e Denominator of a linear filter. If `b` has dimension greater than 1, it is assumed that the coefficients are stored in the first dimension, and ``b.shape[1:]``, ``a.shape[1:]``, and the shape of the frequencies array must be compatible for broadcasting. worN : {None, int, array_like}, optional If a single integer, then compute at that many frequencies (default is N=512). This is a convenient alternative to:: np.linspace(0, fs if whole else fs/2, N, endpoint=include_nyquist) Using a number that is fast for FFT computations can result in faster computations (see Notes). If an array_like, compute the response at the frequencies given. These are in the same units as `fs`. whole : bool, optional Normally, frequencies are computed from 0 to the Nyquist frequency, fs/2 (upper-half of unit-circle). If `whole` is True, compute frequencies from 0 to fs. Ignored if worN is array_like. plot : callable A callable that takes two arguments. If given, the return parameters `w` and `h` are passed to plot. Useful for plotting the frequency response inside `freqz`. fs : float, optional The sampling frequency of the digital system. Defaults to 2*pi radians/sample (so w is from 0 to pi). .. versionadded:: 1.2.0 include_nyquist : bool, optional If `whole` is False and `worN` is an integer, setting `include_nyquist` to True will include the last frequency (Nyquist frequency) and is otherwise ignored. .. versionadded:: 1.5.0 Returns ------- w : ndarray The frequencies at which `h` was computed, in the same units as `fs`. By default, `w` is normalized to the range [0, pi) (radians/sample). h : ndarray The frequency response, as complex numbers. See Also -------- freqz_zpk freqz_sos Notes ----- Using Matplotlib's :func:`matplotlib.pyplot.plot` function as the callable for `plot` produces unexpected results, as this plots the real part of the complex transfer function, not the magnitude. Try ``lambda w, h: plot(w, np.abs(h))``. A direct computation via (R)FFT is used to compute the frequency response when the following conditions are met: 1. An integer value is given for `worN`. 2. `worN` is fast to compute via FFT (i.e., `next_fast_len(worN) ` equals `worN`). 3. The denominator coefficients are a single value (``a.shape[0] == 1``). 4. `worN` is at least as long as the numerator coefficients (``worN >= b.shape[0]``). 5. If ``b.ndim > 1``, then ``b.shape[-1] == 1``. For long FIR filters, the FFT approach can have lower error and be much faster than the equivalent direct polynomial calculation. Examples -------- >>> from scipy import signal >>> import numpy as np >>> taps, f_c = 80, 1.0 # number of taps and cut-off frequency >>> b = signal.firwin(taps, f_c, window=('kaiser', 8), fs=2*np.pi) >>> w, h = signal.freqz(b) >>> import matplotlib.pyplot as plt >>> fig, ax1 = plt.subplots(tight_layout=True) >>> ax1.set_title(f"Frequency Response of {taps} tap FIR Filter" + ... f"($f_c={f_c}$ rad/sample)") >>> ax1.axvline(f_c, color='black', linestyle=':', linewidth=0.8) >>> ax1.plot(w, 20 * np.log10(abs(h)), 'C0') >>> ax1.set_ylabel("Amplitude in dB", color='C0') >>> ax1.set(xlabel="Frequency in rad/sample", xlim=(0, np.pi)) >>> ax2 = ax1.twinx() >>> phase = np.unwrap(np.angle(h)) >>> ax2.plot(w, phase, 'C1') >>> ax2.set_ylabel('Phase [rad]', color='C1') >>> ax2.grid(True) >>> ax2.axis('tight') >>> plt.show() Broadcasting Examples Suppose we have two FIR filters whose coefficients are stored in the rows of an array with shape (2, 25). For this demonstration, we'll use random data: >>> rng = np.random.default_rng() >>> b = rng.random((2, 25)) To compute the frequency response for these two filters with one call to `freqz`, we must pass in ``b.T``, because `freqz` expects the first axis to hold the coefficients. We must then extend the shape with a trivial dimension of length 1 to allow broadcasting with the array of frequencies. That is, we pass in ``b.T[..., np.newaxis]``, which has shape (25, 2, 1): >>> w, h = signal.freqz(b.T[..., np.newaxis], worN=1024) >>> w.shape (1024,) >>> h.shape (2, 1024) Now, suppose we have two transfer functions, with the same numerator coefficients ``b = [0.5, 0.5]``. The coefficients for the two denominators are stored in the first dimension of the 2-D array `a`:: a = [ 1 1 ] [ -0.25, -0.5 ] >>> b = np.array([0.5, 0.5]) >>> a = np.array([[1, 1], [-0.25, -0.5]]) Only `a` is more than 1-D. To make it compatible for broadcasting with the frequencies, we extend it with a trivial dimension in the call to `freqz`: >>> w, h = signal.freqz(b, a[..., np.newaxis], worN=1024) >>> w.shape (1024,) >>> h.shape (2, 1024) Fİ