Design of Bandpass and Bandstop Infinite Impulse Response Filters Using Fractional Derivative

This article has been accepted for publication in a future issue of this journal, but has not been
fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2018.2831184, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Design of Bandpass and Bandstop Infinite

Impulse Response Filters using Fractional
Derivative
N. Agrawal, Student Member IEEE, A. Kumar, Member IEEE, Varun Bajaj, Member IEEE,
and G. K. Singh
 performance, and flexibility.

Abstract— In this paper, a new design method for digital During the past, several attempts were made for designing
bandpass and bandstop infinite impulse response (IIR) the optimal IIR filters. In early stage of research, an IIR filter
filters with nearly linear-phase response is proposed. In was designed using conventional transformation technique,
this method, the phase response of an all-pass filter (APF)
is optimized in frequency domain to yield less passband
where an analog prototype filter was initially designed, and
error (Erp) and stopband error (Ers) with optimal stopband translated into a digital filter using suitable mapping from s-
attenuation (As). To achieve high accuracy in passband domain to z-domain, which suffered from finite word length
and stopband region, fractional derivative constraints are (WL) effect, nonlinear phase, and wrapping effect [3]. Later
evaluated in the respective regions, and the filter on, many computer aided design techniques were devised and
coefficients are computed using the Lagrange Multiplier further sub-categorized into gradient based methods [4-6] and
method. The behavior of fidelity parameters measured in
terms of Erp, Ers, and phase error (Erph) is multi-model
evolutionary based techniques [7-9].
w.r.t. FD values. Therefore, modern heuristic technique, In gradient based techniques, an error function is
known as cuckoo search (CS) optimization is used for constructed using different filter constraints such as ideal
determining the optimal value of FDs and reference response in passband (pb) and stopband (sb), good stopband
frequency simultaneously to minimize the fitness function, attenuation, or linear phase response constraint, which can be
which is constructed as a sum of the squared error in solved using linear programming (LP), weighted least square
passband and stopband. The designed filter yields up to
60% reduction in Erp and Erph in case of BPF. Meanwhile,
(WLS) technique, peak-constrained least square (PCLS)
the response of filter is not degraded due to finite word technique, and second order con-programing (SCOP)
length (WL) effect. technique based on minimax criterion [5]. An impoved design
method for linear phase respose was proposed using constraint
Index Terms—Fractional derivatives (FD), IIR filter, optimization [10]. Recently, a new design method with
linear phase, least squared, quantization, BPF, BSF iterative reweighting using phase error is proposed [11]. In
these techniques, the error function formulated is nonlinear
I. INTRODUCTION and noncovex, which yields sub-optimal solutions due to
A substantial progress has been made for the development

of new design algorithms for digital filters as numerous
applications such as denoising, adaptive filters, and design of
trapping in local minima.
The modern heuristic search methods such as genetic
algorithm (GA), particle swarm optimization (PSO), artificial
multirate systems, rely on the efficient design of digital filters bee colony (ABC) algorithm, differential evolution (DE) and
[1–2]. Optimal filter response with linear phase is the principal cuckoo search (CS) algorithm have emerged as the robust
requirement for filtering of various signals. In some techniques for exploring the solutions of non-differentiable
applications, infinite impulse response (IIR) filters are and multi-model optimization problems. Therefore, authors
comprehensively used owing to their sharper transition region have used these modern techniques for digital filter design [3,
roll-off, and low memory requirement as compared to finite 7- 9, 12] and they yield improved design results. However,
impulse response (FIR) filters, which has motivated to develop these techniques are suitable for lower order system only, and
a new design method for an IIR filters with improved suffer from sub-optimal fixing in large-scale problems.
As in several applications, linear-phase response of a
Manuscript received September 09, 2017; revised January 22, designed filter is required such as coherent signal processing
2018; accepted Month February, 2018. and demodulation, radar signal processing, audio signal
N. Agrawal, A. Kumar, and Varun Bajaj are with PDPM Indian processing [13, 14], etc. Therefore, several attempts were
Institute of Information Technology, Design and Manufacturing
Jabalpur, Dumna Airport Road, Khamaria, Jabalpur M. P. India- made to achieve linear phase response of an IIR filter.
482005. e-mail: nikhil.agrawal@iiitdmj.ac.in, anilkdee@gmail.com. Recently, a new technique has been proposed for an IIR filters
bajajvarun056@yahoo.co.in with nearly linear phase response using an all-pass filter (APF)
G. K. Singh is with Indian Institute of Technology Roorkee,
Uttarakhand India- 247667. e-mail: gksngfee@gmail.com.
in [15-17]. This was further extended for designing filterbanks
0278-0046 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2018.2831184, IEEE
[18, 19]. In these approaches, attenuation at passband edge and ith is the index of solution vector. The fitness of each
frequency (ωp) is quite high, which causes high error in solution vector is examined, and solutions with improved
passband (pb). Authors in [20] have proposed a new fitness are considered over previous solutions. In later stage of
technique, based on fractional derivative (FD) that yields more this algorithm, certain values of search space vector are
improved design in passband for FIR filters. This was further replaced as [22]:
improved by using evolutionary techniques (ETs) [21]. 
Vik 1  Vik  Vdk  Vdk  Ki  (2)
Based on the reviewed literature, several techniques have
been proposed for designing of an IIR filter with nearly linear where, in above Eq., d and d are picked such that d  d and
phase characteristic [15-19]. To the best knowledge of Ki is the vector having ones and zeros, which are decided by
authors, no technique has been reported for designing the switching parameter (Pα). Detailed study on CS algorithm
bandpass and bandstop IIR filters using fractional derivative can be found in [22-23].
and evolutionary techniques. Therefore, in this paper, a new B. Fractional derivative
technique for designing bandpass and bandstop filters with In order to accomplish high accurate response with less
nearly linear-phase response is presented using FD and CS computation complexity, the fractional derivative constrained
algorithm. FDs have a unique property of capturing the history (FDC) approach is adopted. Escalating work has been
of a variable, which aids in constructing the constraints to performed in applications of FD in various signal processing
acquire more accuracy as compared to integer derivatives. A applications [24]. Literature review reflects that three
phase error function is constructed to satisfy the ideal phase definitions of FD have been developed and named as
response condition such that errors in passband and stopband Riemann–Liouville, Grünwald–Letnikov (GL) and Caputo
should be minimum, and having high stopband attenuation. definitions [24]. In this paper, Grünwald–Letnikov has been
For this purpose, fractional derivative is applied in different adopted due to its simple implementation for derivatives of
region (passband and stopband region of the filter) at different sinusoids and exponential expressed as:
frequency points. For achieving desired response, optimal
d u y  x  1
m
 I mu
value of FD and suitable reference frequency points in Du y  x    lim 
y  x  m  , (3)
passband and stopband are determined by using CS dxu 0
m 0 u
optimization technique, by formulating a fitness function and the coefficient of GL derivative I mu is computed as [20]:
based on as a sum of the squared error in passband and   u  1
stopband. I mu 
The rest of the paper is organized as: Section 2 gives the   m  1   u  m  1
overview of CS algorithm; and presents an overview of FD. 1, m  0
Section 3 explains the proposed methodology and problem 
  u  u  1 u  2   u  m  1 . (4)
formulation is discussed. Section 4 presents the design of an  ,m 1
IIR BPF filter using FD only, while Section 5 shows the  1, 2,3, , m
design of an IIR BPF filter using FD and CS algorithm. In above Eq. (4), Г(∙) represents a gamma function and FD of
Section 6 comprises of simulation, results and discussion sinusoidal having angular frequency (ω), maximum amplitude
followed by the conclusion in Section 7. of A0 with phase shift of σ may be expressed as:
  
