Using Methodology for MATLAB

Designing the First-Order Chebyshev

Analogue and IIR Digital Filters
Petr Vojcinak ∗ Martin Pies ∗∗ Jiri Koziorek ∗∗∗
∗
Department of Cybernetics and Biomedical Engineering, VSB-TUO,
Czech Republic (e-mail: petr.vojcinak@vsb.cz)
∗∗
Department of Cybernetics and Biomedical Engineering, VSB-TUO,
Czech Republic (e-mail: martin.pies@vsb.cz)
∗∗∗
Department of Cybernetics and Biomedical Engineering,
VSB-TUO, Czech Republic (e-mail: jiri.koziorek@vsb.cz).

Abstract: This paper deals with using some MATLAB functions and tools for designing the
first-order analogue Chebyshev filters and IIR Chebyshev filters. The first part of this paper is
focused on a design of an analogue filter via Chebyshev approximation approach, including
features and mathematical background of this iso-extremal approximation, approximation
of a normalized low-pass (NLP) filter, and some mathematical formulas for calculating its
fundamental parameters, such as constructing a tolerance scheme, an order of the Chebyshev
approximation, poles of the NLP’s transfer function, characteristic equation, and group delay.
Due to some frequency transformation formulas implemented in MATLAB, un-normalized forms
of frequency functions for low-pass (LP), high-pass (HP), band-pass (BP), and band-stop (BS)
analogue filters are also available. The second part of this paper describes a design of the first-
order IIR Chebyshev filter via Filter Visualization Tool (FVT), and functions, implemented in
Signal Processing Toolbox, whereas a conversion from the analogue form into the digital form
is done and discussed for bilinear transformation only.

Keywords: Chebyshev analogue filter, Chebyshev approximation, Chebyshev polynomials, IIR

digital filter, MATLAB, Normalized low-pass filter, NLP’s characteristic equation, NLP’s
group delay, NLP’s transfer function, Un-normalized filters.

1. INTRODUCTION f (xi ) − Qn (xi ) = α(−1)i kf − Qn k . (3)

1.1 Chebyshev Approximation
Let us consider C as a space of continuous real functions,
defined in a closed interval ha, bi and having a usual norm
value, thus; Rektorys K. et al. (2000a):
kf k = max |f (x)| . (1)
x∈ha,bi
Because nth degree polynomials evidently constitute some
finite-dimensional subspace of the space C , there is this
(0)
nth degree polynomial Qn , related to each function f ∈
C, to satisfy this equality, thus; Rektorys K. et al.
(2000b):
En (f ) ≡
f − Q(0) from zero in the interval ha, bi. If we reformulate the
n
= inf kf − Qn k . (2)
The infimum is taken into account for all the polynomials
of nth or lower degree (Qn ). This polynomial is called
as the best approximation polynomial or the Chebyshev
approximation polynomial. We often call it as “minimax”
approximation, because maximal error is minimal in the
interval ha, bi; Rektorys K. et al. (2000b).
If the polynomial Qn is the best regular approximation
polynomial, then there are (n + 2) nodes to satisfy this
equality; Rektorys K. et al. (2000b):
Where i indexer for i = 0, . . . , m
α for all i, it is equalled to a value of
+1 or −1.
Some feature, mentioned in (3), means, that maximal and
minimal values (i. e. extrema) of the function f − Qn
alternately occur in nodes x0 , x1 , · · · , xm . This charac-
teristic feature is called as Chebyshev alternate feature
and corresponding group of nodes is called as Chebyshev
alternate group; Rektorys K. et al. (2000b).
In practical use, we have to find some nth degree polyno-
mial (the highest-power coefficient equals to 1), which has
the smallest (it is related to the space C norm) difference
previous sentence, then we found the (n − 1)th degree
polynomial, which is a polynomial of the best regular
approximation of function xn in the interval ha, bi. In case
of desired polynomial Tn (x), in the interval ha, bi a number
of consecutive nodes, in which Tn acquires the value of
kTn k at alternate sign, is not smaller than (n + 1). For
x ∈ h−1, +1i, the desired polynomial could be written in
this form, thus:
Tn (x) = kTn k cos [n arccos (x)]
(4)
= 2−n+1 cos [n arccos (x)] .
Finally, for −1 = x0 < x1 < · · · < xn = +1 and polynomials, Gegenbauer differential equation has this
k = 0, · · · , n, a form of the desired (Chebyshev) polynomial form, see forms of (7) and (8):
is given by (5); Rektorys K. et al. (2000b):
d2 d

