Module 9: Design of IIR filters

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DESIGN OF CONTINUOUS-
TIME LOWPASS FILTERS

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 Analog lowpass filter specifications

𝑝 : passband edge, 𝑠 : stopband edge

𝐴𝑝 : passband ripple, 𝐴𝑠 : stopband attenuation

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 Analog lowpass filters

• The Butterworth approximation

• Chebyshev I filter
• Chebyshev II filter

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 The Butterworth approximation

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1
𝐻𝐵 (𝑗) = 2𝑁
𝐻𝐵 (𝑗) 
1+
𝑐

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 The Butterworth approximation

• Poles of Butterworth filter 2

𝐻𝐵 (𝑗𝑠 ) = 𝐻𝐵 (𝑠)𝐻𝐵 (−𝑠)

1 1
𝐻𝐵 𝑠 𝐻𝐵 −𝑠 = 2𝑁 ቮ = 2𝑁
 𝑠
1+ 1+
𝑐 =𝑠𝑗 𝑗𝑐

Which yields the poles as solution:

2𝑁 2𝑘−1 𝜋 𝜋 2𝑘−1 𝜋
𝑠
= −1 = 𝑒 2𝑘−1 𝜋
 𝑠𝑘 = 𝑗𝑐 𝑒 2𝑁 = 𝑐 𝑒 2 + 2𝑁
𝑗𝑐
𝑘 = 1,2,3, … , 2𝑁

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 The Butterworth approximation
𝜋 2𝑘−1 𝜋
• Poles of Butterworth filter 𝑠𝑘 = 𝑐 𝑒 2 + 2𝑁 𝑘 = 1,2,3, … , 2𝑁

• Choose the N poles in the stable region:

𝑐 𝑁
𝐻𝐵 𝑠 =
𝑠 − 𝑠1 𝑠 − 𝑠2 … (𝑠 − 𝑠𝑁 ) 7
 The Butterworth approximation

• Design procedure

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 MATLAB functions for analog Butterworth
lowpass filters
• [N, Omegac] = buttord(Omegap, Omegas, Ap, As, ’s’)
• [C,D] = butter(N, Omegac, ’s’)

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 The Butterworth approximation

• Example: Use Butterworth approximation to obtain an analog

lowpass filter that satisfies
𝑟𝑎𝑑
−6 𝑑𝐵 ≤ 20 log10 𝐻 𝑗 ≤ 0, 0≤  ≤2
𝑠𝑒𝑐
𝑟𝑎𝑑
20 log10 𝐻 𝑗 ≤ −20 𝑑𝐵, 3 ≤  <∞
𝑠𝑒𝑐

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 The Butterworth approximation

• Example: We want to design an analog lowpass filter using the

Butterworth approximation that satisfies the specifications:

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The Butterworth The 19th-order lowpass
Butterworth filter
approximation

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 The Chebyshev approximation

• Based on Chebyshev polynomials

cos 𝑁 𝑐𝑜𝑠 −1 (𝑥) , 0≤𝑥≤1

𝑇𝑁 𝑥 = ൝
cosh 𝑁 𝑐𝑜𝑠ℎ−1 (𝑥) , 1<𝑥<∞

Let 𝑢 = 𝑐𝑜𝑠 −1 (𝑥)

Then 𝑇0 𝑥 = cos 0 = 1

𝑇1 𝑥 = cos 𝑢 = 𝑥

𝑇2 𝑥 = cos 2𝑢 = 2 cos 2 𝑢 − 1 = 2𝑥 2 − 1

𝑇3 𝑥 = cos 3𝑢 = 4 cos 3 𝑢 − 3 cos 𝑢 = 4𝑥 3 − 3𝑥

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 The Chebyshev approximation
• Properties of Chebyshev polynomial
1. For any order N: 2. 𝑇𝑁 𝑥 increases monotonically for
𝑥 >1
0 ≤ 𝑇𝑁 (𝑥) ≤ 1 for 0 ≤ 𝑥 ≤ 1
3. Is an even (odd) polynomial if n is
𝑇𝑁 𝑥 > 1 for 𝑥 > 1 even (odd)
Also 𝑇𝑁 1 = 1 for any N 4. 𝑇𝑁 0 = 0 for odd N. 𝑇𝑁 0 = 1 for
even N