Du A0 sin  x     A0 u sin   x    u  , (5)
II. OVERVIEW OF CS ALGORITHM AND FRACTIONAL  2 
DERIVATIVE and
A. CS algorithm   
Du A0 cos  x     A0 u cos   x    u  . (6)
In past few decades, a substantial progress has been made in  2 
soft-computing for solving a non-linear and non-differentiable
engineering problem [22]. Cuckoo search (CS) algorithm is a III. PROPOSED METHODOLOGY
prompt ET, based on the act of progeny parasitism of certain
A. Designing of an IIR filter using APF
cuckoo species using Lévy flight concept [23]. As similar to
other ETs, CS algorithm also works on finding an optimum Assume that an IIR filter with a transfer function denoted
solution from population (search space). This search space (V) by Hr(z) is formed by a parallel connection of APFs as [16]:
1
is initialized with N vectors of pseudo random number, H r  z    H 2  z   H1  z  , (7)
uniformly distributed in the range of Vl to Vu with dimension 2
of Dx. This search space is iteratively updated using its where, H1(z) is a pure delay of N1 sample periods and H2(z) is
principle Eq. [22, 23]: an APF transfer function of order N2-1 expressed as [16]:
Vi k 1  Vi k    Lévy     N2 n 
  b2  n  z 
(1)
here, α is the step size scaling factor, Lévy is the Lévy flight D  z 1 
H 2  z   z  N2  Nn 2 0   z  N2 2 , (8)
 n  D2  z 
  b2  n  z 
with step-size (λ), which have a probability distribution that is
heavy-tailed. Vi k 1 is modified search space at (k+1)th iteration  i 0 
and the phase response of APF is computed as: Hence, the design problem reduces to fitting  2   in Eq.
D
H 2    2     N2   2   , (9)
(15), such that B T  S   approximates zero as close as
where, φ2(ω) is the phase of 1/D2(ω). While Eq. (7) with plus
sign ‘+’ results in a lowpass filter (LPF) if N2 = N1+1 or a possible by adjusting the filter coefficients, where
B  b2 (0) b2 (1) b2 (2) b2 ( N 2 )  , S     s  0 
T
bandstop filter (BSF) if N2 = N1+2. Eq. (7) with minus sign ‘-’
results in a highpass filter (HPF) when N2 = N1+1 or a
s   s  2  s  N2  and s  n  with 0 ≤ n ≤ N2,
T
bandpass filter (BPF) when N2 = N1+2, respectively. The
frequency response of the resultant filter can be computed is defined by:
 
from Eq. (7) by:
s  n   sin 2D    n , where    to  (18)
H r  e j   e j2    e j1    .
1
(10)
2 In order to accomplish the desired constraint, least squares
Since, H1(z) is a pure delay, θ1(ω) = -N1‧ω, then by simple design method is used with an error function defined as:

e0  B    W 2    BT  S   d , 
2
algebra, the frequency response for LPF or BSF can be (19)
computed as:
 N  N2  where, W(ω) is a weighting function computed as:
 N  N1
j  2    1 

Hr e   e j 
 cos  2 2
  2    , (11)

 1 1 , for   pb
 2   cos 1   p 
and for HPF or BSF, it is computed as: W     . (20)
 1 1 , for   sb
 sin  s 
 N  N2 
j  2    1
 N  N1


