Slides-FIR Linear Phase Systems MITRA

Linear-Phase FIR Transfer Linear-Phase FIR Transfer
Functions Functions
• It is nearly impossible to design a linear- • The above transfer function has a linear
phase IIR transfer function phase, if its impulse response h[n] is either
• It is always possible to design an FIR symmetric, i.e.,
transfer function with an exact linear-phase h[ n] = h[ N − n], 0 ≤ n ≤ N
response or is antisymmetric, i.e.,
• Consider a causal FIR transfer function H(z) h[ n] = −h[ N − n], 0 ≤ n ≤ N
of length N+1, i.e., of order N:
−n
H ( z) = ∑ N
n= 0 h[n ] z
1 2
Copyright © 2001, S. K. Mitra Copyright © 2001, S. K. Mitra

Functions
Functions
• Since the length of the impulse response can
be either even or odd, we can define four
types of linear-phase FIR transfer functions
• For an antisymmetric FIR filter of odd Type 1: N = 8 Type 2: N = 7
length, i.e., N even

h[N/2] = 0
• We examine next the each of the 4 cases
3 4 Type 3: N = 8 Type 4: N = 7

Functions Functions
Type 1: Symmetric Impulse Response with • Because of symmetry, we have h[0] = h[8],
Odd Length h[1] = h[7], h[2] = h[6], and h[3] = h[5]
• In this case, the degree N is even • Thus, we can write
• Assume N = 8 for simplicity H ( z) = h[0 ](1 + z −8 ) + h[1]( z−1 + z − 7 )
• The transfer function H(z) is given by + h[2]( z−2 + z −6 ) + h[3]( z −3 + z −5 ) + h[ 4]z −4
H ( z) = h[ 0] + h[1]z −1 + h[2 ]z − 2 + h[3]z −3 = z −4 {h[0]( z 4 + z − 4 ) + h[1]( z 3 + z − 3)
+ h[4] z −4 + h[5 ]z −5 + h[6 ]z −6 + h[7] z− 7 + h[8] z− 8 + h[2]( z 2 + z −2 ) + h[3]( z + z −1) + h[4 ]}
5 6
1
Functions Functions
• The corresponding frequency response is • The phase function here is given by
then given by θ(ω) = − 4 ω + β
H (e jω ) = e − j 4ω{2 h[ 0] cos( 4ω) + 2h[1] cos( 3ω) where β is either 0 or π, and hence, it is a
+ 2h[ 2] cos( 2ω) + 2h[3] cos( ω) + h[ 4]} linear function of ω in the generalized sense
• The quantity inside the braces is a real • The group delay is given by
function of ω, and can assume positive or d θ(ω )
τ(ω) = − dω = 4
negative values in the range 0 ≤ ω ≤ π indicating a constant group delay of 4 samples
7 8

Functions Functions
• In the general case for Type 1 FIR filters, • Example - Consider
the frequency response is of the form H 0 ( z) = 16 [12 + z−1 + z − 2 + z − 3 + z − 4 + z− 5 + 12 z− 6 ]
H (e jω ) = e − jNω / 2H (ω)
~
~
which is seen to be a slightly modified
where the amplitude response H (ω) , also version of a length-7 moving-average FIR
called the zero-phase response, is of the filter
form • The above transfer function has a
~ N /2
H (ω) = h[ N2 ] + 2 ∑ h[ N2 − n] cos( ω n) symmetric impulse response and therefore a
n =1 linear phase response
9 10
Linear-Phase FIR Transfer

