12/4/2023

Digital IIR Filter Design

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

Academic Year 2023-24

Bharatiya Vidya Bhavans’

Sardar Patel Institute of Technology Andheri(w) Mumbai

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.

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Digital IIR filter Design

using Impulse Invariant
Method

Kiran Tulshiram Vasumati TALELE

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Concept of Digital IIR Filter Design

INPUT OUTPUT
Analog Filter
x(t) y(t)
Sampling Reconstruction

x[n] y[n]
Digital Filter

1. Programmable
2. Stable

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Concept of Digital IIR Filter Design

INPUT OUTPUT
Analog Filter
x(t) y(t)
Sampling Reconstruction
Sampling

x[n] y[n]
ZT Digital Filter ZT
X(z) Y(z)

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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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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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Q1. 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 ?.

Given,
Digital Filter Design by IIM
Cutoff Frequency = 0.2π
Sampling Frequency Fs = 1000 Hz

Find Analog Cutoff Frequency ?

i.e. c

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The relation between AF freq. and DF Freq. is given by,

Where (1) Fs = 1000 Hz Now, c = wc Fs

(2) wc = 0.2π radian c = 0.2π 1000

c = 200 π r/s

c = 628 r/s

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Q2. 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 ?.

Given,
Digital Filter Design by IIM
Cutoff Frequency = 100 Hz
Sampling Frequency Fs = 1000 Hz
Find Analog Cutoff Frequency ?

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The relation between AF freq. and DF Freq. is given by,

Frequency
(In Hz)

Sampling
Frequency
Digital (In Hz)
Where (1) Fs = 1000 Hz Frequency
(NO Units)

Range of w is
( - to  ]

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The relation between AF freq. and DF Freq. is given by,

Frequency
(In Hz)

Sampling
Frequency
Digital (In Hz)
Where (1) Fs = 1000 Hz Frequency
(NO Units)

Now, c = wc Fs

c = 0.2π 1000
c = 200 π r/s

c = 628 r/s

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Range of w is

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

=0  Marginally
Stable


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

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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

r<1
<0 
 INSIDE
the Unit Circle
Stable
LEFTSIDE
Of S-Plane

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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

RIGHT SIDE OUTSIDE

Of S-Plane Of Unit Circle

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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

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Examples :

2
Case –1, Let S1 = σ+j Case –2, Let S    j    
2  T 
S1T S 2T
Then Z1  e Then Z2  e
(  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

Kiran
KiranTALELE 9987030881
TALELE 99 [email protected]
30 881 [email protected]
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Summary of Mapping of POLEs :-

Here, Analog POLESs S 1 ≠ S2

But the corresponding Digital POLEs 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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S2

S1

z1

S-plane Z-plane

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3π
T
S2
π
S1 T

-π
T z1

S-plane Z-plane

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Freq Transformation from AF To DF in IIM

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) In IIM, freq transformation from AF to DF is NOT

one-to-one.
 π
(ii) When AF freq exceeds the range 0, T 
 
the frequency aliasing occurs.

(iii) IIM is suitable only when operating freq of

Input is in the range 0, π 
 T
 

(iv) IIM is NOT suitable to design HPF/BPF.

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FAQ
What are the advantages of IIR Filters ?

Ans : IIR filters require Less memory

and less calculations to achieve
a given filter response
characteristic

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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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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
T T c lies in the principle range
of

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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
 Head-Academic Relation @ Sardar Patel
Technology Business Incubator (SP-TBI),
Mumbai
 Treasurer-IEEE Bombay Section
091-9987030881
[email protected] / [email protected]
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 Head 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 filed published 12+ 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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Thank
you

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