Hr e j
   j e 
 sin  2
2 
  2    . (12)
 2  Here, δp and δs are the magnitudes of maximum passband and
In this paper, the desired magnitude response is approximated stopband ripple. The optimal value of error function is
by Hr(ejω) through adjusting the phase response θ2(ω) of an computed by finding the Eigen vector corresponding to
APF (H2(z)). Since the numerator of an APF is the time minimum Eigen value of matrix Q defined as:
reversal of its denominator, the phase response of an APF is Q   W 2    sin 2D    n  
solely determined by the phase response of its denominator (21)
D2(z), which is computed as: 
sin 2D    m d, 0  n, m  N 2 , 
 N2  where, Q is computed using numerical integral. However,
  b2  n   sin  n  
  matrix algebraic approach is complex and inapplicable to
 2    tan 1  nN20 , (13) large-scale problem. Hence, least squared method using FDC
 b  n   cos  n  
 
is formed for easy computation of the filter coefficients.
n0
2

from which it follows that: B. Problem Formulation for Optimal Design of an IIR
Filter
 N2 
sin 2    b2  n  cos  n    This section describes the mathematical formulation for
 n 0  nearly linear-phase IIR filter by first minimizing the integral
(14)
 N2  squares error, described under the constraint that the desired
cos 2    b2  n  sin  n   . and actual responses should satisfy the several fractional
 n 0 
derivatives at single or multiple reference frequency point.
By rearranging, Eq. (14) can be rewritten as:
N2
The error function is defined by Eq. (19) having LS nature,
 b  n  sin     n   0.
2 2 (15) and on simplification may be expressed as:
n 0
e0  B   BT QB  2 P T B   , (22)
However, it is impossible for finite N2 to realize D2(z) such
where, P and α are computed as [18]:
that the actual phase 2   is equal to desired phase  2D  
defined as [14]:

P   BT S    S   d,  (23)
 N 2  N1    and
, for   pb
    BT S    0.
2
2
 2D     , (16) (24)
  N 2  N1       , for   sb Differentiation of Eq. (22) w.r.t. to B, and equating it to zero,
 2 results in conventional solution B = Q-1‧P. To improve the
for LPF and BSF, whereas for HPF and BPF, it is defined as: accuracy, such as the magnitude response Hr(ejω) approaches
  N 2  N1       towards the desired response at a given reference frequency
 , for   pb
 2    
D 2 point (ω0), the following derivative constraints are imposed on
, (17)
 N 2  N1    , for   sb
the phase response of APF:
 2 B  sin 2D    n   0, (25)
 
Du B  sin 2D    n   0 (26)
where, u is FD term. Now, FD of Eq. (26) can be computed by and this is translated in terms of total unwrapped phase
using Eqs. (5) or (6) as: response, which is satisfied in the proposed method during
  N  N1  
 
 design phase:
Du sin 2D    n  Du sin  2  n  . (27) 

 2 
     (36)
2
By putting the value of 
D
2   and let N2-N1=N (N=1 or 2)
results in general expression in passband defined as: IV. AN IIR FILTER DESIGN BASED ON FDC WITHOUT
  N  2n     USING ET
    n  sin  n  u  ,   pb, (28)
u
D u sin  Designing of an optimal IIR filter is compiled by the design
 2   2
of APF with desired phase response by reducing the phase
for stopband, it is:
error. This APF is connected in parallel with pure delay, and
 N  2n    
    1 n  cos  n  u  ,   sb. (29)
u
D u cos  depending on the required configuration, response of filter is
 2    2 computed using Eq. (11) or (12). The effectiveness of the
In Eq. (28) and (29), ψn is given by: technique is measured in terms of certain fidelity parameters
  N   2n evaluated as:
n, 0  n  N

1  H  e   d
2

j
n   2
. (30) Error in passband: Erp  r (37)
   N   2n , N  n  N   pb

 H  e   d
2 2

2 Error in stopband: Ers  j
(38)
r
Now, FDs are evaluated at reference frequency (ω0) in desired  sb
band. If ω0 is picked in passband, then Eq. (28) is used, else 
Eq. (29) is used for computation, and arranged in matrix as: 

Erph        N1      H 2  e j    d  , (39a)
  
cn 0 , u   0, u1  , n  ,  u2  , n  , ,  ux  , n   (31) 
 pb
and  lower pb

   
T 
   
    N      H  e j  d  +


 
 0  sin  00  ut 2  
ut
 pb
1 2
 
    Erph    , (39b)
   
  pb 

      N1      H 2  e j   2  d  
  
 1  sin  10  ut  
ut
ut  n     2   ,where, 1  t  x, (32)  

 upper pb 
 
  Eqs (39a) and (39b) are phase error in pb for BPF and BSF
  ut sin    u   
  respectively.
 N2  N2 0 t  
 2  As  dB   20  log10 H r  e j     s
(40)
The evaluation of FD at ω0 forms a constrained, computed as:
BT  cn 0 , u   0.
and group delay (GD) is computed as:
(33)
Now solution with minimum error function value defined by
GD  mean 
 d arg H e j 
 r    

 (41)
Eq. (22) with constraint of Eq. (33) is computed by the
 d 
Lagrange Multiplier method as [20]:  
 Q 1C T  CQ 1C T  CQ 1 P 
1
Bopt  Q 1 P where, As is the minimum stopband attenuation. To design a
conventional least
  pb 0 filter, it is required that Erp, Ers, should be less with high As.
squares Constraint for pb Therefore, the effect of FD on the design of an IIR filter is
(34) studied on the basis of these parameters. The design procedure
 Q 1C T  CQ 1C T  CQ 1 P 
1
 sb
is carried out using single FD (1-FD) and double FDs (2-FD)
such that u0 = 0, u1 = 1 and u2 = 2 at single and multiple ω0, in
0
Constraint for sb
where, C is cn(ω0, u), and for minimization of error in order to keep the slope and concavity of a function intact,
stopband, another constraint is computed in stopband region while u3 to ux (fractional terms) are taken from 2.01 to u max .
and appended in Eq. (34). This procedure is a closed-form For evaluation purpose, prototype BPF with following
technique and easily computable. The filter response obtained specification is adopted:
is not degraded upon quantization and truncation as the design 1, 0.40    60

methodology also takes care of Tsypskin’s stability criterion H o     (42)
[16]. 0,  0    0.20  and  0.70     