(n − k) π
 1 − x2 {f (x)} − Ax {f (x)} + Bnf (x) = 0 (9)
Tn (xk ) = kTn k cos = (−1)n−k kTn k . (5) dx2 dx
n Where A = 2α + 1,
1.2 Chebyshev Polynomials B = 2α + n.
In case of the trigonometric representation of the first kind
Chebyshev polynomials are a sequence of classic orthogo- Chebyshev polynomials, let us consider these formulas,
nal polynomials, which are related to de Moivre’s formula based on Euler’s formula (and de Moivre’s formula).
and which can be defined recursively. We usually distin-
guish between two kinds of the Chebyshev polynomials, For |x| ≤ 1 (cosine function), see the form of (4):
thus: Tn [x = cos (Φ)] = cos (nΦ) = cos [n arccos (x)] . (10)
• the first kind Tn (x) For |x| ≥ 1 (hyperbolic cosine function):
• the second kind Un (x)
Tn [x = cosh (Φ)] = cos (nΦ) = cosh [n arg cosh (x)] . (11)
These Chebyshev polynomials are the nth degree poly-
nomials and their sequence composes some polynomial Equations (10) and (11) show, that different approaches
sequence. In practical use, the Chebyshev polynomials to defining the Chebyshev polynomials lead to different
are important in approximation theory, whereas the roots explicit formulas – it is very useful for designing a Cheby-
of the first kind of the Chebyshev polynomials are used shev filter not only in pass band, see (10), but also in stop
in polynomial interpolation, see (1), (2), and (3). This band, see (11).
paper is focused on describing and using mathematical
background for the first kind only. 2. DESIGNING THE FIRST-ORDER ANALOGUE
CHEBYSHEV FILTER
Generally, both kinds of the Chebyshev polynomials are
orthogonal; in case of the first kind, we assume: The Chebyshev polynomials are also the solutions of Pell
• interval x ∈ h−1, +1i, equation, which is any Diophantine equation having this

− 21 form, thus:
• weight function w (x) = 1 − x2 .
x2 − ny 2 = 1. (12)
Based on the Sturm-Liouville theory and a form of an
orthonormal basis in the Hilbert space, we assume this If we consider some features of the Euler’s formula, the
formula; Nečas J. et al. (1977), Rektorys K. et al. de Moivre’s formula, and both kinds of the Chebyshev
(2000a): polynomials, then we can write, thus:
Tn2 (x) − f (x) Un−1
2
(x) = Tn2 (x) −
Z+1 2
x2 − 1 (13)


Tn (x) Tm (x) w (x) dx = Fmn (x) . d
− 2
{T n (x)} = 1.
−1 n dx

0 m 6= n After simple adjustments, we get a solution, related to
2
Fmn (x) = π/2 = kTn (x)k m = n, n 6= 0. (6) (10), in this form:

π = kT0 (x)k2 m=n=0  √ n  √ n
x + x2 − 1 + x − x2 − 1
Tn (x) = . (14)
The Chebyshev polynomials are also the solutions of these 2
second-order ordinary differential equations (ODE): If we consider the features of cosine function and complex

d2 d exponential function, when we get this desired result,
1 − x2 {f (x)} − x {f (x)} + n2 f (x) = 0. (7)
dx2 dx compare with (10):

n
n
Where f (x) ≡ y = Tn (x) this ODE’s solution. eiΦ + e−iΦ
Tn [x = cos (Φ)] = = cos (nΦ) . (15)

