Module 3

1 Design Consideration

When a filter produces a unit-sample response that has an infinite duration, it is called an infinite-impulse response
(IIR) filter. The system functions for an analog filter is denoted by H(s), where s=+jΩ, where Ω is angular frequency.
The frequency transfer function of an analog filter, denoted by H(jΩ) is obtained by evaluating the system function H(s)
in the s-plane along the frequency axis, or

H(j)=H(s)|s=jΩ (1)

The squared magnitude response |H (jΩ)|2 = power transfer characteristic of the filter.

|H (jΩ)|2=H(jΩ) H*((jΩ)=H(s)H(-S)| s=jΩ (2)

The analytic from of the identity given by equation (2) indicates that the singularities of H(s) H(-s) is s-plane are
symmetric about the j axis.
To obtain a stable system function from H(s) H(-s), the poles that lie in the left half of the s-plane are assigned to H(s).
The assignment of zeros is arbitrary.

2 Design of Analog filter

2.1 Butterworth Filter

The Analog Butterworth filter of order N is defined by

1
H ( s) H ( s) 
1  ( s / jc ) 2 N (3)

where Ωc = cut-off frequency

s=jΩ, we have
As shown in Fig. 1, the function is monotonically decreasing, where the maximum response is unity at Ω=0. Also it can
be seen that the magnitude response approaches the ideal response as the order N increase.

1 1
| H ( j) |2   (4)
1  (1) 2N
2

In logarithmic units we have this as

1
| H ( jc ) |dB
2
 10 log10    3.0103 (5)
 2

N=1
N=6

Figure 1 Magnitude response of Butterworth Lowpass Filter

Since the highest power s in the denominator of equation (3) is 2N, HB(s) HB (-s) has N poles. These poles are located
in the s-plane at the values of s for which

2N
 s 
   1 (6)
 j c 
 s  1

    1  2N  e
j (2 k 1) /2 N
, k  0,1, 2,....N  1
Therefore,  c
j  (7)

s  c e j /2e j (2 k 1) /2 N , k  0,1, 2,....N  1

The pole configurations in the s-plane for N=3 is shown in Fig 2

Figure 2 Pole location for Butterworth filter foe N=3.

The pole location for normalized poles is given by

s  e j /2e j (2 k 1) /2 N , k  0,1, 2,....N  1 (8)

Let the maximum passband attenuation in db is αp at passband frequency Ωp and αs is the minimum stopband
attenuation in dB at stopband frequency Ωs. Now the magnitude function can be rewritten as

1
| H ( j) |
1   ( / jc ) 2 N 
1/2 (9)
s

Taking log on both sides and at Ω =Ωp the attenuation id equal to αp

20 log | H ( j) |  p  10 log(1   2 ) (10)

This may be reduced to

 p  10log(1   2 )
(11)
0.1 p  log(1   2 )
Taking antilog on both side of eqn. (11)

0.1 p
  (10  1)1/2 (12)

At Ω =Ωs the minimum stopband attenuation is equal to αs.

 2
 s  
2N

20 log | H ( j s ) |  s  10 log 1    

   p  
   
(13)
 2
 s  
2N

0.1 s  log 1    
   p  
   
After simplification

2 2N
  0.1 s
  s 10 1 (14)
 p 
 
Sub. Eqn(14) into eqn.(12),

2N
 s  10 s  1
0.1

   0.1 p (15)
 p  10 1

Taking log on both sides of eqn.(15)

0.1
10 s  1
log 0.1
N 10 p  1 (16)

log s
p
Since this N values is normally not an integer value, therefore, roundoff N to the neat integer value,

0.1
10 s  1
log 0.1
N 10 p  1 (17)

log s
p


log  
N   (18)

log s
p
where

0.1 p
  10 1
(19)
0.1 s
  10 1
For simplicity,

0.1
10 s  1
A 0.1
10 p  1

and the transition ratio k is given by

p
k
s
Therefore the eqn. (18) can be represented as

log A
N (20)
1
log
k
The cut-off frequency can be obtained using
 p s
c  0.1 p
 0.1 s
(21)
(10  1) 1/2 N
(10  1)1/2 N

The following Table 1 gives the Butterworth polynomials for various values of N for c=1 rad/sec.