  Here, order of filter N1 is taken as 13, δp = 0.02dB and δs = -
  60dB. The experiments are performed on MATLAB® 2014 on
 1  1
      N2   0, z  e j , (35) Genuine Intel (R) CPU i7 3770 @ 3.40 GHz, 4GB RAM and
 2 
D z  n 
  b2  n  z 
grid size of 1000 equally spaced sample for normalized digital
 n0  frequency is considered throughout the experiments.
TABLE I
-10 BPF WITH 15TH ORDER, HAVING PASSBAND [0.40Π, 0.60Π] AND STOPBAND
[0.0, 0.2Π] AND [0.7Π, Π], USING 1-FDC
-40
As in dB
ω0 in at ωs at ωs
Er in dB
-30 X: 15.09 u3 Erp Ers Erph

Y: -28.13
0 = 0.40
pb lower upper
T
side side
-50
X: 5.63
Y: -36.48 0 = 0.45
3.370 0.40π -49.967 -45.269 -20.686 -22.637 -58.546
0 = 0.50
X: 3.76
Y: -44
2.180 0.45π -67.790 -53.024 -32.917 -31.224 -44.621
-50 0 = 0.55 3.460 0.50π -64.896 -55.715 -31.278 -36.964 -37.000
X: 2.8
0 = 0.60 4.250 0.55π -66.361 -52.447 -30.055 -48.993 -30.452
Y: -55.2
-60
5 10 15 20 25 30 35 40 45 50
18.430 0.60π -25.165 -34.978 -9.576 -33.883 -28.667
Fractional Derivative u3
Fig. 1: Variation of ErT with different values of FD u3
reference frequency (ω0) with suitable u3 has been encircled in
Fig. 2. It can be observed that the minimum error occurred in
the confined region of the second band corresponding to 0.45π
A. Design of an IIR filter at single reference frequency
as a reference frequency in passband. Other two values of
point (ω0)
reference frequency are 0.3π and π in lower and upper
The design of bandpass IIR filter using 1-FD is conducted stopband region. The best value of ErT = -54.50 dB is
at five different ω0 in passband with u3 ranging from 2.01 to achieved with As = -50.61 dB and -41.00 dB in lower and
49.99. On observation, it was found that the error function upper stopband edge frequency. However, Erp and Ers have
(ErT), which is the sum of Erp and Ers, (ErT = Erp + Ers), reduced to around -54.50 dB, as compared to single frequency
achieves minimum value at ω0 = 0.50π with u3 = 2.77. It is approach. The reduction is caused, because same FD value
also evident from Fig. 1 that the error function varies obtains different error value at different reference frequency as
periodically on each reference frequency, after a particular shown in Fig. 1.
value of u3. The final value of u3 is found to be 14.58, and thus
FD value from 2.01 to 14.99 is considered for further C. Design of an IIR filter using different value 1-FD at
experimental analysis. The fidelity parameter values obtained reference frequency point in passband and stopband
with appropriate FD and ω0 are summarized in Table I. It is respectively
evident from Table I that the performance of filter measured in In this experiment, the different value of 1-FD at different
terms of Erp, Ers and Erph achieves their optimal value at reference frequency is used for evaluation of filter coefficients
certain ω0 with suitable value of u3. given in Eq. (34). The reference frequency in passband and
stopband are selected with interval of 0.1π and FD values form
B. Design of an IIR filter using multiple reference
2.01 to 4.99. It is observed that high value of As compared to
frequency
previously discussed methodology in Section IV-A is achieved
In this section, experiments are performed using the same along with improvement in stopband region, as shown in
value of 1-FD evaluated at three reference point such that one Table II. It can be perceived that by adjusting the reference
is in passband, other two lay in lower stopband and upper frequency and FD values precisely, more accurate response
stopband region respectively. The filter designed with such can be obtained. However, the implementation of such
methodology shows multi-modeled behavior in form of ErT as combination using regress computation with such small step-
shown in Fig. 2. The region of optimal combination of size would be computationally expensive.
Fig. 2: Variation of errors in case of 1-FD evaluated simultaneously at three reference frequency.
TABLE II
BPF WITH 15TH ORDER, HAVING PASSBAND [0.40Π, 0.60Π] AND STOPBAND [0.0, 0.2Π] AND [0.7Π, Π], USING DIFFERENT VALUE FOR 1-FDC
EVALUATED AT DIFFERENT REFERENCE FREQUENCY
u3 ω0 in ω0 in As in dB
ω0 in
Evaluated Evaluated Evaluated lower upper Erp Ers Erph At ωs At ωs
pb
in pb in lower sb in upper sb sb sb lower side upper side
4.610 3.810 4.510 0.40π 0.20π 0.90π -38.252 -76.461 -18.087 -59.617 -57.497
3.410 4.310 4.310 0.50π 0.10π 0.90π -36.683 -81.449 -17.901 -66.441 -74.369
3.210 3.710 4.510 0.60π 0.20π 0.90π -38.450 -76.342 -18.116 -58.046 -58.079
0, if V i  Vl i 

V. FDC EVALUATION USING CS ALGORITHM FOR DESIGN i
Vlower  . (47)
1, if V  Vl 
i i
OF AN IIR FILTERS
Since, ErT has a multi-model heuristic surface w.r.t. FD and Then the values are restored as following:
ω0. These values can be explored simultaneously with less Vx  Vl  Vu  Vl   rand 0,1 , (48)
computation cost using CS algorithm. Therefore, in this
section, to explore the FD with appropriate location of Vnew  Vlower Vx  Vupper Vx
(49)
reference frequency, CS algorithm has been used. In CS
algorithm, search is controlled by two parameters, Pα and step-