Linear-Phase FIR Transfer
Functions
Functions
• Note the improved magnitude response
• A plot of the magnitude response of H 0 (z ) obtained by simply changing the first and the
along with that of the 7-point moving- last impulse response coefficients of a
average filter is shown below moving-average (MA) filter
1
modified filter
• It can be shown that we an express
−1 −1 −2 −3 −4 −5
H 0 ( z ) = 12 (1 + z ) ⋅ 1 (1 + z +z +z +z +z
moving-average
0.8
)
6
Magnitude
0.6
which is seen to be a cascade of a 2-point MA
0.4 filter with a 6-point MA filter
0.2
• Thus, H 0 (z ) has a double zero at z = −1, i.e.,
11
0
0 0.2 0.4 0.6 0.8 1
12
(ω = π)
ω/ π
2
Functions Functions
Type 2: Symmetric Impulse Response with • Making use of the symmetry of the impulse
Even Length response coefficients, the transfer function
• In this case, the degree N is odd can be written as
• Assume N = 7 for simplicity H ( z) = h[0 ](1 + z − 7 ) + h[1]( z −1 + z −6 )
• The transfer function is of the form + h[2]( z −2 + z −5 ) + h[3]( z −3 + z −4 )
H ( z) = h[ 0] + h[1]z −1 + h[2 ]z − 2 + h[3]z −3 = z −7 / 2{h[0]( z7 / 2 + z− 7 / 2 ) + h[1]( z 5 / 2 + z −5 / 2 )
−4 −5 −6 −7
+ h [4 ] z + h[5] z + h [6 ] z + h [7 ]z + h[2]( z3 / 2 + z −3 / 2 ) + h[3]( z1/ 2 + z−1/ 2 )}
13 14

Functions Functions
• The corresponding frequency response is • Here the phase function is given by
given by θ (ω) = − 72 ω + β
H (e jω ) = e − j 7ω / 2{2h[0 ]cos(72ω ) + 2 h[1]cos(52ω) where again β is either 0 or π
+ 2h[ 2] cos(32ω) + 2h[3] cos(ω
2 )} • As a result, the phase is also a linear
• As before, the quantity inside the braces is a function of ω in the generalized sense
real function of ω, and can assume positive • The corresponding group delay is
or negative values in the range 0 ≤ ω ≤ π τ(ω) = 72
15 16 indicating a group delay of 72 samples

Functions Functions
• The expression for the frequency response Type 3: Antiymmetric Impulse Response
in the general case for Type 2 FIR filters is with Odd Length
of the form • In this case, the degree N is even
H (e jω ) = e− jNω/ 2H (ω)
~
• Assume N = 8 for simplicity
where the amplitude response is given by • Applying the symmetry condition we get
( N +1) / 2
~
H (ω) = 2 ∑ h[ N2+1 − n] cos(ω( n − 12)) H ( z) = z − 4{h[0]( z4 − z − 4 ) + h[1]( z3 − z− 3 )
n=1 + h[2]( z 2 − z −2 ) + h[3]( z − z −1)}
17 18
3
Functions Functions
• The corresponding frequency response is • The group delay here is
given by τ( ω) = 4
H (e jω ) = e − j 4ωe − jπ / 2{2 h[ 0] sin( 4ω) + 2h[1]sin( 3ω) indicating a constant group delay of 4 samples
+ 2h[2 ]sin( 2 ω) + 2 h[3]sin( ω)} • In the general case
H (e jω ) = je − jNω / 2H (ω)
~
• It also exhibits a generalized phase response
given by where the amplitude response is of the form
θ (ω) = − 4 ω + π2 + β ~ N /2
H (ω) = 2 ∑ h[ N2 − n] sin( ω n)
where β is either 0 or π n =1
19 20

Functions Functions
Type 4: Antiymmetric Impulse Response • The corresponding frequency response is
with Even Length given by
• In this case, the degree N is even H (e j ω ) = e − j 7ω / 2e − jπ / 2{2h[0] sin(72ω) + 2h[1]sin(52ω )
• Assume N = 7 for simplicity + 2h[2 ]sin(32ω ) + 2 h[3]sin(ω
2 )}
• Applying the symmetry condition we get • It again exhibits a generalized phase
H ( z) = z − 7 / 2{h[ 0]( z 7 / 2 − z −7 / 2 ) + h[1]( z5 / 2 − z −5 / 2 ) response given by
θ (ω) = − 72 ω + π2 + β
+ h[2]( z 3 / 2 − z −3/ 2 ) + h[3]( z1/ 2 − z−1/ 2 )}
where β is either 0 or π
21 22

