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12
Analog Filter
Approximations
12.1 Filter Definitions
12.2 Butterworth Approximation
12.3 Properties of Butterworth Approximation
12.4 Transfer Function of Butterworth Approximation
12.5 Chebyshev Filter Approximation
12.6 Inverse-Chebyshev Approximation
12.7 Elliptic Filters
12.8 Elliptic Filters (Second Approach)
12.9 Transformations
References
0 1
=0
>1
d( )
= group delay
d
2
A( ) = 10 log H ( j ) ( = attenuation) dB
2
1
2
|H(j)|2
a
1
-1
1
1
-arg H(j)
-1
-1
|H1(j)|
1
1
1 + 2
transition
band
pass band
stop band
r
FIGURE 12.1
H ( j ) = H ( j ) H ( j )
H ( j ) =
2
1/ 2
= [ H ( j ) H ( j )]
1/ 2
= H (s) H ( s) s= j
1/ 2
K ( 2 + z12 )( 2 + z22 )L
( 2 + p12 )( 2 + p22 )L
Complex poles and zeros occur in conjugate pairs. Both the numerator and denominator polynomials
of the magnitude squared function of a transfer function are polynomials of 2 with real coefficients,
and these polynomials are greater than zero for all .
1+
c
10 log H ( j )
1999 by CRC Press LLC
2
= c
2n
H ( j c ) =
= 3.01 3.0 dB
1
2
Normalized
H ( j ) =
2
1
;
1 + 2n
H ( j1) =
2
1
2
H ( j 0) = 1;
H ( j1) =
1
;
2
H ( j) = 0
2
12.3.2
12.3.3
12.3.4
10 log H ( j ) = log
2
1
1
log 2 n = 10 log 2 n = 20 n log dB
1 + 2n
H ( j ) = H (s) H ( s) s= j =
2
1
1+
c
2n
1
s
1 + ( 1) n
c
2n
Poles:
s
1 + ( 1) n
c
2n
= 0 or sk = c e j(1n+2 K ) / 2 n ,
K = 0,1,L, 2n 1
K = 0,1,L, n 1
H (s) = ( 1) n
ss
K =0
sK
Butterworth Polynomials
1
2
3
4
5
6
7
8
9
10
s+1
s2 + 1.41421s + 1
(s + 1) (s2 + s + 1)
(s2 + 0.76537s + 1) (s2 + 1.84776s + 1)
(s + 1) (s2 + 0.61803s + 1) (s2 + 1.61803s + 1)
(s2 + 0.51764s + 1) (s2 + 1.41421s + 1) (s2 + 1.93185s + 1)
(s + 1) (s2 + 0.44504s + 1) (s2 + 1.24798s + 1) (s2 + 1.80194s + 1)
(s2 + 0.39018s + 1) (s2 + 1.11114s + 1) (s2 + 1.66294s + 1) (s2 + 1.96157s + 1)
(s + 1) (s2 + 0.34730s + 1) (s2 + s + 1) (s2 + 1.53209s + 1) (s2 + 1.87939s + 1)
(s2 + 0.31287s + 1) (s2 + 0.90798s + 1) (s2 + 1.41421s + 1) (s2 + 1.78201s + 1) (s2 + 1.97538s + 1)
Ar = 10 log 1 + r
c
2n
p = 2 f p
r = 2 fr
Solve Ap and Ar to find
n=
log[(10
0.1 Ap
log( p / r )
k = selectivity parameter =
p
r
fp
fr
<1
(10 0.1 Ap 1)
d = discrimination factor =
0.1 A
(10 r 1)
Note: a) larger values of k imply steeper roll off, b) smaller d values imply greater difference between
Ap and Ar
n
log d
log k
c =
c =
p
(10
0.1 Ap
1)1 / 2 n
r
meets stopband attenuation exactly and exceeds
(10 0.1 Ar 1)1 / 2 n
the requirement of passband specification
FIGURE 12.2
p = 2 1300 rads 1
Ar = 35 dB
r = 2 6000 rads 1
d=
10
10
0.1 Ap
0.1 Ar
10 0.15 1
10
3.5
0.6423
= 1.1424 10 2
56.2252
log d 1.9422
=
= 2.953
log k
0.6576
sk = sin
(2 K + 1)
(2 K + 1)
+ j cos
2n
2n
so = sin
1
3
+ j cos = + j
6
6
2
2
s1 = sin
3
3
+ j cos
= 1
6
6
s2 = sin
5
5
1
3
+ j cos
= j
6
6
2
2
n=3
K = 0,1,L, n 1
n 1
H (s) = ( 1) n
K =0
1
3
1
3
2 + j 2
j
sk
1
2
2
=
s sk
1
1
3
3 s ( 1)
s + j
s j
2
2
2
2
c = p (10
0.1 Ap
1
= normalized
(s + 1)(s 2 + s + 1)
s
1
H =
s 2
c s
s
+ 1
+
+ 1
9461 9461
9461
Co ( ) = 1 and C1 ( ) = .