 Vlower V  Vupper V .
Vnew holds the final /optimum values of parameters. The
size of the Lévy flight. These values have great impact on
complete detail of CS algorithm is described in [25, 26].
depth of exploration as rate of convergence relies on the value
of Pα, i.e. intense exploitation of search space for smaller A. Design of an IIR filter using FD at single reference
value of Pα and slow convergence and vice versa for higher frequency point evaluated by CS algorithm
value. Therefore, for appropriate values of these parameters, In this experiment, CS algorithm is exploited to find FD on
series of experiments are executed by designing the prototype
BPF using different combinations of control parameter values single reference frequency point in passband only 0 pb . In  
and FD order. The methodology is initiated by forming a order to tune the governing parameters of CS algorithm, series
search space (V), formulated as: of experiment with different values of Pα and step-size are
01 pb , 01sb , u31 , u14 ,, u1Dx  used to design the prototype BPF. Pα values are taken from
  0.01 to 0.29 with increment of 0.04, whereas step-size value is
02pb , 02sb , u32 , u42 ,, uD2 x  1  xo  N
Vyo   
xo
 , where (43) taken as 0.1 to 0.5 with increment of 0.1. For each design case,
  1  yo  Dx algorithm is executed for 30 trials. The obtained value of ErT
 N N  is shown in Fig. 3. On x-axis of Fig. 3, value of ErT for Pα
0 pb , 0sb , u3 , u4 , , uDx 
N N N
equal to 0.01 is plotted from 1 to 30, while from 31 to 60, Pα
In above equation, xo and yo represents the row and column equals to 0.04, thus stretching up to 0.29, whereas y-axis
index of V, N and Dx are the solution vector number and shows the values of step-size. On examination, it is observed
dimension of V respectively, 0 pb and 0sb represent the that Pα equal to 0.09 with step-size of 0.2 has performed
suitable reference frequency in passband and stopband region: consistently better with best values of ErT. During the course
Vu  [0max , 0max , u3max , u4max , , u gmax ], (44) of iterative computation, each ErT value is stored for every
pb sb
trial, and is used for estimation. After taking mean value of the
and convergence vector stored for each value of Pα, it is found that
Vl  [0min
pb
, 0min
sb
, u3min , u4min ,, ugmin ]. (45) after 25 iteration cycles, the rate of change in ErT is constant
Now,  max
= ωp upper value,  min
= ωp lower value,  max
=ωs as shown in Fig 4(a). Therefore, 50 iteration cycles are
0 pb 0 pb 0sb
selected /suggested for operation. The obtained filter response
upper value, 0min
sb
= ωs lower value, vimin = 2.01 and vimax shows improvement when compared to Eigen vector approach
=14.99, which are set on the outcome of several experiments, as shown in Fig 4(b).
executed for designing of an IIR filter using 1-FDC. Early B. Design of an IIR filter using different values FD at
search space is formulated by assigning it through uniformly multiple reference frequency point evaluated by CS
distributed numbers in the range of Vl and Vu . During course algorithm
of update, if any element of V falls out of required limit, then As it is evident from previous section experimental analysis
they are restored as: that the application of FDC has reduced the error in passband,
1, if V i  Vui  however the slight increase in stopband error was observed

i
Vupper  , 1  i  Dx , (46)
 
with slight reduction in As. Therefore, to improve this, the

 0, if V i
 V i
u multiple reference frequency evaluation of FD is utilized. In
and this approach, search space is modified with 3 reference
frequencies having two pair of FD values with same order for
-55.2 -55.15
-55.15
ErT in dB
ErT in dB
ErT in dB
-55.2
-55.2
-55.25
-55.25 -55.25
-55.3
-55.3 -55.3
240 240 240
180 0.5 180 0.5 180 0.5
120 0.3 120 0.3 120 0.3
60 60 60
Number of experiment
trials
0.1 step-size () Number of experiment 0.1 step-size () Number of experiment 0.1 step-size ()
(a) trials (b) trials (c)
-45 -44 -40

ErT in dB
ErT in dB
ErT in dB
-50 -46
-45
-55 -48
-60 -50 -50

240 240 240
180 0.5 180 0.5 180 0.5
120 0.3 120 0.3 120 0.3
60 60 60
0.1 0.1 Number of experiment 0.1
Number of experiment step-size () Number of experiment step-size () trials step-size ()
trials (d) trials (e) (f)
Fig. 3: Variation in error (ErT) for different order FD evaluated at single reference frequency using CS algorithm such that Pα equals to 0.01 is
plotted from 1 to 30, while from 31 to 60, Pα equals to 0.04, and similarly up to 0.29. (a) 1-FD, (b) 2-FD, (c) 3-FD, (d) 4-FD, (e) 5-FD, (f) 6-FD.
-6
3.14
x 10
10 TABLE III
-5 0 COMPARATIVE PERFORMANCE EVALUATION OF BPF DESIGN BY APPLYING
x 10 P=0.01
3.12 1
P=0.05 FDC ONLY IN PB, AND IN PB AND SB USING CS ALGORITHM
3.1 0.5
0 t
P=0.09 -50 As in upper
3.08 No. of Reference
0 P=0.13 Erp Ers Erph and lower (sec)
|H( )| in dB
10 20 30 FD fr. point
ωs at in dB
 H( )
3.06 P=0.17
ErT
-100 -10
3.04 P=0.21 1 pb -38.1 -61.8 -32.5 -48.2/ -41.2 17.3
3.02 P=0.25 2 pb -39.0 -55.8 -33.0 -57.7/ -34.3 40.8
|H( )| by EV
3
P=0.29 -150
|H( )| by FD
-20 7 pb -39.9 -39.7 -39.0 -23.2 -27.4 54.0
2.98 H( ) by EV 10 pb -43.2 -31.4 -35.0 -23.0/ -24.7 61.0
H( ) by FD 1 pb and sb -52.7 -63.7 -32.4 -47.5/ -58.4 31.5
2.96 -200 -30
100 200 300 400 500 0 0.2 0.4 0.6 0.8 1 2 pb and sb -53.5 -63.6 -32.3 -47.5/ -64.4 37.7
(a) Iteration Count (b) Normalized Digital Frequency ( )
7 pb and sb -63.5 -55.8 -39.2 -38.4/ -49.2 63.4
Fig. 4: (a) Convergence of the CS algorithm for different values of Pα 66.6
10 pb and sb -60.6 -58.6 -38.2 -41.2/ -42.6
at step-size equal to 0.2, (b) BPF response obtained for 2-FD.
passband and stopband region respectively, arranged as:

