| Signal Processing Blockset™ | |
Filter each channel of input over time using static or time-varying digital filter implementations
Filtering / Filter Designs
dsparch4
Note Use this block to efficiently implement a floating-point or fixed-point filter for which you know the coefficients, or that is already defined in a Signal Processing Toolbox™ dfilt object or a Filter Design Toolbox™ dfilt object. The following Signal Processing Blockset™ blocks also implement digital filters, but serve slightly different purposes:
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The Digital Filter block independently filters each channel of the input signal with a specified digital IIR or FIR filter. The block can implement static filters with fixed coefficients, as well as time-varying filters with coefficients that change over time. You can tune the coefficients of a static filter during simulation.
This block filters each channel of the input signal independently over time. The output frame status and dimensions are always the same as those of the input signal that is filtered. When inputs are frame based, the block treats each column as an independent channel; the block filters each column. When inputs are sample based, the block treats each element of the input as an individual channel.
The outputs of this block numerically match the outputs of the Digital Filter Design block and of the dfilt function in Signal Processing Toolbox software or Filter Design Toolbox software.
Note The Digital Filter block has direct feedthrough, so if you connect the output of this block back to its input you get an algebraic loop. For more information on direct feedthrough and algebraic loops, see Algebraic Loops in the Simulink® documentation. |
The Digital Filter block can operate in three different modes. Select the mode in the Coefficient source group box. If you select
Dialog parameters, you enter information about the filter such as structure and coefficients in the block mask.
Input port(s), you enter the filter structure in the block mask, and the filter coefficients come in through one or more block ports. This mode is useful for specifying time-varying filters.
Discrete-time filter object (DFILT), you specify the filter using a dfilt object from the Signal Processing Toolbox product or the Filter Design Toolbox product.
When you select Discrete-time filter object (DFILT), the following dfilt structures are supported:
When you select Dialog parameters or Input port(s), the list of filter structures offered in the Filter structure parameter depends on whether you set the Transfer function type to IIR (poles & zeros), IIR (all poles), or FIR (all zeros), as summarized in the following table.
Note Each structure listed in the table below supports both fixed-point and floating-point signals. |
The table also shows the vector or matrix of filter coefficients you must provide for each filter structure. For more information on how to specify filter coefficients for various filter structures, see Specifying Static Filters and Specifying Time-Varying Filters.
Filter Structures and Filter Coefficients
Transfer Function Type | Supported Filter Structures | Filter Coefficient Specification |
|---|---|---|
IIR (poles & zeros) | Direct form I Direct form I transposed Direct form II Direct form II transposed |
|
Biquadratic direct form I (SOS) Biquadratic direct form I transposed (SOS) Biquadratic direct form II (SOS) Biquadratic direct form II transposed (SOS) |
See Specifying the SOS Matrix (Biquadratic Filter Coefficients). | |
IIR (all poles) | Direct form Direct form transposed | Denominator coefficients vector [a0, a1, a2, ..., am] |
Lattice AR | Reflection coefficients vector [k1, k2, ..., kn] | |
FIR (all zeros) | Direct form Direct form symmetric Direct form antisymmetric Direct form transposed | Numerator coefficients vector [b0, b1, b2, ..., bn] |
Lattice MA | Reflection coefficients vector [k1, k2, ..., kn] |
In Dialog parameters and Input port(s) modes, the block initializes the internal filter states to zero by default, which is equivalent to assuming past inputs and outputs are zero. You can optionally use the Initial conditions parameter to specify nonzero initial conditions for the filter delays.
To determine the number of initial condition values you must specify, and how to specify them, see the following table on Valid Initial Conditions and Number of Delay Elements (Filter States). The Initial conditions parameter can take one of four forms as described in the following table.
