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Digital Filter Design
Digital Filter Design
Digital Filter Design
HP
c 0
HBP (e j )
c
0
HBS (e j )
c2 c1
c1 c2
c2 c1
c1 c2
1 p G e
G e j 0
1 p ,
(e ) s , defined
s by
s
stopband,
In the G
, we require that
with an
10
1 1 2
- Maximum passband
deviation, given by the minimum
value of the magnitude in the
1
passband.
A
11
) dB
10
For p << 1, it can be shown that
max 20 log10 (1 2 p )
dB
12
FT
FT
2 FpT
s 2 Fs
s
2 Fs T
FT
FT
13
desired
18
Da s
D z
20
23
T 1 z 1
T 1 z 1
24
Bilinear Transformation
Digital filter design consists of 3 steps:
Develop the specifications of Ha(s) by
applying the inverse bilinear transformation
to specifications of G(z).
Design Ha(s).
Determine
G(z)
by
applying
bilinear
transformation to Ha(s).
Bilinear Transformation
Inverse bilinear transformation for T
= 2 is
1 s
z
1 s
For s 0 j 0
1 0 j 0
z
1 0 j 0
Thus,
2
1
2
0
0
z
2
1
0 j02
2
0 0
z 1
0 0
z 1
0 0
z 1
26
Bilinear Transformation
Mapping of s-plane into the z-plane
27
Bilinear Transformation
For z = ej with T = 2 we have
1 e j
j
j tan 2
j
1 e
Or
= tan (/2)
28
Bilinear Transformation
Mapping is highly nonlinear.
Complete negative imaginary axis in
the s-plane from = to = 0 is
mapped into the lower half of the unit
circle in the z-plane from z =-1 to z = 1.
Complete positive imaginary axis in the
s-plane from = 0 to = is mapped
into the upper half of the unit circle in
the z-plane from z = 1 to z =-1
29
Bilinear Transformation
Nonlinear mapping introduces a
distortion in the frequency axis called
frequency warping
Effect of warping shown below
30
Bilinear Transformation
Steps in the design of a digital filter
Prewarp (p,s)
to find their analog equivalents
(p ,s ).
Design the analog filter Ha(s).
Design the digital filter G(z) by applying bilinear
transformation to Ha(s).
c
s c
1 z 1
s
1 z 1
c 1 z 1
1
1
1
32
where
1 c 1 tan c / 2
1 c 1 tan c / 2
33
H a j0 0
H a j 0 H a j 1
34
G z Ha s
1 z 1
1
1
1 2 1 z
1 B 2 1 z
2
0
2
0
2
0
2
0
1 02 z 2
1 02 B z 2
1
1 2 z 1 z 2
.
2 1 2 1 z 1 z 2
where
1 02 B 1 tan Bw 2
2
1 0 B 1 tan Bw 2
1 02
cos 0
2
1 0
35
From the
above
0.90993 values we get
0.587785
36
37
Thus
A2 31.622777
G e j0 1
If
20this
log10 Gimplies
e j 0.25 0.5
20 log10 G e j 0.55 15
38
2.8266809
k p
k1
A2 1
15.841979
39
log10 1 k1
N
2.6586997
log10 1 k
We choose N = 3
To determine c we use
H a j p
2
1 p s
2N
1 2
40
c 1.419915 p 0.588148
3rd-order
lowpass
Butterworth
transfer function for c=1 is
1
H an s
s 1 s 2 s 1
an
0.588148
41
1 z 1
1 z 1
42
2.
3.
4.
5.
Normalized
frequencies
2 F
p
FT
angular
bandedge
2 700
0.7
2000
2 Fs 2 500
s
0.5
FT
2000
45
p
p
tan / 2 1.0
s
s
p
p
Using
we get
s=1.962105.
Analog
specifications:
p 1, s lowpass
1.926105, filter
p 1dB
, s 32dB
46
Prewarping we get
tan / 2 0.8540807
p1
p1
tan / 2 1.6318517
p2
p2
tan / 2 0.5095254
s1
s1
tan / 2 2.41421356
s2
s2
47
0
p1 p 2
1.23010325
2
s1 s 2
0
and
We therefore modify s1
so that
s1
s2
2 . to
Using
p
B
w
s
we get
1.393733 0.3332788
2.3617627
0.5773031 0.777771
Specifications of prototype
Butterworth lowpass filter:
analog
tan
Prewarping
we
get
s1
s1 / 2 0.8540807,
tan / 2 1.6318517
s2
s2
tan / 2 0.5095254,
p1
s1
tan / 2 2.41421356
p2
s2
50
0
s1 s 2
1.23010325
2
p1 p 2
0
and
We therefore modify p1
so that
p1
p2
2 . to
Using
s
2
2
we get
0.5773031 0.777771
p
0.4234126
1.393733 0.3332788
Specifications of prototype
Butterworth lowpass filter:
analog