CHAPTER 7

Digital Filter Design

Wang Weilian
wlwang@ynu.edu.cn
School of Information Science and Technology
Yunnan University

Outline
About Digital Filter Design
Bilinear Transformation Method of IIR Filter Design
Design of Lowpass IIR Digital Filters
Design of Hignpass, Bandpass, and Bandstop IIR Digital
Filter
FIR Filter Design Based on Windowed Fourier Series
Computer-Aided Design of Digital Filters
Digital Filter Design Using MATLAB

About Digital Filter Design

The most important step in the development of a digital filter :Determine a

realizable transfer function G(z)

Digital Filter Specifications

(1) magnitude response specifications in the passband and the stopband
are given with some acceptable tolerances
(2) A transition band is specified between the passband and the stopband
to permit the magnitude to drop off smoothly

About Digital Filter Design

About Digital Filter Design

Passband edge frequency

Stopband edge frequency

Peak ripple value of passband

Peak ripple value of stopband

Peak passband ripple

Minimum stopband attenuation

Sample frequency

FT

About Digital Filter Design

P 20 log10 (1 P )dB
S 20 log10 ( s )dB
P 1 10
S 10

P / 20

S / 20

P
FT

S
FT

2FP
FT

2FS
FT

About Digital Filter Design

Selection of the Filter Type

(1)The objective of digital filter design is to develop a causal
transfer function H(z) meeting the frequncy specifications.
(2)FIR and IIR Digital Filter
N

FIR Digital Filter

H ( z ) h[ n] z

n0

IIR Digital Filter

H ( z)

p0 p1 z 1 p 2 z 2 p M z M
d 0 d1 z 1 d 2 z 2 d N z N

About Digital Filter Design

FIR

IIR

Impulse Response

finite

infinite

System Function

H(z)=P(z)

H(z)=P(z)/D(z)

Structure diagram

Have feedback

No feedback

Phase response

Exact linear phase

________________

h[n]= h[n-N]
Zero-poles

Only have zeros

Both zeros and poles

About Digital Filter Design

The order NFIR of an FIR filter is higher than the
order NIIR of an equivalent IIR filter meeting the
same magnitude specifications

The ratio NFIR/ NIIRis typically of the order of 10 or

more (the IIR filter usually is computationally
more efficient)

About Digital Filter Design

Basic Approaches to Digital Filter Design
Step1:convert the digital filter specifications into
analog lowpass prototype filter specifications
Step2:determine the analog lowpass filter transfer
function Ha(s)
Step3:transform Ha(s) into the desired digital filter
transfer function G(z)

About Digital Filter Design

Why analog?
(1)Analog approximation techniques are highly
advanced
(2)They usually yield closed-form solutions
(3)Extensive tables are available for analog filter
design
(4)Many applications require the digital simulation
of analog filters

About Digital Filter Design

How to convert an analog prototype transfer function H a(s)
into a digital IIR transfer function G(z)?

(1)the imaginary(j ) axisin the s-plane be mapped onto the unit

circle of the z-plane

(2)A stable analog transfer functon be transformed into a stable

digital transfer function

About Digital Filter Design

Estimation of the Filter Order

IIR: The order of G(z) is determined from the transformation

being used to convert Ha(s) into G(z)(The determination of
Ha(s) is refered to Eq.(5.33),(5.41),or(5.51)
FIR(lowpass digital filter):

For narrowband filter

For wideband filter

20 log10 ( p s ) 13

20 log10 ( s ) 0.22
( s p ) / 2

20 log10 ( p ) 5.94
27 ( s p ) / 2

14.6 ( s p ) / 2

Bilinear Transformation Method of IIR Filter

Design

Bilinear transformation is more commonly used to design

IIR digital filters based on the conversion of analog
prototype filters

The Bilinear Transformation

S-plane to z-plane

G(z)= Ha(s) |

s (
2
T

1 z 1
1 z 1

The transformation is a one-to-one mapping. It maps a

single point in the s-plane to a unique point in the z-plane

Bilinear Transformation Method of IIR Filter

Design

Bilinear Transformation Method of IIR Filter

Design

Bilinear Transformation Method of IIR Filter

Design
Digital filter design procedure:

Step1 the invert bilinear transformation is applied

to the digital filter specifications to arrive at the
specifications of the analog filter function

Step2 the bilinear transformation is employed to obtain the

desired digital transfer function G(z) from the analog
transfer function Ha(s) desired to meet the analog filter
specifications

Bilinear Transformation Method of IIR Filter

Design

When T=2(T has no effect on the G(z))

s j 0

1 s
1 s

1 j 0
1 j 0

s 0 j 0

z
0 0
If 0 >0
If

(1 0 ) j 0
(1 0 ) j 0
then
then

z
z

<1
>1

(1 0 ) 2 ( 0 ) 2
(1 0 ) 2 ( 0 ) 2

Bilinear Transformation Method of IIR Filter

Design
When

s j

and

ze

1 e j
j
1 e

j tan( )

tan( )

Bilinear Transformation Method of IIR Filter

Design

Design of Digital IIR Notch Filters

Example

a second-order IIR notch filter

H ( s)