Table 1 List of Butterworth Polynomials

N Denominator of Ha(s)
1 s 1
2 s  2 s 1
2

3 (s  1)( s 2  s  1)
4 (s 2  0.76537 s  1)( s 2  1.8477 s  1)
5 (s  1)( s 2  0.61803 s  1)( s 2  1.61803 s  1)

Example 1
For the following specification  p  1dB;  s  30dB ;  p  200rad / sec ;  s  600rad / sec . Determine
the order of the filter.

Solution
We know that

0.1
10 s  1
log 0.1
N 10 p  1

log s
p
log(62.115)

log(3)
 3.758

Rounding off N to the next higher integer we get N=4.

Example 2
Design an analog Butterworth filter for the following specifications.

1
1/ 2
 H (e j )  1 0    0.2
2
H (e j )  0.1 0.4    

Solution

Find the order of the filter:

0.1
10 s  1
log 0.1
N 10 p  1

log s
p
log(0.1005)

log(0.5)
 3.314
The order of the filter is N = 4.
Since N = 4 (even) the T.F of the fourth order analog filter is

Bk  c
N /2 2

H a ( s)  
s 2  bk  c s  C k  c
2
k 1

Bk  c
2 2


s 2  bk  c s  C k  c
2
k 1

B1  c B2  c
2 2

 .
s 2  b1  c s  C1  c s 2  b2  c s  C 2  c
2 2

We Know That,
 (2k  1) 
bk  2 sin  , C1  C 2  1.
 2N 
 
b1  2 sin    0.7649  0.765
2

 3 
b2  2 sin    1.8473
 8 
B1 c B2  c
2 2

H a ( s)  .
s 2  0.765 c s  C1 c s 2  1.847  c s  C 2  c
2 2

The cut off frequency c can be estimated from the magnitude response of the butterworth filter as
p
c  1/2 N
 1 
 A 2  1
 1 
Note:




 j 1
 H (e )  1/2
    p 2 N 
 1    
   c  
1
p  1/2
   p 2 N 
1    
  c  
 1
  p2  2N
 
1  p 
 c 
   1 
1/2 N


  p    2  1 
 c    p  

The analog filter pass band cut off frequency can be obtained from the digital and analog filter frequency relation,
 p   pT

Where  p  digital filter freq,

 p  analog filter freq,
T  sampling period.
0.2 0.628
c  
 1 
1/ 8
1.0006 1 / 8
 2
 1
 (0.707 ) 
 0.628
B1 (0.628) 2 B2 (0.628) 2
H a ( s)  .
s 2  0.765(0.628) s  (0.628) 2 s 2  1.847 (0.628) s  (0.628) 2
B1 B2 (0.15553 )
 2
( s  0.4804 s  0.3943)( s 2  1.1599 s  0.3943)

Assume B1  B2  1

0.15553
 H a ( s) 
( s  0.4804 s  0.3943)( s 2  1.1599 s  0.3943)
2

Example 3
Design an analog Butterworth filter that has a – 2 dB passband attenuation at a frequency of 20 rad/sec and an atleast –
10 dB stopband attenuation at 30 rad/sec.

Solution
Given  p  2dB;  s  30 dB ;
 p  20rad / sec ;  s  30rad / sec .

We know that

0.5
 10 0.1 s  1 
log  0.1 

 10 p  1 
N

log s
p
0.5
 10  1 
log  0.2 
 10  1 


log s
p
 3.37
Rounding off N to the next higher integer we get N=4.

The normalized lowpass Butterworth filter for N=4 can be found from Table 1

1
H a ( s) 
(s  0.76537s  1)(s 2  1.8477s  1)
2