9/10/2024

Digital IIR Filter Design

using Impulse Invariant Method
@
Sardar Patel Institute of
Technology, Andheri, Mumbai
Dr. Kiran TALELE

Bharatiya Vidya Bhavans’

Sardar Patel Institute of Technology Andheri(w) Mumbai

Dr. Kiran TALELE

Teacher . Instructor . Guide. Mentor . Coach
@ Bharatiya Vidya Bhavans’ Sardar Patel Institute of
Technology Andheri(w) Mumbai

• Associate Professor, Electronics Engineering Department (1997)

• Dean, Students, Alumni & External Relations (2022)

@ Sardar Patel Technology Business Incubator(SP-TBI),

Funded by Department of Science & Technology(DST),
Govt. of India

• Co-ordinator (2015)

@ IEEE Bombay Section

• Treasurer (2020)
• Executive Committee Member (2015)

Digital I I R Filter Design

Time Domain Transform Domain

Method Method
Impulse Invariant Method BLT Method

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An important step in the

development of a digital filter is
the determination of a realizable
Transfer Function H(z)
approximating the given frequency
response specifications

Dr. Kiran TALELE 9987030881 talelesir@gmail.com 44

Digital IIR filter Design

using Impulse Invariant
Method

Kiran.Tulshiram.Vasumati.Talele
 9987030881 kiran.talele@spit.ac.in

Concept of Invariant Method

✔
X(s) Analog Filter Y(s)
LT ILT
x(t) H(s) y(t)
Sampling Sampling
?
x[n] Digital Filter y[n]
ZT ZT
X(z) H(z) Y(z)

For Impulse Invariant Method, x(t) = (t)

For Step Invariant Method, x(t) = u(t)

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Impulse Invariant Method

✔
X(s)=1 Analog Filter Y(s)=H(s)
LT ILT
x(t)=(t) H(s) y(t)=h(t)
Sampling Sampling
?
x[n]= (n) Digital Filter y[n]=h[n]
ZT ZT
X(z)= 1 H(z) Y(z)=H(z)

✔ ?
ALGO : H(s)  h(t)  h[n]  H(z)
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IIR Filter Design by IIM Design Procedure

(I) Determine the Analog filter Transfer function H(s) that satisfies
the specification for the desired filter.

(II) Find X(s)

For Impulse Invariant Method ,
Take x(t) = (t)
Y(s)=H(s)
By LT, X(s) = 1 X(s)=1 Analog Filter
LT LT
H(s) y(t)=h(t)
x(t)=(t)

x[n]= (n) Digital Filter y[n]=h[n]

ZT ZT
(III) Find Y(s) H(z) Y(z)=H(z)
X(z)= 1
Now Y(s) = X(s) H(s)
Y(s) = H(s)

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X(s)=1 Analog Filter Y(s)=H(s)

LT LT
H(s) y(t)=h(t)
x(t)=(t)

x[n]= (n) Digital Filter y[n]=h[n]

ZT ZT
H(z) Y(z)=H(z)
X(z)= 1

(IV) Find y(t) (VI) Find X(z) (VII) Find Y(z)

Now, Y(s) = H(s) Now x[n] = [n] Now y[n] = h[n]
By Inverse LT, By ZT, X(z) = 1 By ZT, Y(z) = H(z)
y(t) = h(t)

(V) Find x[n] (VII) Find y[n] (IX) Find H(z)

Now, x(t) = (t) Now, y(t) = h(t) H(z) = Y(z) / X(z)
Put t = nTs
Put t = nT
y[nT] = h[nT]
x(nT) = (nT) y[n] = h[n]
x[n] = [n]

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•Impulse Invariant Method ALGO

H(s)  h(t)  h[n]  H(z)

Given H(s), To Find H(z)

Step-1 : Find h(t) by Inverse LT
Step-2 : Find h[n] by Sampling
Step-3 : Find H(z) by ZT

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(a) Find H(z) using IIM.