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 Chebyshev I filter

2
1
𝐻𝑐 (𝑗) =

1 + 𝜀 2 𝑇𝑁 2
𝑐

Properties:
1. 1 when 𝑁 is odd
𝐻𝑐 𝑗 2ቚ =ቐ 1 when 𝑁 is even
=0 2
1+𝜀

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2. Since 𝑇𝑁 (1) = 1 for any 𝑁, then 𝐻𝑐 𝑗𝑐 2 = for any 𝑁
1+𝜀 2
3. 𝐻𝑐 𝑗 decreases monotonically for || > 𝑐

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Chebyshev I filter

𝜀 = 0.75

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 Chebyshev I filter
• Poles of Chebyshev I filter

𝑠𝑘 = 𝜎𝑘 + 𝑗𝑘 1 1
𝑐 𝑐𝑜𝑠ℎ sinh−1
𝑁 𝜀

𝜎𝑘2 2𝑘 𝑐 𝑠𝑖𝑛ℎ

1
sinh−1
1
+ 2 =1 𝑁 𝜀
𝑐 𝑠𝑖𝑛ℎ  𝑐 𝑐𝑜𝑠ℎ 
2 2 2

1 1
 = sinh −1
𝑁 𝜀

𝑘 = 1, 2, … , 2𝑁

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 Chebyshev I filter

• Design procedure
1 1 𝑠 1
≤ 2  𝑇𝑁 ≥ 𝐴2 − 1
𝑠 𝐴 𝑝 𝜀
1 + 𝜀 2 𝑇𝑁2
𝑝

cosh−1 𝛽 ln(𝛽 + 𝛽 2 − 1)
 𝑁≥ =
cosh−1 𝛼 ln(𝛼 + 𝛼 2 − 1)

with
𝑠 1 10𝐴𝑠 /10 − 1
𝛼= , 𝛽= 𝐴2 − 1 =
𝑝 𝜀 10 𝐴𝑝 /10 − 1

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 Chebyshev I filter

• Design procedure
1. Compute the parameters 𝛼 and 𝛽
2. Compute order 𝑁
3. Compute the pole locations
4. Compute the filter gain 𝐺 and the system function 𝐻𝑐 (𝑗 )

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 MATLAB functions for analog Chebyshev I
lowpass filters
• [N, Omegac] = cheb1ord(Omegap, Omegas, Ap, As, ’s’)
• [C,D] = cheby1(N, Ap, Omegac, ’s’)

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 Chebyshev I filter

• Example: Use Chebyshev I filter to obtain an analog lowpass filter

that satisfies
𝑟𝑎𝑑
−6 𝑑𝐵 ≤ 20 log10 𝐻 𝑗 ≤ 0, 0≤  ≤2
𝑠𝑒𝑐
𝑟𝑎𝑑
20 log10 𝐻 𝑗 ≤ −20 𝑑𝐵, 3 ≤  <∞
𝑠𝑒𝑐

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 Chebyshev I filter

• Example: Use Chebyshev I filter to obtain an analog lowpass filter

that satisfies

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 The seventh-order
Chebyshev I filter lowpass Chebyshev I filter

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 Chebyshev II filter

𝑐
𝜀 2 𝑇𝑁 2
2
1 
𝐻𝐼𝑐 (𝑗) =1− =
𝑐 
1 + 𝜀 2 𝑇𝑁 2 1 + 𝜀 2 𝑇𝑁 2 𝑐
 

High-pass filter 24
 Chebyshev II filter

• The exact value of stopband edge frequency

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 MATLAB functions for analog Chebyshev II
lowpass filters
• [N, Ws] = cheb2ord(Omegap, Omegas, Ap, As, ‘s’)
• [C, D] = cheby2(N, As, Ws, ‘s’)

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 Chebyshev II filter

• Example: Use Chebyshev II filter to obtain an analog lowpass filter

that satisfies
𝑟𝑎𝑑
−6 𝑑𝐵 ≤ 20 log10 𝐻 𝑗 ≤ 0, 0≤  ≤2
𝑠𝑒𝑐
𝑟𝑎𝑑
20 log10 𝐻 𝑗 ≤ −20 𝑑𝐵, 3 ≤  <∞
𝑠𝑒𝑐

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 Chebyshev II filter

• Example: obtain a lowpass filter using the Chebyshev II

approximation

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 The seventh-order lowpass
Chebyshev II filter Chebyshev II filter

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