Analog Filters

Butterworth
Filter
Spring 2009
Ammar Abu-Hudrouss -Islamic
University Gaza
Slide
Digital Signal Processing
What are the function of Filters ?
Filters can be classified according to range of signal
frequencies in the passband
Lowpass filter
Highpass filter
Bandpass filter
Stopband (bandreject) filter
A filter is a system that allow certain frequency to pass to
its output and reject all other signals
Filter types
Slide
Filter types
Slide
Filter types according to its frequency response
Butterworth filter
Chebychev I filter
Chebychev II filter
Elliptic filter
Filter types
Slide
Butterworth filter
Ideal lowpass filter is shown in the figure
The passband is normalised to one.
Tolerance in passband and stopband are allowed to enable
the construction of the filter.
Slide
Lowpass prototype filter
Lowpass prototype filter: it is a lowpass filter with
cutoff frequency O
p
=1.
Lowpass
prototype
filter
Frequency
Transformation
Lowpass filter
Highpass filter
Bandpass filter
Bandreject filter
The frequency scale is normalized by
p
. We use O = /
p
.
Slide
Lowpass prototype filter
Notation
In analogue filter design we will use
s to denote complex frequency
eto denote analogue frequency
p to denote complex frequency at lowpass prototype
frequencies.
to denote analogue frequency at the lowpass prototype
frequencies.
Slide
Magnitude Approximation of Analog Filters
The transfer function of analogue filter is given as rational
function of the form
The Fourier transform is given by
( ) n m
s d s d s d d
s c s c s c c
s H
n
n
m
m o
s
+ + + +
+ + + +
=
2
2 1 0
2
2 1
( )
( )
( )
n
n
n
m
m
m
o
j s
d j d jd d
c j c jc c
s H H

+ + +
+ + +
= =
=
2
2 1 0
2
2 1
) (
( )
( )

j
e j H H ) ( =
Slide
Magnitude Approximation of Analog Filters
Analogue filter is usually expressed in term of
Example
Consider the transfer function of analogue filter, find
( ) ( ) ( ) j H j H j H
*
2
=
( )
2 2
1
2
+ +
+
=
s s
s
s H
( ) ( ) ( )

j s j s
s s
s
s s
s
s H s H j H
= =
+
+
+ +
+
= =
2 2
1
2 2
1
2 2
2
( )
4 2
1
2
4
2
+
+
=

j H
( )
( )
( )
2 =
Z
Z
j H
j H
Slide
In order to approximate the ideal filter
1) The magnitude at = 0 is normalized to one
2) The magnitude monotonically decreases from this value to
zero as .
3) The maximum number of its derivatives evaluated at = 0
are zeros.
This can be satisfied if
Butterworth filter
n
n
m
m o
D D D
C C C C
H
2
2
4
4
2
2
2
2
4
4
2
2
2
1
) (

+ + + +
+ + + +
=
Will have only even powers of , or

N
N
D
H
2
2
2
1
1
) (
+
=
( )
2
j H
Slide
The following specification is usually given for a lowpass
Butterworth filter is
1) The magnitude of H
0
at = 0
2) The bandwidth
p
.
3) The magnitude at the bandwidth
p
.
4) The stopband frequency
s
.
5) The magnitude at the stopband frequency
s
.
6) The transfer function is given by
Butterworth filter
( )
N
N
D
H
H
2
2
0
2
1
) (
O +
= O
Slide
To achieve the equivalent lowpass prototype filter
1) We scale the cutoff frequency to one using transformation
O = /
p
.
2) We scale the magnitude to 1 to one by dividing the magnitude
by H
0
.
The transfer function become
We denotes D
2N
as
2
where is the ripple factor, then
Butterworth filter
( )
N
N
D
H
2 '
2
2
1
1
) (
O +
= O
( )
N
H
2 2
2
1
1
) (
O +
= O
Slide
If the magnitude at the bandwidth O = O
p
= 1 is given as (1 -
p
)
2
or A
p
decibels,
the value of
2
is computed by
If we choose A
p
= -3dB
2
= 1. this is the most common case
and gives
Butterworth filter
p
A H
p
2 ) ( log 20
2
1
= O
= O = O
p
A =
+
2
1
1
log 10
1 10
1 . 0 2
=
p
A
( )
N
H
2
2
1
1
) (
O +
= O
Slide
If we use the complex frequency representation
The poles of this function occurs at
Or in general
Poles occurs in complex conjugates
Poles which are located in the LHP are the poles of H(s)
Butterworth filter
( )
( )
N j p
p
H p H
2
/
2 2
1
1
) (
+
= O =
= O
( )
=
=
=

even , 2 ,..., 2 , 1
odd , 2 ,..., 2 , 1
2 / 1 2
2 / 2
n N k e
n N k e
p
N k
N k
k

