9/10/2024

Digital IIR Filter Design

using BLT 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)

BiLinear Transformation
(BLT) Method

Kiran.Tulshiram.Vasumati.Talele
 9987030881 [email protected]

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Bilinear Transformation (also called as Tustin Tx)

BLT is based on Trapezoidal Y(t)
rule of integration. Y(t)

y(nT)
The Trapezoidal rule is based
y(n-1)T
on a piecewise Linear
approximation of the signal
that adds the area of the 0 (n-1)T nT t
Trapezoidal strip.
Trapezoidal rule of Integration :

Dr. Kiran TALELE 9987030881 [email protected] 4

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Derivation of BLT Equation

Ref : ( Digital Signal Processing by Tarun Rawat Page : 12.24 )

Consider an integrator as shown below

Integrator
x(t) y(t)
H(s)

Transfer function of Integrator is then given by,

• To find Differential Equation,

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• To find Differential Equation,

Now,

• Cross Multiply,

• By Inverse LT,
y’(t) = x(t)

• By Integrating both sides within the limits (n-1)T

and nT

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By Integral Calculus :

By Trapezoidal rule of Integration

By Z-Transform

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Eq-2

By comparing Eq-1 and Eq-2 we get,

H(z)  H(s) s  2 ( z 1)

T ( z 1) BLT
Equation
Digital Analog
Filter
Filter

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Method-2 : Derivation of BLT Equation

Ref : ( Digital Signal Processing by John Proakis )

Consider Analog filter with transfer function

1
H (s)  Eq-1
s 1
• To find Differential Equation,
y’(t) + y(t) = x(t)
Y (s) 1
 y’(t) = x(t) - y(t)
X (s) s 1
• Cross Multiply, y’(nT) = x(nT) - y(nT)

S Y(s) + Y(s) = X(s) y’(n) = x(n) - y(n)

• By Inverse LT, y’(n) = x(n) - y(n) Eq-2

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By integral calculus,

t
y (t )  y (t 0 )   y ' (t ) dt
to

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t
y (t )  y (t 0 )   y ' (t ) dt
to

Let t = n T and to= (n-1)T

nT

y ( nT )  y n  1T    y (t ) dt
'

( n 1) T

By Trapezoidal rule of Integration

y [ nT ]  y [(n  1) T ] 
T
2
 y [nT ] 
'
y ' [(n  1) T ] 

y [n]  y [n  1] 
2

T '
y [n]  y ' [n  1] 
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y [ n]  y [ n  1] 
T
2
 y [ n] 
'
y ' [ n  1] 
y [n]  y [n  1]  
T x[n]  y[n] x[n  1]  y[n  1]
 
2

Y [ z ]  z 1Y [ z ] 
T
 X [ z ]  Y [ z ]  z 1 X [ z ]  z 1 Y [ z ] 
2
T T T T
Y [ z ]  z 1Y [ z ]  X [ z ]  Y [ z ]  z 1 X [ z ]  z 1 Y [ z ]
2 2 2 2
 T T  T T
Y ( z ) 1  z 1   z 1   X ( z )   z 1 
 2 2  2 2

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 T T  T T
Y ( z ) 1  z 1   z 1   X ( z )   z 1 
 2 2 2 2

T
 z 1
T T
2

1  z 1 
Y (z)

2 2 
X (z) 1 z 1 
T
 z 1
T 
1  z 1 
T
2
 
1  z 1 
2 2

1 1
H ( z)  
(1  z 1 ) 2 ( z  1)
1  1 
T
( 1  z 1 ) T ( z  1)
2

Dr. Kiran TALELE 9987030881 [email protected] 14

1
H ( z )  2 ( z 1) Eq-3
 1
T ( z 1) 1
H (s) 
s 1
By comparing Eq-1 and Eq-3 we get,

H(z)  H(s) s  2 ( z 1)

T ( z 1) BLT
Equation
Digital Analog
Filter
Filter

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(a) Find H(z) using BLT.

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

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Explain the Mapping of POLES from

Analog Filter to Digital Filter in BLT

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

Analog Filter
POLE is on an
Imaginary axis

------------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

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

Dr. Kiran TALELE 9987030881 [email protected] 1919

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 [email protected] 2020

Mapping of POLES from Analog Filter to Digital Filter

Analog Filter Digital Filter

S1 = σ+j 

σ =0
σ <1 σ>1 r=1
r>1 r<1

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What is the relation between Analog filter POLE

and Digital filter POLE when BLT Method is
used for filter design.