Valid Initial Conditions
| Initial Condition | Examples | Description |
|---|---|---|
Scalar | 5 Each delay element for each channel is set to 5. | The block initializes all delay elements in the filter to the scalar value. |
Vector | For a filter with two delay elements: [d1 d2] The delay elements for all channels are d1 and d2. | Each vector element specifies a unique initial condition for a corresponding delay element. The block applies the same vector of initial conditions to each channel of the input signal. The vector length must equal the number of delay elements in the filter (specified in the table Number of Delay Elements (Filter States)). |
Vector or matrix | For a 3-channel input signal and a filter with two delay elements: [d1 d2 D1 D2 d1 d2] or
| Each vector or matrix element specifies a unique initial condition for a corresponding delay element in a corresponding channel:
|
Empty matrix | [ ] | The empty matrix, [], is equivalent to setting the Initial conditions parameter to the scalar value 0. |
The number of delay elements (filter states) per input channel depends on the filter structure, as indicated in the following table.
Number of Delay Elements (Filter States)
| Filter Structure | Number of Delay Elements per Channel |
|---|---|
Direct form | #_of_filter_coeffs-1 |
Direct form I |
|
Direct form II | max(#_of_zeros, #_of_poles)-1 |
Biquadratic direct form I (SOS) | 2 * #_of_filter_sections |
Lattice AR | #_of_reflection_coeffs |
Simulink enables you to log the states in your model to the MATLAB® workspace. The following table indicates which filter structures of the Digital Filter block support the Simulink state logging feature. See States in the Simulink User's Guide documentation for more information.
| Transfer Function Type | Filter Structure | State Logging Supported |
|---|---|---|
| IIR (poles & zeros) | Direct form I | No |
| Direct form I transposed | Yes | |
| Direct form II | No | |
| Direct form II transposed | Yes | |
| Biquadratic direct form I (SOS) | Yes | |
| Biquadratic direct form I transposed (SOS) | Yes | |
| Biquadratic direct form II (SOS) | Yes | |
| Biquadratic direct form II transposed (SOS) | Yes | |
| IIR (all poles) | Direct form | No |
| Direct form transposed | Yes | |
| Lattice AR | Yes | |
| FIR (all zeros) | Direct form | No |
| Direct form symmetric | No | |
| Direct form antisymmetric | No | |
| Direct form transposed | Yes | |
| Lattice MA | Yes |
All structures supported by the Digital Filter block support fixed-point data types. You can specify intermediate fixed-point data types for quantities such as the coefficients, accumulator, and product output for each filter structure. See Filter Structure Diagrams for diagrams depicting the use of these intermediate fixed-point data types in each filter structure.
Different items appear on the Digital Filter block dialog depending on whether you select Dialog parameters, Input port(s), or Discrete-time filter object (DFILT) in the Coefficient source group box. See the following sections for details:
The Main pane of the Digital Filter block dialog appears as follows when Dialog parameters is specified in the Coefficient source group box. The parameters below can appear when Dialog parameters or Input port(s) is selected, as noted.
Select the type of transfer function of the filter; IIR (poles & zeros), IIR (all poles), or FIR (all zeros). See Supported Filter Structures for more information.
Select the filter structure. The selection of available structures varies depending the setting of the Transfer function type parameter. See Supported Filter Structures for more information.
Specify the vector of numerator coefficients of the filter's transfer function.
This parameter is only visible when Dialog parameters is selected and when the selected filter structure lends itself to specification with numerator coefficients. Tunable.
Specify the vector of denominator coefficients of the filter's transfer function.
This parameter is only visible when Dialog parameters is selected and when the selected filter structure lends itself to specification with denominator coefficients. Tunable.
Specify the vector of reflection coefficients of the filter's transfer function.
This parameter is only visible when Dialog parameters is selected and when the selected filter structure lends itself to specification with reflection coefficients. Tunable.
Specify an M-by-6 SOS matrix containing coefficients of a second-order section (SOS) filter, where M is the number of sections. You can use the ss2sos and tf2sos functions from Signal Processing Toolbox software to check whether your SOS matrix is valid. For more on the requirements of the SOS matrix, see Specifying the SOS Matrix (Biquadratic Filter Coefficients).
This parameter is only visible when Dialog parameters is selected and when the selected filter structure is biquadratic. Tunable.
Specify the scale values to be applied before and after each section of a biquadratic filter.
If you specify a scalar, that value is applied before the first filter section. The rest of the scale values are set to 1.
