Digital Filter Design

Bilinear Transformation
• It is a conformal mapping that transforms the
jΩ axis into the unit circle in the z-plane only
once
• Consider , Y ( s) b
H (s)    (1)
X ( s) s  a

sY ( s )  aY ( s )  bX ( s)  (2)

y(t )  ay (t )  bx(t )  (3)

t 
y (t )    y( )d   y (t0 )  (4)
 t0 
Let, t=nT and t0=(nT-T)
T
y (nT )   y(nT )  y(nT  T )   y (nT  T )  (5)
2
• Difference equation evaluated at t=nT yields,
T
y (nT )   ay (nT )  bx(nT )  ay (nT  T )  bx(nT  T )   y (nT  T )  (6)
2

• Rearranging (6)
 aT   aT  bT bT
y (nT ) 1    y ( nT  T )   1  x ( nT )  x ( nT  T )  (7)
 2   2  2 2

 aT   aT  1 bT
1  
2 
Y ( z )  

1  
2 
z Y ( z ) 
2
 1  z 1
 X ( z )  (8)
  bT 
Y ( z) 
 2 
  1  z 1 
H ( z)  
X ( z) aT  aT  1
1  1  z
2  2 

b
H ( z) 
2  1  z 1 
 1 
a
T  1 z 
 b
b H ( z) 
H ( s)  2  1  z 1 
sa  1 
a
T 1 z 

H(z)  H(s) s2  1z  1


T 1z1 
 Relation between analog and digital filter
poles
• Analog pole at • Corresponding digital
s    j pole at z  re j

2 z 1 2   1
j
re
s 
T z  1 T  re j  1

2  r2 1 2 r sin  
s   j 
 1  r  2 r cos  1  r  2 r cos  
2 2
T
 2 r 2 1  1. If r < 1, σ<0
  
T  1  r 2  2r cos   2. If r > 1, σ>0
2 2r sin   3. If r=0, σ=0
  
T  1  r 2  2r cos  
2  2 s in  
   
T  2  2 cos  
   
 2 sin cos 
2  2 2 
 
T 
2 cos 2
2
2 
  tan
T 2
 2   T 
  tan   2 tan 
1
T 2 
 2 
Ex: Design a digital Chebyshev filter using Bilinear Transformation satisfying the following specifications:
0.8≤|H(jω|≤1 when 0≤ ω ≤0.2π
|H(jω|≤0.2 when 0.6π ≤ ω ≤ π

ω ω
Step 1: Prewarp the critical frequencies (T=1)
K1 = -1.938dB at ωp= 0.2π
K2 = -13.97dB at ωs = 0.6 π
2   pT   0.2 
p  tan    2 tan    0.6498rad / sec
T  2   2 

2   sT   0.6 
s  tan    2 tan  2   2.752rad / sec
T  2   
Step 2: Design an analog low-pass filter with critical frequencies Ω p’ and Ωs’

1/ 2
 10K1 
   10  1   0.75
 
1
A 5
H ( j) r
r
r   4.235
u
• n=2
K
H 2 (s)  2
s  0.8164 s  0.8333
K  0.6664
Step 3: Using low-pass to low-pass
transformation
0.2815
H a ( s)  H 2 ( s) s  s  2
u s  0.5305s  0.3519
Step 4: Bilinear Transformation
0.052(1  z 1 ) 2
H ( z )  H a ( s) s  2  1 z 1  
T  1 z 1  1  1.348 z 1  0.608 z 2
Design a digital filter H(z) that when used in an A/D-H(z)-D/A
structure gives an equivalent low-pass analog filter with
(a) -3.01dB cutoff frequency of 500Hz
(b) monotonic stopband and passband
(c) magnitude of frequency response down to at least 15dB at 750Hz
(d) sample rate of 2000samples/sec
Use Bilinear Transformation.
• The analog specifications of A/D-H(z)-D/A
structure are
Ωp=2πf1 = πx103 rad/sec, K1 = -3.01dB
Ωs= 2πf2 =1.5πx103 rad/sec, K2 = -15dB
1. The digital specifications H(z) are
ωp= ΩpT=0.5 π rad, K1 = -3.01dB
ωs= ΩsT=0.75 π rad, K2 = -15dB
2. Prewarp the critical digital frequencies (with T=1)
2  p  2  s 
p  tan  s  tan    4.8282
2 T  2 
T  2 
p s
3. Design an analog low-pass filter with critical frequencies and
Here,
n  1.9412   2
c  2

Note: It is not necessary to obtain critical frequencies of normalised

filter for the design analog low pass Butterworth filter
Therefore, the required prewarped analog filter
is 1 4
H a ( s)  
s  2s  1 s
2
s s 2  2 2s  4
c

4. Applying the Bilinear transformation to Ha(s)

will take the prewarped analog filter to a
digital filter H(z)
1 2
1 2z  z
H ( z )  H a ( s ) s 2 (1 z 1
)  2
(1 z 1 ) 3.414  0.5857 z
Design a digital low pass filter using butterworth approximation to
meet the following specifications:
pass band edge = 120Hz
stop band edge = 170Hz
stop band attenuation = 10dB
Assume sampling frequency of 512Hz. Use Bilinear Transformation.

3.2869
H ( z)  2
  1  z 1    1  z 1 
2  1  
 5.126  1 
 3.2869
  1  z   1  z 