Solution :
In BLT, H(z)  H(s) s  2 ( z 1)
T ( z 1)

The relation between Analog filter POLE and

Digital filter POLE is given by,
Digital
Filter
POLE
Analog
Filter
POLE

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What is the relation between Analog filter

Frequency and Digital filter Frequency when
BLT Method is used for filter design.

Solution : In BLT, The relation between Analog filter POLE

and Digital filter POLE is given by,

Put S = σ+j 
Let σ=0 r=1

S= j

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We get,

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Analog Filter
Frequency in
radian/sec
Digital i.e.  p, s,  c
Filter
Frequency
Digital Filter
Analog Frequency in
Filter Thisequation
equationisiscalled
called
Frequency This radians
Prewarpingequation
Prewarping equation i.e. Wp, Ws, Wc

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A mapping between analog frequency and digital frequency.

 T 
w  2 tan 1  

 2  B LT

Analog LPF


  c c 
0

Digital LPF

   c 0 c  
Dr. Kiran TALELE 9987030881 [email protected] 2626

Example-1: A Digital filter is required to be

designed with cutoff frequency of 100Hz and
sampling frequency of 1000 Hz using BLT
Method.

What is Analog Domain Cutoff frequency ?.

Solution :
Given,
Digital Filter BLT
Cutoff Frequency = 100 Hz
Sampling Frequency Fs = 1000 Hz
Find Analog Cutoff Frequency ?

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Frequency warping in BLT

The relation between Analog Filter frequency
and Digital Filter Frequency is given by,
Solution : 2  w
  tan  
T 2

 T 
w  2 tan 1  
 2 

Dr. Kiran TALELE 9987030881 [email protected] 2828

Case -1 For small value of w

For small
Now, 2  w value of 
 tan   tan () = 
T 2
2  w w
    w
T 2 T
w

T
w  ΩT 0


Dr. Kiran TALELE 9987030881 [email protected] 2929

Case -2 For Large value of w

 w
Now, 
2
tan  
w
T 2

T  w

 tan  
2  2
w  T 
 tan 1 
Non Linear

2  2 
 T 
w  2 tan 1  
0
 2  

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Summary :
In BLT, AF frequency in the range [ 0 to ) is mapped to
DF frequency in the range [ 0 to  ].

• This frequency Compression is called

Frequency Warping.
• The frequency warping equation is given by,

 T 
w  2 tan 1  
 2 

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Freq Transformation from AF To DF in BLT

w w

Digital
Filter
Non-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 

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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) In BLT, freq transformation from AF to DF is

one-to-one and there is NO aliasing.
(iii) Freq bands of AF and DF do NOT match.
(iv) Freq bands of AF are compressed in DF.

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Example-2 : Analog High Pass filter has following

specifications:
Pass band Frequency p = 0.75 
Stop band Frequency s = 0.25 
Cutoff Frequency. c = 0.50 
What will be the Cutoff frequency of the corresponding Digital
filter if BLT is used for transformation with T = 1 Second ?

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
Difference between between IIM and BLT Method
Impulse Invariant Method (IIM) Bilinear Transformation
Method(BLT)
(1) In IIM Method, the relation between (1) In BLT Method, the relation
analog filter POLE and Digital filter POLE between analog filter POLE and
Digital filter POLE is given by
is given by Z=eST 2 ( z  1)
S 
T ( z  1)

(2) The relation between Analog freq. (2) The relation between Analog
and Digital freq. is given by,  freq. and Digital freq. is given by,
W  T 
W  2 tan 1  
Fs  2 

(3) Frequency relation doesn’t give one (3) Frequency relation gives one to
to one mapping between analog filter one mapping between analog
freq. and digital filter freq. W which filter freq. and digital filter freq.
reflects the effect of aliasing due to W
sampling.
(4). Due to aliasing, HPF or BPF with cut (4). BLT method is suitable for all
off frequency of analog filter c types of filter design.

greater than T . can not be designed
using impulse invariant method 37

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
[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 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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