Basic IIR Digital Filter

Structures
• The causal IIR digital filters we are
concerned with in this course are
characterized by a real rational transfer
function of z −1 or, equivalently by a constant
coefficient difference equation
• From the difference equation representation,
it can be seen that the realization of the
causal IIR digital filters requires some form
of feedback
 Basic IIR Digital Filter
Structures
• Direct form IIR filters: Filter structures in
which the multiplier coefficients are
precisely the coefficients of the transfer
function
 Direct Form IIR Digital Filter
Structures
• Consider for simplicity a 3rd-order IIR filter
with a transfer function

P( z ) p0 + p1z −1 + p2 z − 2 + p3 z −3
H ( z) = =
D( z ) 1 + d1z −1 + d 2 z − 2 + d3 z −3

• We can implement H(z) as a cascade of two

filter sections as shown on the next slide
 Direct Form I Structure
W (z )
X (z ) H1 (z ) H 2 (z ) Y (z )

where
W ( z)
H1( z ) = = P( z ) = p0 + p1z −1 + p2 z − 2 + p3 z −3
X ( z)
Y ( z) 1 1
H 2 ( z) = = =
W ( z ) D( z ) 1 + d1z −1 + d 2 z −2 + d3 z −3
 Direct Form I Structure
• The filter section H1(z ) can be seen to be
an FIR filter and can be realized as shown
below
w[n] = p0 x[n] + p1x[n − 1] + p2 x[n − 2] + p3 x[n − 3]
 Direct Form I Structure
• The time-domain representation of H 2 (z ) is
given by
y[n] = w[n] − d1 y[n − 1] − d 2 y[n − 2] − d3 y[n − 3]
Realization of H 2 (z )
follows from the
above equation
and is shown on
the right
 Direct Form I Structure
• A cascade of the two structures realizing
and leads to the realization of
shown below and is known as the direct H1(z )
formH 2I(z )
structure H (z )
 Direct Form II Structure
W (z )
X (z ) H1 (z ) H 2 (z ) Y (z )

where
W ( z) 1 1
H1 ( z ) = = =
X ( z ) D( z ) 1 + d1z −1 + d 2 z −2 + d3 z −3
Y ( z) −1 −2 −3
H 2 ( z) = = P( z ) = p0 + p1z + p2 z + p3 z
W ( z)
 Direct Form II Structure

w[n] = x[n] − d1w[n − 1] − d 2 w[n − 2] − d3w[n − 3]

y[n] = p0 w[n] + p1w[n − 1] + p2 w[n − 2] + p3w[n − 3]

Direct Form II

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Direct Form II Structure
 Transposed Forms H(z) =
1
1 − az −1
• Linear signal flow graph property:
– Transposing doesn’t change the input-output relation

• Transposing:
– Reverse directions of all branches
– Interchange input and output nodes

• Example:

– Reverse directions of branches and interchange input and output

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 Example
Transp
ose

yn = a1yn − 1 + a2yn − 2 + b0xn + b1xn − 1 + b2xn − 2

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 Cascade Form IIR Digital
Filter Structures
• By expressing the numerator and the
denominator polynomials of the transfer
function as a product of polynomials of
lower degree, a digital filter can be realized
as a cascade of low-order filter sections
• Consider, for example, H(z) = P(z)/D(z)
expressed as
P( z ) P1( z ) P2 ( z ) P2 ( z )
H ( z) = =
D( z ) D1( z ) D2 ( z ) D3 ( z )
 Cascade Form IIR Digital
Filter Structures
• Examples of cascade realizations obtained
by different ordering of sections are shown
below
 Cascade Form IIR Digital
Filter Structures
• Consider the 3rd-order transfer function
 1+ 11z −1  1+ 12 z −1 +  22 z − 2 
H ( z ) = p0  
−1  −1

−2 
 1+11z  1 + 12 z +  22 z 
• One possible realization is shown below
 Cascade Form IIR Digital
Filter Structures
• Example - Direct form II and cascade form
realizations of
0.44 z −1 + 0.362 z − 2 + 0.02 z −3
H ( z) =
1+ 0.4 z −1 + 0.18 z − 2 −0.2 z −3

=  0.44+ 0.362 z −1 + 0.02 z −2  z −1 

−1 −2  −1 
 1+ 0 .8 z + 0.5 z  1−0.4 z 
are shown on the next slide
Cascade Form IIR Digital
Filter Structures

Direct form II Cascade form

 Parallel Form IIR Digital Filter
Structures
• A partial-fraction expansion of the transfer
−1
function in z leads to the parallel form I
structure
• Assuming simple poles, the transfer function
H(z) can be expressed as
  0 k + 1k z −1 
H ( z) =  0 +   −1 −2 
k  1+1k z + 2 k z 
• In the above for a real pole  2k =  1k = 0
 Parallel Form IIR Digital Filter
Structures
• The two basic parallel realizations of a 3rd-
order IIR transfer function are shown below

Parallel form I
Parallel Form IIR Digital Filter
Structures
• Example - A partial-fraction expansion of
0.44 z −1 + 0.362 z − 2 + 0.02 z −3
H ( z) =
1+ 0.4 z −1 + 0.18 z − 2 −0.2 z −3
−1
in z yields
0 .6 − 0.5 − 0.2 z −1
H ( z ) = − 0 .1 + −1
+
1 − 0 .4 z 1+ 0.8 z −1 + 0.5 z − 2
Parallel Form IIR Digital Filter
Structures
• The corresponding parallel form I realization
is shown below
Parallel Form IIR Digital Filter
Structures
• Likewise, a partial-fraction expansion of
H(z) in z yields
0.24 z −1 0.2 z −1 + 0.25 z −1
H ( z) = −1
+
1− 0.4 z 1+ 0.8 z −1 + 0.5 z − 2

• The corresponding
parallel form II
realization is shown
on the right
Direct Form FIR Digital Filter
Structures

y[n] = h[0]x[n] + h[1]x[n − 1] + h[2]x[n − 2]

+ h[3]x[n − 3] + h[4]x[n − 4]
 Direct Form FIR Digital Filter
Structures
• The transpose of the direct form structure
shown earlier is indicated below

• Both direct form structures are canonic with

respect to delays
 Cascade Form FIR Digital Filter
Structures
• A cascade realization for N = 6 is shown
below

• Each second-order section in the above

structure can also be realized in the
transposed direct form