d2 d 2
1 − x2 {f (x)} − 3x {f (x)} +
dx2 dx (8) Designing the first-order analogue Chebyshev filter is
+n (n + 2) f (x) = 0. based on the Chebyshev approximation, which uses so-
called first Chebyshev approximation method. In this case,
Where f (x) ≡ y = Un (x) this ODE’s solution. we find some polynomial solution in open interval Ω =
These ODEs are special cases of the Sturm-Liouville dif- (−1, +1), where Ω is a normalized radial frequency. This
ferential equations. In case of the Chebyshev polynomials’ solution has to approximate zero as best (as possible) and
features, we assume definition, representations (polyno- with regular difference; Davı́dek V. et al. (2006). We
mial, trigonometric, and integral), orthogonality, generat- assume some approximate differential equation; in this
ing functions, recurrence relation, roots, and extrema. case it is the Pell equation, converted into this form,
compare with (13):
Because the Chebyshev polynomials are special cases of ul- 

d
2
2
traspherical (also Gegenbauer) polynomials, which them- {Tn (x)} = n2 1 − Tn2 (x) .
 
1−x (16)
selves are special cases of hypergeometric (also Jacobi) dx
 case of this filter kind, the poles are always located on an
ellipse, see Fig. 2.

2.2 Practical Example for the NLP Filter

Let us consider these values of normalized radial frequen-

cies and primary parameters, thus:
Fig. 1. Normalized low-pass filter: Tolerance scheme (left; • For the normalized radial frequencies:
including the primary parameters) and standard tol- ap = 1 [dB], as = 20 [dB] . (19)
erance scheme (right; including the secondary param-
eters). • For the primary parameters:
Ωp = 1 [−], Ωs = 2.15 [−] . (20)
2.1 Approximating the Normalized Low-pass (NLP) Filter
From these input parameters, we are able to extract and
This approximation methodology is based on the first kind calculate some output parameters. For the approximation
Chebyshev polynomials and focused on the normalized order; this value is also round to the nearest higher integer
low-pass (NLP) filter only. Due to frequency normaliza- value:
tion, it is possible to convert ideal LP’s requirements arg cosh (Ωp /k1 ) ∼
into a NLP prototype. Naturally, it is also possible to n≥ = 2.1141 ⇒ n = 3. (21)
arg cosh (Ωp /k)
transform requirements for other types of analogue fil-
ters (i. e. low-pass, high-pass, band-pass, and band-stop) Result of (21) shows the approximation order is odd.
into the NLP filter, namely via other frequency formulas Now, we must consider all the n-dependent formulas for
and/or using MATLAB functions, implemented in Signal odd order only, and we must also recalculate the other
Processing Toolbox or Filter Visualization Tool. The stan- parameters for new integer value of n. For the number of
dard results of this approximation approach are as follows; pass band extrema and their values at odd order, we get:
Davı́dek V. et al. (2006):   √
n−1 2·1−1 3
• transfer function ĤNLP (p), µ= = 1 : Ω01 = cos = . (22)
2 2·3 2
• characteristic function ϕNLP (p),
• group delay τg (Ω). Through the calculating ellipse parameters (i. e. the pri-
There are defined and shown some ideal requirements for mary half-axis a = 0.4942 and the secondary half-axis
frequency-magnitude characteristic of the ideal low-pass b = 1.1154), the poles (and their placement on the ellipse,
(LP) filter. Radial frequency ωp is an un-normalized cut- see Fig. 2) of the NLP’s transfer function are given by this
off radial frequency of designed filter’s pass-band, where formula:
magnitude values at positive radial frequencies are given
   
2µ − 1 2µ − 1
by this formula, thus: pµ = −a sin π + jb cos π . (23)
2n 2n
 
1 : ω ∈ h0, ω i

Ĥ (jω)  = 0 : ω ∈ hω , p+∞) (17)
 
