Introduction to filters and filter specifications. The Butterworth, Chebyshev, Elliptic, and Bessel filters and their realization, Frequency transformations, Analog filter design. Sampling; the Digital filter problem. IIR Filter design using the impulse invariant and bilinear transformation methods. The poles and zeros of the Butterworth and Chebyshev digital filter equivalents. Realization of Digital IIR filters Tradeoffs between aliasing and complexities of Analog filter realizations Direct design of IIR filters. FIR Filter Design: Exactly linear phase filters. Windowing methods. Kaiser window and its properties. Filter design using Kaiser window, Frequency sampling, Optimal FIR Filter design, Real-time implementation of digital filters – coefficient quantisation and finite word length effects.