Functions Functions
• The group delay is constant and is given by General Form of Frequency Response
τ(ω ) = 72 • In each of the four types of linear-phase FIR
• In the general case we have filters, the frequency response is of the form
H (e jω ) = e− jNω / 2e jβ H (ω)
~
H (e jω ) = je − jNω / 2H (ω)
~
~
where now the amplitude response is of the • The amplitude response H (ω) for each of
form the four types of linear-phase FIR filters can
~ ( N +1) / 2 become negative over certain frequency
H (ω) = 2 ∑ h[ N2+1 − n ]sin(ω(n − 12)) ranges, typically in the stopband
n=1
23 24
4
Functions Functions
• The magnitude and phase responses of the • Note that, even though the group delay is
linear-phase FIR are given by constant, since in general | H ( e j ω ) | is not a
constant, the output waveform is not a
| H ( e jω) | = H ( ω)
~
replica of the input waveform
 − N ω + β, ~
for H (ω) ≥ 0 • An FIR filter with a frequency response that
 2
θ(ω) =  Nω ~ is a real function of ω is often called a zero-
 − 2 + β − π, for H (ω) < 0 phase filter

• The group delay in each case is • Such a filter must have a noncausal impulse
response
25
τ(ω) = N2 26
Zero Locations of Linear- Zero Locations of Linear-

Phase FIR Transfer Functions
• Consider first an FIR filter with a symmetric
• But,
impulse response: h[ n] = h[ N − n] ∑mN=0 h[ m]z m = H ( z −1 )
• Its transfer function can be written as
N N • Hence for an FIR filter with a symmetric
−n −n
H ( z) = ∑ h[ n]z = ∑ h[ N − n] z impulse response of length N+1 we have
n=0 n =0 H ( z) = z −N H ( z−1)
• By making a change of variable m = N − n ,
• A real-coefficient polynomial H(z)
we can write
N N N satisfying the above condition is called a
−n − N +m
∑ h[ N − n]z = ∑ h[m]z = z −N ∑ h[m]z
m
mirror-image polynomial (MIP)
27 n=0 m =0 m =0 28

• Now consider first an FIR filter with an
antisymmetric impulse response: • Hence, the transfer function H(z) of an FIR
h[ n] = − h[ N − n] filter with an antisymmetric impulse
• Its transfer function can be written as response satisfies the condition
N
−n
N H ( z) = − z− N H ( z −1 )
H ( z) = ∑ h[ n]z = − ∑ h[ N − n ]z −n
n=0 n= 0
• A real-coefficient polynomial H(z)
• By making a change of variable m = N − n , satisfying the above condition is called a
we get antimirror-image polynomial (AIP)
N N
−n −N+m
− ∑ h [N − n ]z = − ∑ h[m]z = − z − N H ( z −1 )
29 n =0 m =0 30
5
Phase FIR Transfer Functions Phase FIR Transfer Functions
• It follows from the relation H ( z) = ± z− N H ( z−1) • Thus, a complex zero that is not on the unit
that if z = ξ o is a zero of H(z), so is z = 1/ ξ o circle is associated with a set of 4 zeros given
• Moreover, for an FIR filter with a real by
impulse response, the zeros of H(z) occur in z = re± jφ , z = 1r e ± jφ
complex conjugate pairs • A zero on the unit circle appear as a pair
• Hence, a zero at z = ξo is associated with a z = e ± jφ
zero at z = ξo* as its reciprocal is also its complex conjugate
31 32

• Since a zero at z = ±1 is its own reciprocal, • Likewise, a Type 3 or 4 FIR filter satisfies
it can appear only singly H ( z) = − z− N H ( z −1 )
• Now a Type 2 FIR filter satisfies • Thus H (1) = −(1)− N H (1) = −H (1)
H ( z) = z −N H ( z−1) implying that H(z) must have a zero at z = 1
with degree N odd • On the other hand, only the Type 3 FIR
• Hence H (−1) = ( −1)−N H ( −1) = − H (−1) filter is restricted to have a zero at z = −1
implying H (− 1) = 0 , i.e., H(z) must have a since here the degree N is even and hence,
zero at z = −1 H (−1) = −( −1)− N H (−1) = −H (−1)
33 34
Zero Locations of Linear-