 LP
s Where µ is indexer for µ = 1, · · · , n.
Analogously to the ideal low-pass filter, there are de-
fined and shown some ideal requirements for normalized
frequency-magnitude characteristic of the ideal normal-
ized low-pass (NLP) filter. Normalized radial frequency
Ωp , naturally equalled to 1, is a normalized cut-off radial
frequency of designed filter’s pass-band, where magnitude
values at positive normalized radial frequencies are given
by this formula, thus:
In MATLAB, we can create some algorithm, which cal-
culates these poles via (23). Some MATLAB code can be
written like this, whereas the poles are located in both
half-planes of the normalized complex area:
a = 0.5*(Clen1 - Clen2);
b = 0.5*(Clen1 + Clen2);
for mu = 1:n
PolyLPolorov(mu) = -a*sin((2*mu - 1)*pi/(2*n))...
  
1 : Ω ∈ h0, Ω i = h0, 1i + 1i*b*cos((2*mu - 1)*pi/(2*n));
ĤNLP (jΩ) = 0 : Ω ∈ hΩ , p+∞) (18)
 
PolyPPolorov(mu) = a*sin((2*mu - 1)*pi/(2*n))...
s
+ 1i*b*cos((2*mu - 1)*pi/(2*n));
end
Because frequency-magnitude characteristics of the ideal
NLP filter need not meet all the feasibility requirements, PolyLPolorov(1:n)
it is required to consider so-called tolerance scheme or PolyPPolorov(1:n)
standard tolerance scheme, see Fig. 1; Davı́dek V. et al.
(2006). In case of the transfer function (at odd order), its calcu-
At approximating the Chebyshev NLP filter, there are lated form is as follows:
exact analytic formulas to determine not only values of 0.4913
ĤNLP (p) ∼
= 3 . (24)
the standard results, but also values of other essential 2
p + 0.9883p + 1.2384p + 0.4913
parameters, such as an approximation order, a number
of extrema, and poles of the NLP’s transfer function. In Where p is normalized Laplace operator.
Fig. 2. Normalized low-pass filter: Elliptic placement
of three poles of the NLP’s transfer function
ĤNLP (p = jΩ) in the left half-plane of the normalized
complex area (Σ + jΩ).
Fig. 4. Normalized low-pass filter: Normalized radial
frequency-group delay characteristics of τg1 (Ω) (ob-
tained by Ĥ1 (p = jΩ)) and τg2 (Ω) (obtained by
Ĥ2 (p = jΩ)); the Cartesian coordinates.

In case of the group delay (at odd order and considering

the generalized approach, related to the transfer function
and its first derivation), its calculated form is as follows
(in radians):
0.9883Ω4 − 0.2500Ω2 + 0.6084
τg (Ω) ∼
= . (28)
Ω6 − 1.5001Ω4 + 0.5625Ω2 + 0.2414

Due to MATLAB possibilities and features, it is possible

to plot not only normalized radial frequency-magnitude
characteristic, but also other characteristics, such as real
part and imaginary part of the transfer function, phase
characteristic, and group delay in 3D graphs. The MAT-
LAB code can be written like this:
B0 = 0.4913;
A0 = B0; A1 = 1.2384;
Fig. 3. Normalized low-pass filter: Normalized
 radial A2 = 0.9883; A3 = 1;
frequency-magnitude characteristics of Ĥ1 (p = jΩ)
 
  dSigma = 0.01; dOmega = dSigma;
(obtained analytically) and Ĥ2 (p = jΩ) (obtained

by implemented MATLAB function of cheb(n,Rp));
the Cartesian coordinates and tolerance scheme lim-
its.
In case of the normalized radial frequency-magnitude
characteristic (at odd order and p = jΩ), its calculated
form is as follows:
[Delta, Sigma] = meshgrid(-1:dSigma:0, -2:dOmega:2);
s = Delta + 1i*Sigma;
FceZPrenos = B0./(A3*s.^3 + A2*s.^2 + A1*s + A0);
FceZSkupinove = - real((-3*s.^2 - 1.9766*s - 1.2384)./...
(s.^3 + 0.9883*s.^2 + 1.2384*s + 0.4913));
Imag = imag(FceZPrenos);
Real = real(FceZPrenos);
  0.4913
ĤNLP (jΩ) ∼=√ 6 .(25) mesh(Delta, Sigma, unwrap(atan2(Imag, Real)));
 
