Dartmouth College

Thayer School of Engineering

Signal Processing

Problem Set #5

This assignment is worth 50 points. Please start each new problem on a new page and clearly
label the problem you are working on at the top of each page. Show all your work when
solving problems and answer any conceptual questions clearly and concisely, only addressing
the specific question. You may discuss these problems with others, but copying work from
others is prohibited. You may not use any solutions that address the specific question asked,
including from previous offerings of this course. List the names of any collaborators and
acknowledge all sources and tools you used outside the regular course readings (such as
other books, websites, computing tools, artificial intelligence, etc.).

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Signal Processing Problem Set #5

1. Converting desired analog filter specifications to discrete-time. Our goal is to implement

a continuous-time LTI lowpass filter H(jΩ) using discrete-time signal processing with
a discrete-time system frequency response H(ejω ). The sampling period is T = 10−4
seconds and the input signal xc (t) is appropriately bandlimited with Xc (jΩ) = 0 for |Ω| ≥
2π(5000). The desired specifications for the continuous-time filter are the following:

0.99 ≤ |H(jΩ)| ≤ 1.01, |Ω| ≤ 2π(1000)

|H(jΩ)| ≤ 0.01, |Ω| ≥ 2π(1100)

Determine the corresponding passband and stopband cutoff frequencies on the discrete-
time frequency response Hd (ejω ).

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Signal Processing Problem Set #5

2. Filter Design by Impulse Invariance. The system function of a discrete-time system is

2 1
H(z) = −
1− e−0.2 z −1 1− e−0.4 z −1
Assume that this discrete-time filter was designed by the impulse invariance method with
Td = 2, which means that h[n] = 2hc (2n) where hc (t) is real. Find a system function
Hc (s) of a continuous-time filter that could have been the basis for the design.

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Signal Processing Problem Set #5

3. Bilinear Transformation. Design a single-pole lowpass digital filter with a 3-dB band-
width of 0.2π (passband cutoff frequency ωc = 0.2π) using the bilinear transformation
applied to the analog filter
Ωc
H(s) =
s + Ωc
where Ωc is the passband cutoff frequency of the analog filter.
(a) Determine the continuous-time cutoff frequency Ωc that will meet the desired discrete-
time cutoff frequency after converting the analog filter to discrete-time (prewarp the
cutoff frequency).
(b) Using this prewarped frequency for Ωc , what is the system function H(s) of the
analog filter?
(c) Apply the bilinear transformation to convert the analog filter into the desired digital
filter. What is the system function, H(z), and the frequency response, H(ejω )?
(d) What is the magnitude response of the digital filter at ω = 0 and ω = 0.2π?

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Signal Processing Problem Set #5

4. Butterworth Filter Design and the Bilinear Transformation. Consider a real signal xa (t)
that is bandlimited to 10 kHz, which means the Fourier transform Xa (jΩ) has the
following property:
Xa (jΩ) = 0 for |Ω| > 2π(10000)
Our goal is to process the analog signal, xa (t) with a highpass filter whose magnitude
response satisfies the following specifications where Ωs and Ωp denote the stopband and
passband frequencies, respectively.

0 ≤ |Ha (jΩ)| ≤ 0.1 for 0 ≤ |Ω| ≤ 2π(4000) = Ωs

0.9 ≤ |Ha (jΩ)| ≤ 1 for Ωp = 2π(8000) ≤ |Ω|

(a) Suppose the analog filter Ha (jΩ) is implemented by discrete-time processing. The
sampling frequency is Fs = T1 = 24 kHz for both the ideal converters. Determine
the appropriate filter specification (cutoff frequencies) for |H(ejω )|, the magnitude
response of the digital filter.
(b) The goal is to design the digital filter with the specification found in part (a)
1−z −1
using the bilinear transformation, s = T2d 1+z −1 , where Td = 2. Note that Td will

eventually cancel when the bilinear transformation converts the analog filter to a
digital filter. Find the specifications of the magnitude response of the highpass
analog filter that is related to the digital filter through the bilinear transformation.
In other words, prewarp the desired discrete-time cutoff frequencies for the highpass
filter to continuous-time frequencies.
(c) Since the techniques for designing analog filters are based on designing lowpass filter
prototypes, we need to determine the cutoff frequencies for the lowpass prototype
so we can proceed with the analog filter design. Once the lowpass prototype is
designed it can be transformed to the highpass filter by replacing s by its reciprocal
in the transfer function. Determine the frequency cutoffs for the analog lowpass
prototype filter by taking the reciprocals of each cutoff frequency of the highpass
filter.
(d) Now design the lowest-order Butterworth filter to meet the requirements:
1
|G(jΩ)|2 =  2N
Ω
1+ Ωc

Specifically, find the lower filter order N and its corresponding cutoff frequency
Ωc such that the original filter’s passband specification of |Ha (jΩp )| = 0.9 is met
exactly. Examples 7.2 and 7.3 of the Oppenheim and Schafer textbook show deriving
the order and cutoff frequency to meet the required specifications and determining
the poles of the Butterworth filter.
(e) Draw the pole-zero diagram of the lowpass Butterworth filter prototype in the s-
plane and find an expression for its transfer function G(s).

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