Design of state digital filters

In this correspondence, we develop a very simple algorithm for the design of a second-order state-space digital filter. The design equations presented here were derived on the rendition that the sensitivity of the coefficients in the state-space digital filter (SDF) are spread uniformly to all coefficients of the SDF. The design algorithm has been shown to provide SDF realizations having a minimum output round-off noise while preserving low coefficient sensitivity and freedom from limit cycles.