Ω − 1.5001Ω + 0.5625Ω2 + 0.2414
4

This MATLAB code plots the 3D graph of the normalized

In case of the normalized radial frequency-phase charac- radial frequency-phase characteristic at unwrapped mode.
teristic (at odd order and considering the first quadrant),
its calculated form is as follows: For this transfer function form, mentioned in (24), it is
also possible to plot it in 3D graph.
Ω3 − 1.2384Ω
 
ϕNLP (Ω) = arctg . (26)
0.4913 − 0.9883Ω2
2.3 Practical Example for Un-normalized Analogue Filters
In case of the characteristic function (based on the charac-
teristic equation), its calculated form is as follows (at odd Due to MATLAB functions, implemented in Signal Pro-
order n = 3, p = jΩ and j 3 = −j): cessing Toolbox, it is possible to convert the normalized
low-pass filter into the un-normalized analogue filters, see
φNLP (jΩ) ⇒ j 3 T3 (Ω) = 4(jΩ)3 − 3 j 3 Ω .


(27) summarization in table 1.
 Fig. 6. Un-normalized low-pass filter: Radial frequency-
Fig. 5. Normalized low-pass filter: 3D graph of the normal- magnitude characteristic ĤLP (s = jω); the Cartesian
ized radial frequency-magnitude characteristic, where coordinates.
three poles of the transfer function are shown in
the left half-plane of the normalized complex area
(Σ + jΩ); the Cartesian coordinates. ω0 = 2000π rad · s−1 ⇒ f0 = 1000 [Hz] .
 
(30)
Where n approx. order n, Where LP ωp = ω0 Ωp = ω0 = 2000π,
Rp pass-band ripple Rp = 10−0.05ap , ωs = ω0 Ωs = 2.15ω0 = 4300π,
b TF nominator B̂NLP (p), HP ωp = ω0 /Ωp = ω0 = 2000π,
ωs = ω0 /Ωs = ω0 /2.15 ∼
= 930.23π.
a TF denominator ÂNLP (p),
Wo cut-off rad. freq. ω0 , For designed LP filter, the radial frequency-magnitude
Bw freq. bandwidth B ≡ Bm . characteristic and corresponding MATLAB code are as
follows, thus:
In case of Wo, this is not only the cut-off radial frequency
(in case of the LP and HP filters), but also a central radial [NumHDPs, DenHDPs] = lp2lp(NumHs, DenHs, omega0);
frequency (in case of the BP and BS filters), given by this HDPs = tf(NumHDPs, DenHDPs)
formula (geometric average):
√ p [HDP, omegaDP] = freqs(NumHDPs, DenHDPs, omega);
ω0 = ωmd ωmh = 2π fmd fmh . (29) plot(omegaDP, abs(HDP))

For example, let us consider these values of un-normalized For the BP filter at ω0 = 2000π rad · s−1 :
 
radial frequencies (in radians per second):
For the LP and HP filters: ωmd = 1500π, ωmh = 2500π
. (31)
ωpd = 1200π, ωph = 2800π
Table 1. Summarization of Conversion Formu-
las and Corresponding Callings of MATLAB Where Bm = |ωmh − ωmd | / (2π) = 500,
Functions; Doleček J. (2009),THE MATH-
WORKS Inc. (2011) Bp = |ωph − ωpd | / (2π) = 800,
/ (ωmd Bm ) ∼
 
Filter Conversion Formulas MATLAB Function
Ωp = ω02 − ωmd
2 
= 1.17,
Type
 
 / (ωpd Bm ) ∼
 2 2
Ωs = ω0 − ωpd = 2.13.

