Switched Capacitor Filters

Franco Maloberti

F. Maloberti: Switched Capacitor Filters 1

 OUTLINE

• Switched capacitor technique

• Biquadratic SC filters
• SC N-path filters
• Finite gain and bandwidth effects
• Layout consideration
• Noise

F. Maloberti: Switched Capacitor Filters 2

 SWITCHED CAPACITOR TECHNIQUE
• An active filter is made of op-amps, resistors and capacitors.
• The accuracy of the filter is determined by the accuracy of the
realized time costants since the capacitors and resitors are
realized by uncorrelated technological steps

2 δR 2  δC 2
 δτ
----- 
= ------- + -------
 τ  R  C

δτ
• In CMOS technology δR ⁄ R ≈ 40% ; δC ⁄ C ≈ 30% ; hence ----- ≈ 50% ,
τ
unacceptable for most of the applications
•Hybrid realization with functional trimming
•Problems for a fully integrated realization

F. Maloberti: Switched Capacitor Filters 3

 • Accuracy
• Values of capacitors and resistors: for 70 nm oxide thickness 1
pF --> 2000 µ2; 10 pF is a large capacitance. To get τ = 10-4 sec
R = 107 Ω

The above problems are solved by the use of simulated resistors

made of switches and capacitors.

MOS technology is suitable because:

•Offset free switches
•Good capacitors
•Satisfactory op-amps

F. Maloberti: Switched Capacitor Filters 4

Simple SC structures

V1 Φ1 Φ2 V2




T

C
1 Φ1

Φ2
I T
Φ2
V1 Φ1 V2
C
1

∆Q = C1 (V1 - V2) every ∆t = T

F. Maloberti: Switched Capacitor Filters 5










I I T
V1 – V2

∆Q = i∆t = -------------------T
R
V1 V2

t
The two SC structures are
(on average) equivalent to a resistor
T
R eq = -------
C1

If the SC structures are used to get an equivalent time constant τeq = ReqC2
it results:
C2
τ eq = T -------
C1

F. Maloberti: Switched Capacitor Filters 6

 • Its accuracy depends on the clock and on the capacitor matching
accuracy
• If τeq=40 T C2 = 40 C1 (acceptable spread) regardless of the
value of τeq

A more complex SC structure: V1

Φ1 Φ2 V2

∆Q = 2C 1 ( V 1 – V 2 )
Φ2 Φ1

The charge is transferred twice per clock period T or we assume as

clock period half of the period of phases Φ1 and Φ2.

F. Maloberti: Switched Capacitor Filters 7

 SC INTEGRATOR

C2

R1

Starting from the continuous-time circuit of the Integrator, we can ob-

tain a SC integrator by replacing the continuous-time resistor with the
equivalent resistances.

F. Maloberti: Switched Capacitor Filters 8

 C2

_
Φ1 Φ2
+ Φ1
C1

C2

Φ2
_
Φ1
C1
+
Φ1

C2

Φ1 Φ2
_ Φ2
C
1
Φ2 Φ1 +
Φ1

F. Maloberti: Switched Capacitor Filters 9

 •We consider the samples of the input and of the output taken at
the same times nT (the end of the sampling period).
• Structure 1:
C1
V out [ ( n + 1 )T ] = V out ( nT ) – ------- V in ( nT )
C2

taking the z-transform:

V out ( z ) C1 1
------------------- = – ------- ⋅ ------------
V in ( z ) C2 z – 1

• Structure 2:
C1
V out [ ( n + 1 )T ] = V out ( nT ) – ------- V in ( n + 1 )T ]
C2

taking the z-transform:

F. Maloberti: Switched Capacitor Filters 10

 V out ( z ) C1 z
------------------- = – ------- ⋅ ------------
V in ( z ) C2 z – 1

• Structure 3:
C1
V out [ ( n + 1 )T ] = V out ( nT ) – ------- { V in [ ( n + 1 )T ] + V in ( nT ) }
C2

taking the z-transform:

V out ( z ) C1 z + 1
------------------- = – ------- ⋅ ------------
V in ( z ) C2 z – 1

Remember that for the continuous-time integrator:

V out ( s ) 1
------------------- = – ------------------
V in ( s ) sR 1 C 2

Comparing the sampled-data and continuous-time transfer functions we get:

F. Maloberti: Switched Capacitor Filters 11

 • Structure 1:
T 1
R 1 → ------- s → --- ( z – 1 ) FE approximation
C1 T

• Structure 2:
T 1 (z – 1)
R 1 → ------- s → --- ----------------- BE approximation
C1 T z

• Structure 3:
T 2 (z – 1)
R 1 → ---------- s → --- ----------------- Bilinear approximation
2C 1 T (z + 1)

•It does not exist a simple SC integrator which implement the LD

approximation.
•Note: the cascade of a FE integrator and a BE integrator is
equivalent to the cascade of two LD integrators.

