nd order 2nd order
2
2 2 w (n ) = x (n ) − ∑ a k w (n − k )
y( n ) = ∑ b k x ( n − k ) − ∑ a k y( n − k ) k =1
k =0 k =1 2

X(n) b0 y(n) y( n ) = ∑ b k w ( n − k )
k =0

X(n) w(n) b0
y(n)
z-1 z-1
b1 -a1

z-1
z-1 z-1 -a1 b1
b2 -a2

z-1
-a2 b2

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 Cascade Realization of IIR

N/2 b + b z + b2z 
−1 −2 N/2 N k (z) = b 0 + b1z −1 + b 2 z − 2
N k (z)
H (z) = ∏  0 1 −1  = ∏
k =1  1 + a 1z + a 2 z
−2
 k =1 D k (z)
D k (z) = 1 + a1z −1 + a 2 z − 2
b01 b0n
X(n) y(n)

H(z) =
N1 ( z ) N 2 ( z ) N (z) N 2 (z)
; H(z) = 1 z-1 z-1
D1 (z) D 2 (z) D 2 (z) D1 (z) -a11 b11 -a1n b1n
N 2 ( z ) N1 ( z ) N (z) N1 (z)
H(z) = ; H(z) = 2
D1 (z) D 2 (z) D 2 (z) D1 (z)
z-1 z-1
-a21 b21 -a2n b2n

b01 b0n
X(n) y(n)

z-1 z-1
-a11 b11 -a1n b1n

Cascade realization of a 3rd order IIR z-1

-a2n b2n

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 Parallel Realization of IIR
N/2 C
H(z) = C + ∑ H k (z) b01
k =1

z-1
-a11 b11
b b 0 k + b1k z −1 X(n)
C= N , H(z) =
aN 1 + a 1k z −1 + a 1k z −1 y(n)
z-1
-a21
.
.
b0n
.

n
b 0 k + b1k z −1
H(z) = C + ∑ −1 −1
k =1 1 + a 1k z + a 1k z z-1
-a1n b1n

z-1
-a2n

20

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 Develop Cascade and Parallel Realization
0.1432(1 + 3z −1 + 3z −2 + z −3 )
H(z) =
1 − 0.1801z −1 + 0.3419z − 2 − 0.0165z −3 )
1. For casacade realization H(z) is expressed in factored form:
1 + 2z −1 + z −2 1 + z −1
H(z) = 0.1432
1 − 0.1307 z −1 + 0.3355z − 2 1 − 0.0490z −1
0.1432 1 1 y(n)
x(n)

z-1
-8.7107
0.1307
2 z-1
0.0490 1 1.2916

-0.33557
z-1
1 z-1
0.1310 -0.0841
1. For parallel realization H(z) is expressed using
partial fraction expansion as the sum second- and X(n) y(n)
first order sections:
-0.3355
z-1
10.1764
−1
1.2916 − 0.08407z 10.1764
H(z) = + − 8.7107
1 − 0.131z −1 + 0.3355z − 2 1 − 0.049z −1 z-1
0.0490
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 Finite Wordlength Effects

The main errors in IIR:

1. ADC quantizing noise, with results from representing the samples of x(n) by small number of bits
2. Coefficients ak and bk quantizing errors, caused by representing ak and bk by a finite number of bits
3. Overflow errors, which result from arithmetic operations and storage the results in a limited register length
One of reserves to reduce errors in IIF is broken H(z) into smaller first and second order bloks which are then

connected up in cascade or in parallel

Application of IIR
1. Telecommunication- in Transmitter as antialiasing filter and in Receiver anti imaging filter
2. Digital Telephony-digital dual tone multifrequency touch-tone receiver
3. Clock recover in Data communications etc

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