H ( j ) =
2
1
= normalized
1 + Cn2 ( )
0 1
= cosh(n cosh 1 )
>1
= ripple factor
If we set u = cos 1 , then Cn ( ) = cos nu and thus
Co ( ) = cos 0 = 1, C1 ( ) = cos u = cos(cos 1 ) = ,
C2 ( ) = cos 2u = 2 cos 2 u 1 = 2 2 1,
n = 0,1, 2,L
with Co ( ) = 1 and C1 ( ) = . Figure 12.3 shows the first five Chebyshev polynomials.
Chebyshev Polynomials Cn ()
0
1
2
3
4
5
6
7
8
9
10
22 1
43 3
84 82 + 1
165 203 + 5
326 484 + 182 1
647 1125 + 563 7
1288 2566 + 1604 322 + 1
2569 5767 + 4325 1203 + 9
51210 12808 + 11206 4004 + 502 1
for 0 1
for
>1
1 + 2
when n is even
1
1 + 2
for any n
3. H ( j ) decreases monotonically
1
1
=
1 + Cn2 ( ) 1 + Cn2 ( js)
s = j
s = + j
1
1
K = sin (2 K + 1) sinh sinh 1
2n
1
1
K = cos(2 K + 1) cosh sinh 1
2n
K
K
+
=1
sinh 2 y cosh 2 y
y=
1
1
sinh 1
n
K = 0,1,L, 2n 1
1 + Cn2
H ( j p ) =
1 + Cn2
1
1 + 2
= p
Ap = 10 log(1 + 2 )
= 10
0.1 Ap
Ar = 10 log 1 + 2 Cn2 r
= 10 log 1 + 2 cosh 2 n cosh 1 r
10 0.1 Ar 1
cosh 1
cosh 1 r
p
k=
p
r
fp
fr
1/ 2
10 0.1 Ap 1
d = 0.1 Ar
1
10
1/ 2
or
1
cosh 1
d
n
1
cosh 1
k
Left-Hand Poles for the Transfer Function
1
1
1
1
n 1
H ( s) =
K =0
sK
,
s sK
n odd
n 1
H ( s) =
1+
K =0
sK
,
s sK
n even
H ( j c ) =
1
1
,
=
2 1 + 2 Cn2 ( c )
3 dB cutoff
1
1
c = cosh cosh 1
n
0.1 Ap
p
r
5 p
= 0.2
d=
0.765
0.765
=
= 2.42 10 3
(10 0.1 Ar 1)1 / 2 (10 5 1)1 / 2
accept n = 3
From 12.5.6
y=
1
1 1 1
sinh 1 = ln +
n
n
sinh y =
e y ey
= 0.3689
2
1
+ 1 = 0.361
2
cosh y =
e y + ey
= 1.0659
2
5
s2 = sin (0.3689) + j cos (1.0659) = 0.1844 j 0.9231 = s0
6
6
H ( s) =
1999 by CRC Press LLC
0.3289
(s + 0.3689)(s 2 + 0.3689s + 0.8861)
To denormalize H(s) we set p = 2fp we set s/p in place of s. Table 12.3 gives the denominator or
the normalized Chebyshev low-pass filters. Figure 12.4 shows the third-order filter with p = 2 2.
TABLE 12.3 Factors of the Denominator Polynomials Normalized Chebyshev Low-Pass Filters
n
1
2
3
4
5
6
7
8
9
10
n
1
2
3
4
5
6
7
8
9
10
n
1
2
3
4
5
6
7
8
9
10
n
1
2
3
4
5
TABLE 12.3 Factors of the Denominator Polynomials Normalized Chebyshev Low-Pass Filters (continued)
n
6
7
8
9
10
n
1
2
3
4
5
6
7
8
9
10
n
1
2
3
4
5
6
7
8
9
10
n
1
2
3
4
5
6
7
8
9
10
TABLE 12.3 Factors of the Denominator Polynomials Normalized Chebyshev Low-Pass Filters (continued)
n
1
2
3
4
5
6
7
8
9
10
FIGURE 12.4
fp = 2Hz ; p = 12.5664
2 Cn2 ( r / )
1 + 2 Cn2 ( r / )
12.6.3 Attenuation
1
A( ) = 10 log 1 + 2 2
dB
C
(
n
r
= ripple factor calculated at = r
1
Ar ( ) = 10 log 1 + 2 2 ,
Cn (1)
Cn2 (1) = 1
=
10
0.1 Ar
k=
cosh 1 (1/ d )
cosh 1 (1/ k )
fp
fr
10 0.1 Ap 1
d = 0.1 Ar
1
10
1/ 2
2 Cn2 ( j r / s)
1 + 2 Cn2 ( j r / s)
Zeros
Cn ( j r / s) = 0 = cos(n cos 1 ( j r / s))
cos 1 ( j r / s) = m / 2n , m odd
sm = zeros = j r sec(m / 2n), m = 1, 3,L, 2n 1
Poles
1 + 2 Cn2 ( j r / s) = 0
same poles as in 12.5.6 except that s is replaced by 1/s.