Ωp = 1
NLP che1abp(n,Rp)
Ωs
ω p = ω 0 Ωp = ω 0 For designed BP filter, the radial frequency-magnitude
LP lp2lp(b,a,Wo) characteristic and corresponding MATLAB code are as
ω s = ω 0 Ωs
ωp = ω0 /Ωp = ω0 follows, thus:
HP lp2hp(b,a,Wo)
ωs = ω 0 /Ωs 
[NumHPPs, DenHPPs] = lp2bp(NumHs, DenHs, omega0, Bomega);
Ωs = ω02 − ωpd
2 / ω B
pd m HPPs = tf(NumHPPs, DenHPPs)
Bm =|ωmh − ωmd  | / (2π)
BP Bp = ωph − ωpd  / (2π) lp2bp(b,a,Wo,Bw) [HPP, omegaPP] = freqs(NumHPPs, DenHPPs, omega);
ωmh < ωph ωmd > ωpd plot(omegaPP, abs(HPP))
Bm < Bp
 
Ωs = ωpd Bm / ω02 − ωpd 2 
Finally, for the BS filter at ω0 = 2000π rad · s−1 :
 
Bm =|ωmh − ωmd  | / (2π)
BS Bp = ωph − ωpd  / (2π) lp2bs(b,a,Wo,Bw)
ωmh > ωph ωmd < ωpd ωpd = 1500π, ωph = 2500π
. (32)
Bm > Bp ωmd = 1200π, ωmh = 2800π
  
−1
−1

2 · π 1 − z
Ĥ z = Ĥ s →   −1
. (35)
tg fps π 1 + z
f

For example, let us consider an un-normalized  IIR low-

−1

pass filter with ω 0 = ω p = 2000π rad · s and ωs =
8000π rad · s−1 . Then radial frequency ratio equals to:
 

ω0 2000π 1
pω = = = = 0.25. (36)
ωs 8000π 4

For this designed filter, the “normalized” radial frequency-

magnitude characteristic and corresponding MATLAB
code are as follows, thus:
For the analogue NLP filter (s-plane):
Fig. 7. Un-normalized band-pass filter: Radial frequency- [NumHNDPs, DenHNDPs] = cheby1(n, ap, Omegap, ’low’, ’s’);
[HNDPs, omegaNDPs] = freqs(NumHNDPs, DenHNDPs);
magnitude characteristic ĤBP (s = jω); the Cartesian
coordinates.
For the digital NLP filter (z-plane; IIR; prewarped mode
3. DESIGNING THE FIRST-ORDER DIGITAL (IIR) is not considered):
CHEBYSHEV FILTER [NumHNDPz, DenHNDPz] = cheby1(n, ap,...
2*atan(Omegap/(2*fvz))/pi, ’low’, ’z’);
Transfer function of IIR filter (IIR - Infinite Impulse [HNDPz, omegaNDPz] = freqz(NumHNDPz, DenHNDPz);
Response) is given by this formula; Davı́dek V. et al.
(2006): For the digital LP filter (z-plane; IIR; prewarped mode is
M
not considered):
M
1 − z0µ z −1
Q

bm z −m b0
P
[NumHDP1z, DenHDP1z] = cheby1(n, ap,...
−1

m=0 µ=1
Ĥ z = = . (33) 2*atan(omega0*Omegap/(2*fvz))/pi, ’low’, ’z’);
N N [HDP1z, omegaDP1z] = freqz(NumHDP1z, DenHDP1z);
an z −n (1 − z∞ν z −1 )
P Q
1+
n=0 ν=1
Or (it is an equivalent code; using bilinear transformation,
Designing the IIR filters prewarped mode is not considered):

is based on finding the coefficients
of nominator B̂ z −1 and denominator  z −1 of this


[NumHDP2z, DenHDP2z] = bilinear(NumHDPs, DenHDPs, fvz);
transfer function, see (33), or finding zeros of B̂ z −1


