Res.6-008 Digital Signal Processing (MIT OCW). This consists of 22 video lectures (20 lectures plus 2 demonstration videos)
given by Prof. Alan V. Oppenheim, discussing the analysis and representation of discrete-time signal systems, digital filters,
and computation of the discrete Fourier transform. Digital Signal Processing begins with a discussion of the analysis and
representation of discrete-time signal systems, including discrete-time convolution, difference equations, the z-transform, and
the discrete-time Fourier transform. Emphasis is placed on the similarities and distinctions between discrete-time.
The course proceeds to cover digital network and nonrecursive (finite impulse response) digital filters. Digital Signal Processing
concludes with digital filter design and a discussion of the fast Fourier transform algorithm for computation of
the discrete Fourier transform. (from ocw.mit.edu)
Lecture 14 - Design of IIR Digital Filters, Part 1
Transformation of analog filter designs to digital filter designs, approximation of derivatives by differences, impulse invariant design procedures.