N k e p
N N k j
k
2 ,..., 2 , 1
2 / ) 1 2 (
= =
+
N k e p
N N k j
k
,..., 2 , 1
2 / ) 1 2 (
= =
+
Slide
When we found the N poles we can construct the filter transfer
function as
The denominator polynomial D (p) is calculated by
Butterworth filter
( )
( ) p D
p H
1
==
( ) ( )
[
=
=
n
k
k
p p p D
1
Slide
Butterworth filter
Another method to calculate D (p ) using
The coefficients d
k
is calculated recursively where d
0
= 1
( )
[
=
k
k
p p p D ) (
n
n
p d p d p d p D + + + + =
2
2 1
1 ) (
( ) | |
N k d
N
k
k
d
k k
, , 3 , 2 , 1
2
sin
2 / 1 cos
1
=
(
Slide
Butterworth filter
The minimum attenuation as dB is usually given at certain
frequency O
s.
The order of the filter can be calculated from the filter
equation
O
s
O (rad/sec)
H(O)
dB
( )
N
s
s s
A H
2
2
1 log 10
) ( log 10
O +
= O
| |
( )
s
A
s
N
O

>
log 2
1 10 log
10 /
Slide
Design Steps of Butterworth Filter
1. Convert the filter specifications to their equivalents in the
lowpass prototype frequency.
2. From A
p
determine the ripple factor .
3. From A
s
determine the filter order, N.
4. Determine the left-hand poles, using the equations given.
5. Construct the lowpass prototype filter transfer function.
6. Use the frequency transformation to convert the LP
prototype filter to the given specifications.
Slide
Butterworth filter
Example:
Design a lowpass Butterworth filter with a maximum gain of 5 dB
and a cutoff frequency of 1000 rad/s at which the gain is at least
2 dB and a stopband frequency of 5000 rad/s at which the
magnitude is required to be less than 25dB.
Solution:
p
= 1000 rad/s ,
s
= 5000 rad/s,
By normalization,
O
p
=
p
/
p
= 1 rad/s,
O
s
=
s
/
p
= 5 rad/s,
And the stopband attenuation A
s
= 25+ 5 =30 dB
The filter order is calculated by
(
3 146 . 2
) 5 log( 2
) 1 10 log(
10 /
= =
=
s A
N
Slide
Butterworth filter
The pole positions are:
( ) ( )
3 , 2 , 1
6 / 2 2
= =
+
k e p
k j
k

{ } { } 866 . 0 5 . 0 , 1 , 866 . 0 5 . 0 , ,
3 / 4 3 / 2
j j e e e p
j j j
k
+ = =

( )( )( ) 866 . 0 5 . 0 1 866 . 0 5 . 0 ) ( j p p j p p D + + + + =
( )( ) 1 1 ) (
2
+ + + = p p p p D
1 2 2 ) (
2 3
+ + + = p p p p D
Hence the transfer function of the normalized prototype
filter of third order is
1 2 2
1
) (
2 3
+ + +
=
p p p
p H
Slide
Butterworth filter
To restore the magnitude, we multiply be H
0
20logH
0
= 5dB which leads H
0
= 1.7783
To restore the frequency we replace p by s/1000
1 2 2
) (
2 3
0
+ + +
=
p p p
H
p H
( )
1
1000
2
1000
2
1000
7783 . 1
) (
2 3 1000 /
+ |
.
|
\
|
+ |
.
|
\
|
+ |
.
|
\
|
= =
=
s s s
p H s H
s p
( )
9 6 2 3
9
10 10 2 2000
10 . 7783 . 1
) (
+ + +
=
s s s
s H
Slide
Butterworth filter
If the passband edge is defined for Ap = 3 dB (i.e. c = 1).
The design equation needs to be modified. The formula for
calculating the order will become
And the poles are given by
Home Study: Repeat the previous example if A
p
= 0.5 dB
( ) | |
( )
s
A
s
N
O
>
log 2
1 10 log
10 /
N k e p
N N k j N
k
,..., 2 , 1
2 / ) 1 2 ( / 1
= =
+

Analog Filters

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