You can also specify a vector with M + 1 elements, assigning a different value to each scale. See Filter Structure Diagrams for diagrams depicting the use of scale values in biquadratic filter structures.
This parameter is only visible when Dialog parameters is selected and when the selected filter structure is biquadratic. Tunable.
Select this parameter to reduce the number of computations the block must make to produce the output by omitting the 1 / a0 term in the filter structure. The block output is invalid if you select this parameter when the first denominator filter coefficient is not always 1 for your time-varying filter.
This parameter is only enabled when the Input port(s) is selected and when the selected filter structure lends itself to this specification. See Removing the a0 Term in the Filter Structure for a diagram and details.
Specify how often the block updates time-varying filters; once per sample or once per frame. This parameter only affects the output when the input signal is frame based.
This parameter is only visible when the Input port(s) is selected and when the selected filter structure lends itself to this specification. For more information, see Specifying Time-Varying Filters.
Specify the initial conditions of the filter states. To learn how to specify initial conditions, see Specifying Initial Conditions.
(Not shown in dialog above.) Specify the initial conditions for the filter states on the side of the filter structure with the zeros (b0, b1,b2, ...); see the diagram below.
This parameter is enabled only when the filter has both poles and zeros, and when you select a structure such as direct form I, which has separate filter states corresponding to the poles (ak) and zeros (bk). To learn how to specify initial conditions, see Specifying Initial Conditions.
(Not shown in dialog above). Specify the initial conditions for the filter states on the side of the filter structure with the poles (a0, a1,a2, ...); see the diagram below.
This parameter is enabled only when the filter has both poles and zeros, and when you select a structure such as direct form I, which has separate filter states corresponding to the poles (ak) and zeros (bk). To learn how to specify initial conditions, see Specifying Initial Conditions.
This button opens the Filter Visualization Tool (fvtool) from the Signal Processing Toolbox product and displays the filter response of the filter defined by the block. For more information on FVTool, see the Signal Processing Toolbox documentation.
Note This button is only available when the Filter Design Toolbox product is installed. If you specify a filter in the Filter parameter, you must apply the filter by clicking the Apply button before using the View filter response button. |
The Fixed point pane of the Digital Filter block dialog appears as follows when Dialog parameters is specified in the Coefficient source group box. The parameters below can appear when Dialog parameters or Input port(s) is selected, depending on the filter structure and whether the coefficients are being entered via ports or on the block mask.
Select the rounding mode for fixed-point operations. The filter coefficients do not obey this parameter; they always round to Nearest.
Select the overflow mode for fixed-point operations. The filter coefficients do not obey this parameter; they are always saturated.
Choose how you specify the word length and the fraction length of the fixed-point data type going into and coming out of each section of a biquadratic filter. See Filter Structure Diagrams for illustrations depicting the use of the section I/O data type in this block.
This parameter is only visible when the selected filter structure is biquadratic:
When you select Same as input, these characteristics match those of the input to the block.
When you select Binary point scaling, you can enter the word and fraction lengths of the section input and output, in bits.
When you select Slope and bias scaling, you can enter the word lengths, in bits, and the slopes of the section input and output. This block requires power-of-two slope and a bias of zero.
Choose how you specify the word length and the fraction length of the tap sum data type of a direct form symmetric or direct form antisymmetric filter. See Filter Structure Diagrams for illustrations depicting the use of the tap sum data type in this block.
This parameter is only visible when the selected filter structure is either Direct form symmetric or Direct form antisymmetric:
When you select Same as input, these characteristics match those of the input to the block.
When you select Binary point scaling, you can enter the word length and the fraction length of the tap sum accumulator, in bits.
When you select Slope and bias scaling, you can enter the word length, in bits, and the slope of the tap sum accumulator. This block requires power-of-two slope and a bias of zero.
Choose how you specify the word length and the fraction length of the multiplicand data type of a direct form I transposed or biquadratic direct form I transposed filter. See Filter Structure Diagrams for illustrations depicting the use of the multiplicand data type in this block.
This parameter is only visible when the selected filter structure is either Direct form I transposed or Biquad direct form I transposed (SOS):
When you select Same as output, these characteristics match those of the output to the block.
