On the basis of the controllability gramians, the observability gramians and the second order modes, this paper shows that optimal realizations (filter structures having minimum roundoff noises) of quarter-plane-causal, recursive and separable in denominator 2-D digital filters (CRSD filters for short) are scaled and rotated balanced realizations. Two applications of this relation are given. The first one gives a simple proof of the absence of overflow oscillations in optimal realizations. The second one, which is the main result of this paper, gives a direct design method of CRSD filters in the spatial domain. This method simplifies traditional two-step design (approximation and synthesis) into a one-step design with much less computational complexity. Resulting filters of this direct design method can approximate given 2-D impulse responses closely. In addition, they are always guaranteed to be stable, nearly optimal with respect to roundoff noise and free of overflow oscillations. The efficiency of the direct design method is shown by numerical examples.

This paper studies the design problem of causal, recursive and separable denominator (CRSD) 3-D state-space digital filters. First, a balanced approximation method and a synthesis method of optimal realizations of CRSD 3-D digital filters are proposed by introducing the concept of characteristic filters. Then, a simple equivalent relation between balanced realizations and optimal realizations of CRSD 3-D digital filters is revealed. Using this relation and the balanced approximation method proposed, this paper proposes a spatial-domain direct design method of CRSD 3-D digital filters. This direct design method can perform approximation and synthesis of CRSD 3-D digital filters simultaneously. Further, it can result in stable state-space digital filters which are nealy optimal with respect to roundoff noise, and free of overflow oscillations. Effciency of direct design method is shown by a numerical example.

This paper studies the model reduction of separable denominator multi-dimensional (SD M-D, M is used as an integer) linear, shift-invariant systems (systems for short). First, it shows that the controllability, observability and stability of an SD M-D system are completely determined by M 1-D multi-input multi-output systems, which are referred to as the characteristic systems in this paper. Then the balanced realizations of SD M-D systems are defined, and a synthesis method of such realizations is given. Finally, a model reduction method based on the balanced realizations is proposed. Validity of this method is illustrated by a numerical example of a 3-D system.