TY - JOUR
T1 - The delay operator z-1 - inappropriate for use in recursive digital filters?
AU - Goodall, R. M.
PY - 1990/12/1
Y1 - 1990/12/1
N2 - The paper questions the appropriateness of using the delay operator z-1 for recursive digital filters, particularly when applied to the realisation of digital control. The well known problems of coefficient sensitivity at high sample frequencies are reviewed, and the fundamental reason for this lack of robustness is identified. An analogy is used to argue that the approach whereby digital filters are designed using discrete transfer functions in z is, in fact, mathematically dubious, perhaps unperceived by their users, and that the sensitivity problems are inevitable when z is used. The analogy is extended to argue strongly for using an alternative, the δ operator, which inherently avoids the problem. Some of the implications of using the new operator are assessed, but the main purpose of the paper is to challenge the established practice of using the z operator.
AB - The paper questions the appropriateness of using the delay operator z-1 for recursive digital filters, particularly when applied to the realisation of digital control. The well known problems of coefficient sensitivity at high sample frequencies are reviewed, and the fundamental reason for this lack of robustness is identified. An analogy is used to argue that the approach whereby digital filters are designed using discrete transfer functions in z is, in fact, mathematically dubious, perhaps unperceived by their users, and that the sensitivity problems are inevitable when z is used. The analogy is extended to argue strongly for using an alternative, the δ operator, which inherently avoids the problem. Some of the implications of using the new operator are assessed, but the main purpose of the paper is to challenge the established practice of using the z operator.
KW - Coefficient sensitivity
KW - Digital control
KW - Recursive digital filters
UR - http://www.scopus.com/inward/record.url?scp=0025200206&partnerID=8YFLogxK
U2 - 10.1177/014233129001200503
DO - 10.1177/014233129001200503
M3 - Article
AN - SCOPUS:0025200206
VL - 12
SP - 246
EP - 250
JO - Transactions of the Institute of Measurement and Control
JF - Transactions of the Institute of Measurement and Control
SN - 0142-3312
IS - 5
ER -