When you select Binary point scaling, you can enter the word length and the fraction length of the multiplicand data type, in bits.
When you select Slope and bias scaling, you can enter the word length, in bits, and the slope of the multiplicand data type. This block requires power-of-two slope and a bias of zero.
Choose how you specify the word length and the fraction length of the filter coefficients (numerator and/or denominator). See Filter Structure Diagrams for illustrations depicting the use of the coefficient data types in this block:
When you select Same word length as input, the word length of the filter coefficients match that of the input to the block. In this mode, the fraction length of the coefficients is automatically set to the binary-point only scaling that provides you with the best precision possible given the value and word length of the coefficients.
When you select Specify word length, you can enter the word length of the coefficients, in bits. In this mode, the fraction length of the coefficients is automatically set to the binary-point only scaling that provides you with the best precision possible given the value and word length of the coefficients.
When you select Binary point scaling, you can enter the word length and the fraction length of the coefficients, in bits. If applicable, you can enter separate fraction lengths for the numerator and denominator coefficients.
When you select Slope and bias scaling, you can enter the word length, in bits, and the slope of the coefficients. If applicable, you can enter separate slopes for the numerator and denominator coefficients. This block requires power-of-two slope and a bias of zero.
The filter coefficients do not obey the Rounding mode and the Overflow mode parameters; they are always saturated and rounded to Nearest.
Use this parameter to specify how you would like to designate the product output word and fraction lengths. See Filter Structure Diagrams and Multiplication Data Types for illustrations depicting the use of the product output data type in this block:
When you select Same as input, these characteristics match those of the input to the block.
When you select Binary point scaling, you can enter the word length and the fraction length of the product output, in bits.
When you select Slope and bias scaling, you can enter the word length, in bits, and the slope of the product output. This block requires power-of-two slope and a bias of zero.
Use this parameter to specify how you would like to designate the accumulator word and fraction lengths. See Filter Structure Diagrams and Multiplication Data Types for illustrations depicting the use of the accumulator data type in this block:
When you select Same as input, these characteristics match those of the input to the block.
When you select Same as product output, these characteristics match those of the product output.
When you select Binary point scaling, you can enter the word length and the fraction length of the accumulator, in bits.
When you select Slope and bias scaling, you can enter the word length, in bits, and the slope of the accumulator. This block requires power-of-two slope and a bias of zero.
Use this parameter to specify how you would like to designate the state word and fraction lengths. See Filter Structure Diagrams for illustrations depicting the use of the state data type in this block.
This parameter is not visible for direct form and direct form I filter structures.
When you select Same as input, these characteristics match those of the input to the block.
When you select Same as accumulator, these characteristics match those of the accumulator.
When you select Binary point scaling, you can enter the word length and the fraction length of the accumulator, in bits.
When you select Slope and bias scaling, you can enter the word length, in bits, and the slope of the accumulator. This block requires power-of-two slope and a bias of zero.
Choose how you specify the output word length and fraction length:
When you select Same as input, these characteristics match those of the input to the block.
When you select Same as accumulator, these characteristics match those of the accumulator.
When you select Binary point scaling, you can enter the word length and the fraction length of the output, in bits.
When you select Slope and bias scaling, you can enter the word length, in bits, and the slope of the output. This block requires power-of-two slope and a bias of zero.
Select this parameter to prevent any fixed-point scaling you specify in this block mask from being overridden by the autoscaling tool in the Fixed-Point Tool.
The Main pane of the Digital Filter block dialog appears as follows when Discrete-time filter object (DFILT) is specified in the Coefficient source group box.
Specify the discrete-time filter object (dfilt) that you would like the block to implement. You can do this in one of three ways:
You can fully specify the dfilt object in the block mask, as shown in the default value.
You can enter the variable name of a dfilt object that is defined in any workspace.
You can enter a variable name for a dfilt object that is not yet defined.
For more information on creating dfilt objects, see the dfilt function reference page in the Signal Processing Toolbox documentation or the Filter Design Toolbox documentation.
This button opens the Filter Visualization Tool (fvtool) from the Signal Processing Toolbox product and displays the filter response of the dfilt object specified in the Filter parameter. For more information on FVTool, see the Signal Processing Toolbox documentation.
