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Converting continuous-time transfer functions such as
and
to the digital domain is analogous to converting an analog
electrical filter to a corresponding digital filter--a problem which
has been well studied [346]. For this task, the
bilinear transform (§7.3.2) is a good choice. In
addition to preserving order and being free of aliasing, the bilinear
transform preserves the positive-real property of passive impedances
(§C.11.2).
Digitizing
via the bilinear transform (§7.3.2)
transform gives
which is a second-order digital filter having gain less than one at
all frequencies--i.e., it is a Schur filter that becomes an
allpass as the damping
approaches zero. The choice of
bilinear-transform constant
maps the
peak-frequency
without error (see Problem 4).
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