(b) Draw Realization Diagram
(c) Draw POLE-ZERO Diagram
(d) Plot Magnitude Spectrum

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Derive the relation between Analog filter POLE and

Digital filter POLE when Impulse Invariant Method
is used for filter design.
Solution : Consider Analog Filter,
Single
Order Filter

Eq-1
By Inverse Laplace Transform,

u(t)
-a
Put t = nT

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u(n)
u(n)

By Z-Transform,

Digital POLE
Eq-2

By equating equation 1 and 2 we get,

Z = eST
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Derive the relation between Analog filter

Frequency and Digital filter Frequency when
Impulse Invariant Method is used for filter design.

Solution :
In I I M, Z = eST

Analog Filter POLE Digital Filter POLE

S1 = σ+j 

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By substituting we get,
S1 = σ+j 

By equating we get,

Analog Filter
Frequency
(In radians/sec)

Digital Filter
Frequency
Frequency
(In radians)
(In Hz)

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A frequency mapping between analog frequency and digital freqiency.


IIM

Analog LPF

PB SB

  c c 
0

Digital LPF PB SB

   c 0 c  

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Example-1 : A Digital filter is required to be

designed with cutoff frequency of 0.2π radian
and sampling frequency of 1000 Hz using
Impulse Invariant Method. What is Analog
Domain Cutoff frequency ?.

Dr. Kiran TALELE 9987030881 talelesir@gmail.com 1717

Example-2 : A Digital filter is required to be

designed with cutoff frequency of 100 Hz and
sampling frequency of 1000 Hz using Impulse
Invariant Method.
What is Analog Domain Cutoff frequency ?.

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Explain the Mapping of POLES from Analog Filter

to Digital Filter in Impulse Invariant Method..

Analog Filter Digital Filter

S1 = σ+j 

σ =0
σ<0 σ>0

------------S-Plane---------------- ------------Z-Plane-----------------

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Case-I : When σ = 0 r = 1
Analog poles which lies on imaginary axis gets mapped onto
the unit circle in the z-plane.

ANALOG FILTER DIGITAL FILTER

Digital
 Marginally Filter POLE
=0 Stable
 r=1 is on unit
Circle

Analog Filter
POLE is on an
Imaginary axis

------------S-Plane---------------- ------------Z-Plane-----------------

Dr. Kiran TALELE 9987030881 talelesir@gmail.com 2020

Case-II : When σ < 0 r<1

Analog poles which lies on LEFT side of S-Plane
gets mapped INSIDE the unit circle in the z-plane.

ANALOG FILTER DIGITAL FILTER

Analog Filter
r<1
<0 
POLE is on LEFT
 Digital
Side of S-plane
Filter POLE
is INSIDE
Stable
the unit
Circle

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Case-III : When σ > 0 r>1

Analog poles which lies on RIGHT side of S-Plane gets

mapped OUTSIDE the unit circle in the z-plane.

ANALOG FILTER DIGITAL FILTER

>0
r>1
 
Un-Stable
Digital Filter
Analog Filter POLE POLE is
is on RIGHT Side OUTSIDE of
of s-plane unit circle

Dr. Kiran TALELE 9987030881 talelesir@gmail.com 2222

Mapping of POLES from Analog Filter to Digital Filter in

Impulse Invariant Method

Analog Filter Digital Filter

S1 = σ+j 

σ =0
σ <1 σ>1 r=1
r>1 r<1

Dr. Kiran TALELE 9987030881 talelesir@gmail.com 2323

Examples :
2
Case –1, Let S1 = σ+j Case –2, Let S    j    
2  T 
ST S T
Then Z1  e 1 Then Z2  e 2

(  j ) T   2 
Z1  e   j    T  T
 
Z2  e 
T j T
Z1  e e Z 2  e T e j  T e j 2 
Put e j 2  1

Z 2  e T e j  T

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3π
T
S2
π
S1 T

-π
T z1

S-plane Z-plane

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Analysis :

Here, S 1 ≠ S2
But Z1 = Z2
That means both S1 and S2 are mapped at the
same location in z-plane.

This overlapping of POLEs is called aliasing.

In IIM, the mapping of POLEs from AF to DF is

many-to-one.