F. Maloberti: Switched Capacitor Filters 12

 C2 C2'
C1'

_ _
Φ1 Φ2
Φ1 Φ2
C1 + +

•The key point is to introduce a full period delay from the input to
the output

F. Maloberti: Switched Capacitor Filters 13

 •The same result is got with:
C2 C2'

_ _
Φ1 Φ2 Φ2 Φ1

C1 + C1' +

F. Maloberti: Switched Capacitor Filters 14

 STRAY INSENSITIVE STRUCTURE
The considered SC integrators are sensitive to parasitics.

Toggle structure:

• The top plate parasitic capacitance Ct,1 is Φ1 Φ2

C1
in parallel with C1
• It is not negligible with respect to C1 and Ct,1 Cb,1
it is non linear
• The top plate parasitic capacitance Ct,1
Φ2
acts as a toggle structure C1

Φ1
Bilinear resistor: Ct,1 Cb,1

F. Maloberti: Switched Capacitor Filters 15

 • Both the parasitic Ct,1
capacitances Ct,1, Cb,1 act
as toggle structures. Their
Φ1 Φ2
values are different (of a C1
factor ≈ 10) and they are non
linear. Φ2 Φ1
Cb,1
• Stray insensitivity can be got
for the first two structures if C1
one terminal is switched Virtual
between points at the same Φ1 Φ2
ground
Φ1
voltage. Φ2

• The right-side parasitic

capacitor is switched C1
between the virtual ground Φ1 Φ1
Virtual
ground
and ground (note: even in Φ2 Φ2
DC Vv.g. must equal Vground)

F. Maloberti: Switched Capacitor Filters 16

 • The left side capacitor is connected, during phase 1, to a voltage
(or equivalent) source.
• The charge injected into virtual ground is important, not the one
furnished by the input source.
• Structure A is equivalent to the toggle structure, but the injected
charge has opposite sign.
• Equivalent negative resistance allows to implement non inverting
integrators.
• It is possible to easily realize a stray insensitive bilinear resistor
with fully differential configuration.

F. Maloberti: Switched Capacitor Filters 17

 SC BIQUADRATIC FILTERS
Consider a (continuous-time) biquadratic transfer function
2
p 0 + sp 1 + s p 2
H ( s ) = ----------------------------------------
2 ω0 2
s + s ------- + ω 0
Q0

If the bilinear transformation is applied, it results a z-biquadratic trans-

fer function
2
a 0 + za 1 + z a 2
H ( s ) = ----------------------------------------
2
b 0 + zb 1 + z b 2

where the coefficients are:

2 4
a 0 = p 0 – ---p 1 + -----2- p 2
T T

F. Maloberti: Switched Capacitor Filters 18

 8
a 1 = 2p 0 – -----2- p 2
T

2 4
a 2 = p 0 + ---p 1 + -----2- p 2
T T

2 2 ω0 4
b0 = ω0 – --- ------ + ------
T Q T2

2 8
b 1 = 2ω 0 – ------
2
T

2 2 ω0 4
b2 = ω0 + --- ------ + ------
T Q T2

F. Maloberti: Switched Capacitor Filters 19

All the stable z-biquadratic transfer functions are realized by the topology:
E

C
F
D
1 G
B
-
A -
H V01
+
+ V02

F1








F2












Vin

t

F. Maloberti: Switched Capacitor Filters 20

Features:
•Loop of two integrators one inverting and the other noninverting.
•Damping around the loop provided by capacitor F or (and)
capacitor E (usually only E or F are included in the network).
•Two outputs available V0,1 V0,2.
•Denominator of the transfer function determined by the capacitors
along the loop (A, B, C, D, E, F).
•Transmission zeros (numerator) realized by the capacitors (G, H,
I, J).
•Input signal sampled during Φ1 and held for a full clock period
•Charge injected into the virtual ground during Φ1.

