Time Domain invariance
Given an analog filter's response to a specific input we require that the response of the digital filter (to be designed) to the digital version of the analog input should be the same as the analog response at sampling instants. If the input is an impulse function the corresponding design is called an impulse invariant design, if the input is a step function the corresponding design is called a step invariant design.
Impulse-invariant design If ha(t) represents the response of an analog filter Ha(s) to a unit impulse δ(t), then the unit sample response of a discrete-time filter used in an A/D - H(z) - D/A structure is selected to be the sampled version of ha(t). That is, we are preserving the response to an impulse. Therefore the discrete-time filter is characterized by the system function, H(z), given by
If we are given an analog filter with system function Ha(s) the corresponding impulse-invariant digital filter, H(z), is seen from above to be
Note that at this point we have not specified how Ha(s) was obtained, but rather we have shown how to obtain the digital filter H(z) from any given Ha(s) using impulse invariance.
Example: [Low pass filter] For the analog filter find the H(z) corresponding to the impulse invariant design using a sample rate of 1/T samples/sec.
Solution The analog system's impulse response is
The corresponding h(n) is then given by
where, as previously, we have set . The discrete-time filter, then, is given by the z- transform of h(n)
The discrete-time filter, then, is given by the z-transform of h(n)
which has a pole at
In effect, the pole at s = -α in the s-plane is mapped to a pole at in the z-plane. (HW What is the difference equation?)
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