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Digital Filter Design Writing Difference Equations For Digital Filters

Brian T. Boulter

ApICS LLC 2000

ABSTRACT

Difference equations are presented for 1st, 2nd, 3rd, and 4th order low pass and high pass filters, and 2nd, 4th and 6th ord filters along with a resonance compensation (RES_COMP) filter. The low pass, high pass, bandpass and bandstop differen normalized butterworth continuous time filter descriptions given below. 1st. order normalized Butterworth low pass filter:

(1.0a) 2nd. order normalized Butterworth low pass filter:

(1.0b) 3rd. order normalized Butterworth low pass filter:

(1.0c) 4th. order normalized Butterworth low pass filter:

(1.0d) 2nd. order normalized Notch filter

1.1a) 4th order normalized Notch filter

(1.1b) 6th. order normalized Notch filter

(1.1c) Normalized Res_Comp filter

(1.1d)

The above low pass filter (not the notch or RES_COMP filters) equations are mapped to the appropriate filter type using th To map (1.0x) to a lowpass filter use:

; To map (1.0x) to a highpass filter use:

= desired low-pass 3 [d.b.] cutt-off frequency. (1.2)

; To map (1.0x) to a bandpass filter use:

= desired high-pass 3 [d.b.] pass frequency. (1.3)

(1.4) where: B = A number that controls the bandpass depth/width (equivelant to 1/Q). = The desired continuous time center frequency. To Map (1.0x) to a band-stop filter use:

(1.5) where: B = A number that controls the notch depth/width (equivelant to 1/Q).

= The desired continuous time center frequency.

For example if we want to obtain a fourth order band-stop filter we use equation (1.0d) and use the mapping of equation (1 following continuous filter description:

To create a digital filter we normalize the above filter by setting

= 1, and map to the z-domain using the bi-linear transfo

(1.6)

The c co-efficient in the above equation is used to accomplish frequency warping. That is, to compensate for an inherent i transformation method that is a function of frequency and sample rate. (see any D.S.P. text for a more complete explanatio

Once the above mapping is performed by substituting (1.6) into the continuous time s-domain filter equation we obtain a z-

(1.7)

Where, for any filters obtained using the normalized low-pass butterworth filter as the basis for the digital filter, n = d = orde and low-pass to high-pass mapping the order of the digital filter is the same as the order of the starting normalized butterwo and low-pass to band-stop mapping the order of the digital filter is twice the order of the starting normalized butterwoth low Let: the normalized notch center frequency. (i.e. = the desired notch center frequency = Sample time in sec. The warping equation is given as: 1)

(1.8a) The RES_COMP filter which uses the same mapping as above, requires that the denominator resonant frequency be post-warped with (1.8b) below.

(1.8b) After some algebra we obtain the following co-efficients in (1.7) for low-pass, high-pass, band-pass and band-stop filters for the indicated order of the filter.

Low-Pass Filter

n=1

n=2

n=3

n=4

High-Pass Filter
n=1

n=2

n=3

n=4

Band-pass filter
n=2

n=4

n=6

Note: 1) B in the above equations is equavelant to 1/Q; where Q is the depth factor in notch filter designs.

Band-stop filter

n=2

n=4

n=6

Note: 1) B in the above equations is equavelant to 1/Q; where Q is the depth factor in notch filter designs.

Notch filter
n=2

n=4 Proprietary n=6 Proprietary

RES_COMP filter
Proprietary
Notes: 1) is the zero compensation frequency with damping equal to /2.

2)

is the pole compensation frequency with damping equal to

/2.

CREATING THE DIFFERENCE EQUATIONS: From the z-domain transfer function we obtain the difference equation as follows: Know from (1.7)

(1.9) Therefore (1.9) becomes

In difference equation form:

or in terms of the latest output:

Where for each filter described above the appropriate co-efficients are used in (1.10).
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