 fr.in
refrence refrence refrence
 VI. RESULTS AND DISCUSSION
pb fr.in lower fr.in upper
 region sb region sb region FD for pb FD for sb  The comparison of the proposed methodology exploiting
 1  1
 1
u1
, u1
,  , u1
u 1
, u 1
,  , u 1  FDs for designing an IIR filters was performed with some
 0 pb 1sb 2sb 3 4 m 3 4 m

benchmark examples of BPF and BSF respectively as shown
Vyo   0 pb 1sb 2sb u3 , u4 , , um u3 , u4 , , um  , (50)
xo
2 2 2 2 2 2 1 1 1
in Table IV.
 
 N  A. Design analysis of BPF
0 pb 1sb 2sb u3 , u4 , , um u3 , u4 , , um 
N N N N N N N N
BPFs of various design specification as mentioned in Table
1  xo , yo  N , Dx . IV are designed using proposed methodology. Seventh order
FDCs are imposed with multiple reference frequency
In Eq. (50), dimension of search space is Dx = 3 + 2×(m-2), N
approach. BPF designed with proposed methodology achieves
number of solutions, u and u correspond to FD values of
significant improvement in phase linearization. The phase
same order for pb and sb region, respectively. All the control
response of APF designed by the proposed technique acquires
values are kept similar as in previous experiment.
Experimental results reveal that the second experimental 5% to 60% improvement when compared with Eigen method.
approach (evaluated in passband and stopband region) is more This also insures the improvement in passband region by
reduction in Erp. However, there is an increment in Ers in case
accurate in terms of fidelity parameters value. While use of
FDs in both regions simultaneously aids in validation of of first example in Table V by 30%, while in other case, the
required constrained. The performance for different FD order increment is of 1%. Erph is found to be -39.2 dB, -39.8 dB and
is tabulated in Table III, and it was observed that the 7 th order -39.9 dB for all the first three respective test example of BPF
FD is sufficient enough to achieve desired performance. given in Table IV. The technique is robust in sense of
designing filter with various orders as shown in Fig. 5(a),
TABLE IV TABLE VI
DESIGN SPECIFICATION OF THE STANDARD DIGITAL IIR FILTER COMPARISON OF DESIGN RESULTS OF BPF OF EXAMPLE 5 OF TABLE IV
S. No. Filter Type Order pb sb max
max pb max sb max max
[0.00, 0.3π] Design transition- max group
1 BPF 14 [0.40π, 0.60π] error error phase pole
[0.70π, 1.0π] Technique band error deviation
(dB) (dB) error radius
[0.0, 0.20π] (dB)
2 BPF 18 [0.30π, 0.70π] Iterative
[0.80π, 1.00π] 7.03
[0.0, 0.45π] technique 0.366 -49.98 0.33 3.53×10-4 0.98
3 BPF 22 [0.55π, 0.75π] ×10-7
[0.85π, 1.0π] [11]
[0.0, 0.25π] A-1 of 3.10
4 BPF [3] 04 [0.40π, 0.60π] 1.000 -41.40 0.33 4.61×10-4 0.98
[0.75π, 1.0π] [10] ×10-6
BPF [10, [0.0,0.2π] [0.7π, 5.87
5 14 [0.3π, 0.5π] proposed -32.49 -42.39 0.00 8.53×10-1 0.93
11] 1.0π] ×10-5
[0.00, 0.30π]
6 BSF 14 [0.40π, 0.60π]
[0.70π, 1.0π] variation, which are calculated using Eqs (17b), (17c) and
[0.0, 0.20π] (17g) respectively and given in [11], while max phase error is
7 BSF 18 [0.30π, 0.70π]
 