Note This button is only available when the Filter Design Toolbox product is installed. If you specify a filter in the Filter parameter, you must apply the filter by clicking the Apply button before using the View filter response button. |
The Fixed-point pane of the Digital Filter block dialog appears as follows when Discrete-time filter object (DFILT) is specified in the Coefficient source group box.
The fixed-point settings of the filter object specified on the Main pane are displayed on the Fixed-point pane. You cannot change these settings directly on the block mask. To change the fixed-point settings you must edit the filter object directly.
For more information on discrete-time filter objects, see the dfilt function reference page in the Signal Processing Toolbox documentation or the Filter Design Toolbox documentation.
The diagrams in the following sections show the filter structures supported by the Digital Filter block. They also show the data types used in the filter structures for fixed-point signals. You can set the coefficient, output, accumulator, product output, and state data types shown in these diagrams in the block dialog. This is discussed in Dialog Box.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs can be real or complex.
Numerator and denominator coefficients can be real or complex.
Numerator and denominator coefficients must be the same complexity as each other.
When the numerator and denominator coefficients are specified via input ports and have different complexities from each other, you get an error.
When the numerator and denominator coefficients are specified in the dialog and have different complexities from each other, the block does not error, but instead processes the filter as if two sets of complex coefficients are provided. The coefficient set that is real-valued is treated as if it is a complex vector with zero-valued imaginary parts.
Numerator and denominator coefficients must have the same word length. They can have different fraction lengths.
The State data type cannot be specified on the block mask for this structure, because the input and output states have the same data types as the input and output buffers.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs can be real or complex.
Numerator and denominator coefficients can be real or complex.
Numerator and denominator coefficients must be the same complexity as each other.
When the numerator and denominator coefficients are specified via input ports and have different complexities from each other, you get an error.
When the numerator and denominator coefficients are specified in the dialog and have different complexities from each other, the block does not error, but instead processes the filter as if two sets of complex coefficients are provided. The coefficient set that is real-valued is treated as if it is a complex vector with zero-valued imaginary parts.
States are complex when either the input or the coefficients are complex.
Numerator and denominator coefficients must have the same word length. They can have different fraction lengths.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs can be real or complex.
Numerator and denominator coefficients can be real or complex.
Numerator and denominator coefficients must be the same complexity as each other.
When the numerator and denominator coefficients are specified via input ports and have different complexities from each other, you get an error.
When the numerator and denominator coefficients are specified in the dialog and have different complexities from each other, the block does not error, but instead processes the filter as if two sets of complex coefficients are provided. The coefficient set that is real-valued is treated as if it is a complex vector with zero-valued imaginary parts.
States are complex when either the inputs or the coefficients are complex.
Numerator and denominator coefficients must have the same word length. They can have different fraction lengths.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs can be real or complex.
Numerator and denominator coefficients can be real or complex.
Numerator and denominator coefficients must be the same complexity as each other.
When the numerator and denominator coefficients are specified via input ports and have different complexities from each other, you get an error.
When the numerator and denominator coefficients are specified in the dialog and have different complexities from each other, the block does not error, but instead processes the filter as if two sets of complex coefficients are provided. The coefficient set that is real-valued is treated as if it is a complex vector with zero-valued imaginary parts.
States are complex when either the inputs or the coefficients are complex.
Numerator and denominator coefficients must have the same word length. They can have different fraction lengths.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs and coefficients can be real or complex.
Numerator and denominator coefficients can be real or complex.
Specify the coefficients by a M-by-6 matrix in the block mask. You cannot specify coefficients by input ports for this filter structure.
When the a0 element of any row is not equal to one, that row is normalized by a0 prior to filtering.
States are complex when either the inputs or the coefficients are complex.
You cannot specify the state data type on the block mask for this structure, because the input and output states have the same data types as the input.
Scale values must have the same complexity as the coefficient SOS matrix.
The scale value parameter must be a scalar or a vector of length M+1, where M is the number of sections.
The Section I/O parameter determines the data type for the section input and output data types. The section input and stage output data type must have the same word length but can have different fraction lengths.
