Documenti di Didattica
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Elena Punskaya
www-sigproc.eng.cam.ac.uk/~op205
1
IIR vs FIR Filters
2
IIR as a class of LTI Filters
Difference equation:
Transfer function:
4
Analogue filter Rational Transfer Function
( )
5
Analogue to Digital Conversion
Im (z)
Re (z)
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Impulse Invariant method
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Impulse Invariant method: Steps
8
Example 1 – Impulse Invariant Method
= 1-
δ - v
The presence of delta term prevents sampling of
impulse response which thus cannot be defined
Fundamental problem: high-pass and band-stop
filters have functions with numerator and
denominator polynomials of the same degree and
thus cannot be designed using this method
9
Example 2 – Impulse Invariant Method
Step 3. Compute z-
transform
k 11
Impulse Invariant Method: Stability
k
<1
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Summary of the Impulse Invariant Method
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Summary of the Impulse Invariant Method
• Advantage:
– preserves the order and stability of the
analogue filter
• Disadvantages:
– Not applicable to all filter types (high-pass,
band-stop)
– There is distortion of the shape of
frequency response due to aliasing
15
Example of Impulse Invariant vs Matched z transform
methods
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Backward Difference Method
Thus,
y(t) = y(n) ≈
Y(z) ≈ X(z)
Which suggests the s-to-z transformation:
delay
backward difference operator17
Backward Difference Operator
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Backward Difference method - Stability
20
Bilinear transform
21
The bilinear transform
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Where is the Bilinear Transform coming from?
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Properties of the Bilinear Transform
z=
1 + s 1 + a + jω
=
2
; hence z =
(1 + a) + ω 2
2
1 − s 1 − a − jω (1 − a )2 + ω 2
24
Properties of the Bilinear Transform
Look at two important cases:
1. The imaginary axis, i.e. =0. This corresponds to the
boundary of stability for the analogue filter’s poles.
With =0, we have
left half s-plane maps onto the interior of the unit circle 25
Properties of the Bilinear Transform
Thus the bilinear transform maps the Left half s-plane onto the interior of the unit
circle in the z-plane:
s-plane
z-plane
This property allows us to obtain a suitable frequency response for the digital
filter, and also to ensure the stability of the digital filter. 26
Properties of the Bilinear Transform
z-1
s = z +1
-1
= +1
= ( )
27
Properties of the Bilinear Transform
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Properties of the Bilinear Transform
However, we know that lies within the unit circle. Hence the filter
is guaranteed stable provided H(s) is stable.
30
Frequency Response of the Filter
The frequency response of the analogue filter is
to the s-domain transfer function of the analogue filter to generate the required
z-domain transfer function. 32
32
Example: Application of Bilinear Transform
Design a first order low-pass digital filter with -3dB frequency of 1kHz
and a sampling frequency of 8kHz using a the first order analogue low-pass
filter
which has a gain of 1 (0dB) at zero frequency, and a gain of -3dB ( = √0.5 )
at Ω c rad/sec (the "cutoff frequency ").
33
Example: Application of Bilinear Transform
sampling frequency
34
Example: Application of Bilinear Transform
35
Example: Magnitude Frequency Response
ωc = π/4
Note that the digital filter response at zero frequency equals 1, as for the analogue
filter, and the digital filter response at ω = π equals 0, as for the analogue filter at
Ω = ∞. The –3dB frequency is ωc = π/4, as intended. 36
Example: Pole-zero diagram for digital design
Note that:
• The filter is stable, as expected
• The design process has added an extra zero compared to the prototype
- this is typical of filters designed by the bilinear transform.
Imag(z)
-1 1
O X Re(z)
37
Example: Pole-zero diagram for digital design
which returns
NUMd =
0.2929 0.2929
DENd =
1.0000 -0.4142
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Designing high-pass, band-pass and band-stop filters
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Designing filters uding frequency transformation
40
Frequency transformations
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Example. Frequency transformation
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Example. Frequency transformation
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Thank you!
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