[0.80π, 1.0π]
[0.0, 0.45π] calculated as max H 2  e j   N1     and summarized
8 BSF 22 [0.55π, 0.75π]
[0.85π, 1.0π]
[0.0, 0.25π] in Table VI.
9 BSF [3] 04 [0.40π, 0.60π]
[0.75π, 1.0π]
B. Design analysis of BSF
which depicts the response of BPF. The comparative BSFs with design specifications mentioned in Table IV are
improvement when compared to Eigen and other method is designed using the proposed methodology. As discussed
shown in Fig. 5(c) and Table V. From Table V, it can be earlier, the same seventh order FDCs are imposed with
confirmed that even the worst case has better values of fidelity multiple reference frequency approach. In case of BSF design,
parameter as compared to Eigen method. The performance of there is also improvement in phase error, which aids in
proposed method is also measured on the basis of max pb increasing the accuracy in passband region. Improvement in
error, max sb error, max transition-band error, and group delay Erph by 1% to 5% and Erp by 3% to 12% is observed in case of
TABLE V proposed method when compared to Eigen method. Erph is
COMPARATIVE PERFORMANCE ANALYSIS OF FIDELITY PARAMETERS OF found to be -30.0 dB, -34.0 dB and -47.9 dB for 6th, 7th and 8th
PROPOSED METHODOLOGY WITH PREVIOUS TECHNIQUES FOR DESIGNING
OF BPF test example of BSF. Additionally, Ers is marginally increased
Filter in the proposed design method as shown in Fig. 5(c). Fig. 5(b)
Type and Erp Ers t
Technique GD As TABLE VII
order (in dB) (in dB) (sec)
COMPARATIVE PERFORMANCE ANALYSIS OF FIDELITY PARAMETERS OF
(N2-1)
PROPOSED METHODOLOGY WITH PREVIOUS TECHNIQUES FOR DESIGNING
-58.8 OF BSF
Eigen method -37.8 -79.4 15.8
-59.2
-59.7 52.8 Filter
best -60.6 -55.2 14.4 Type and Erp Ers t
BPF -44.5 Technique GD As
(14) -49.9 53.7 order (in dB) (in dB) (sec)
Proposed mean -64.0 -54.3 14.6 (N2-1)
-42.1
-44.3 54.3 14.3 -57.9
worst -60.6 -53.3 14.6 Eigen method -53.3 -79.3
-40.0 14.2 -58.3
-57.3 14.1 -68.0 239.0
Eigen method -60.4 -77.2 18.3 best -60.6 -72.3
-57.2 BSF 14.1 -74.9
-57.4 57.1 (14) 14.1 -60.7 240.0
best -68.2 -77.0 18.2 Proposed mean -59.7 -70.2
BPF -65.5 14.1 -64.5
(18) -55.1 56.6 14.2 -54.7 242.6
Proposed mean -67.1 -71.5 18.2 worst -58.6 -67.7
-60.8 14.2 -52.8
-51.6 57.6 18.0 -57.6
-56.3 18.0 -57.8
-65.4 -65.6 -76.7 18.2 -56.8 249.5
Eigen method -73.3 -86.5 22.3 best
-65.3 BSF 18.2 -60.3
-66.6 60.4 (18) -64.4 -75.5 18.2 -55.5 255.1
best -80.1 -85.7 22.2 Proposed mean
BPF -65.6 18.2 -58.2
(22) -65.8 60.7 -63.8 -74.7 18.2 -54.0 255.1
Proposed mean -79.5 -85.0 22.2 worst
-64.7 18.2 -56.9
-64.5 61.3 22.0 -62.0
-63.9 22.1 -66.2
BPF -15.6 -96.8 -86.3 22.0 -65.2 281.0
GA [3] -34.9 -24.0 02.9 ̶ best
(4/4) -17.4 BSF 22.0 -66.9
BPF -17.3 13.4 (22) -96.4 -86.3 22.0 -65.1 280.8
Proposed -33.3 -30.7 04.5 Proposed mean
(4/4) -18.8 22.0 -66.4
Iterative BPF -95.9 -86.2 22.0 -65.1 284.2
-46.7 -55.4 18.6 -50.0 ̶ worst
reweighted [11] (14/14) 22.0 -65.9
Constrained BPF BSF -34.2 -30.6 03.5 -17.6
̶ ̶ 24.9 -68.0 ̶ GA [3]
Optimization [10] (14/14) (4/4) 0.3.5 -15.2
BPF -46.1/ 17.9 BSF -46.5 -48.5 03.3 -32.8 12.78
Proposed -51.7 -64.1 12.6 Proposed
(14/14) -53.4 (4/4) 03.3 -32.8
20 0
(a) 0 0
(b)
|H( )| in dB
|H( )| in dB
-50 0 -50 Ex-1 BSF -20
H( )
H( )
Ex-2 BSF
-100 -20 -100 Ex-3 BSF -40
Ex-1 BPF Ex-2 BPF Ex-3 BPF