F. Maloberti: Switched Capacitor Filters 21

Charge conservation equations:
DV0,1(n+1) = DV0,1(n) - GVin(n+1) + HVin(n) - CV0,2(n+1) - E[V0,2(n+1) - V0,2(n)]

(B + F)V0,2(n+1) = BV0,2(n) + AV0,1(n) - IVin(n+1) + JVin(n)

Taking the z-transform and solving, it results:

V 0, 1 2
( IC + IE – GF – GB )z + ( FH + BH + BG – JC – JE – IE )z + ( EJ – BH )
H 1 = ----------- = -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
V in 2
( DB + DF )z + ( AC + AE – 2DB – DF )z + ( DB – AE )

V 0, 2 2
DIz + ( AG – DI – DJ )z + ( DJ – AH )
H 2 = ----------- = -------------------------------------------------------------------------------------------------------------------------------------------
V in 2
( DB + DF )z + ( AC + AE – 2DB – DF )z + ( DB – AE )

• 10 Capacitors
• 6 Equations a0, a1, a2, b0, b1, b2
• Dynamic range optimization

F. Maloberti: Switched Capacitor Filters 23

 • Scaling for minimum total capacitance in the groups of capacitors
connected to the virtual ground of the op-amp1 and the op-amp2.
• Since there are 9 conditions, one capacitor can be set equal to
zero
E=0 “F type”

F=0 “E type”

Firstly the 6 equations are satisfied. Later capacitors D and A

are adjusted in order to optimize the dynamic range. Finally all
the capacitor connected to the virtual ground of the op-amp are
normalized to the smaller of the group.

F. Maloberti: Switched Capacitor Filters 24

Scaling for minimum total capacitance
Cn
C1

_
C2
+

C3

C4

Assume that C3 is the smallest capacitance of the group. In order to make

minimum the total capacitance C3 must be reduced to the smallest value al-
lowed by the technology (Cmin)
• Multiply all the capacitors of the group by
C min
k = ------------
C3

F. Maloberti: Switched Capacitor Filters 25

 SC LADDER FILTERS
Orchard’s observation
Doubly-terminated LC ladder network that are designed to effect max-
imum power transfer from source to load over the filter passband fea-
ture very low sensitivities to value component variation.
Syntesis of SC Ladder Filters:
Symple approach
• Replace every resistance Ri in an active ladder structure with a
switched capacitor Ci = T/Ri.
• Use a full clock period delay along all the two integrator loop (it
results automatically verified in single ended schemes).
It results an LD equivalent, except for the terminations.

F. Maloberti: Switched Capacitor Filters 27

Quasi LD transformation:

DESIRED SPECIFICATION

Asb
















Attenuation












Apb


wpb wsb w

PREWARPED SPECIFICATION

Asb
Attenuation

Apb
w
sin( w pb T/2) sin( w sb T/2)

Prewarp the specifications using sin(ωT/2)

F. Maloberti: Switched Capacitor Filters 28

Effect of the terminations:
R C3

_R C2
1 C2
C1
_ _

+ +

R3 C1
H DI ( s ) = --------------------------------------- if R1 = T/ C1 and R3 = T/C3 we get: H DI ( s ) = ----------------------------
sC 2 R 1 R 3 + R 1 sTC 2 + C 3

V out ( n + 1 ) ( C 2 + C 3 ) = V out ( n )C 2 + C 1 V in ( n )

F. Maloberti: Switched Capacitor Filters 29

Taking the z-transform we get: zV out ( C 2 + C 3 ) = C 2 V out + C 1 V in

–1 ⁄ 2
C1 C1 z
H DI ( z ) = ----------------------------------------- = ---------------------------------------------------------------------
C 2 ( z – 1 ) + zC 3 1⁄2 –1 ⁄ 2 1⁄2
C2 ( z –z ) + z C3

along the unity circle z=ejωT

– j ωT ⁄ 2 – j ωT ⁄ 2
jωT C1 e C1 e
H DI ( e ) = ------------------------------------------------------------------------------------- = ---------------------------------------------------------------------------------
jωT ⁄ 2 – j ωT ⁄ 2 jωT ⁄ 2 ωT ωT
C2 ( e –e )+e C3 2j ( C 2 + C 3 ) sin -------- + C 3 cos --------
2 2

The half clock period delay will be used in the cascaded integrator in
order to get the LD transformation
• The termination is complex and frequency dependent.
• The integrating capacitor C2 must be replaced by C2 + C3/2.

