This chapter discusses pole-zero analysis of digital filters. Every digital filter can be specified by its poles and zeros (plus a gain factor). Poles and zeros give useful insights into a filter's response, and can be used as the basis for digital filter design. The Durbin step-down recursion for checking filter stability by finding the reflection coefficients is presented, including matlab code.
Going back to Eq. (6.5), we can write the general transfer function for the recursive LTI digital filter as
The term ``pole'' really makes sense when you plot the magnitude of as a function of z. Since is complex, it may be taken to lie in a plane (the plane). The magnitude of is real and therefore can be represented by distance above the plane. The plot appears as an infinitely thin surface spanning in all directions over the plane. The zeros are the points where the surface dips down to touch the plane. At high altitude, the poles look like thin, well, ``poles'' that go straight up forever, getting thinner the higher they go.
Notice that the feedforward coefficients from the general difference quation, Eq. (5.1), give rise to zeros. Similarly, the feedback coeficients in Eq. (5.1) give rise to poles. This illustrates the general fact that zeros are caused by adding a finite number of input samples together and poles are caused by feedback. Recall that the filter order is the maximum of and . If in Eq. (6.5), it then follows that the filter order equals the number of poles or zeros, whichever is greater.
Recall that the order of a polynomial is defined as the highest power of the polynomial variable. For example, the order of the polynomial is 2. From Eq. (8.1), we see that is the order of the transfer-function numerator polynomial in . Similarly, is the order of the denominator polynomial in . Therefore, the filter order is given by the maximum of the numerator and denominator polynomial orders.