Filter Synthesis

Analog filter synthesis

IIR filters LP, HP, BP, BS Magnitude response templates Filter prototypes Synthesis with biquads

Phase response
Group delay Step response All-pass filters
A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 1

Filter Approximation
Objective: Magnitude specification H(s) Classic IIR Filters
Chebychev 2 Uses zeros for good attenuation but has no passband ripples. A good all-round combination. Butterworth Poles only and no passband ripple. Less ringing in step response than Chebychev 2. Elliptic Passband and stopband ripples. Use this when only magnitude response counts. Large overshoot in step response. High Q poles result in high sensitivity. Bessel Great step response at the cost of poor attenuation.
A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 2

Design Example
0 Rp = 3 dB Butterworth (N = 5) Chebychev 2 (N = 4) Elliptic (N = 3) -20

-40 Magnitude [dB]

-60

-80

Rs = 80 dB

-100

-120 4 10

10 fp = 100kHz

Frequency [Hz]

10 fs = 1MHz

10

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 3

Matlab Code
fp = 1.0e5; fs = 1.0e6; rp = 3; rs = 80; wp = 2*pi*fp; ws = 2*pi*fs;

% filter prototype [Nb, Wb] = buttord(wp, ws, rp, rs, 's'); [b, a] = butter(Nb, Wb, 's'); Hb = tf(b, a); [Nc, Wc] = cheb2ord(wp, ws, rp, rs, 's'); [b, a] = cheby2(Nc, rs, Wc, 's'); Hc = tf(b, a); [Ne, We] = ellipord(wp, ws, rp, rs, 's'); [b, a] = ellip(Ne, rp, rs, We, 's'); He = tf(b, a);

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 4

Step response
Step Response 1.4 1.2

Slow rise time Overshoot

Acceptable in some applications, problematic in others.
Butterworth Chebychev 2 Elliptic 0 0.2 0.4 0.6 0.8 1 Time (sec) 1.2 1.4 1.6 1.8 x 10 2
-5

Amplitude

0.8

0.6

0.4

0.2

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 5

Data Transmission
1 in H Random Data Binary Filter 2 out

1.5 input output

0.5

-0.5

-1

-1.5

0.5

1 x 10

1.5
-3

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 6

Eye Diagram
1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 0 0.5 1 1.5 2 2.5 Time 3 3.5 4 4.5 5 x 10
-4

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 7

Increased Data Rate

1.5 input output 1 0.8 0.6 0.5 0.4 0.2 0 0 -0.2 -0.5 -0.4 -0.6 -1 -0.8 -1 -1.5 0 0.2 0.4 0.6 0.8 1 1.2 1.4 x 10 1.6
-4

0.5

1.5

2.5 Time

3.5

4.5

5
-5

x 10

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 8

Group Delay
Nonuniform group delay is one source of eye closure Group delay?

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 9

Amplitude and Phase Distortion

Consider a continuous time filter with sdomain transfer function G(s): G(j) G(j)e
j()

The filter input is the sum of two sinewaves at slightly different frequencies (<<): vIN(t) = A1sin(t) + A2sin[(+) t]
A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 10

Amplitude and Phase Distortion

The filter output is:
vOUT(t) = A1 G(j) sin[t+()] + A2 G[ j(+)] sin[(+)t+ (+)] = A1 G(j) sin

{[

t+

+ A2 G[ j(+)] sin (+)

]} { [

()

+ t+ (+) +

]}

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 11

Amplitude and Phase Distortion

vOUT(t) = A1 G(j) sin

{[

t+

()

]}

+ A2 G[ j(+)] sin (+)

t+

(+) +

]}

(+) +
A/D DSP

()+ d() d

() +

d() () - d

][ ( )] )

2002 B. Boser 12

1 1

EECS 247 Lecture 5: Filter Syntesis & Group Delay

Amplitude and Phase Distortion

(+) + () +

d() () - d

If the second term in this equation is nonzero, then the filters output at frequency + is time-shifted differently than the filters output at frequency Phase distortion
A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 13

Amplitude and Phase Distortion

(+) + () +

d() () - d

If the second term in this equation is zero, then the filters output at frequency + and the output at frequency are each delayed in time by -()/ PD -()/ is called the phase delay and has units of time
A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 14

Amplitude and Phase Distortion

Since 0, phase distortion is avoided only if:
d() () - =0 d

Clearly, if ()=k , k a constant, we avoid phase distortion This type of filter phase response is called linear phase
Phase shift varies linearly with frequency
A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 15

Amplitude and Phase Distortion

GR -d()/d=k is called the group delay and also has units of time GR= PD implies linear phase
Note: Filters with ()=k +c are also called linear phase filters, but theyre not free of phase distortion

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 16

Amplitude and Phase Distortion

If GR= PD, vOUT(t) = A1 G(j) sin t - GR

[(

)]

+ A2 G[ j(+)] sin (+) t - GR If G( j)=G[ j( +)] for all inputs within the signal-band, vOUT is a scaled, time-shifted replica of the input, with no amplitude distortion
A/D DSP

)]

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 17

Amplitude and Phase Distortion

No amplitude distortion: G( j)=G[ j( +)] No phase distortion: GR= PD Neither of these conditions are realizable exactly in continuous time filters
Real passbands cant have flat amplitude responses Derivatives of sums of arctangents arent constant

