Design of IIR Digital Filters (Part 2)

DESIGN OF IIR DIGITAL FILTERS - PART 2 1. Lesson 15 - Ha(S)= H(z) 41 minutes (S+a) (S+a) 2 +b2 - 1/2 _eoTe-jbTz 1/2 S+a+jb + + 1/2 Example of impulse invariance. S+o-jb 1/2 1-e7aTejbTzl' 1-(e~TcosbT) z-1 (1-e-OT e-jbTz -)(1-eoT ejbT z-) 15.1 Pole-zero patterns and frequency re­ sponse corresponding to the example of viewgraph a. Illustration of effect of frequency warping inherent in the bi­ linear transformation. Illustration of effect of bilinear trans­ formation on a piece­ wise constant frequency response characteristic. |Ha(Jn)| 15.2 I I I I Illustration of effect of bilinear trans­ formation on an equi­ ripple frequency response characteristic. IHa(jn)| 5 1.2 z 1.0 Qp= tan(W) Example of frequency response obtained for an IIR filter designed by minimization of mean-square error. W 1.6 W 0.4 0 0.2 2 0 0.1 0.2 0.3 0.4 FREQUENCYIN FRACTIONS OF THE NYQUIST FREQUENCY h. 2. Correction The first equation on board number 1 indicates that the mapping corresponding to replacing differentials by differences is s + . This should be corrected to s T 3. . Comments In the previous lecture we introduced two techniques for transforming analog filter designs to digital filter designs. The first of these, corresponding to transforming differentials to differences is not a very useful technique for the reasons discussed. The second, that of 15.3 impulse invariance is a useful technique, although it introduces aliasing which must be accounted for. In this lecture we begin with an illustration of impulse invariance. An important observation in this example is that the zeros of the analog transfer function don't map to the z-plane in the same way that the poles do. As we stressed in lecture 14, the impulse in­ variant design procedure corresponds to a mapping of the poles and residues rather than a mapping of the poles and zeros. We also ob­ serve in this example the effect of aliasing. The second method for IIR filter design discussed in this lecture is the use of the bilinear transformation. This transformation has the advantage that it maps the entire jQ axis in the s-plane into one revolution around the unit circle in the z-plane. Aliasing is there­ fore eliminated but in contrast to impulse invariance a nonlinear distortion in the frequency axis is introduced. This nonlinear dis­ tortion can be tolerated when the filter to be designed is piece-wise constant but usually cannot be foremore general filter characteristics. In the next lecture a number of these points will be illustrated through a design example. Impulse invariance and the bilinear transformation represent the two major analytical techniques for designing digital filters through the transformation of analog designs. There are also a number of al­ gorithmic design procedures for digital filters. We conclude this lecture with a brief introduction to two, one of which requires the solution of a set of nonlinear equations and the second of which leads to a set of linear equations. 4. Reading Text: Review section 7.1.1 (page 407) to example 7.3 and read Also read section section 7.1.2. (page 415) to example 7.4. 7.3 (page 438). 5. Problems Problem 15.1 In Figure P15.1-1 is shown the frequency response of a digital filter. (a) Determine and sketch the analog frequency response characteris­ tics which, without aliasing will map to this digital frequency re­ sponse when the impulse invariant transformation is applied. 15.4 (b) Sketch the analog frequency response that will map to this digital frequency response when the bilinear transformation is applied. H(ejW ) . 1/4 3 _7T Tr 3 3 /I 2T 3 Figure P15.1-1 Problem 15.2 Repeat problem 15.1 for the digital frequency response characteristic in Figure P15.2-1. H(e j) -w~ 271 w 2 3 T 3 Figure P15. 2-1 Problem 15.3 A digital lowpass filter is to be designed using the bilinear trans­ formation. The specifications are that: (i) (ii) (,99) < IH(ejW )I < 1 for 0 < w < JH(e jW)| < .001 for 1 < w < w. Determine the specifications on an analog lowpass filter which will yield the desired digital filter when the bilinear transformation is applied with T = 1. 15.5 Problem 15.4* An analog highpass filter can be obtained from an analog lowpass filter by replacing s by 1/s in the transfer function: i.e., if Ga(s) is the transfer function for a lowpass filter, then Ha(s) is the transfer function for a highpass filter if Ha(s) = Ga () Also, a digital filter can be obtained by mapping an analog filter by means of the bilinear transformation s = z-1 . [Assume for convenience that T = 2 in Eq. (5.22) of the text.] Figure P15.4-1 This mapping preserves the character of the magnitude characteristic, although the frequency scale is distorted. The network in Figure P 15.4-1 depicts a lowpass filter with cutoff frequency wL = 7/2. The constants A,B,C, and D are real. Determine how to modify the coefficients in the network to obtain a highpass filter with cutoff frequency WH = 7/2. * Problem 15.5 We wish to approximate a desired unit-sample response using the leastsquares inverse design procedure as outlined in section 5.3.3. of text. The desired unit sample response hd(n) is given by 0 < n < 10 hd(n) = 0 15.6 otherwise corresponding to a 9 th order FIR filter. by a second order IIR filter of the form H (z) = - This is to be approximated b. 1-a1 z 1 -a2z-2 Determine the coefficients b , a1 and a 2. 0 15.7