Impulse Invariance &

Bilinear Transform

© Ammar Abu-Hudrouss -Islamic

University Gaza 1

Impulse invariance
By impulse invariance method, the analogue impulse response
h(t) is sampled to get the discreet sample response h(n).

If the analogue filter has a system function Ha(s) then

the system function of the digital filter can be achieved
from the sampling theorem as

H ( f )  Fs H
k  
a (( f  kFs ))

Or equivalently

H ( )  Fs H
k 
a ((  2kFs ))

The period of the sampling T should be small enough

to avoid or minimize the effect of the aliasing.

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Digital Signal Processing
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 Impulse invariance
From the equation

H ( )  Fs H
k  
a ((  2kFs ))
We can generalise

H ( z) z e sT  Fs H
k  
a ((s  j 2kFs ))

Then the mapping is characterized by

z  e sT

We substitute by s    j
z  eT e jT

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Digital Signal Processing
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Impulse invariance
z  eT e jT

It is clear that 
If  = 0. The imaginary axis (s =j ) in the s plane map into the
unity circle (z = ej  T in the z-plane.

If  < 0, the left hand plane in the s plane map into the inside of
the unity circle in the z-plane.

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Digital Signal Processing
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 Impulse invariance
On the assumption that the poles of the analogue filter are
distinct, we can write
N
c
H a ( s)   k
k 1 s  pk
pk are the poles of the analogue filter and ck’s are the
coefficients of the partial expansion. Consequently
N
ha (t )   ck e pk t
k 1

If we sample the analogue impulse response, we get

N
h ( n)  ha ( nT )   ck e pk nT
k 1

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Digital Signal Processing
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Impulse invariance
So the system 
function of the IIR filter
H a ( z )   h( n ) z  n
n 0
N 
  c k  (e pk T z 1 ) n
k 1 n 0

For pk < 0
N
ck
H (z)   p k T 1
k 1 1  e z

We observe that the digital filter has poles at

z k  e pk T k  1,2,....., N

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Digital Signal Processing
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 Impulse invariance
Example: Convert the analogue filter with the system
function

s  0. 1
H a ( s) 
( s  0.1) 2  9
Solution

1/ 2 1/ 2
H a (s )  
s  0.1  j 3 s  0.1  j 3
Then the transfer function of the digital filter
1/ 2 1/ 2
H (z )  
1  e 0.1T e j 3T z 1 1  e  0.1T e j 3T z 1
1  ( e 0.1T cos 3T ) z 1
H ( z) 
1  ( 2e  0.1T cos 3T ) z 1  e 0.2T z  2
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Digital Signal Processing
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Bilinear Transformation
Let us consider an analogue filter with the system function

b
H (s ) 
sa
The system can be also described by the differential equation
dy (t )
 ay (t )  bx(t )
dt
Starting from the integral
t
y (t )   y ( )d  y (t 0 )
t0

By the trapezoidal formula at t = nT and t0 = nT-T

y ( nT )  (T / 2)[ y ( nT )  y ( nT  T )]  y ( nT  T )

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Digital Signal Processing
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 Bilinear Transformation
But as
y ( nT )   ay ( nT )  bx( nT )

The integral become

aT aT bT
(1  ) y (n )  (1  ) y (n  1)  [ x (n)  x(n  1)]
2 2 2
Convert the equation into z domain
aT aT 1 bT
(1  )Y ( z )  (1  ) z Y ( z)  [ X ( z )  z 1 X ( z )]
2 2 2
Then the transfer function
b
H ( z) 
2  1  z 1 
 a
T  1  z 1 
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Digital Signal Processing
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Bilinear Transformation
Clearly the mapping from s-plane to z-plane is
2  1  z 1 
s   
T  1  z 1 
To investigate the characteristics of the bilinear
transformation, let
z  re jw s    j

Then the mapping formula can be expressed as

2 z 1
s
T z 1
2 re j  1

T re j  1

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Digital Signal Processing
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 Bilinear Transformation
or
2 r 2 1 2 r sin  
s   j 
2
T  1  r  2r cos  1  r  2r cos  
2

   j

if r < 1 leads to  < 0 or the left hand plane in the s plane maps
into the inside of the unity circle in the z-plane.
When r = 1,  =0 and

2 sin 

T 1  cos 
2 
 tan
T 2
1 T
  2 tan
2 11
Digital Signal Processing
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Bilinear Transformation
Example: Convert the analogue filter with the system function

s  0.1
H (s ) 
( s  0.1) 2  16

Into a IIR digital filter by means of bilinear transformation.

The digital filter is to have a resonant frequency r = /2

The analogue filter has a resonance frequency of  =4. this

is to be mapped into r = /2 by using
2 
 tan
T 2
This leads that T = 0.5

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 Bilinear Transformation
Thus the desired mapping is

 1  z 1 
s  4 
1 
1 z 
And the resulting digital filter has the system function

0.128  0.006 z 1  0.122 z 2

H (z) 
1  0.0006 z 1  0.975z  2
0.128  0.006 z 1  0.122 z  2
H (z) 
1  0.975 z 2

 j / 2
With poles at p1, 2  0.987e
With zero at z1, 2  10.95
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Digital Signal Processing
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Bilinear Transformation
Example: Design a single-pole lowpass filter with 3-dB
bandwidth of 0.2 using the bilinear transformation to
analogue filter
c
H (s ) 
s  c
The digital filter is specified to have -3dB gain at c =
0.2. In the frequency domain of the analogue filter

2 
c  tan  0.65 / T
T 2
Thus the analogue filter has the system function
0.65 / T
H (s ) 
s  0.65 / T

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Digital Signal Processing
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 Bilinear Transformation
Now, we apply the bilinear transformation to get

0.245(1  z 1 )
H ( z) 
1  0.509 z 1
The frequency response of the digital filter
0.245(1  e  j )
H ( ) 
1  0.509e  j
Which applies

H (0)  1 and H (0.2 )  0.707

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Digital Signal Processing
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