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Bilinear Transform
Impulse invariance
By impulse invariance method, the analogue impulse response
h(t) is sampled to get the discreet sample response h(n).
Or equivalently
H ( ) Fs H
k
a (( 2kFs ))
2
Digital Signal Processing
Slide 2
1
Impulse invariance
From the equation
H ( ) Fs H
k
a (( 2kFs ))
We can generalise
H ( z) z e sT Fs H
k
a ((s j 2kFs ))
We substitute by s j
z eT e jT
3
Digital Signal Processing
Slide 3
Impulse invariance
z eT e jT
It is clear that
If = 0. The imaginary axis (s =j ) in the s plane map into the
unity circle (z = ej T in the z-plane.
If < 0, the left hand plane in the s plane map into the inside of
the unity circle in the z-plane.
4
Digital Signal Processing
Slide 4
2
Impulse invariance
On the assumption that the poles of the analogue filter are
distinct, we can write
N
c
H a ( s) k
k 1 s pk
pk are the poles of the analogue filter and ck’s are the
coefficients of the partial expansion. Consequently
N
ha (t ) ck e pk t
k 1
5
Digital Signal Processing
Slide 5
Impulse invariance
So the system
function of the IIR filter
H a ( z ) h( n ) z n
n 0
N
c k (e pk T z 1 ) n
k 1 n 0
For pk < 0
N
ck
H (z) p k T 1
k 1 1 e z
z k e pk T k 1,2,....., N
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Digital Signal Processing
Slide 6
3
Impulse invariance
Example: Convert the analogue filter with the system
function
s 0. 1
H a ( s)
( s 0.1) 2 9
Solution
1/ 2 1/ 2
H a (s )
s 0.1 j 3 s 0.1 j 3
Then the transfer function of the digital filter
1/ 2 1/ 2
H (z )
1 e 0.1T e j 3T z 1 1 e 0.1T e j 3T z 1
1 ( e 0.1T cos 3T ) z 1
H ( z)
1 ( 2e 0.1T cos 3T ) z 1 e 0.2T z 2
7
Digital Signal Processing
Slide 7
Bilinear Transformation
Let us consider an analogue filter with the system function
b
H (s )
sa
The system can be also described by the differential equation
dy (t )
ay (t ) bx(t )
dt
Starting from the integral
t
y (t ) y ( )d y (t 0 )
t0
8
Digital Signal Processing
Slide 8
4
Bilinear Transformation
But as
y ( nT ) ay ( nT ) bx( nT )
aT aT bT
(1 ) y (n ) (1 ) y (n 1) [ x (n) x(n 1)]
2 2 2
Convert the equation into z domain
aT aT 1 bT
(1 )Y ( z ) (1 ) z Y ( z) [ X ( z ) z 1 X ( z )]
2 2 2
Then the transfer function
b
H ( z)
2 1 z 1
a
T 1 z 1
9
Digital Signal Processing
Slide 9
Bilinear Transformation
Clearly the mapping from s-plane to z-plane is
2 1 z 1
s
T 1 z 1
To investigate the characteristics of the bilinear
transformation, let
z re jw s j
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Digital Signal Processing
Slide 10
5
Bilinear Transformation
or
2 r 2 1 2 r sin
s j
2
T 1 r 2r cos 1 r 2r cos
2
j
if r < 1 leads to < 0 or the left hand plane in the s plane maps
into the inside of the unity circle in the z-plane.
When r = 1, =0 and
2 sin
T 1 cos
2
tan
T 2
1 T
2 tan
2 11
Digital Signal Processing
Slide 11
Bilinear Transformation
Example: Convert the analogue filter with the system function
s 0.1
H (s )
( s 0.1) 2 16
12
Digital Signal Processing
Slide 12
6
Bilinear Transformation
Thus the desired mapping is
1 z 1
s 4
1
1 z
And the resulting digital filter has the system function
j / 2
With poles at p1, 2 0.987e
With zero at z1, 2 10.95
13
Digital Signal Processing
Slide 13
Bilinear Transformation
Example: Design a single-pole lowpass filter with 3-dB
bandwidth of 0.2 using the bilinear transformation to
analogue filter
c
H (s )
s c
The digital filter is specified to have -3dB gain at c =
0.2. In the frequency domain of the analogue filter
2
c tan 0.65 / T
T 2
Thus the analogue filter has the system function
0.65 / T
H (s )
s 0.65 / T
14
Digital Signal Processing
Slide 14
7
Bilinear Transformation
Now, we apply the bilinear transformation to get
0.245(1 z 1 )
H ( z)
1 0.509 z 1
The frequency response of the digital filter
0.245(1 e j )
H ( )
1 0.509e j
Which applies
15
Digital Signal Processing
Slide 15