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 18

Group Delay Comparison

100kHz corner frequency Chebychev II versus Bessel

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 19

Magnitude Response
Bode Magnitude Diagram 0 -10

-20

-30

Magnitude (dB)

-40

-50

-60

-70

-80

-90 4th Order Chebychev 2 4th Order Bessel -100 4 10 10

5

10 Frequency [Hz]

10

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 20

Phase Response
0 -50

-100 Phase [degrees]

-150

-200

-250

4th Order Chebychev 2 4th Order Bessel -300 0 0.2 0.4 0.6 0.8 1 1.2 Frequency [Hz] 1.4 1.6 1.8 x 10 2
5

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 21

Group Delay
7 4th Order Chebychev 2 4th Order Bessel 6

Group Delay [ s]

0 4 10

10

10 Frequency [Hz]

10

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 22

Normalized Group Delay

1.6 4th Order Chebychev 2 4th Order Bessel 1.4 1.2 Group Delay [normalized]

0.8

0.6

0.4

0.2

0 4 10

10

10 Frequency [Hz]

10

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 23

Step Response
Step Response 1.4 4th Order Chebychev 2 4th Order Bessel 1.2

0.8 Amplitude 0.6 0.4 0.2 0

0.2

0.4

0.6

0.8

1 Time (sec)

1.2

1.4

1.6

1.8 x 10

2
-5

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 24

Eye Diagrams
4th Order Chebychev
1 1 0.8 0.8

4th Order Bessel

0.6

0.6

0.4

0.4

0.2

0.2

-0.2

-0.2

-0.4

-0.4

-0.6

-0.6

-0.8

-0.8

-1 -1

2 Time

5 x 10

6
-5

-1 -1

2 Time

5 x 10

6
-5

Note: the Chebychev output should be scaled to the same peak amplitude as the output from the Bessel. The Bessel has a clear advantage.

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 25

Allpass Filters
Delay equalization
Unity magnitude response arbitrary delay

Can compensate arbitrary phase distortion (e.g. from a given channel)

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 26

Second-Order All Pass Filter

j radius = P P 2QP

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 27

Second-Order All Pass Filter

From graphical considerations alone, the second-order all pass filter has unity magnitude response at all frequencies
Its phase shift is twice that of its pole

All pass sections cant cancel out the delay of other filter sections,
But they can add strategic delay to improve the phase response of a companion filter
A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 28

All Pass Filters

An all pass filter used to make a companion filters group delay more constant in the filter passband is called a phase equalizer or delay equalizer Group-delay-critical applications frequently devote as many poles to phase response reshaping as they devote to magnitude response shaping
A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 29

All Pass Filters

Phase equalizers are commonly used in digital data receivers If youre not sure whether or not you need a phase equalizer, build one
Start with just as many poles as your magnitude shaper CAD tools like MATLABs iirgrpdelay help synthesize optimal phase equalizers Unfortunately iirgrpdelay is for sampled data filters only use the bilinear transform (see later)
A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 30

Magnitude Response
Bode Magnitude Diagram 0 -10

-20

-30

Magnitude (dB)

-40

-50

-60

-70

-80 4th Order Chebychev 2 Allpass Cheby+Allpass 8th Order Bessel 10

5

-90

-100 4 10

10 Frequency [Hz]

10

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 31

Phase Response
0 -100 -200

-300 Phase [degrees]

-400

-500

-600

-700 4th Order Chebychev 2 Allpass Cheby+Allpass 8th Order Bessel 0.2 0.4 0.6 0.8 1 1.2 Frequency [Hz] 1.4 1.6 1.8 x 10 2
5

-800

-900 0

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 32

Normalized Group Delay

1.6 4th Order Chebychev 2 Cheby+Allpass 8th Order Bessel 1.4 1.2 Group Delay [normalized]

0.8

0.6

0.4

0.2

0 4 10

10

10 Frequency [Hz]

10

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 33

Step Response
Step Response 1.2 1 0.8

0.6 Amplitude

0.4

0.2

-0.2

4th Order Chebychev 2 Allpass Cheby+Allpass 8th Order Bessel 0 0.5 1 1.5 Time (sec) 2 2.5 x 10 3
-5

-0.4

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 34

Eye Diagrams
4th Order Chebychev with 4th Order Allpass
1 0.8 1 0.8

8th Order Bessel

0.6

0.6

0.4 0.2

0.4 0.2

-0.2 -0.4

-0.2 -0.4

-0.6

-0.6

-0.8

-0.8

-1 -1

2 Time

5 x 10

6
-5

-1 -1

2 Time

5 x 10

6
-5

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 35

FIR Filter Phase Response

A significant advantage of FIR over IIR filters is that FIR filters can be realized with linear phase response But (with few exceptions) FIR filters are only practical in the digital domain

A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 36

Summary
Filter design:
Magnitude response
Template Approximation (matlab) H(s) Realization with
Cascades of biquads Sensitivity limits practical designs to <3 sections Ladder filters next lecture

Phase / group delay

Phase equalization (allpass)
A/D DSP

EECS 247 Lecture 5: Filter Syntesis & Group Delay

2002 B. Boser 37