[HDP2z, omegaDP2z] = freqz(NumHDP2z, DenHDP2z);
and poles of  z −1 to satisfy requirements of some


tolerance scheme, whereas this design process is related to For the digital LP filter (z-plane; IIR; prewarped mode is
the quadrature of magnitude characteristic, and the group considered):
delay. [NumHDP3z, DenHDP3z] = cheby1(n, ap,...
Traditional approach is based on acceptance of analogue 2*atan(omega0*Omegap*tan(pi*f0/fvz)/(2*pi*f0))/pi,...
filters’ approximations, because some methodology of the ’low’, ’z’);
[HDP3z, omegaDP3z] = freqz(NumHDP3z, DenHDP3z);
NLP approximation has been developed yet. Well, this
paper tries to demonstrate this idea.
Or (it is an equivalent code; using bilinear transformation,
In MATLAB, there are two ways, how to approach bilinear prewarped mode is not considered):
transformation, thus:
[NumHDP4z, DenHDP4z] = bilinear(NumHDPs, DenHDPs, fvz, f0);
• bilinear(num, den, fs) - prewarped mode is not [HDP4z, omegaDP4z] = freqz(NumHDP4z, DenHDP4z);
used to indicate “match” frequency, where num is a
nominator of transfer function, den is a denominator
of transfer function, and fs is a sampling frequency; Fig. 8 shows the “normalized” radial frequency-magnitude
THE MATHWORKS Inc. (2011): characteristics of the designed IIR low-pass filter. For
its detailed analysis (e. g. phase delay, group delay, TF
1 − z −1 2 1 − z −1 nominator, TF denominator, TF poles, and structure), we
 
Ĥ z −1 = Ĥ s → 2fs


= . (34) can use a MATLAB tool called Filter Visualization Tool
1 + z −1 Ts 1 + z −1
(fvtool command).
• bilinear(num, den, fs, fp) - fp parameter spec- In this case, “normalized” means dividing the interval
ifies prewarping, which indicates “match” frequency, h0, πi by π to get the interval h0, 1i. If we consider the
for which frequency responses (before and after map- prewarped mode and sampling radial frequency ωs = 2π,
ping) match exactly; this parameter is identical with then we get (after normalization):
edge of analogue filter’s pass-band; THE MATH-
WORKS Inc. (2011): ωs = ω0 /pω = 2π ⇒ ω0 /π = pω ωs /π = 0.5. (37)

Fig. 8. Un-normalized IIR low-pass filter: “Normalized”
radial frequency-magnitude characteristics with the
prewarped mode (light curve) and without this mode
(dark curve); the Cartesian coordinates.
In comparison with the non-prewarped mode, value of ω0
equals to 0.42. So, result of (36) is not considered.
4. CONCLUSIONS
This paper deals with using some mathematical back-
ground - the Chebyshev approximation, Chebyshev poly-
nomials, selected MATLAB functions from Signal Process-
ing Toolbox, and other tool (e. g. Filter Visualization Tool)
to design the first-order (also kind I) analogue Chebyshev
filters and IIR Chebyshev filters. Because this paper is
mainly centred on the mathematic viewpoint, there are
lots of fundamental (maybe essential) formulas (de Moivre,
Euler, also Jacobi, Gegenbauer, or Rodrigues). Features
of the Chebyshev polynomials are also mentioned and
discussed in forms of definition, representations, roots, and
extrema.
The second part of this paper is focused on designing
the first-order Chebyshev filters in p-plane (the NLP fil-
ter), s-plane (un-normalized analogue filters), and z-plane
(IIR filters; normalized digital low-pass filter and un-
normalized digital filters). Designing the NLP filter has
five important results (approximation order, character-
istic equation, characteristic function, transfer function,
and group delay), and other results in form of tolerance
scheme, magnitude characteristics, phase characteristics,
TF poles, roots, and extrema. All these formulas are used
to solve practical examples, which include calculations, 2D
graphs, 3D graphs, and some fragments of corresponding
MATLAB codes. Due to MATLAB&Simulink possibilities,
it is also possible to implement this approach, based on
Davı́dek V. et al. (2006), not only in Simulink, but also
in the field of FIR filters or other kinds of analogue filters.
ACKNOWLEDGEMENTS
This work is supported by project SP2012/111, named
“Data Acquisition and Processing from Large Distributed
Systems II” of Student Grant Agency (VSB - Technical
University of Ostrava).
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