-150 -40 -150 -60
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Normalized Digital Frequency ( ) Normalized Digital Frequency ( )
(c) 40
Increment
in dB % 20
-20
Decrement Ex-1
in dB % -40 Ex-2
Ex-3
-60
-80
Erp BPF Erp BSF Ers BPF Ers BSF Erph BPF Erph BSF
Fig. 5: (a) Magnitude response of design examples of BPF (b) Magnitude response of design examples of BSF, using proposed technique (The
continuous line shows the magnitude response, while dash line represents phase response), (c) Improvement in term of efficiency of Erp, Ers, and
Erph when compared with Eigen technique.
and Table VII summarizes the magnitude and phase response TABLE VIII
errors of BSF for the specification mentioned in Table IV. POST SYNTHESIS RESOURCE UTILIZATION
No. of Global Power Thermal
C. Theoretical and computational analysis No. of input/ clocked required margin
Filter
Clock N2 flip- output buffer in Watt
The computational complexity required for convectional Type
flops packages (BUFG) (W)
Eigen vector approach is O(n3), however in the proposed (IO)
method, it is O(n2). Additional small computation is required 100
BPF 4 384 193 1 0.697
73.7°C
for FD due to smaller order dimension matrix, and its inverse MHz (38.1 W)
100 57. 7°C
computation requires less time. The fractional term with MHz
BPF 14 1792 193 1 2.769
(65.3 W)
suitable FD order virtually satisfies the required constraint 100 69.1°C
BSF 4 384 193 1 3.143
over wide range of frequencies, whereas whole integer order MHz (35.7 W)
100 27.2°C
derivative will only look for the reference frequency only. MHz
BSF 14 1792 193 1 2.652
(65.4 W)
Therefore, more improved performance of filters is obtained
using the proposed method based on FDs. TABLE IX
POST IMPLEMENTATION RESOURCE UTILIZATION
D. Implementation of designed filter
No. of input/ Global clocked Look
Filter No. of flip-
IIR filters designed with the proposed method have been Type
Order
flops used
output packages buffer (BUFG) up table
implemented using Field Programmable Gate Array (FPGA). (IO) (LUT)
BPF 4 448 193 1 21891
For this purpose, bandpass and bandstop filters with 4 th order BPF 14 1856 193 1 88961
with specification mentioned at Table IV, are designed using BSF 4 384 193 1 25411
the proposed method, and the filter coefficients obtained are BSF 14 1792 193 1 84150
used for realization of filter in Direct-II form. This has been
translated into hardware description language (HDL) using a
VII. CONCLUSION
System Generator tool of Licensed Vivado 2015.4. Design
Suite, and equivalent Xilinx model are shown in Figs 6(a) and This paper presents an effective technique for designing
6(b). Verilog codes for the designed filters are generated and digital an IIR filter with nearly linear-phase and stability using
imported in Vivado Design Suite for obtaining the design the novelty of fractional derivative constraints. The optimal
resource budget. The hardware utilization report generated is value of FDCs and reference frequency point are evaluated
summarized in Table VIII and Table IX. For experimental using CS algorithm so as to achieve highly accurate response
verification, a random noise sampled with 12 kHz is applied at in passband region with improved minimum stopband
the input of a designed bandpass filter of 4 th order. The attenuation. Several comprehensive experiments have been
simulation and experimental filtered output obtained using the executed to investigate the suitable operational values of
proposed method is depicted in Figs. 6(c) and 6(d). It is control parameters. The experimental results state the
evident that the performance of designed filter through improvement in passband response upto 60%, when compared
simulation is identical to Xilinx equivalent model. with Eigen techniques. The designed filters is free from limit
(a) (b)
Output of BPF Output of BSF
20 20
Random noise at input of BPF Random noise at input of BSF
0 0
-20 -20
dBm
dBm
-40 -40
-60 -60
-80 -80
-100 RBW: 5.86 Hz, NFFT: 3073, Span: 6 kHz, CF: 3 kHz RBW: 5.86 Hz, NFFT: 3073, Span: 6 kHz, CF: 3 kHz
-100
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Frequency (kHz) Frequency (kHz)
(c) (d)
Fig. 6: (a): Equivalent Xilinx model of BPF, (b) Equivalent Xilinx model of BSF, (c) Input/ output spectrum of BPF, (d) Input/ output spectrum of
BSF
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Nikhil Agrawal received the B.E. degree in

electronics and communication engineering from
Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal,
Madhya Pradesh, India, in 2010, and currently he is
working toward the PhD degree in the electronics
and communication engineering department with
the Indian Institute of Information Technology,
Design & Manufacturing Jabalpur, India. His
research interests include designing of optimal filter, optimization
techniques and embedded system design for signal processing.
Anil Kumar received the B. E. degree from the Army

Institute of Technology (AIT), Pune University, India,
and the M. Tech and PhD degrees from IIT Roorkee,
India, in 2002, 2006, and 2010, respectively, all in
electronic and telecommunication engineering. He is
an assistant professor in the Electronic and
Communication Engineering Department, Indian
Institute of Information Technology, Design &
Manufacturing, Jabalpur, India. Currently, he is a visiting researcher at
Gwangju Institute of Science and Technology, Korea. His research
interests include design of digital filters and filterbank, biomedical
signal processing, image processing, and speech processing.
Varun Bajaj received the B. E. degree in electronics

and communication engineering from Rajiv Gandhi
Technological University, Bhopal, India, in 2006. He
received the M.Tech. (Hons.) degree in
microelectronics and VLSI design from Shri
Govindram Seksaria Institude of Technology &
Science, Indore, India, in 2009. He received the
Ph.D. degree in the Discipline of Electrical
Engineering, at IIT Indore, India. Presently, he is
working as Assistant Professor with the Discipline of Electronics and
Communication Engineering, at IIITDM Jabalpur, Jabalpur, India. His
research interests include biomedical signal processing, image
Processing and time-frequency analysis.
G.K. Singh received the BTech degree from the

G.B. Pant University of Agriculture and Technology,
Pantnagar, India, in 1981, and the PhD degree from
Banaras Hindu University, Varanasi, India, in 1991,
both in electrical engineering. He worked in the
industry for nearly five and a half years. Currently,
he is a professor in the Electrical Engineering
Department, IIT Roorkee, India. His academic and
research interests include design and analysis of
electrical machines and biomedical signal processing. He has
coordinated a number of research projects sponsored by the CSIR and
UGC, Government of India.

Design of Bandpass and Bandstop Infinite Impulse Response Filters Using Fractional Derivative

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Design of Bandpass and Bandstop Infinite Impulse Response Filters Using Fractional Derivative

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This article has been accepted for publication in a future issue of this journal, but has not been

Design of Bandpass and Bandstop Infinite

 performance, and flexibility.

A substantial progress has been made for the development

ut  n     2   ,where, 1  t  x, (32)  

-30 X: 15.09 u3 Erp Ers Erph

-45 -44 -40

-60 -50 -50

passband and stopband region respectively, arranged as:

-100 -20 -100 Ex-3 BSF -40

Ex-1 BPF Ex-2 BPF Ex-3 BPF

Nikhil Agrawal received the B.E. degree in

Anil Kumar received the B. E. degree from the Army

Varun Bajaj received the B. E. degree in electronics

G.K. Singh received the BTech degree from the

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