F. Maloberti: Switched Capacitor Filters 30

Complex termination:
C3

C2
C1
_

F1
+

Note: the output voltage changes during Φ

2
C2
V out ( n + 1 )C 2 = V out ( n ) -------------------- + C 1 V in ( n )
C2 + C3

Taking the z-transform:

 C2 C3 
zV out C 2 = V out C 2 – -------------------- + C 1 V in
 C 2 + C 3

F. Maloberti: Switched Capacitor Filters 31

 –1 ⁄ 2
C1 C1 z
H DI ( z ) = ---------------------------------------------------- = -------------------------------------------------------------------------------------
C2 C3 1⁄2 –1 ⁄ 2 –1 ⁄ 2 C2 C3
C 2 ( z – 1 ) + ------------------- - C2 ( z –z )+z --------------------
C2 + C3 C2 + C3

along the unity circle z=ejωT

– j ωT ⁄ 2
jωT C1 e
H DI ( e ) = ----------------------------------------------------------------------------------------------------------------
 1 C2 C3  ωT C2 C3 ωT
2j C 2 – --- -------------------- sin -------- + -------------------- cos --------
 2 C 2 + C 3 2 C2 + C3 2

• The imaginary part of the contribution of the termination is

negative
1 C2 C3
• The integrating capacitor C2 must be replaced by C 2 – --- --------------------
2 C2 + C3

F. Maloberti: Switched Capacitor Filters 32

Example: 5th order filter
RS L2 L4
IS
V1 V3 V5 Vout

Vin I6
I2 I4
Passive prototype R6
C1 C3 C5

Vin _ V1 V3 _ V5
+ _ _ _ _ _ _

Flow diagram _1/s τ1 _1/s τ _ 1/s τ _ 1/s τ _1/s τ5 _ R/R

R/Rs 2 3 4 6

Vs + + _ V2 + + V4 + + _V
6

1 1 1 1

τ3 τ5

+
-

-
T T
SC implementa- 1
τ1
T τ2 τ4
1

+
+

-
-
T T
tion
+
-

1 1 1 1 1

F. Maloberti: Switched Capacitor Filters 33

 FINITE GAIN AND BANDWIDTH EFFECT
C2

C1
_

If the op-amp has finite gain A0 the “virtual ground” voltage is V0/A0

 1  1 V0 ( n + 1 )
C 2 V 0 ( n + 1 ) 1 + ------ = C 2 V 0 ( n ) 1 + ------ – C 1 V in ( n + 1 ) + -------------------------
 A 0  A 0 A0

z-transforming:
Vo ( z ) C1 z
- = – ----------------------------------------------------------------
H ( z ) = ---------------
V in ( z )  1 C1
C 2 1 + ------ ( z – 1 ) + ------- z
 A 0 A0

F. Maloberti: Switched Capacitor Filters 53

Comparing H(z) with the transfer function with A0 → ∞
C1 z
H id ( z ) = – ------------------------
C2 ( z – 1 )

H id ( z ) H id ( z ) H id ( z )
H ( z ) = ---------------------------------------------------------- = ----------------------------------------------------------------------------------- = ----------------------------------------------------------------------------------------
C1 z C1  C1  C1 z + 1
 1 + ------ 1  1  1 1 1 1 1
 - + --------------- ------------ 1 + ------- + --------------- ------------ + --- + ---  1 + ------- + --- --------------- + ------------------- ------------
A 0 C 2 A 0 z – 1  A 0 C 2 A 0  z – 1 2 2  A 0 2 C 2 A 0 2C 2 A 0 z – 1

Substituting z = esT, on the imaginary axis

jωT jωT
jωT
H id ( e ) H id ( e )
H ( e ) = ----------------------------------------------------------------------------------------------------- = -------------------------------------------
C1 C1 1 – m ( ω ) – jθ ( ω )
1
1 + ------- + ------------------- – j ---------------------------------------------------
A0 2 C2 A
0 2C 2 A 0 tan ( ωT ⁄ 2 )