Zero Locations of Linear-
• Typical zero locations shown below Phase FIR Transfer Functions
Type 1 Type 2
• Summarizing
(1) Type 1 FIR filter: Either an even number
−1 1 −1 1 or no zeros at z = 1 and z = −1
(2) Type 2 FIR filter: Either an even number
Type 3 Type 4 or no zeros at z = 1, and an odd number of
zeros at z = −1
−1 1 −1 1 (3) Type 3 FIR filter: An odd number of
zeros at z = 1 and z = −1
35 36
6
(4) Type 4 FIR filter: An odd number of • A Type 2 FIR filter cannot be used to
zeros at z = 1, and either an even number or design a highpass filter since it always has a
no zeros at z = −1 zero z = −1
• The presence of zeros at z = ±1 leads to the • A Type 3 FIR filter has zeros at both z = 1
following limitations on the use of these and z = −1, and hence cannot be used to
linear-phase transfer functions for designing design either a lowpass or a highpass or a
frequency-selective filters bandstop filter
37 38
Zero Locations of Linear- Bounded Real Transfer

Phase FIR Transfer Functions Functions
• A causal stable real-coefficient transfer
• A Type 4 FIR filter is not appropriate to
function H(z) is defined as a bounded real
design a lowpass filter due to the presence
(BR) transfer function if
of a zero at z = 1
|H ( e jω) | ≤ 1 for all values of ω
• Type 1 FIR filter has no such restrictions
and can be used to design almost any type • Let x[n] and y[n] denote, respectively, the
of filter input and output of a digital filter
characterized by a BR transfer function H(z)
with X ( e j ω ) and Y ( e j ω ) denoting their
DTFTs
39 40
Bounded Real Transfer Bounded Real Transfer

Functions Functions
• Then the condition |H (e jω)| ≤ 1 implies that • Thus, for all finite-energy inputs, the output
jω 2 jω 2
energy is less than or equal to the input
Y (e ) ≤ X (e ) energy implying that a digital filter
characterized by a BR transfer function can
• Integrating the above from − π to π, and be viewed as a passive structure
applying Parseval’s relation we get
∞ ∞ • If | H (e j ω )| = 1 , then the output energy is
∑ y[ n] ∑ x[n ]
2 2
≤ equal to the input energy, and such a digital
n= −∞ n= −∞ filter is therefore a lossless system
41 42
7
Bounded Real Transfer
Functions
• A causal stable real-coefficient transfer
function H(z) with | H ( e j ω ) | = 1 is thus
called a lossless bounded real (LBR)
transfer function
• The BR and LBR transfer functions are the
keys to the realization of digital filters with
low coefficient sensitivity
43
Copyright © 2001, S. K. Mitra

Slides-FIR Linear Phase Systems MITRA

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Slides-FIR Linear Phase Systems MITRA

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Linear-Phase FIR Transfer Linear-Phase FIR Transfer

Linear-Phase FIR Transfer Linear-Phase FIR Transfer

length, i.e., N even

Linear-Phase FIR Transfer Linear-Phase FIR Transfer

Linear-Phase FIR Transfer Linear-Phase FIR Transfer

Linear-Phase FIR Transfer

Linear-Phase FIR Transfer Linear-Phase FIR Transfer

Linear-Phase FIR Transfer Linear-Phase FIR Transfer

Linear-Phase FIR Transfer Linear-Phase FIR Transfer

Linear-Phase FIR Transfer Linear-Phase FIR Transfer

Zero Locations of Linear- Zero Locations of Linear-

Zero Locations of Linear- Zero Locations of Linear-

Zero Locations of Linear- Zero Locations of Linear-

Zero Locations of Linear-

Zero Locations of Linear- Bounded Real Transfer

Bounded Real Transfer Bounded Real Transfer

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