The following diagram shows the data types for one section of the filter.
The following diagram shows the data types between filter sections.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs and coefficients can be real or complex.
Numerator and denominator coefficients can be real or complex.
Specify the coefficients by a M-by-6 matrix in the block mask. You cannot specify coefficients by input ports for this filter structure.
When the a0 element of any row is not equal to one, that row is normalized by a0 prior to filtering.
States are complex when either the inputs or the coefficients are complex.
Scale values must have the same complexity as the coefficient SOS matrix.
The scale value parameter must be a scalar or a vector of length M+1, where M is the number of sections.
The Section I/O parameter determines the data type for the section input and output data types. The section input and section output data type must have the same word length but can have different fraction lengths.
The following diagram shows the data types for one section of the filter.
The following diagram shows the data types between filter sections.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs and coefficients can be real or complex.
Numerator and denominator coefficients can be real or complex.
Specify the coefficients by a M-by-6 matrix in the block mask. You cannot specify coefficients by input ports for this filter structure.
When the a0 element of any row is not equal to one, that row is normalized by a0 prior to filtering.
States are complex when either the inputs or the coefficients are complex.
Scale values must have the same complexity as the coefficient SOS matrix.
The scale value parameter must be a scalar or a vector of length M+1, where M is the number of sections.
The Section I/O parameter determines the data type for the section input and output data types. The section input and section output data type must have the same word length but can have different fraction lengths.
The following diagram shows the data types for one section of the filter.
The following diagram shows the data types between filter sections.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs and coefficients can be real or complex.
Numerator and denominator coefficients can be real or complex.
Specify the coefficients by a M-by-6 matrix in the block mask. You cannot specify coefficients by input ports for this filter structure.
When the a0 element of any row is not equal to one, that row is normalized by a0 prior to filtering.
States are complex when either the inputs or the coefficients are complex.
Scale values must have the same complexity as the coefficient SOS matrix.
The scale value parameter must be a scalar or a vector of length M+1, where M is the number of sections.
The Section I/O parameter determines the data type for the section input and output data types. The section input and section output data type must have the same word length but can have different fraction lengths.
The following diagram shows the data types for one section of the filter.
The following diagram shows the data types between filter sections.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs and coefficients can be real or complex.
Denominator coefficients can be real or complex.
You cannot specify the state data type on the block mask for this structure, because the input and output states have the same data types as the input.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs and coefficients can be real or complex.
Denominator coefficients can be real or complex.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs and coefficients can be real or complex.
Coefficients can be real or complex.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs can be real or complex.
Numerator coefficients can be real or complex.
You cannot specify the state data type on the block mask for this structure, because the input and output states have the same data types as the input.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs can be real or complex.
Numerator coefficients can be real or complex.
You cannot specify the state data type on the block mask for this structure, because the input and output states have the same data types as the input.
It is assumed that the filter coefficients are symmetric. Only the first half of the coefficients are used for filtering.
The Tap Sum parameter determines the data type the filter uses when it sums the inputs prior to multiplication by the coefficients.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs can be real or complex.
Numerator coefficients can be real or complex.
You cannot specify the state data type on the block mask for this structure, because the input and output states have the same data types as the input.
It is assumed that the filter coefficients are antisymmetric. Only the first half of the coefficients are used for filtering.
The Tap Sum parameter determines the data type the filter uses when it sums the inputs prior to multiplication by the coefficients.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs can be real or complex.
Coefficients can be real or complex.
States are complex when either the inputs or the coefficients are complex.
The following constraints are applicable when processing a fixed-point signal with this filter structure:
Inputs and coefficients can be real or complex.
Coefficients can be real or complex.
Double-precision floating point
Single-precision floating point
Fixed point (signed only)
8-, 16-, and 32-bit signed integers
| Digital Filter Design | Signal Processing Blockset |
| Filter Realization Wizard | Signal Processing Blockset |
| dfilt | Signal Processing Toolbox |
| fdatool | Signal Processing Toolbox |
| fvtool | Signal Processing Toolbox |
| sptool | Signal Processing Toolbox |
| Differentiator Filter | Digital Filter Design | |
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