Analog transfer function:

Applying a bilinear transformation :

Rewrite it:

G( z )

Notch bandwidth

Bw

G( z)

2[1 (1 ) z 1 z 2 ]

cos 0

s 2 Bs 02

(1 ) 2 (1 ) z 1 (1 ) z 2

Bw / 2 )
11 tan(
tan( Bw / 2 )

Notch frequency

s 2 02
(1 02 ) 2 (1 02 ) z 1 (1 02 ) z 2

(1 02 B ) 2 (1 02 ) z 1 (1 02 B ) z 2

Design of Lowpass IIR Digital Filters

Steps of designing a lowpass IIR digital filter

Step1: get the digital filter specifications(

p s p s

Step2: convert to analog filter specifications with bilineat

transformation

Step3: design analog transfer function Ha(s)

Step4: transfer Ha(s) to H(z) since

s (
2
T

1 z 1
1 z 1

Design of Lowpass IIR Digital Filters

Example

Passband edge frequency is 0.25

p
0.5dB

with a passband ripple of

Stopband edge frequency is 0.55

with a stopband attenuation

of 15dB

Then
p
2

p tan( ) tan( 0.252 ) 0.4142136

s
2

s tan( ) tan( 0.552 ) 1.1708496

1
k

p
s

10..1708496
4142135 2.8266809

Design of Lowpass IIR Digital Filters

From the passband ripple of 0.5dB obtaining

2 0.1220185

From the stopband attenuation of 15dB obtaining A2 310622777

Then
A 2 1
1
K1

N
since

15.841979

log(1 / k )
log(1 / k )
2

2.6586997 N 3

H a ( j p ) 1 (

1
2N
p / c )

H a ( j s ) 1 ( 1

s / c

2N

then we get

c 1.419915( p )

11 2

1
A2

Design of Lowpass IIR Digital Filters

The transfer function of third-order lowpass Butterworth is

H an ( s )

1
( s 1)( s 2 s 1)

Then we can get

s
H a ( s ) H an ( 0.588148
)

0.203451
( s 0.588148 )( s 2 0.588148 s 0.345918 )

G ( z ) H a ( s ) |s (1 z 1 ) /(1 z 1 )

0.0662272 (1 z 1 ) 3
(1 0.2593284 z 1 )(1 0.6762858 z 1 0.3917468 z 2 )

Design of Highpass, Bandpass, and

Bandstop IIR Digital Filters
To design IIR filters there are two approches can be followed
First approch:
Step1: prewarp the digital frequency specifications to arrive at
the specifications of an analog filter of the same type.

1 e j
1 e j

tan( 2 )

j tan( )

Design of Highpass, Bandpass, and

Bandstop IIR Digital Filters
Step2: convert the frequency specifications of HD(s) into that of a
prototype analog lowpass filter HLP(S)

s F ( s)
H D ( s) H LP ( s ) |s F ( s )
H LP ( s ) H D ( s) |s F 1 ( S )
( s is the Laplace transform variable of the prototype analog
lowpass filter HLP(S) and is the Laplace transform variable of
the desired analog filterH D (s))

Design of Highpass, Bandpass, and

Bandstop IIR Digital Filters
Step3: Design the analog lowpass filter HLP(S) using the
method described in Section 5.4

Step4: convert the transfer function HLP(S) into HD(S) using the
inverse of the frequency transformation used in step2

Transform the transfer function HD(S) using the bilinear

transformation to arrive at the desired digital IIR transfer
function GD (Z)
1

s (
2
T

1 z
1 z 1

Design of Highpass, Bandpass, and

Bandstop IIR Digital Filters
The second approach:

Step1: prewarp the digital frequency specifications to arrive at

the specifications of an analog filter of the same type.

1 e j
1 e j

j tan( 2 )

tan( )

Design of Highpass, Bandpass, and

Bandstop IIR Digital Filters
Step2: convert the frequency specifications of HD(s) into
that of a prototype analog lowpass filter HLP(S)

s F ( s)
H D ( s) H LP ( s ) |s F ( s )
H LP ( s ) H D ( s) |s F 1 ( S )
( s is the Laplace transform variable of the prototype analog
lowpass filter HLP(S) and is the Laplace transform variable
of the desired analog filter H D (s) )

Design of Highpass, Bandpass, and

Bandstop IIR Digital Filters
Step3: Design the analog lowpass filter HLP(S) using the method
described in Section 5.4
Step4: convert the transfer function HLP(S) into the transfer
function GLP(Z) of an IIR digital filter using the bilinear
transformation

s (
2
T

1 z 1
1 z 1

Step5: transform GLP(Z) into the desired digital transfer function

GD(z) using the appropriate spectral transformation discussed in
Section 7.5

Design of Highpass, Bandpass, and

Bandstop IIR Digital Filters
The functions we usually used in Matlab
lp2hp:

transform the lowpass analog filter to

highpass analog filter

lp2bp:
transform the lowpass analog filter to
bandpass analog filter
lp2bs :
transform the lowpass analog filter to
bandstop analog filter