1 C1 
Magnitude error m ( ω ) = – ------  1 + -----------
A0  2 C 2

C1 C1
Phase error θ ( ω ) = ------------------------------------------------ ≅ -----------------------
2C 2 A 0 tan ( ωT ⁄ 2 ) C 2 A 0 ωT

F. Maloberti: Switched Capacitor Filters 54

For the noninverting integrator
C2

C1
_

1 1 V0 ( n + 1 )
C 2 V 0 ( n + 1 )  1 + ------ = C 2 V 0 ( n )  1 + ------ + C 1 V in ( n ) + ------------------------
-
 A 0  A 0 A0

z-transforming and solving

Vo ( z ) C1
H ( z ) = ---------------- = ----------------------------------------------------------------
V in ( z )  1 C1
C 2 1 + ------ ( z – 1 ) + ------- z
 A 0 A0

Same magnitude and phase error result

F. Maloberti: Switched Capacitor Filters 55

 FULLY DIFFERENTIAL CIRCUITS
•Fully differential configurations reduce the clock feedthrough
noise and increase the dynamic range.
•They allow an increase design flexibility

C2

C1 (Φ2)
_
Φ2 Φ1
Φ1 Φ2 Φ2
+
(Φ1)

Simple integrator (inverting and non inverting)

F. Maloberti: Switched Capacitor Filters 66

Immediate sampling (inverting and non inverting) integrator:
Vin

Φ1 Φ1
-Vin
Φ2 Φ2 _
Φ1
-Vin
+
Φ1 Φ1 Φ1
Vin
Φ2 Φ2

Delayed sampling (inverting and non inverting) integrator:

Vin

Φ1 Φ1
-Vin
Φ2 Φ2 _
Φ2
-Vin
+
Φ1 Φ1 Φ2
Vin
Φ2 Φ2

F. Maloberti: Switched Capacitor Filters 67

 •It is possible to reduce the op-amp finite bandwidth dependence
by the use of delayed sampling inverting and non inverting
integrators along a second order loop.
Φ1 Φ1
Φ2 Φ2

Φ1 Φ1
Φ2 Φ2

_ +

_
+

Φ2 Φ2
Φ1 Φ1

Φ2 Φ2
Φ1 Φ1

F. Maloberti: Switched Capacitor Filters 68

 •The peaking in the frequency response due to the phase error is
strongly reduced
•It is easy to realize bilinear integrators

Vin
C1
C2
Φ1
Φ1
Φ2 Φ2 _
C1
Φ2 +
_V Φ1
in
Φ1 Φ2
C2

F. Maloberti: Switched Capacitor Filters 69

 NOISE IN SC CIRCUITS
The noise sources in a SC network are:
• Clock feedthrough noise
• Noise coupled from power supply lines and substrate
• kT/C noise
• Noise generators of the op-amp
The first two sources are the same as in mixed analog-digital circuits.
kT/C noise:

F. Maloberti: Switched Capacitor Filters 74

Consider the simple network:
vin
S1
C
In the “on” state the switch can be
modeled with a noisy resitor

Noise equivalent circuit:

Ron

S1 C
4kTRon f

The white spectrum of the “on” resistance is shaped by the low pass

F. Maloberti: Switched Capacitor Filters 75

action of the RonC filter.
The noise voltage across the capacitor C has spectrum:

2 2 4kTR on ∆f
S n,c = v n, c = 4kTR on H ( f ) ∆f = ----------------------------------------
-
2
1 + ( 2πfR on C )

When the switch is turned “off” the noise voltage vn,c is sampled and
held onto C
S










































f

F. Maloberti: Switched Capacitor Filters 76

The folding of the spectrum in band-base gives a white spectrum.

*
v n,c

f CK/2 f

It power (the dashed area) is equal to the integral of Sn,c

∞
2 4kTR on ∆f 4kT ∞ kT
v n, c = ∫ ----------------------------------------2- df = ----------- ( atan x ) 0 = -------
2πC C
0 1 + ( 2πfR on C )

Procedure for the noise calculation in SC networks:

F. Maloberti: Switched Capacitor Filters 77