Denormalization is accomplished with respect o stopband edge frequency r .
1
1 + Rn2 ( )
2
Rn ( ) = rational function;
= ripple factor
)
12.7.2 Properties of the Rational Function Rn(
1. Rn() = even for n even. Rn() = odd for n odd.
2. The zeros of Rn() are in the range < 1.
The poles of Rn() are in the range > 1.
3. The function Rn() oscillates between 1 in the passband.
4. Rn() = 1 at = 1.
5. Rn() oscillates between 1/d and infinity in the stopband, where d is given in 12.5.7.
1999 by CRC Press LLC
Frequency 0 = 1
( n 1) / 2
Rn ( ) =
i =1
n/2
Rn ( ) =
i =1
i2 2
1 i2 2
i2 2
1 i2 2
for n odd
for n even
p
r
2. Define
qo =
1 1 (1 k 2 )1 / 4
2 1 + (1 k 2 )1 / 4
1/ 2
log 16 / d 2
log(1 / q)
6. Calculate
= 10
0.1 Ap
1/ 2
Ap = 10 log(1 + 2 )
7. Define
=
1
(1 + 2 )1 / 2 + 1
ln
2n (1 + 2 )1 / 2 1
8. Calculate
2 q1 / 4
(1)
m=0
a=
1+
q m( m +1) sinh[(2 m + 1) ]
(1)
q m cosh(2 m )
m =1
9. Define
a2
U = (1 + ka 2 )1 +
k
1/ 2
10. Calculate
2 q1 / 4
(1)
m=0
i =
1+ 2
q m( m +1) sin[(2 m + 1) l / n]
(1)
q m cos(2 ml / n)
m =1
1/ 2
12. Set
ai =
1
i2
bi =
2 aVi
1 + a 2 i2
ci =
(aVi ) 2 + ( iU ) 2
(1 + a 2 i2 ) 2
13. Set
14. Set
15. Find
( n 1) / 2
Ho = a
i =1
ci
ai
for n = odd
Ho =
n/2
1
1+
i =1
i =1
H ( s) =
Ho
s+a
for n = even
s 2 + ai
s + bi s + ci
n/2
H ( s) = Ho
ci
ai
( n 1) / 2
i =1
s 2 + ai
s 2 + bi s + ci
for n = even
for n odd
Ho
Do (s)
n 1
2
r=
n
2
i =1
s 2 + aoi
s 2 + b1i s + boi
for odd n
for even n
s + o
Do (s) =
1
for odd n
for even n
1 1 k
2 1 + k
Antoniou (1993)
10 0.1 Ar 1
4. D =
5. n
10
0.1 Ap
log 16 D
log(1 / q)
0.05 A
6. =
p
1
10
+1
ln 0.05 Ap
2n 10
1
2 q1 / 4
(1)
m=0
7. o =
q m( m +1) sinh[(2 m + 1) ]
1+ 2
(1)
q m cosh 2 m
m =1
2
8. W = (1 + k 2o )1 + o
k
2 q1 / 4
(1)
m=0
9. i =
(2 m + 1)
q m( m +1) sin
1+ 2
(1)
m =1
= 1
i
2
2
2 m
q m cos
n
for odd n
for even n
i = 1, 2,L, r
2
10. Vi = (1 k i2 )1 i
k
11. aoi =
1
i2
boi =
( oVi )2 + (i W )2
(1 + 2oi2 )2
b1i =
2 oVi
1 + 2oi2
boi
o
a
oi
i =1
12. Ho =
r
boi
A
0
05
.
p
10
a
oi
i =1
for odd n
for even n
The series in steps 7 and 9 converge rapidly, and three to four terms are sufficient for most purposes.
aoi
1
2
3
4
1.434825 10
2.231643
1.320447
1.128832
boi
2.914919
6.123726
8.397386
9.264592
b1i
10
101
101
101
8.711574
4.729136
1.825141
4.471442
101
101
101
102
Ho = 2.876332 103
s 2 + 14.34825
s 2 + 2.231643
H (s) = 2.87633 10 3 2
2
s 2 + 1.320447
s 2 + 1.128832
2
2
FIGURE 12.5
12.9 Transformations
12.9.1 Lowpass to Lowpass
Set s
s
, p = new passband frequency
p
p
s
s 2 + 2m
Bs
Bs
s 2 + 2m
References
Antoniou, A., Digital Filters, Second Edition, McGraw-Hill, New York, 1993.
Elliott, D. F., Editor, Handbook of Digital Signal Processing, Academic Press, New York, 1987.
Mitra, S. K. and J. F. Kaiser, Handbook for Digital Signal Processing, John Wiley & Sons, New York,
1937.
Parks, T. W. and C. S. Burrus, Digital Filter Design, John Wiley & Sons, New York, 1987.
Zuerev, A. I., Handbook of Filter Synthesis, Wiley, New York, 1967.