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Freq Transformation from AF To DF in IIM

w


Digital W=T
Filter Linear
0 
0
Analog
Filter

0 

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Freq Transformation from AF To DF in IIM

w


Digital W=T
Filter Linear
0 
0
Analog
Filter

0 

Dr. Kiran TALELE 9987030881 talelesir@gmail.com 2828

Freq Transformation from AF To DF in IIM

w


Digital W=T
Filter Linear
0 
0
Analog
Filter

0 

Dr. Kiran TALELE 9987030881 talelesir@gmail.com 2929

Freq Transformation from AF To DF in IIM

w


Digital W=T
Filter Linear
0 
0
Analog
Filter

0 

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IIM
W=T
Linear


Digital
Filter

Analog
Filter
0 

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Summary of Frequency Transformation :

(i) AF frequency in the range [ 0 to ) is mapped to DF

frequency in the range [ 0 to  ]
(ii) Freq transformation from AF to DF is many-to-one

(iii) A one to one mapping is possible only if operating

frequency  lies in the principle range of [ 0 to ]
(iv) When AF freq exceeds the range [ 0 to ]
frequency aliasing occurs
(v) IIM is suitable only when operating frequency of
Input is in the range 0, π 
 T

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FAQ
What is the relation between Analog Filter
POLE and Digital Filter POLE when Impulse
Invariant Method is used for filter design?.
Ans :
Z = eST
Digital
filter
POLE Analog
Sampling
filter
Time
POLE

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FAQ
What is the relation between Analog Filter
Frequency and Digital Filter Frequency
when Impulse Invariant Method is used
for filter design?.
Ans : Analog Filter
Frequency
(In radians/sec)

Digital Filter
Frequency
(In radians)
Frequency
(In Hz)

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Example-3 :
Analog Low Pass filter has following specifications:

Pass band Frequency p = 0.25 

Stop band Frequency s = 0.75 
Cutoff Frequency c = 0.35 

What will be the Cutoff frequency of the

corresponding Digital filter if I I T is used for
transformation with T = 2 Second ?

Dr. Kiran TALELE 9987030881 talelesir@gmail.com 35

FAQ Why Impulse Invariant method is

not suitable for HPF / BPF design?

The mapping from the analog frequency  to the

frequency variable w in the digital domain is
many to one which reflects the effect of aliasing
due to sampling.

A one to one mapping is thus possible only if

frequency c lies in the principle range of
 
   
T T

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Dr. Kiran TALELE

 Academic : PhD
 Professional :
 Dean-Students, Alumni & External Relations
@ Bharatiya Vidya Bhavans’ Sardar Patel
Institute of Technology (SP-IT), Mumbai
 Co-ordinator @ Sardar Patel Technology
Business Incubator (SP-TBI), Mumbai
 Treasurer-IEEE Bombay Section

091-9987030881 www.talelesir.com talelesir@gmail.com

https://www.linkedin.com/in/k-t-v-talele/
www.facebook.com/Kiran-Talele-1711929555720263

Stay Connected
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• Dr. Kiran TALELE is an Associate Professor in Electronics &

Telecommunication Engineering Department of Bharatiya Vidya Bhavans’
Sardar Patel Institute of Technology, Mumbai with 33+ years experience in
Academics.
• He is a Dean of Students, Alumni and External Relations at Sardar Patel
Institute of Technology, Andheri Mumbai. He is also a Co-ordinator of Sardar
Patel Technology Business Incubator, Mumbai.
• His area of research is Digital Signal & Image Processing, Computer Vision,
Machine Learning and Multimedia System Design.
• He has published 85+ research papers at various national & international
refereed conferences and journals. He has published 22 patents at Indian
Patent Office. One patent is granted in 2021.
• He is a Treasurer of IEEE Bombay Section and Mentor for Startup Incubation &
Intellectual Asset Creation.

• He received incentives for excellent performance in academics

and research from Management of S.P.I.T. in 2008-09. He is a recipient of
P.R. Bapat IEEE Bombay Section Outstanding Volunteer Award 2019.

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